CN116895170A

CN116895170A - Method, device and storage medium for carrying out an AVP procedure of a motor vehicle in a parking area

Info

Publication number: CN116895170A
Application number: CN202310341128.3A
Authority: CN
Inventors: S·诺德布鲁赫
Original assignee: Robert Bosch GmbH
Current assignee: Robert Bosch GmbH
Priority date: 2022-04-01
Filing date: 2023-03-31
Publication date: 2023-10-17
Also published as: DE102022203270A1

Abstract

A method for performing an AVP procedure of a motor vehicle within a parking lot, comprising the steps of: monitoring an AVP procedure of the motor vehicle within the parking lot, the AVP procedure being performed based on a selected one of the group of AVP types: AVP types 1, 2, and 3, wherein type 1 is an automotive-centric AVP procedure, type 2 is an infrastructure-centric AVP procedure, and type 3 is an automotive-infrastructure-shared AVP procedure, in order to detect a problem based on the execution of the one AVP type AVP procedure; when a problem is detected, determining whether the execution of the AVP procedure can be switched from the one AVP type to the other AVP type; based on the determination, it is confirmed that execution of the AVP procedure should be switched from the one AVP type to another AVP type in order to continue the AVP procedure. The present invention relates to an apparatus, a computer program and a machine readable storage medium.

Description

Method, device and storage medium for carrying out an AVP procedure of a motor vehicle in a parking area

Technical Field

The invention relates to a method, a device, a computer program and a machine-readable storage medium for carrying out an AVP process of a motor vehicle in a parking area.

Background

Publication DE 10 2012 222 562 A1 discloses a system for transferring a vehicle from a starting position to a target position for a managed (bewirtschafte) parking place.

Disclosure of Invention

The task on which the present invention is based may be seen as providing a solution for efficiently performing AVP procedures of a motor vehicle in a parking lot.

This object is achieved by means of the invention. Advantageous configurations of the invention are the context of the various preferred embodiments.

According to a first aspect, there is provided a method of performing an AVP procedure of a motor vehicle within a parking lot, the method comprising the steps of:

monitoring an AVP procedure of the motor vehicle within the parking lot, wherein the AVP procedure is performed based on an AVP type selected from the group of AVP types: AVP type 1, AVP type 2, and AVP type 3, wherein AVP type 1 is an automotive-centric AVP procedure, AVP type 2 is an infrastructure-centric AVP procedure, and wherein AVP type 3 is an automotive-infrastructure-partnered AVP procedure, in order to detect a problem based on the execution of said one AVP type AVP procedure,

when a problem based on the execution of the AVP procedure of the one AVP type is detected, deciding whether or not the execution of the AVP procedure can be switched from the one AVP type to the other AVP type,

confirming that execution of the AVP procedure should be switched from the one AVP type to another AVP type based on the determination of whether execution of the AVP procedure can be switched from the one AVP type to the other AVP type in order to continue the AVP procedure.

According to a second aspect, there is provided an apparatus arranged to carry out all the steps of the method according to the first aspect.

According to a third aspect, there is provided a computer program comprising instructions which, when executed by a computer, for example by an apparatus according to the second aspect, cause the computer to carry out the method according to the first aspect.

According to a fourth aspect, there is provided a machine readable storage medium having stored thereon a computer program according to the third aspect.

The present invention is based on and includes the recognition that the above-mentioned tasks are solved by: in case of problems detected during the execution of an AVP procedure based on said one AVP type and problems impeding the execution, making the execution difficult or impossible, it is checked whether the AVP procedure can be continued based on the other AVP type. If so, the AVP procedure is continued based on the additional AVP type. If not, the AVP process is stopped or terminated. Known prior art arrangements interrupt the AVP procedure when a problem is detected. Instead, according to the scheme described herein, an alternative is first sought before the interruption, which consists in continuing the AVP procedure based on the further AVP type. The AVP procedure is terminated without such an alternative. Thus, according to the scheme described herein, the AVP procedure can be performed more efficiently and longer than known prior art. In particular, the AVP process can be terminated correctly on the basis of the alternative AVP type, which means, for example, that the motor vehicle can be guided at least partially automatically to a delivery position or to a parking position and parked there.

Accordingly, a solution for efficiently performing AVP procedures of a motor vehicle within a parking lot is provided.

The abbreviation "AVP" stands for "Automated Valet Parking, automated valet parking", and may be translated into german "automatischer Parkservice, automated parking services. The AVP process includes, for example, at least highly automated guidance of the motor vehicle from a delivery location (Abgabeposition) to a parking location, and at least highly automated guidance of the motor vehicle from a parking location to a return location. At the delivery location, the driver of the motor vehicle delivers the motor vehicle for the AVP procedure. At the return location, the motor vehicle is returned after the AVP process has ended.

A motor vehicle in the sense of the present description may therefore also be referred to as an AVP motor vehicle, for example, as long as the motor vehicle is provided, for example, for carrying out an AVP procedure.

For example, provision is made that the AVP procedure comprises an AVP procedure according to AVP type 1, AVP type 2 and/or AVP type 3, wherein AVP type 1 is a motor vehicle centric AVP procedure, wherein AVP type 2 is an infrastructure centric AVP procedure, and wherein AVP type 3 is a motor vehicle infrastructure partaking AVP procedure.

The following technical advantages are thus achieved, for example: the AVP procedure can be efficiently performed.

AVP type 1 identifies an AVP procedure for vehicle centralization. The main responsibility of this AVP procedure is in the motor vehicle.

AVP type 2 identifies an infrastructure centric AVP procedure. The main responsibility of this AVP procedure is in the infrastructure, i.e. in the AVP system.

AVP type 3 identifies the AVP procedure of the motor vehicle-infrastructure partnership. Here, the main responsibility of the AVP process is shared between the motor vehicle and the AVP system.

The AVP procedure includes the following procedures or functions:

1. a target location within the parking lot is determined for the motor vehicle.

2. A route is planned from a starting location to a target location comprised by the parking lot.

3. Detecting an object and/or event and responding accordingly to the detected object and/or detected event.

4. The motor vehicle is positioned within the parking lot.

5. A due track is calculated for the motor vehicle based on the planned route.

6. The lateral and longitudinal guidance of the motor vehicle is controlled on the basis of the calculated trajectory.

The following table illustrates: "which of these processes or functions are carried out by the motor vehicle or by an AVP system on the infrastructure side, which may for example comprise a system according to the second aspect", depending on the AVP type, wherein "I" stands for "infrastructure", i.e. for AVP system, "K" stands for "motor vehicle", so that "I" states that the process is carried out by the AVP system and "K" states that the process is carried out by the motor vehicle:

in the table above, it is therefore specified for each function, specifically for each AVP type, whether the function is performed by the infrastructure, i.e. the infrastructure-side AVP system, or by the motor vehicle, i.e. for example the motor vehicle-side AVP system. In several cases, it can be provided that this function is implemented not only by the infrastructure-side AVP system but also by the motor vehicle, i.e. the motor vehicle-side AVP system.

In terms of object detection and event detection for AVP type 1, it can optionally be provided that, in addition to the motor vehicle, the AVP system of the infrastructure also performs this function.

AVP type 1, AVP type 2, and AVP type 3 described herein are described in further detail in ISO 23374.

The expression "at least partly automatically guided" includes one or more of the following cases: assisted guidance, partially automated guidance, highly automated guidance, and fully automated guidance of the motor vehicle. Thus, the expression "at least partially automated" includes one or more of the following: 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. The further driving task is automatically executed (i.e. the longitudinal or transverse guidance of the motor vehicle is controlled). This means that, in the assisted guidance of the motor vehicle, either the transverse guidance or the longitudinal guidance is automatically controlled.

By partially automated guidance is meant that the longitudinal and transverse guidance of the motor vehicle is automatically controlled under certain conditions (e.g. driving on a highway, driving in a parking lot, exceeding objects, driving in a specific lane marked by a lane) and/or for a specific period of time. The driver of the motor vehicle does not have to manually control the longitudinal and transverse guidance of the motor vehicle itself. However, the driver must continuously monitor the automatic control of the longitudinal and transverse guidance so that manual intervention is possible if required. The driver must be ready to take over the vehicle guidance completely.

By highly automated guidance is meant that the longitudinal guidance and the transverse guidance of the motor vehicle are controlled automatically for a specific period of time under specific conditions (e.g. driving on a highway, in a parking lot, over an object, in a lane marked by a lane). The driver of the motor vehicle does not have to manually control the longitudinal and transverse guidance of the motor vehicle itself. The driver does not have to constantly monitor the automatic control of the longitudinal and transverse guidance, so that manual intervention is possible if required. If necessary, a take-over request is automatically output to the driver in order to take over the control of the longitudinal and transverse guidance, in particular with a sufficient time margin. Thus, the driver must potentially be able to take over control of the longitudinal and lateral guidance. The limits of the automated control of the transverse and longitudinal guidance are automatically identified. In the case of highly automated guidance, it is not possible to automatically reach a state of least risk in the first cases.

Fully automated guidance means that the longitudinal guidance and the transverse guidance of the motor vehicle are automatically controlled under specific conditions (e.g. driving on a highway, driving in a parking lot, exceeding objects, driving in a lane specified by lane markings). The driver of the motor vehicle does not have to manually control the longitudinal and transverse guidance of the motor vehicle itself. The driver does not have to monitor the automatic control of the longitudinal and transverse guidance, enabling manual intervention when required. Before the end of the automatic control of the transverse and longitudinal guidance, a request is automatically made to the driver for taking over the driving task (control of the transverse and longitudinal guidance of the motor vehicle), in particular with a sufficient time margin. If the driver does not take over the driving task, the system automatically returns to the state with minimum risk. Limits for automated control of the transverse and longitudinal guidance are automatically identified. An automated return to the system state with the least risk can be achieved in all situations. The limits of the automation control of the longitudinal and transverse guidance are automatically detected. An automated return to the least risky system state can be achieved in any situation.

In one embodiment of the method, the monitoring includes monitoring an AVP system configured to perform an AVP procedure.

The following technical advantages are thus achieved, for example: problems of execution of AVP procedures occurring in an AVP system can be efficiently detected.

An AVP system in the sense of the present description is provided for carrying out an AVP process of a motor vehicle in a parking lot.

For example, an AVP system is an infrastructure-side AVP system, i.e., an AVP system of a motor vehicle.

For example, an AVP system is a vehicle-side AVP system, i.e., an AVP system that is included by a vehicle.

For example, not only the infrastructure, i.e. the AVP system of the parking lot, but also the AVP system of the motor vehicle are provided. Thus, for example, according to one embodiment, the vehicle-side AVP system and/or the infrastructure-side AVP system is monitored.

Embodiments relating to an AVP system on the motor vehicle side are similarly applicable to an AVP system on the infrastructure side, i.e. an AVP system on the parking lot side, and vice versa.

If the AVP system is not defined in this specification in particular in terms of the vehicle side or the infrastructure side, it is always to be taken together with "vehicle side" and "infrastructure side", i.e. parking lot side.

According to one embodiment of the method, the AVP system comprises at least one environment sensor, which is provided for detecting the environment of the motor vehicle, wherein the monitoring of the AVP system comprises monitoring the at least one environment sensor with respect to errors, in particular failures, which are problems of the execution of the AVP process based on the one AVP type.

The following technical advantages are thus achieved, for example: errors or problems that occur in the environmental sensors of the AVP system can be detected efficiently, making execution of the AVP process infeasible, difficult, or impeding.

For example, monitoring the AVP process includes receiving diagnostic data of the AVP system, wherein the diagnostic data is indicative of a current state of the AVP system, for example.

For example, "status" describes the status of the environmental sensor.

In one embodiment of the method, the AVP system comprises at least one computer configured for analyzing the processing environment data based on the detection of the environment, wherein the monitoring of the AVP system comprises monitoring the at least one computer with respect to errors, in particular failures, which are problems of the execution of the AVP procedure based on said one AVP type.

The following technical advantages are thus achieved, for example: problems or errors occurring in a computer can be detected efficiently.

For example, the above-described "state" indicates a state of a computer.

For example, the computer of the AVP system is provided for analyzing the processing environment data in order to detect collision objects, for example in the environment of a motor vehicle. For example, it is provided that the trajectory and/or the driving path (Fahrschlauch) and/or the safety area that has to be freed for the driving of the motor vehicle are detected by means of such a computer.

In one embodiment of the method, it is provided that the vehicle-side AVP system comprises at least one communication device which is provided for communication with the infrastructure, i.e. with the parking lot, in particular with the infrastructure-side AVP system, wherein monitoring the vehicle-side AVP system comprises monitoring the at least one communication device with respect to errors, in particular failures, which are problems of the execution of the AVP process based on the one AVP type.

The following technical advantages are thus achieved, for example: problems or errors occurring in the communication device can be efficiently detected.

In one embodiment of the method, the infrastructure-side AVP system comprises at least one communication device which is provided for communication with the motor vehicle, in particular with the motor vehicle-side AVP system, wherein the monitoring of the infrastructure-side AVP system comprises monitoring the at least one communication device with respect to errors, in particular failures, which are problems of the execution of the AVP process based on the one AVP type.

In the sense of the present description, a communication device comprises for example a WLAN interface and/or a mobile radio interface.

In one embodiment of the method, it is provided that, when a problem is detected with the execution of an AVP procedure based on the one AVP type, it is ascertained before a determination is made as to whether the execution of the AVP procedure can be switched from the one AVP type to the other AVP type that it is not possible to switch the execution of the AVP procedure from the one AVP type to the other AVP type until the vehicle is in a safe state, for example stationary.

The following technical advantages are thus achieved, for example: the determination of whether or not the execution of the AVP procedure can be switched from the one AVP type to the other AVP type can be efficiently performed.

This embodiment is particularly safe in terms of the potential risk of collision of the motor vehicle with objects in its environment, since the motor vehicle is guided into a safe state when a problem is detected.

According to one embodiment of the method, it is provided that the AVP procedure is terminated if a determination of whether the execution of the AVP procedure can be switched from said one AVP type to another AVP type has resulted in that the execution of the AVP procedure cannot be switched from said one AVP type to another AVP type.

The following technical advantages are thus achieved, for example: the AVP procedure can be terminated efficiently.

In one embodiment of the method, it is provided that before the start of an AVP process of the motor vehicle, a determination is made on the basis of the one AVP type as to which further AVP type or types are available for switching when a problem is detected with the execution of the AVP process on the basis of the one AVP type, wherein a determination is made on the basis of the determined AVP type or types available for switching as to whether the AVP process can be switched from the one AVP type to the other AVP type.

The following technical advantages are thus achieved, for example: the determination of whether or not the execution of the AVP procedure can be switched from the one AVP type to the other AVP type can be efficiently performed. In other words, according to this embodiment, it is already known in advance which AVP types are available for use in the context of the handover, so that this step does not have to be performed during the AVP and in the event of problems, so that time can be saved here.

In one embodiment of the method, it is provided that if a plurality of further AVP types are available for switching, a determination is made as to what sequence should be switched when a problem is detected, wherein the determination of whether the execution of an AVP procedure can be switched from one AVP type to another AVP type is performed on the basis of the determined sequence.

The following technical advantages are thus achieved, for example: the determination of whether or not the execution of the AVP procedure can be switched from the one AVP type to the other AVP type can be efficiently performed. That is, according to the embodiment, in the case where a problem occurs, the AVP type is switched based on the obtained order.

The "order" is, for example, the following order: AVP type 2, then AVP type 3, then AVP type 1.

The "order" is, for example, the following order: AVP type 1, then AVP type 3, then AVP type 2.

In one embodiment of the method, it is provided that the determination of whether the execution of the AVP procedure can be switched from one AVP to another AVP is performed as a function of whether the problem is detected on the infrastructure side or on the motor vehicle side.

That is, according to this embodiment, what AVP type should be switched to is related to whether the error or problem is located in the infrastructure or in the motor vehicle.

The incorrect positioning in the motor vehicle means, for example, that the AVP system on the motor vehicle side has errors or problems.

The presence of errors in the infrastructure, i.e. in the parking lot, for example, means that the infrastructure-side AVP system has errors or problems.

In one embodiment of the method, it is provided that the determination of whether the execution of the AVP procedure can be switched from the one AVP type to the other AVP type comprises determining whether all security conditions that have to be met in order for the AVP procedure to be executed on the basis of the other AVP type are met.

The following technical advantages are thus achieved, for example: the AVP program can be efficiently and safely executed based on the additional AVP type.

The safety conditions are, for example, predefined, that the motor vehicle and/or the infrastructure, i.e. the entity that shall implement or perform the functions specified in the table above, are also ready to perform the functions.

If, for example, switching from AVP type 1 to AVP type 2 or 3, the infrastructure must be ready to plan a route from the starting location to the target location that is included by the parking lot. If the infrastructure is not ready for this, the corresponding security conditions cannot be met, so that, for example, no handover is carried out.

If, for example, the motor vehicle can no longer position itself in the parking space, this function must be implemented by the infrastructure, so that it must be ensured that the infrastructure can do this also before switching from AVP type 1 to AVP type 2.

In one embodiment of the method, it is provided that one or more or all of the method steps are carried out on the infrastructure side and/or on the motor vehicle side.

The following technical advantages are thus achieved, for example: the individual method steps can be performed efficiently.

An environmental sensor in the sense of the present specification is, for example, an environmental sensor among the following environmental sensors: radar sensors, image sensors, in particular image sensors of video cameras, ultrasonic sensors, lidar sensors, magnetic field sensors and infrared sensors.

In the sense of the present description, the environment sensor is provided, for example, for detecting the environment of the motor vehicle and outputting environment data based on the detection.

For example, one or more environmental sensors are spatially distributed within the parking lot.

For example, a motor vehicle includes one or more environmental sensors.

In one embodiment of the method, the method is a computer-implemented method.

The technical functionality of the device is directly derived from the corresponding technical functionality of the method and vice versa.

In one embodiment of the method, the method is performed by an apparatus.

The expression "at least one" means "one or more".

A "problem" is, for example, when a motor vehicle is traveling from one area of a parking lot, in which an AVP procedure can be performed based on only one AVP type in question, to another area of the parking lot, in which an AVP procedure can be performed based on only one or more further AVP types.

Drawings

The invention is described in detail below with reference to preferred embodiments. Here, it is shown that:

fig. 1: a flow chart of a first method according to the first aspect;

fig. 2: the apparatus according to the second aspect;

fig. 3: a machine-readable storage medium according to the fourth aspect;

fig. 4: a flow chart of a second method according to the first aspect; and

fig. 5: a flow chart of a third method according to the first aspect.

The same reference numerals may be used below for the same features.

Detailed Description

Fig. 1 shows a flow chart of a first method of performing an AVP process of a motor vehicle in a parking lot, the method comprising the steps of:

monitoring 101 an AVP procedure of the motor vehicle within the parking lot, wherein the AVP procedure is performed based on an AVP type selected from the group of AVP types: AVP type 1, AVP type 2, and AVP type 3, wherein AVP type 1 is a vehicle-centric AVP procedure, AVP type 2 is an infrastructure-centric AVP procedure, and wherein AVP type 3 is a vehicle-infrastructure-partnered AVP procedure, so as to detect a problem based on the execution of the AVP procedure of said one AVP type.

Upon detecting 103 a problem based on the execution of the AVP procedure of the one AVP type, a determination 105 is made as to whether the execution of the AVP procedure can be switched from the one AVP type to the other AVP type.

Confirming 107 that the execution of the AVP procedure is to be switched from the one AVP type to another AVP type based on a determination 105 of whether the execution of the AVP procedure can be switched from the one AVP type to another AVP type in order to continue the AVP procedure.

Fig. 2 shows an apparatus 201 arranged to carry out all the steps of the method according to the first aspect.

Fig. 3 shows a machine-readable storage medium 301 on which a computer program 303 is stored. The computer program 303 comprises instructions which, when the computer program 303 is executed by a computer, cause the computer to implement the method according to the first aspect.

Fig. 4 shows a flow chart of a second method for carrying out an AVP process of a motor vehicle in a parking lot.

The method starts at block 401. According to step 403, it is ascertained on the basis of which AVP type the AVP procedure of the motor vehicle should be carried out in the parking lot. After step 403, it is checked according to step 405 whether the AVP procedure is feasible based on the AVP type confirmed in step 403, i.e., whether the AVP procedure can be performed based on the AVP type confirmed in step 403.

If not, the method continues in step 407, and a determination is made as to whether there are additional AVP types, based on which the AVP process of the motor vehicle can be performed in the parking lot, in accordance with step 407.

If so, i.e. if there are other AVP types, the method continues in step 403, confirming that the AVP procedure should be performed based on the AVP type found in step 407. If not, i.e. if there are no other AVP types, the method continues in step 409, according to which step 409 no AVP procedure is performed. The method ends.

If the AVP procedure is feasible based on the AVP type confirmed in step 403 according to step 405, the method continues in step 411 and the AVP procedure is correspondingly performed based on the AVP type confirmed in step 403 according to step 411.

The AVP procedure is monitored in step 413 in order to detect errors or problems in the execution of the AVP procedure based on the AVP type confirmed in step 403. Thus answering the question: whether the AVP procedure is still o.k. or no longer o.k.

If not, i.e., not o.k., the method continues in step 407.

If yes, i.e. o.k., the method continues in step 415, it is checked according to step 415 whether the AVP process has ended correctly, i.e. the motor vehicle has been parked, for example, at a parking location or at a delivery location.

If so, the method ends according to step 417. If not, the method continues according to step 411.

Fig. 5 shows a flow chart of a third method for carrying out an AVP process of a motor vehicle in a parking lot.

According to the flow chart according to fig. 5, the individual steps essentially correspond to the steps of the second method according to fig. 4.

In contrast, as soon as a problem or error is detected in step 413, the method does not continue directly in step 407, but rather the motor vehicle is first transferred or guided into a safe state according to step 501. Only after the secure state is reached, the method continues in step 407.

In summary, the solution described here is based in particular on: when a problem arises with the execution of an AVP procedure, a switch is made from the AVP type on which the AVP procedure is currently being executed to an additional or alternative AVP type, whenever possible. In an advantageous manner, the AVP process can thus be continued even in the event of problems or errors. This is in contrast to the known prior art, according to which the AVP process is always aborted in the event of an error.

Claims

1. A method for performing an AVP procedure of a motor vehicle within a parking lot, the method comprising the steps of:

-monitoring (101) an AVP procedure of the motor vehicle within the parking lot, wherein the AVP procedure is performed based on one AVP type selected from the group of AVP types: AVP type 1, AVP type 2, and AVP type 3, wherein AVP type 1 is an automotive-centric AVP procedure, AVP type 2 is an infrastructure-centric AVP procedure, and wherein AVP type 3 is an automotive-infrastructure-partnered AVP procedure, in order to detect a problem based on the execution of said one AVP type AVP procedure,

when a problem is detected (103) based on the execution of the AVP procedure of the one AVP type, determining (105) whether the execution of the AVP procedure can be switched from the one AVP type to the other AVP type,

confirming (107) that execution of the AVP procedure should be switched from the one AVP type to another AVP type based on a determination (105) of whether execution of the AVP procedure can be switched from the one AVP type to another AVP type in order to continue the AVP procedure.

2. The method of claim 1, wherein the monitoring comprises monitoring an AVP system configured to perform an AVP procedure.

3. The method according to claim 2, wherein the AVP system comprises at least one environment sensor arranged for detecting an environment of the motor vehicle, wherein the monitoring of the AVP system comprises monitoring the at least one environment sensor for errors, in particular failures, as problems of the execution of the AVP procedure based on the one AVP type.

4. A method according to claim 3, wherein the AVP system comprises at least one computer arranged for analyzing processing environment data based on detection of an environment, wherein monitoring of the AVP system comprises monitoring the at least one computer error in respect of an error, in particular a failure, being a problem of execution of an AVP procedure based on said one AVP type.

5. The method according to any of the preceding claims, wherein, upon detection of a problem based on the execution of an AVP procedure of the one AVP type, it is confirmed before a determination of whether the execution of the AVP procedure can be switched from the one AVP type to the other AVP type that the vehicle is guided into a safe state, for example stationary, wherein it is determined if the execution of the AVP procedure can be switched from the one AVP type to the other AVP type when the vehicle is in a safe state.

6. The method of any of the preceding claims, wherein if the determination of whether the execution of the AVP procedure can be switched from the one AVP type to another AVP type has resulted in an inability to switch the execution of the AVP procedure from the one AVP type to another AVP type, confirming that the AVP procedure is terminated.

7. The method according to any of the preceding claims, wherein prior to the start of the AVP procedure of the motor vehicle, a determination is made based on the one AVP type, which further AVP type or types are available for switching when a problem is detected with the execution of an AVP procedure based on the one AVP type, wherein the determination of whether the execution of the AVP procedure can be switched from the one AVP type to another AVP type is performed based on the determined AVP type or types available for switching.

8. The method of claim 7, wherein if a plurality of additional AVP types are available for switching, a determination is made as to in what order switching should be performed when a problem is detected, wherein the determination of whether the execution of the AVP procedure can be switched from the one AVP type to the other AVP type is performed based on the determined order.

9. The method of any of the preceding claims, wherein the deciding whether execution of the AVP procedure can be switched from the one AVP type to another AVP type comprises deciding whether all security conditions that have to be met in order for the AVP procedure to be executed based on the other AVP type are met.

10. The method according to any of the preceding claims, wherein one or more or all method steps are performed on the infrastructure side and/or on the vehicle side.

11. An apparatus (201) arranged for carrying out all the steps of the method according to any of the preceding claims.

12. A computer program (303) comprising instructions which, when the computer program (303) is executed by a computer, cause the computer to carry out the method according to any one of claims 1 to 10.

13. A machine-readable storage medium (301) on which a computer program (303) according to claim 12 is stored.