DE102014015493B4 - Method for operating a motor vehicle and motor vehicle - Google Patents

Method for operating a motor vehicle and motor vehicle

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Publication number
DE102014015493B4
DE102014015493B4 DE102014015493.9A DE102014015493A DE102014015493B4 DE 102014015493 B4 DE102014015493 B4 DE 102014015493B4 DE 102014015493 A DE102014015493 A DE 102014015493A DE 102014015493 B4 DE102014015493 B4 DE 102014015493B4
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Germany
Prior art keywords
motor vehicle
data
operating
device
remote control
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DE102014015493.9A
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German (de)
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DE102014015493A1 (en
Inventor
Tobias Dirndorfer
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Audi AG
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Audi AG
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Publication date
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Priority to DE102014015493.9A priority Critical patent/DE102014015493B4/en
Publication of DE102014015493A1 publication Critical patent/DE102014015493A1/en
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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/0011Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
    • G05D1/0038Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W50/00Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08Interaction between the driver and the control system
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2201/00Application
    • G05D2201/02Control of position of land vehicles
    • G05D2201/0213Road vehicle, e.g. car or truck

Abstract

Method for operating a motor vehicle with at least one sensor device and an assisting device, wherein in a first operating mode of the assisting device, surrounding data describing the environment of the motor vehicle is detected by the sensor device, after which the assisting device automates the motor vehicle in dependence of the surrounding data by controlling at least one actuator of the motor vehicle an intervention of a driver leads, wherein the assistive device switches upon fulfillment of an environmental data evaluating switching condition in a second mode of operation, wherein in the second mode of operation at least part of the environmental data is wirelessly transmitted to a fixed remote control device and visualized there for an external vehicle operator, according to from operating inputs of the operator to the remote control device driving engagement data describing driving interventions in the driving operation of the motor vehicle, ermit and the car is transmitted wirelessly to the motor vehicle, after which the motor vehicle leads the motor vehicle by driving the actuator according to the driving engagement data, characterized in that objects are determined by the assistance system from the environmental data in the context of determining an environment model describing the environment of the motor vehicle, after which Fulfillment of the switching condition is determined as a function of an accuracy of data of each of the objects and / or a collision probability for a possible collision of the motor vehicle with the objects.

Description

  • The invention relates to a method for operating a motor vehicle with at least one sensor device and an assistant device, wherein in a first operating mode of the assistive device by the sensor device, the surroundings of the motor vehicle descriptive environment data are detected, after which the assistance device the motor vehicle depending on the environment data by controlling at least one actuator of the motor vehicle automatically leads without intervention of a driver, wherein the assisting device switches upon fulfillment of the environment data switching condition in a second operating mode, wherein in the second mode at least a part of the environment data wirelessly transmitted to a fixed remote control device and visualized there for an external vehicle operator in which, depending on operator inputs to the remote control device, driving engagement data, the driving interventions in the driving operation of the force Ahrzeugs describe, determined and transmitted wirelessly to the motor vehicle, after which the Assistancezeinrichtung the motor vehicle by driving the actuator according to the driving engagement data leads. In addition, the invention relates to an associated motor vehicle.
  • In motor vehicles, a very powerful sensor system for detecting the environment of the motor vehicle is often used, which makes it possible to support a driver during driving tasks by electronic assistance systems or to completely take over the driving tasks by assistance systems. In a partially automated, highly automated or fully automated guidance of a motor vehicle, a driver assistance system completely assumes the lateral and longitudinal guidance of a motor vehicle, at least for a certain period of time or in specific situations. The designation of the different degrees of automation is based on the definitions of the Automation project group of the Federal Office for Roads, as of 06.09.2010. According to this definition, in a partial automation a permanent monitoring of the driving of a motor vehicle by the driver is required, with a highly automated and fully automated guidance this is not the case. A highly automated and fully automated guidance of a motor vehicle differ in that, in the case of fully automated guidance, a risk-minimized system state can always be brought about by the driver assistance system itself.
  • If system limits of the automation are achieved, for example because the motor vehicle is in a highly complex traffic situation, it is necessary for a partially automated guidance that the driver can undertake the vehicle guidance. Even in the case of high automation or full automation, driver acceptance in such situations is typically required at least within a predetermined time interval, at least when it is intended to avoid driving to a minimum state of system risk, ie in particular braking the motor vehicle to a standstill.
  • The disadvantage here is that a driver must lead a previously automated guided vehicle immediately or within a typically relatively short time interval again. In particular, in a highly automated or fully automated management, it is possible that the driver was busy with another job and does not necessarily take over the task quickly enough again. In particular, the need to take over the driving task itself in certain situations can be perceived as annoying by the driver and reduce the comfort in the motor vehicle.
  • The post-published publication WO 2015/134152 A1 discloses a method that allows an autonomously traveling motor vehicle to request assistance in controlling the motor vehicle in predetermined situations. The also subsequently published document DE 10 2014 217 453 A1 discloses to detect a state of an operator of a vehicle and perform at least one autonomous operation upon detection of an impaired state.
  • A method for controlling a vehicle with different control modes is from the document US Pat. No. 6,813,557 B2 known. In a first mode, the vehicle is guided along a planned path, in a second mode, manual guidance is performed, and in the third movement mode, obstacles are detected that obstruct a planned path, and these obstacles are avoided. Switching between these modes is done by an operator.
  • An autonomous lawnmower that can send images of objects that can not be classified to a spaced device is known from the document EP 2 689 650 B1 known. A user can annotate these images and send them back to the lawnmower, after which the annotation is taken into account in the classification of the object.
  • A if necessary activatable remote control system for motor vehicles is from the document DE 10 2013 201 168 A1 known. The publication EP 1 279 081 B1 teaches a method for controlling a mobile robot. Here, a user can specify waypoints or the control of the robot can be done directly.
  • From the publication US 8,849,494 B1 It is known that an autonomously operated vehicle in situations in which a first trajectory is blocked, communicates with an assistant, whereby a second trajectory is provided by this, which is not blocked by this object.
  • The invention is therefore an object of the invention to provide a contrast improved method for operating a motor vehicle during an automated drive of the motor vehicle, in which a takeover of the driving tasks by the driver in the vehicle is required less often.
  • The object is achieved by a method of the type mentioned above, being determined by the assistance system from the environment data in the context of determining an environment of the motor vehicle descriptive environment model objects, after which the fulfillment of the switching condition in dependence of accuracy of data of the individual objects and / or a collision probability for a possible collision of the motor vehicle with the objects is determined.
  • According to the invention, it is proposed to use an assistance device which automatically guides the motor vehicle in a first operating mode and which, in a second operating mode, enables remote control or teleoperation of the motor vehicle by a vehicle-external operator at a stationary remote control device. The automated guidance of the motor vehicle in the first operating mode can take place in the context of a partially automated driving operation, in which a permanent monitoring of the driving operation by the driver is required. However, the method according to the invention can be used particularly advantageously if the automated guidance takes place within the framework of a fully or highly automated driving operation, in which a permanent monitoring of the driving operation by the driver is not required. The inventive method is based on a normal operation in the first operating mode, that is, the motor vehicle is guided automatically. Upon fulfillment of a switching condition that evaluates the environment data, that is, whose fulfillment is determined as a function of the environment data, there is an automatic change to the second operating mode, that is, the motor vehicle is no longer automatically guided, but by a remote control. In particular, the switchover condition may correspond to a switchover condition in which a readmission by a driver, which takes place immediately or takes place within a time interval, would be required in a conventional automated motor vehicle. In particular, the change to the second mode of operation, in which the motor vehicle is remotely controlled, replaces a readmission of the driving tasks by the driver in at least part of the readmission cases provided for in automated guided vehicles.
  • The leadership of the motor vehicle in the first mode of operation as usual in a partial, high or full automation. In addition to environmental data, ego data describing operating parameters of the motor vehicle can be taken into account in the context of the guidance of the motor vehicle. During the automated guidance of the motor vehicle, the steps of recording the surroundings data and the resulting activation of the at least one actuator are advantageously repeatedly carried out in order to automatically lead the motor vehicle over a certain period of time. Correspondingly, in the second operating mode at the remote control device, operating inputs are repeatedly recorded in order to determine driving engagement data. These are repeatedly transmitted to the motor vehicle and actuated the actuator accordingly.
  • The transmission of the environment data or of the part of the environment data to the remote control device or the driving intervention data to the motor vehicle can take place in particular via a motor vehicle-side or remote control device-side communication device. The communication can take place via a vehicle-to-infrastructure communication, for example via an IEEE802.11P protocol, via a mobile radio connection or the like.
  • As environment data or part of the environment data, an image or a video image of a camera or an image or video image generated from the image data of the camera, which may also be an abstracted representation, be transmitted, with the image or Video image is shown in particular a view of the environment of the motor vehicle from a usual driving position for a driver.
  • The assistant device can also automatically change from the second to the first operating mode when the switching condition is not met or when a switch-back condition is met. The switch-back condition may be selected such that the assistant device hysteretically alternates between the first and second modes of operation, that is, that in certain driving situations a current mode of operation is basically maintained, thereby preventing very rapid switching between the modes of operation in borderline situations. Alternatively or additionally, it is possible that a change to the first operating mode takes place when it is initiated by the vehicle-external operator by an operator input on the remote control device, which can be transmitted as part of the driving intervention data.
  • As explained above, switching to the second operating mode can take place when a system limit for an automated guidance of the motor vehicle has been reached. Such system limits may be predetermined by the motor vehicle itself, for example when the motor vehicle is moved close to or in the physical boundary area specified by the parameters of the motor vehicle and the environment, in particular by stiction between the tires of the motor vehicle and the road. However, system limits for automated guidance can also be achieved if limits of data acquisition or data processing are achieved. Thus, a change to the second operating mode can take place if the environmental data do not allow adequate detection and analysis of the motor vehicle environment for passing through an existing driving situation. This may in particular be the case if there is no sufficient quality of the sensor data, for example, if the detection of sensor data is impaired by the effects of weather or if the surrounding situation to be detected is very complex.
  • It is therefore advantageous if an environment model describing the environment of the motor vehicle and a quality information describing the quality of the environment model is determined by the assistance system from the environment data, according to which the fulfillment of the switchover condition is determined as a function of the quality information. The quality information may depend on or describe the probability with which objects are correctly recognized, for example in the form of a significance of the object identification, and the accuracy of determined data for individual objects, for example an accuracy of determined locations or speeds. Additionally or alternatively, the quality information can describe the completeness of the environment model, in particular to what extent a classification of surrounding areas is possible. In this case, the quality information can represent a single value which is calculated from individual detection probabilities or accuracies for the data obtained and / or the degree of completeness. However, it is also possible to evaluate individual errors and probabilities separately. Individual probabilities of object recognition and accuracies for determined data can also be weighted differently in the evaluation of the switching condition. Thus, accuracies of determined data or recognition probabilities can be weighted particularly heavily for objects which describe objects in a forecast area traveled by the motor vehicle in the future.
  • Another essential system limit of systems for the automated guidance of motor vehicles is an occurrence of "critical" driving situations in which driving takes place in a physical border area, that is to say at a limit imposed by the vehicle, or in which a sufficiently fast and / or accurate Evaluation of the environment data for a reliable guidance of the motor vehicle is not possible.
  • It is therefore advantageous if a danger information of a current driving situation descriptive danger information is determined by the assistance system from the environment data, the fulfillment of the switching condition is determined depending on the hazard information. Hazard information may describe how closely the motor vehicle is operated at the system limits of the motor vehicle itself or the system limits of the automated control system. In addition, the hazard information can take into account collision probabilities for a possible collision with environment objects which are determined from the environment data and / or provided by further vehicle systems. A driving situation can be analyzed and a hazard potential can be determined by first determining an environmental model from the environmental data. In this case, it is possible, in particular, for the fulfillment of the switchover condition to be determined both as a function of the above-explained quality information and as a function of the hazard information. The consideration of sensor or evaluation limits can take place by taking into account the quality information, the consideration of the other, the motor vehicle or the automatic guidance itself system boundaries concerned by the danger information.
  • As hazard information, a single numerical value describing how close a motor vehicle is moved to a corresponding system boundary can be calculated. In this case, the switching condition may be satisfied if the danger information is greater than a predetermined limit value. The limit value can be specified in particular as a function of the quality information.
  • As a remote control device, a remote control device may be used which comprises a plurality of operating units, each associated with an external vehicle operator, wherein when a change of the operating mode of the assistance system in the second operating mode, a request signal is transmitted from the motor vehicle to the remote control device, after which by a central device of the remote control device one of the operating units is selected, whereafter the driving engagement data are determined in dependence on the operating inputs of the assigned operator on the selected operating unit. The central device can the selected operating unit in such a way determine that always a control unit is selected, which currently provides no driving engagement data for another motor vehicle. If a remote control device with a plurality of operating units is used, driving intervention data for a plurality of different motor vehicles can be provided by the remote control device. Since only a small part of a plurality of motor vehicles is expected to be operated in the second operating mode at any given time, a corresponding remote control device can serve as a potential remote control device for more motor vehicles, being provided as operating units.
  • The remote control device can be designed as a central infrastructure device which comprises one or more rooms in which or in which the operating units are arranged.
  • As operating units operating units can be used which comprise at least one accelerator pedal, a brake pedal and a steering handle, wherein the driving engagement data in dependence on operating inputs of the associated operator to the accelerator pedal, the brake pedal and the steering handle are determined. The steering handle may be a steering wheel, but also a joystick or the like. The operating unit may in particular be arranged cockpit-like, wherein the environment of the operator can correspond at least with respect to the essential elements substantially the cockpit of a motor vehicle. An actuation of the accelerator pedal can lead to the actuation of an actuator for the acceleration of the motor vehicle, an actuation of the brake pedal for controlling an actuator for braking the motor vehicle and an actuation of the steering handle for controlling an actuator for steering the motor vehicle.
  • Operating units which comprise at least one display device can be used as the operating units, wherein the transmitted part of the surrounding data and / or at least one graphic display determined from the transmitted part of the surrounding data are displayed on the display device of the selected operating unit. The display device may have the shape of a windshield and be part of a cockpit-like operating unit. Advantageously, image or video data are displayed on the display device, which show the environment of the motor vehicle from a driver's perspective. Advantageously, a plurality of display devices may be provided, with further display devices, for example, images or video representations that correspond to an image on a mirror of the motor vehicle. Additionally or alternatively, in addition to images or video images abstracted or derived data can be displayed, for example, a projected representation of the environment model or the like.
  • As operating units, operating units can be used which comprise at least one display element, wherein at least one state variable of the motor vehicle is detected by the assistance device and transmitted via the communication device to the remote control device, whereupon by the display element of the selected operating unit the state variable for the assigned operator is displayed. The state variable or one of the state variables may be a speed of the motor vehicle. This can be displayed in particular on a tachometer or as a graphical representation of a tachometer or as a numerical representation. In addition, additional state variables such as a rotational speed, for example in the form of vehicle-typical pointer instruments, a graphical representation of these or numerically represented.
  • In addition to the method according to the invention, the invention relates to a motor vehicle which comprises an assistance device designed to participate in the method according to the invention. Features explained according to the method according to the invention can be equivalently transferred to the motor vehicle according to the invention with the advantages described there.
  • In addition, the invention relates to a remote control device for remote control of several motor vehicles by transmitting driving intervention data to the respective motor vehicle to describe the vehicle to be implemented driving interventions, the remote control device comprises a central device and a plurality of control units, the control units each an external vehicle operator can be assigned, the central device is configured to select one of the control units upon receipt of a request signal from one of the motor vehicles, after which the driving engagement data to be transmitted to the motor vehicle are determined as a function of the operating inputs of the assigned operator at the selected operating unit. For the method according to the invention explained features can be transferred to the remote control device according to the invention with the advantages described therein.
  • Further advantages and details of the invention will become apparent from the following embodiment and the accompanying drawings. The figure shows a performance of an embodiment of the method according to the invention.
  • The car 1 is first automated by the wizard 2 guided. For this purpose, by several sensor devices 3 . 4 . 5 recorded the environment of the motor vehicle descriptive environment data and a Vehicle bus of the motor vehicle 1 , For example, a CAN bus, provided to the Assistenzeinrichtung. The sensor device 3 is designed as a front camera that provides a video image that essentially reflects the field of view of the driver. As a sensor device 4 a rear camera is provided which detects the rear space of the motor vehicle. The sensor device 5 is a laser scanner that enables the detection of distances to objects ahead. In addition, the motor vehicle includes 1 other not shown sensor devices, for example, to image the lateral environment of the motor vehicle. The through the sensor devices 3 . 4 . 5 provided environment data will be sent to the assistant institution 2 provided that evaluates this and automates the motor vehicle in a first operating mode without intervention of the driver in response to this environment data and in dependence on not shown sensors recorded ego data of the motor vehicle, the operating parameters of the motor vehicle, in particular the speed describe.
  • For automated guidance of the motor vehicle controls the Assistance device 2 the actors 6 . 7 and 8th on, a steering, not shown, a brake, not shown, and the engine 9 assigned. For the sake of clarity, only the actuators 6 . 7 . 8th shown, with obviously other facilities of the motor vehicle 1 through the assistance facility 2 for automated guidance of the motor vehicle 1 can be controlled.
  • During the automated guidance of the motor vehicle, the assistance device repeatedly checks whether a switching condition evaluating the surroundings data is fulfilled. On the one hand, the switchover condition takes into account the quality of an environment model which is determined from the environment data for the automated guidance of the motor vehicle. In this case, a significance of an object recognition as well as an accuracy of object properties, in particular of determined speeds or locations of objects, are taken into account. The quality of the environment model also depends on its completeness. In addition, the switching condition evaluates the extent to which the motor vehicle 1 at a system boundary of the motor vehicle 1 itself and at system limits of the automated control system. System limits of the motor vehicle 1 in particular, there is friction between the tires of the motor vehicle 1 and the road and acceleration and braking capabilities of the motor vehicle 1 , A system limit of the automated control of the motor vehicle 1 is in particular the reaction time of the automated control. It is determined that within the system limits described no automated guidance of the motor vehicle 1 is more possible, it would be necessary in motor vehicles according to the prior art to return the driving task immediately or within a predetermined time interval to a driver or to transfer the motor vehicle in a safe state, that is to brake in particular to a standstill.
  • In the motor vehicle 1 on the other hand, a necessary readmission by the driver or a braking to a standstill should be prevented as far as possible in order to increase the comfort of the driver. Therefore, the assistant device 2 a second operating mode, is changed in the fulfillment of the switching condition, after which the motor vehicle 1 by a fixed remote control device 10 is remotely controlled. As explained in more detail below, by the remote control device 10 Driving engagement data determined in the operating inputs of an external vehicle operator, the driving engagement data to the motor vehicle 1 transmitted and by the Assistance Center 2 the actors 6 . 7 . 8th be controlled according to the driving engagement data.
  • When changing the operating mode of the assistance device 2 in the second operating mode, the assistive device controls 2 a communication device 11 of the motor vehicle to via a vehicle antenna 12 a request signal to a communication device 13 the remote control device 10 transferred to. The remote control device 10 is informed that the leadership of the motor vehicle 1 should be done in response to operator inputs of an external vehicle operator. To a remote control of several motor vehicles 1 through the remote control device 10 to enable, includes the remote control device 10 several control units 14 . 15 . 16 to which an operator is assigned. The operating units 14 . 15 . 16 allow visualization of environmental data of the motor vehicle 1 for the respective operator and capture the operator inputs of the respective associated operator. Upon receipt of a request signal from motor vehicle 1 through the communication device 13 is through a central facility 17 the remote control device 10 one of the control units 14 . 15 . 16 , for example, the control unit 14 , as the control unit 14 selected over which the motor vehicle 1 is remotely controlled. The guidance of the motor vehicle then takes place as a function of operating inputs of the selected operating unit 14 assigned operator.
  • The operating units 14 . 15 . 16 are essentially identical in construction and corresponding in structure about a cockpit of the motor vehicle 1 , On a display device 18 , which may be substantially in the form of a windshield of a motor vehicle, become parts of the assistance means 2 recorded environment data. For this purpose, the assistant institution transmits 2 via the communication facilities 11 and 13 this environment data to the remote control device 10 After which they are displayed on the display 18 being represented. The display device 18 provides image data of the sensor device 3 represent substantially a perceived by the driver in a usual driving position environmental detail.
  • For detecting operator inputs of the operator include the control units 14 . 15 . 16 a steering handle 19 , a brake pedal 20 as well as an accelerator pedal 21 , In response to an actuation of these controls, the driving engagement data are determined via the communication devices 11 . 13 to the Assistance Center 2 be provided, according to which these depending on the driving engagement data, the actuators 6 . 7 . 8th controls. Will the accelerator pedal 21 at the selected control unit 14 pressed, then the engine 9 assigned actuator 8th driven to accelerate the motor vehicle 1 to effect. Will the brake pedal 20 at the selected control unit 14 pressed, then the actuator 7 triggered to brake the motor vehicle 1 to effect. Upon actuation of the steering handle 19 at the selected control unit 14 , which may be in particular a steering wheel, is the actuator 6 through the assistance facility 2 triggered to steer the motor vehicle.
  • By the assistance facility 2 is used as a state variable of the motor vehicle 1 the speed of the motor vehicle 1 detected by a sensor, not shown, and via the communication devices 11 . 13 to the remote control device 10 transmitted, after which the speed on the display element 22 , a speedometer, for the selected operating device 14 associated operator is displayed.
  • The operating units 14 . 15 . 16 For example, further operating elements, display devices and / or display elements may include additional state variables of the motor vehicle 1 or further graphical representations, for example, views through a rearview mirror of the motor vehicle 1 would be displayed, represent and capture further operator inputs.
  • The remote control device 10 can also via the communication device 13 or communicate further communication devices with other motor vehicles, not shown, with which the operating units 15 . 16 can be used for remote control of other vehicles. Due to the dynamic assignment of the operating units 14 . 15 . 16 to motor vehicles, their assisting device 2 in each case in the second operating mode changes, by the central device 17 It is possible to provide a second operating mode according to the invention for a plurality of motor vehicles with a relatively small number of operating units and thus of assigned operators, since it is to be expected that only the assistance devices 2 a small proportion of these vehicles are each operated in the second operating mode.

Claims (6)

  1. Method for operating a motor vehicle with at least one sensor device and an assisting device, wherein in a first operating mode of the assisting device, surrounding data describing the environment of the motor vehicle is detected by the sensor device, after which the assisting device automates the motor vehicle in dependence of the surrounding data by controlling at least one actuator of the motor vehicle an intervention of a driver leads, wherein the assistive device switches upon fulfillment of an environmental data evaluating switching condition in a second mode of operation, wherein in the second mode of operation at least part of the environmental data is wirelessly transmitted to a fixed remote control device and visualized there for an external vehicle operator, according to from operating inputs of the operator to the remote control device driving engagement data describing driving interventions in the driving operation of the motor vehicle, ermit and the car is transmitted wirelessly to the motor vehicle, after which the motor vehicle leads the motor vehicle by driving the actuator according to the driving engagement data, characterized in that objects are determined by the assistance system from the environmental data in the context of determining an environment model describing the environment of the motor vehicle, after which Fulfillment of the switching condition is determined as a function of an accuracy of data of each of the objects and / or a collision probability for a possible collision of the motor vehicle with the objects.
  2. Method according to Claim 1 , characterized in that as the remote control device, a remote control device is used, which comprises a plurality of control units, each associated with an external vehicle operator, wherein when a change of the operating mode of the assistance system in the second operating mode, a request signal is transmitted from the motor vehicle to the remote control device, after which one of the operating units is selected by a central device of the remote control device, according to which the driving engagement data are determined as a function of the operating inputs of the assigned operator at the selected operating unit.
  3. Method according to Claim 2 , characterized in that as the operating units operating units are used, the at least one accelerator pedal, a brake pedal and a steering handle comprise, wherein the driving engagement data in dependence on operating inputs of the associated operator to the accelerator pedal, the brake pedal and the steering handle are determined.
  4. Method according to Claim 2 or 3 , characterized in that as the operating units operating units are used which comprise at least one display device, wherein the transmitted part of the environment data and / or at least one of the transmitted part of the environment data determined graphical representation are displayed on the display device of the selected operating unit.
  5. Method according to one of Claims 2 to 4 characterized in that the operating units used are control units which comprise at least one display element, wherein at least one state variable of the motor vehicle is detected by the assistance device and transmitted via the communication device to the remote control device, whereupon by the display element of the selected operating unit the state variable for the associated Operator is represented.
  6. Motor vehicle, characterized in that it comprises an assistance device designed to participate in the method according to one of the preceding claims.
DE102014015493.9A 2014-10-06 2014-10-06 Method for operating a motor vehicle and motor vehicle Active DE102014015493B4 (en)

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DE102016213300A1 (en) * 2016-07-20 2018-01-25 Bayerische Motoren Werke Aktiengesellschaft Methods and apparatus for driving an autonomous vehicle in critical situations
DE102016225606A1 (en) 2016-12-20 2018-06-21 Audi Ag Method for operating a driver assistance device of a motor vehicle

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