DE102017211523B4 - Method for operating a motor vehicle by a Lotsenkraftfahrzeug on a track section - Google Patents

Abstract

A method for operating a motor vehicle (12) by a Lotsenkraftfahrzeug (14) on a track section (10), the method comprising the following, by a control and navigation device (16) of the motor vehicle to be swept (12) performed steps: - Detecting the track section (10) a travel route (R) on which the piloted driving mode of the motor vehicle (12) to be piloted is limited or not possible, and on which the motor vehicle (12) is to be guided (S1), - based on the determined route section (10 ) Predicting a beginning of the pilot guidance (S2), - Generating an order signal (S3) describing an identification code of the motor vehicle to be piloted (12) on the basis of the predicted start of the pilot control, and a) a time of the predicted start, and / or b) Geographical coordinates of a transfer point, - When determining an identity of another motor vehicle as Lotsenkraftfahrzeug (14, S10): coupling d he control and navigation device (16) of the motor vehicle to be loops (12) with a control device (30) of the Lotsenkraftfahrzeugs (14, S11), - receiving at least one Lotsensignal from the control device (30) of the Lotsenkraftfahrzeugs (14), the at least one S15), the at least one control parameter described by the pilot signal describing an extension of a lighting element (20) of the light-emitting device (S22) sunk or fixed in a body of the motor vehicle (12) to be plowed; - Transmission of the received Lotsensignals to the motor vehicle system (18, S16), and- extending in a body of the vehicle to be swept (12) sunk or fixed luminous element (20) of the lighting device (S22).

Description

The invention relates to a method for operating a motor vehicle, preferably a piloted motor vehicle, by a Lotsenkraftfahrzeug on a section on which a piloted driving mode of the motor vehicle is limited or not possible. As a Lotsenkraftfahrzeug is understood to mean a motor vehicle, which steers the first motor vehicle, that is, the way the vehicle to be piloted the way points and / or controls.

Modern motor vehicles often have a driver assistance system with which the motor vehicle can be operated, inter alia, in a piloted or fully autonomous driving mode. Piloted motor vehicles are already developed and tested in road traffic. However, there are likely to always be limitations, that is, sections of the track where there will be restrictions on piloted driving permission, for example, in city centers, on bad roads or on roads without markings.

A piloted moving motor vehicle has the advantage that it can theoretically manage without a steering wheel and steering column. This has the advantages that there is more space in the interior and design freedom, so a higher variability in the interior, and that a view to the outside or on an interface is no longer limited by the steering wheel, and a weight saving.

It may take a very long time for a piloted car to drive anywhere, in any city, in any country, and in any weather. Piloted vehicles have the advantage that they need not have a steering wheel or steering column, which saves installation space and weight. You can bring any person, including people without a license, from a starting point A to a destination B. For performing a piloted driving mode, however, there are currently still restrictions.

The DE 10 2014 007 245 A1 describes a method for longitudinal and lateral control of a vehicle, wherein a relative position of the vehicle is determined to a vehicle in front of the reference vehicle and depending on the determined position setting commands for intervention in the longitudinal and the control of the vehicle are generated.

From the DE 10 2013 006 687 A1 For example, there is known a method of operating a vehicle during a convoy cruise in which a non-lane-bound convoy consists of a leading vehicle and at least one non-tactically coupled following vehicle is provided to the leader vehicle.

The DE 10 2015 211 117 A1 describes a convoy travel control system for a convoy with a leader vehicle and at least one follower vehicle automatically following the leader vehicle. The motor vehicles communicate via vehicle-to-vehicle communication, wherein a vehicle parameter can be transmitted to other vehicles on a vehicle.

The DE 10 2010 013 647 A1 describes a method for controlling multiple vehicles to operate the plurality of vehicles in a convoy, comprising within a leader selected from the plurality of vehicles: monitoring a respective actual position of each of the plurality of vehicles that is not the leader vehicle-vehicle communication based on data from a respective global positioning device in each of the plurality of vehicles other than the leader vehicle, determining distances to operate the plurality of vehicles in the column, based on the respective actual positions of each of the plurality of vehicles and selecting a respective commanded vehicle position having a respective global positioning coordinate for each of the plurality of vehicles based on the determined distances.

Many piloted motor vehicles have a steering wheel with corresponding advantages and disadvantages. Piloted motor vehicles that do not have a steering wheel, however, can not always drive everywhere, for example, not in such sections, in which operating the motor vehicle in a piloted driving mode is not allowed.

For motor vehicles with steering wheel there is the problem that there is less space in the interior, a lower variability in design issues, including less design options, a complexity of a folding and unfolding mechanism, as well as the weight of the steering column and steering wheel, a limited insight on an interface Situations in which the steering wheel may be in the way, for example in an accident, and the trip must be canceled if a condition of a driver change while driving so that he / she, for example, is no longer able to the motor vehicle control, or do not want to drive yourself anymore. In motor vehicles without steering wheel results, as already mentioned above, the problem that these vehicles can not always go over all. In addition, it may not be clear in the vehicle columns described in the prior art that the lead vehicle and the normally piloted motor vehicle belong together. In addition, an entry and exit from a motor vehicle without steering wheel and steering column better, and the user can bring a motor vehicle seat better in a lying position.

An object underlying the invention is to improve an external control of a piloted motor vehicle.

The object is achieved by the inventive method and the inventive devices according to the independent claims. Advantageous developments are given by the dependent claims.

The invention is based on the idea of making it possible in piloted motor vehicles, preferably in piloted motor vehicles without steering wheel, to use a pilot by controlling the motor vehicle to be piloted from or from a pilot motor vehicle driving in front of or behind the piloted motor vehicle takes over. The Lotsenkraftfahrzeug can be controlled for example by a person, or even be a piloted-driving motor vehicle. For implementation, in a method for operating the motor vehicle by the Lotsenkraftfahrzeug determined whether a section on which operation of the motor vehicle is limited or not possible, and for this section will be a Lotsenkraftfahrzeug ordered. When ordering, an identification code is transmitted, with the help of which the LOT motor vehicle can recognize the vehicle to be seized. In a method for piloting a motor vehicle on the route section by a Lotsenkraftfahrzeug the Lotsenkraftfahrzeug can identify the vehicle to be piloted depending on an identification signal and then the two vehicles can be coupled together, and from the Lotsenkraftfahrzeug to the vehicle to be piloted control parameters can then control the vehicle to be donated.

The invention relates to a method for operating a motor vehicle by a Lotsenkraftfahrzeug on a stretch on which a piloted driving mode of the motor vehicle is limited or not possible or a driver can not drive or wants, for example because he is too tired; or a weather can be so bad that, for example, cameras and / or other sensors may not be able to perceive sufficiently well, for example, because they or lane markings may be snowed. In other words, a piloted driving mode is not feasible on the stretch of road.

Such a route section can not be released, for example, by a legal requirement for piloted driving, or a driver of the motor vehicle, so the vehicle to be piloted, would like or can not drive on the section.

The method is characterized by the following steps carried out by a control and navigation device of the motor vehicle to be piloted, wherein under a control and navigation device a component or a device or a device component for receiving and evaluating signals, as well as for generating control signals, set up is, and can be configured for example as a control unit or control board.

There is a determination of the stretch of a route on which the vehicle is to be piloted. The travel route can be provided for example by the control and navigation device. The route section can, for example, be digitally marked or identified as such a route section, or the driver of the motor vehicle to be dispensed can enter, for example, a corresponding request, for example by input via an infotainment system or a driver assistance system.

On the basis of the determined route section, a prediction of a start of the pilot guidance takes place, for which purpose, for example, a geographical location and / or a time at which or to which the pilot motor vehicle is to take the lead can be determined. On the basis of the predicted beginning of the pilot guidance, an order signal is generated which describes an identification code of the motor vehicle to be piled, and a) a time of the predicted start and / or b) geographic coordinates of a transfer location at which a control of the motor vehicle to be piled on a Lotsenkraftfahrzeuges to be transferred.

The generated order signal can be transmitted, for example, to a server-external server device, for example to a data server of a motor vehicle manufacturer or a pilot service. Alternatively or additionally, the generated order signal can be transmitted, for example, directly to the Lotsenkraftfahrzeug. For example, several Lotsenkraftfahrzeuge can collect and wait at certain sites, comparatively as in taxis.

When determining an identity of another motor vehicle as ordered Lotsenkraftfahrzeug coupling the control and navigation device of the vehicle to be piloted with a control device of the Lotsenkraftfahrzeugs, for example, by a motor vehicle-to-motor vehicle communication or a cellular connection. The control and navigation of the lotsensend Motor vehicle performs receiving at least one Lotsensignal from the controller of the pilot vehicle, wherein the Lotsensignal at least one control parameter to be set of a motor vehicle system, and transmitting the received Lotsensignals to the motor vehicle system. The at least one control parameter described by the pilot signal describes an extension of a lighting element of the lighting device which is recessed or fixed in a body of the motor vehicle to be popped. Optionally, the pilot signal may also describe, for example, the braking process and / or a steering process and / or an acceleration process and / or a light signal, and to the corresponding motor vehicle system, for example to a longitudinal and / or lateral control of the motor vehicle, for example brakes, or for example to a turn signal or fog light.

For coupling the control and navigation device, for example, the vehicle to be seized by means of the corresponding control and navigation device and / or the Lotsenkraftfahrzeug using the control device generate a driving transfer signal for passing the control of the vehicle to be piloted to the Lotsenkraftfahrzeug and transmitted to the respective other motor vehicle.

This is followed by an extension of the light element of the light-emitting device which is recessed or fixed in a body of the motor vehicle to be flung.

It results in the above advantages. Piloted motor vehicles, which do not have a steering wheel, can also be run on the mentioned sections and operated therewith. At the same time, such a motor vehicle offers all the advantages of a piloted motor vehicle without a steering wheel. The above-mentioned disadvantages of the prior art are reduced. Furthermore, for example, a piloted motor vehicle with a steering wheel can be piloted, for example, if the user is not in shape or has no desire to drive.

According to a further embodiment of the method according to the invention, the control and navigation device can receive a reference point signal, for example from the control device of the pilot vehicle, and, depending on the received reference point signal, adapting a position of the motor vehicle to be popped by adjusting a longitudinal and / or transverse control of the vehicle to be piloted. As a result, for example, an offset on the roadway between the two motor vehicles can be reduced, whereby the motor vehicle to be patrolled can be kept better in the track, so it can be better controlled.

The control and navigation device can preferably receive an ambient signal from a sensor device of the motor vehicle to be piloted, wherein the ambient signal can describe an external environment and / or an interior of the motor vehicle to be piloted. It is then possible to transmit the received ambient signal to the control device of the pilot-vehicle. In this way, for example, a driver of the Lotsenkraftfahrzeugs have access to those data that can be detected by the vehicle to be seized, for example, a view through a rearview mirror, so an environment behind the vehicle to be piloted, or, for example, a camera recording an interior of the lots to be donated Motor vehicle, for example, the faces of the occupants for better communication. This increases driving safety.

The recognition of the Lotsenkraftfahrzeugs and / or the motor vehicle to be piloted can be realized by way of example, in which the control and navigation device can receive an identity signal, wherein the vehicle-external identity signal can describe an identity code of a Lotsenkraftfahrzeugs. The determination of the identity of the further motor vehicle as a pilot motor vehicle can then take place as a function of the received identity signal. In this case, the identity signal can be, for example, an identification signal which is external to the vehicle and can be received, for example, via a motor vehicle-to-motor vehicle connection between the pilot vehicle and the motor vehicle to be dispensed. Alternatively, the identification signal can be received, for example, from the sensor device of the motor vehicle to be popped and, for example, describe an identification code printed on the Lotsenkraftfahrzeug or an identification code issued by a screen. In other words, for example, the Lotsenkraftfahrzeug can register in the vehicle to be piloted and the vehicle to be seized so recognizes the ordered Lotsenkraftfahrzeug.

The above object is also achieved by a control and navigation device which is adapted to perform an embodiment of the method described above. The control and navigation device can be configured, for example, as a control board or control unit. The control and navigation device may preferably have a processor device, that is to say a component or a device component for electronic data processing, wherein the processor device is at least one, for example a microcontroller and / or at least one microprocessor may have. The processor device may be configured to execute a program code stored in a data memory, wherein the program code is configured to execute the method steps relating to the control and navigation device when executed by the processor device. It results in the above advantages.

• - Empfangen eines Identitätssignals aus einer Erfassungseinrichtung des Lotsenkraftfahrzeugs, wobei das Identitätssignal einen durch die Erfassungseinrichtung erfassten Identitätskode eines weiteren Kraftfahrzeugs beschreibt,
• - Feststellen einer Identität des weiteren Kraftfahrzeugs als zu lotsendes Kraftfahrzeug in Abhängigkeit von dem empfangenen Identitätssignal,
• - Koppeln der Steuereinrichtung des Lotsenkraftfahrzeugs mit einer Steuer-und Navigationseinrichtung des zu lotsenden Kraftfahrzeugs,
• - Erzeugen eines Lotsensignals, das mindestens einen Steuerparameter eines Kraftfahrzeugsystems beschreibt, wobei der mindestens eine, durch das Lotsensignal beschriebene Steuerparameter ein Ausfahren eines in einer Karosserie des zu lotsenden Kraftfahrzeugs versenkten oder fest angeordneten Leuchtelements der Leuchteinrichtung beschreibt, und
• - Übertragen des Lotsensignals an die Steuer- und Navigationseinrichtung des zu lotsenden Kraftfahrzeugs.

The invention also relates to a method for piloting a motor vehicle on the route section on which the piloted driving mode of the motor vehicle to be paid is limited or not possible, comprising the steps carried out by a control device of the pilot motor vehicle:

• Receiving an identity signal from a detection device of the pilot vehicle, wherein the identity signal describes an identity code of another motor vehicle detected by the detection device,
• Determining an identity of the further motor vehicle as a motor vehicle to be split in dependence on the received identity signal,
• Coupling the control device of the pilot vehicle with a control and navigation device of the motor vehicle to be piloted,
• Generating a pilot signal which describes at least one control parameter of a motor vehicle system, wherein the at least one control parameter described by the pilot signal describes an extension of a luminescent element of the lighting unit which is recessed or fixed in a body of the motor vehicle to be popped, and
• - Transmission of the pilot signal to the control and navigation device of the vehicle to be piloted.

It results in the above advantages.

In one embodiment of this further method, the controller of the pilot vehicle can receive an order signal which can describe an identification code of the motor vehicle to be popped and a) a time, and / or b) geographic coordinates of the transfer location. In response to the received order signal, the controller may generate a generate an identity signal that may describe an identification code of the pilot vehicle. This allows the lorry and motor vehicle to be easily "recognized".

For example, the generated identity signal can be transmitted to the control and navigation device of the motor vehicle to be piloted, wherein the motor vehicle to be seized can recognize the ordered Lotsenkraftfahrzeug. The determination of the identity of the further motor vehicle as a motor vehicle to be spun can take place alternatively or additionally on the part of the pilot motor vehicle, for example by receiving an identity signal from the control and navigation device of the motor vehicle to be dispensed and a comparison of an identity code of the motor vehicle to be dispensed described by the received identity signal with the identification code described by the order signal.

The control device of the Lotsenkraftfahrzeugs can receive, for example from a detection device of the Lotsenkraftfahrzeugs or a sensor device of the vehicle to be piloted, a reference point signal which can be arranged on the motor vehicle to be piloted, visible from the outside position code. Depending on the received reference point signal, a determination of a relative position of the pilot vehicle to the vehicle to be piloted can take place and, depending on the determined relative position of the pilot vehicle to the vehicle to be piloted, an adaptation of a longitudinal and / or lateral control of the pilot vehicle and / or of the motor vehicle to be paid for changing the relative position to each other. Describes the new control signal adjusting a longitudinal and / or lateral control of the vehicle to be piloted, the control signal can be transmitted to the control and navigation device of the vehicle to be piloted. This results in the already mentioned advantages. These references may also help, for example, in calibrating a distance between the pilot vehicle and the motor vehicle to be popped.

In the respective method according to the invention, a mechanical coupling of the LOT motor vehicle with the motor vehicle to be popped can optionally take place by means of a coupling device, wherein the coupling device may preferably have a data communication connection for transmitting the Lotsensignals and / or for an energy transfer. For example, a connecting rod, which can be extended, for example, from a body of the Lotsenkraftfahrzeugs, are arranged on a connecting element of the motor vehicle to be piled, for example, at a correspondingly fitting connection. The coupling device can optionally be flexible, and designed, for example, as a rope or a chain. A communication of data can be done for example via a pulsation of an energy flow. A transmission of energy can be, for example, as Help provided a power supply and / or payment and / or as a charging service.

The respective method according to the invention can optionally have an embodiment in which the at least one control parameter a) described by the pilot signal describes a parameter of a lighting device and can thereby describe a signal to be output by the lighting device and / or a light pattern to be emitted by the lighting device preferably such a parameter may describe a light signal and / or a light pattern output by the lighting device of the pilot vehicle; and / or b) corresponds to a control parameter set in the corresponding motor vehicle system of the pilot motor vehicle, in other words the control parameter of the motor vehicle system of the pilot motor vehicle can be transmitted to the motor vehicle to be flipped.

The object set out above is likewise achieved by a control device which is set up to carry out the method steps of the further method according to the invention. The control device may also have a correspondingly configured processor device described above.

The above object is also achieved, while achieving the aforementioned advantages, by a motor vehicle, which may be preferably designed as a motor vehicle, for example as a passenger car. The motor vehicle according to the invention is characterized by an embodiment of a control and navigation device according to the invention and / or an embodiment of the control device according to the invention. Optionally, the motor vehicle to be piloted may be a motor vehicle without occupants, for example a trailer, an empty motor vehicle, a "traveling trunk", or a bicycle trailer.

• 1 eine schematische Darstellung einer Reiseroute mit beispielhaft zwei Streckenabschnitten, auf denen ein pilotierter Fahrmodus nicht durchführbar ist;
• 2 eine schematische Darstellung zu einer ersten Ausführungsform des erfindungsgemäßen Verfahrens;
• 3 eine schematische Darstellung zu einer weiteren Ausführungsform des erfindungsgemäßen Verfahrens;
• 4 eine schematische Darstellung zu einer weiteren Ausführungsform des erfindungsgemäßen Verfahrens;
• 5 eine schematische Darstellung zu einer weiteren Ausführungsform des erfindungsgemäßen Verfahrens;
• 6 eine schematische Darstellung zu einer weiteren Ausführungsform des erfindungsgemäßen Verfahrens;
• 7 eine schematische Darstellung zu einer weiteren Ausführungsform des erfindungsgemäßen Verfahrens;
• 8 eine schematische Darstellung zu einer weiteren Ausführungsform des erfindungsgemäßen Verfahrens;
• 9 eine schematische Darstellung zu einer weiteren Ausführungsform des erfindungsgemäßen Verfahrens;

In the following, embodiments of the invention are described. This shows:

• 1 a schematic representation of a travel route with exemplary two sections on which a piloted driving mode is not feasible;
• 2 a schematic representation of a first embodiment of the method according to the invention;
• 3 a schematic representation of another embodiment of the method according to the invention;
• 4 a schematic representation of another embodiment of the method according to the invention;
• 5 a schematic representation of another embodiment of the method according to the invention;
• 6 a schematic representation of another embodiment of the method according to the invention;
• 7 a schematic representation of another embodiment of the method according to the invention;
• 8th a schematic representation of another embodiment of the method according to the invention;
• 9 a schematic representation of another embodiment of the method according to the invention;

The exemplary embodiments explained below are preferred embodiments of the invention. In the exemplary embodiments, the described components of the embodiments each represent individual features of the invention, which are to be considered independently of one another, which each further develop the invention independently of one another and thus also individually or in a different combination than the one shown as part of the invention. Furthermore, the described embodiments can also be supplemented by further features of the invention already described.

In the figures, functionally identical elements are each provided with the same reference numerals.

The 1 schematically shows a travel route R from a starting point A to a destination B. Such a travel route R can be provided for example by a navigation system of a motor vehicle. In the example of 1 Both the starting point A, as well as the destination B, each in one area 5 in which, for example, carrying out a piloted driving mode may be prohibited, for example because both areas 5 a city area. For example, for a motor vehicle which can be operated, for example, in a piloted driving mode or can only be operated in the piloted driving mode, it can only be allowed between the points or locations drawn on the travel route R. A ' and B 'to drive. Alternatively, for example, due to bad weather or in a remote region on a stretch of road 10 a GPS reception will be poor, so no position signal can be available. Optionally, it may be a non-piloted motor vehicle with steering wheel and a navigation device, wherein the navigation device can recognize, for example based on experience, that it may be too late for the driver drives himself.

A passable section between A ' and B ' can, for example, lead over a highway on a highway, in which, for example, the lane markings are consistently well detected and therefore the piloted driving mode is very well feasible. In other words, in the example of 1 the sections of the route 10 between A and A ' , as well as between B ' and B , only partially accessible.

The 2 schematically illustrates the respective principle of the method according to the invention by means of a first embodiment. This shows the 2 a motor vehicle to be spared 12 and a lottery vehicle 14 , The motor vehicles 12 . 14 can be configured for example as a passenger car.

The car to be donated 12 has a control and navigation device 16 on, which may be configured for example as a control board of an on-board computer or as a control and navigation device. The control and navigation device 16 may preferably be a processor device 17 which may have, by way of example, at least one microcontroller and / or at least one microprocessor. Optionally, the control and navigation device 16 a data store 15 which may be configured as data storage known to those skilled in the art. The car to be donated 12 , preferably as a piloted motor vehicle 12 can be configured, also has a motor vehicle system 18 on, for example, a brake system and / or a steering system and / or a lighting device. As a lighting device is understood to be a device or a device component for outputting light signals or light patterns, wherein the lighting device, for example, a headlight 23 or turn signals 22 of the vehicle to be sold 12 can control. The control and navigation device 16 can with a data communication connection 19 , For example, a wireless or Bluetooth connection, or by means of a data bus of the vehicle to be piloted 12 be connected.

The 2 shows by way of example further data communication connections 19 from the motor vehicle system 18 , which may be configured as a lighting device, for example, a luminous element arranged on a roof 20 , For example, a roof light, a brake light 21 , a turn signal 22 and / or a headlight 23 or, for example, a light band on a vehicle edge or motor vehicle side or along a roof line.

The car to be donated 12 Optionally, a sensor device 24 comprising, for example, arranged on a rear bumper camera and / or a top-view camera and / or arranged in an interior, for example a headliner camera for detecting an interior of the motor vehicle 12 , and / or may include a distance sensor of a distance control system. For the sake of clarity, the exemplary sensors of the sensor device 24 in the 2 Not shown.

The control and navigation device 16 For example, a communication device 11 for communicating with, for example, a corresponding communication device 11 a motor vehicle external data server 26 have, for example via a mobile radio connection 27 or via an internet connection. Such a communication device 11 the control and navigation device 16 of the vehicle to be sold 12 may alternatively be outside the control and navigation device 16 be arranged. Corresponding components or devices as a communication device 11 are known to those skilled in the art. The communication between the in-vehicle components and the control and navigation device 16 can also via the communication device 11 to lead.

The car to be donated 12 the 2 shows an example of several position codes 28 which can be arranged, for example, on a vehicle edge, on a motor vehicle rear and / or on a motor vehicle front and visible from the outside. Such a position code 28 may for example be pronounced as a pattern and / or color pattern and / or barcode, and also referred to as a "calibration point".

That in the 2 shown pilot vehicle 14 has a control device 30 on, for example, be designed as a control unit or control board and optionally a processor device 17 and / or a data store 15 can have. The LOT motor vehicle 14 also has a motor vehicle system 18 on. The LOT motor vehicle 14 Optionally, a detection device 32 may include, for example, at least one camera or a proximity sensor, which may be arranged for example on a rear and / or a front bumper. The detection device 32 can be used, for example, as a device or as a detection device 32 configured control board be configured. Also the control device 30 can be a communication device 11 have, according to the communication device 11 of the vehicle to be sold 12 can be designed. Also the Lotsenkraftfahrzeug 14 of the example of 2 can have at least one location code 28 respectively.

In the method for operating the motor vehicle 12 by the LOT motor vehicle 14 can be a starting situation, for example, that, for example, in the 1 shown sections 10 must not be driven in the piloted driving mode. Alternatively, it may be, for example, that a driver of the vehicle to be piloted 12 for example on a stretch of road 10 can not drive or does not want to drive. If the driver can not drive or does not want to drive, he can, for example via an infotainment system or another user interface, enter a corresponding request by, for example, an operator action. Alternatively, for example, preferences may be retrieved from a user profile. Is the piloted driving mode on the stretch of road 10 For example, the corresponding information may not be allowed, for example, in the data store 15 stored map data are read.

The route sections can be exemplary of such map data 10 in the process step S1 be determined. On the basis of the determined route section can then in the process step S2 the beginning of the pilot guidance are predicted, wherein, for example, by the control and navigation device 16 can be calculated at what time the motor vehicle 12 at the point B ' can be located. Optionally, it can be provided that, on the basis of a digital agenda or a digital calendar, which can be stored, for example, in the data memory, a planned or regular trip is read out and for organizing the pilot guidance along a route section 10 can be used.

The control and navigation device 16 can be based on the predicted start of piloting, for example at 14:00 on the spot B ' , generate an order signal (S3) that the time and / or geographic coordinates of B ' can describe as transfer location. In this case, the place of transfer is understood to be the location or the point at which the control of the motor vehicle to be paid is carried out 12 to the pilot vehicle 14 to be transferred.

The generated order signal additionally describes an identification code of the motor vehicle to be piloted 12 For example, an individual number or a serial number of the motor vehicle to be sold 12 or, for example, a user name of the user of the vehicle to be piloted 12 , The identification code can, for example, be re-entered individually for each process and set, for example, by the user, or else in the data memory 15 stored and retrieved when needed.

In other words, such an order of the pilot vehicle 14 automatically, for example, in a route planning by the control and navigation device 16 and for example based on map data, or manually by the user. Alternatively, the generating of the order signal and a transmission of the order signal to the motor vehicle external server device 26 ( S4 ), for example via an application program ("app") of a mobile terminal or via a multimedia interface of the vehicle to be piloted 12 respectively.

The motor vehicle external server device 26 can, for example, from the vehicle to be piloted 12 received order signal to the controller 30 of the LOT motor vehicle ( S5 ). Alternatively, the generated order signal, for example, directly from the control and navigation device 16 of the vehicle to be sold 12 by means of the two communication devices 11 be transmitted ( S4 ).

At the time described by the order signal, the Lotsenkraftfahrzeug 14 For example, already at the transfer point B ' his. Are at the appointed time only to be spooled motor vehicle 12 and the pilot vehicle 14 at the place of delivery B ' It is not a problem that the two motor vehicles 12 . 14 recognize each other. In a plurality of motor vehicles, the pilot vehicle must 14 however, know which of the other motor vehicles to be spun motor vehicle 12 is, or to be spooled motor vehicle 12 must the lotto car 14 Find.

The control device 30 of the pilot vehicle 14 receives an identity signal from the detector 32 ( S6 ), the identity code of the vehicle to be piloted 12 describes. The detection device 32 may, for example, an identity code of the vehicle to be piloted 12 to capture ( S8 ), for example, on a body from the outside clearly visible on the vehicle to be piloted 12 may be arranged, and generate the identity signal, or for example the identity signal via, for example, a motor vehicle-to-motor vehicle communication link 34 receive. In the latter case, the detection device 32 then, for example, the communication device 11 include.

The identity of the motor vehicle to be paid 12 is in the process step S7 determined, for example, by comparing the identity code described by the received identity signal with the identity code, which is described for example by the order signal ( S7 ).

For optional receipt of the order signal ( S12 ) by the control device 30 can this can be used, for example, an identity signal of the LOT motor vehicle 14 to create ( S13 ). On the part of the motor vehicle to be swept 12 can then optionally the control and navigation device 16 of the vehicle to be sold 12 in the process step S9 the identity signal of the LOT motor vehicle 14 received and the identity of the other motor vehicle as Lotsenkraftfahrzeug 14 determine ( S10 ).

Alternatively, the identity signal may for example describe a digital license plate of the respective other motor vehicle, for example by means of the detection device 32 or the sensor device 24 can be detected.

Optionally, it can be provided that, for example, a display, for example a head-up display, of the motor vehicle to be dispensed 12 can issue a mark that the pilot vehicle 14 can identify. Alternative display options are, for example, a transparent display, a display of a combination instrument or a multimedia interface or the like. Optionally, for example, on a navigation map, a current location and / or a current position of the vehicle to be piloted 12 and / or the Lotsenkraftfahrzeugs 14 be specified.

In the process step S11 becomes the controller 30 with the control and navigation device 16 coupled, for example, by providing a data communication connection. Is this wireless, for example, an already described motor vehicle-to-motor vehicle communication link 34 , or an Internet connection or a cellular connection or, for example, a Bluetooth connection, the pilot can also be referred to as "digital towing".

When or after coupling the control device 30 with the control and navigation device 16 ( S11 ), for example, a takeover protocol of one of the two motor vehicles 12 . 14 to the other of the two motor vehicles 12 . 14 be transmitted. An appropriate protocol that may describe termination of the pilot's guidance may optionally be upon termination of the pilot's guidance of one of the motor vehicles 12 . 14 to the respective other motor vehicle 12 . 14 be transmitted. The acceptance protocol or the termination log can then be described, for example, as the assumption of responsibility for the control or the handing over of the responsibility. Such a protocol may for example describe the information "pilot is ready". Optionally, it may be provided that, for example, a user of the motor vehicle to be piloted 12 For example, a multimedia interface ("MMI") the coupling process S11 confirmed or released.

Optionally, payment can be made electronically when pairing ( S11 ) respectively. Payment can be made, for example, with a monetary value, that is, a monetary value, in one currency, or, for example, after approval by the user of the motor vehicle to be paid 12 , for example with "interesting data". For this purpose, the vehicle to be spared 12 - For example, by means of the control and navigation device 16 - For example, collecting route and / or weather data and to the controller 30 of the pilot vehicle 14 transfer. The control device 30 For example, this data can be forwarded to a data server for further processing.

The payment for the pilot service can thus take place, for example, an electronic data transfer and / or a transmission, for example, of electricity via a physical line and / or via a transfer of data.

When generating the pilot signal ( S14 ) can be taken into account, for example, that this can describe, for example, those control parameters that a corresponding motor vehicle system 18 in the pilot vehicle 14 adjusts, for example, a steering movement or braking the Lotsenkraftfahrzeugs 14 , Alternatively, the vehicle to be seized 12 asynchronous to the pilot vehicle 14 being controlled. The generated pilot signal is sent to the control and navigation device of the motor vehicle to be piloted 12 transfer ( S14 ), received from this ( S15 ), and via the exemplary data bus to the exemplary steering system of the motor vehicle to be piloted 12 transfer ( S16 ).

For example, sensor or ambient signals can also be exchanged during pilot guidance. Preferably, by the sensor device 24 detected properties, such as a camera image of the rear camera of the vehicle to be piloted 12 or For example, a sensor signal from a proximity sensor, the close approach of a behind the vehicle to be piloted 12 driving vehicle can describe by the control and navigation device 16 receive ( S17 ) and forwarded ( S18 ) become.

By way of example, the ambient signal can describe, for example, a camera recording and / or sound recording which covers the interior of the motor vehicle to be swept 12 can describe. An optional driver of the pilot vehicle 14 can thus see if the occupants of the vehicle to be piloted 12 For example, feel comfortable and talk to the inmates. In another variant, for example, the sensor device 24 of the vehicle to be sold 12 a rearview mirror of the to be sold motor vehicle 12 film, or a digital rearview mirror of the vehicle to be piloted 12 For example, generate a corresponding ambient signal, so that after transmission to the control device 30 the image of the digital rearview mirror is available.

For a fine adjustment of the alignment of the two motor vehicles 12 . 14 to each other, the control device 30 of the pilot vehicle 14 from the detection device 32 receive a reference point signal ( S19 ), for example, one of the two or more position codes 28 of the vehicle to be sold 12 can describe. In the process step S20 can then be determined, for example, that the relative position of the pilot vehicle to the vehicle to be piloted 12 may be shifted, for example, in a transverse direction. For example, this can be a position of your own position code 28 or reference information that may be described, for example, by the reference point signal may be an indication that the position code 28 of the vehicle to be sold 12 from the perspective of the detection device 32 in a virtual coordinate system may be slightly shifted to the right. Thereupon, the longitudinal and / or transverse control of the Lotsenkraftfahrzeugs 14 and / or the vehicle to be sold 12 be adjusted ( S21 ). Alternatively or additionally, for example, a distance between the motor vehicles 12 . 14 calibrated and regulated by means of a triangular measurement.

The 3 illustrates, in a three-dimensional view, once again the vehicle to be seized 12 , which in the example of the 3 located on the left, and the LOT 14 On the right side. In the process and the motor vehicles 12 . 14 For example, it may be the corresponding examples from the 2 act in the following only on optional features. In the embodiment of 3 can the position codes 28 each be designed, for example, as a pattern with black and white squares. The 3 illustrates exemplary positions of sensors 25 , which may be configured, for example, as a camera and arranged, for example, on the vehicle rear and / or a motor vehicle front, for example, next to the position codes 28 ,

The position code 28 can also be referred to as a "calibration point" or "reference point". Optionally, the position code 28 or the location codes 28 as a contrast to the taillights 21 and / or be designed as displays that can output the code. Such position codes 28 are particularly well suited to the motor vehicles 12 . 14 well positioned with each other.

The 3 shows an optional aerodynamic device 40 of the pilot vehicle 14 and / or the vehicle to be sold 12 For example, a spoiler that can actively improve aerodynamics in a convoy. The aerodynamic device 40 can preferably only in the case of a column ride, so in the case of a pilot guidance, for example, from a body of the Lotsenkraftfahrzeugs 14 be extended, and be arranged for example laterally and / or front and / or rear.

A mechanical and thus wired variant of the coupling process S11 is in the 4 shown, wherein - both in the 4 as well as in the 5 In the following, only the differences to the examples of the 2 will be received. The 4 shows the coupling of both motor vehicles by means of a coupling device 42 , which, for example, designed as a cable or metal rod and preferably may have a designed as a cable data communication connection. According to the embodiment of the 4 can the coupling device 42 for example, via a plug connection with one or both of the motor vehicles 12 . 14 get connected. The coupling device 42 can be configured for example as a metal arm or metal rod or robot arm. The coupling device 42 Optionally also provides power to one of the two vehicles 12 . 14 provide. In other words, an additional pilot service may be charging the exemplary pilot piloted motor vehicle 12 his. Also, the optional payment for the pilot service can be regulated for example via this power supply.

The 5 shows a further embodiment in a coupling S11 with a coupling device 42 , for example, a in a motor vehicle rear of the pilot vehicle 14 roll-up cable 43 for example, a power supply and / or a data transmission and the exemplary metal arm 44 may include. The exemplary metal arm 44 For example, one or more joints 45 so that the metal arm 44 for example, can be folded or a height of the metal arm 44 is adjustable. The coupling device 42 from the example of 5 also shows a plug 46 for a plug connection with, for example, a socket of a coupling element 47 of the vehicle to be sold 12 For example, behind an adjustable flap 48 can be arranged. The arrow K indicates the direction in which the plug 46 in the coupling element 47 can be introduced.

The coupling element 47 can be configured for example as a funnel-colored recess and include the socket, so that a find the outlet through the plug 46 lighter and can be done better. Corresponding connectors and examples of suitable coupling devices 42 and coupling elements 47 are known to those skilled in the art, as they are currently used for aircraft, such as tankers.

The 6 shows an embodiment of the vehicle according to the invention looseenden 12 and / or the motor vehicle according to the invention to be piloted 12 with a preferably in a body of the corresponding motor vehicle 12 . 14 recessed luminous element 20 , which may be configured, for example, as a retractable roof light or side-mounted retractable lamp. The 6 shows the light element 20 in at least partially retracted or sunk state. The light element 20 can preferably be arranged on a motor vehicle roof and extended during the pilot guidance, for example by means of a motor and a rail. The light element 20 may alternatively, or, if the motor vehicle 12 . 14 several lighting elements 20 has, in addition to one A - B - C - and or D -Pillar of the corresponding motor vehicle 12 . 14 be arranged. The 6 and 7 show two different lighting elements as an example 20 , each in a corresponding recess 50 of the exemplary motor vehicle roof can be arranged. Describes the control parameter, which is described by the pilot signal, an extension S22 the corresponding lighting element 20 , can the light element 20 or the lighting elements 20 for example, driven outward or pressed, as in the 7 shown. This will give other road users - and the user of the vehicle to be piloted 12 - clearly, that the lotto car 14 and the motor vehicle to be spared 12 belong together. The light element 20 may additionally or alternatively be designed as a light band on a vehicle edge or motor vehicle side or along a roofline or along a window.

Preferably, both motor vehicles 12 . 14 output the same light signal, for example, a color and / or a location of the luminous element 20 and / or can describe a size and / or a light pulse. For example, a standard can be set so that other road users instantly recognize and capture that particular car's combination 12 . 14 goes.

Advantageously, other road users immediately clear what combination of vehicles 12 . 14 it works and you can adapt to it. This also results in an increased driving safety. For example, a blue light may mean that these motor vehicles 12 . 14 belong together, or a light pulse, for example, from one of the vehicles 12 . 14 to the other motor vehicle 12 . 14 pass.

The 8th describes a further embodiment of the method according to the invention. In the process step S23 can be deduced from the above-mentioned exemplary agenda, whether the motor vehicle to be seized 12 a pilot needs. If so, such a lotto vehicle can 14 ordered, for example, as already above to 2 described.

In one process step S24 can the lotto car 14 to the vehicle to be piloted 12 come and take the command, for example, as already for 2 described. The LOT motor vehicle 14 can be controlled for example by a person, for example, a professional or a person entitled to pilot. The car to be donated 12 can not have a steering wheel and / or an occupant wants or can not drive. The pilot guidance can be exemplary as already above for 2 described described. About a transmission, for example via the motor vehicle to motor vehicle communication link 34 can be a steering and / or braking and / or transmitting camera and / or sensor data of the vehicle to be piloted 12 and / or transmitting information about occupants of the motor vehicle to be piloted 12 be transmitted. Preferably, the transmission is wireless. If it may be useful for example for security, a cable connection by means of a coupling device 42 carried over which, for example, data and / or power can be transmitted.

The car to be donated 12 For example, you can know in advance where the user will go and, for example, you can check whether this is possible in a piloted way. If this is not the case, the vehicle to be seized can 12 , for example by means of the control and navigation device 16 to order a pilot, so the pilot vehicle 14 ,

The Indian 8th Process step shown above S25 shows the place A ' where the LOTA vehicle is 14 and the vehicle to be sold 12 just decoupled. In the process step S26 can the vehicle to be spared 12 for example, in the piloted driving mode to the transfer location B ' drive. at B ' can be a previously ordered pilot, so a previously ordered LOT motor vehicle 14 For example, before the vehicle to be sold 12 maneuver ( S27 ). In the process step S28 can the vehicle to be spared 12 For example, arrive at destination B and the Lotsenkraftfahrzeug 14 can drive away.

The 9 shows an embodiment of the method according to the invention, in which, for example, from a Lotsenkraftfahrzeug 14 two cars to be donated 12 can be controlled. In this case, the pilot signals, for example, from the Lotsenkraftfahrzeug 14 on the first car to be seized 12 , and from the first car to be seized 12 on the other to be spared motor vehicle 12 be transmitted.

Overall, the embodiments illustrate how the invention is a pilot for motor vehicle to be spilled 12 , preferably a piloted motor vehicle 12 , can be provided, as well as a marking of Lotsenkraftfahrzeug 14 and the vehicle to be sold 12 ,

According to a further embodiment, the Lotsenkraftfahrzeug 14 the exact location and an identification code of the vehicle to be piloted 12 , the exemplary piloted motor vehicle. If lotto car 14 and motor vehicle to be sold 12 For example, the data may be communicated via, for example, a vehicle-to-vehicle communications link 34 be transferred and compared. The LOT motor vehicle 14 can the vehicle to be spared 12 recognize and / or vice versa. Preferably, for example, at a rear side of the pilot vehicle 14 and / or on a front side of the motor vehicle to be swept 12 one or more position codes 28 For example, visual calibration points may be attached or arranged to allow more accurate positioning relative to each other.

Alternatively or additionally, for example, the vehicle to be seized 12 a geometry of the pilot vehicle 14 recognize, and / or one of the vehicles 12 . 14 can himself choose or select at least one reference point, for example, a distinctive point of a body.

For example, via a motor vehicle-to-motor vehicle communication link 34 For example, steering data and / or braking and / or acceleration data and / or light signals and / or the data of the cameras and / or sensors and / or information of the occupants, for example about the fact that a route should be changed or paused, be replaced. So can the LOT motor vehicle 14 by way of example the vehicle to be seized 12 piloting, that means controlling or operating (see figures).

At both motor vehicles 12 . 14 may preferably be characterized by means of light signals that both motor vehicles 12 . 14 belong together and the light signals can hang together. Alternatively or additionally, aerodynamics can be actively adapted.

Optionally, a physical or mechanical connection between the motor vehicles 12 . 14 be carried out, possibly by means of an exemplary metal arm with, for example, one or more joints (see 4 and 5 ), for example, to exchange data and / or energy, which may optionally serve as payment or partial payment, for example.

The system can also be used, for example, for vehicles to be sold 12 be applied with a steering wheel, for example, if none of the occupants is in the situation or feel like driving himself, for example, if the occupants are children, seniors, persons without a valid driver's license, or sick or drunk persons.

Advantageously, results from the method of the invention, the piloted motor vehicles 12 without steering wheel almost everywhere, even if there are restrictions for piloted driving modes. For a motor vehicle manufacturer, it is possible to better drive piloted cars without steering wheel. This results in the following advantages: more space in the interior, more variability in the interior, more design options, weight savings by omitting the steering column and the steering wheel, thereby also an almost unrestricted view of, for example, an interface or a screen - for example, a large screen over an entire Width of an instrument panel - and more safety in the event of an accident. All piloted vehicles, whether with or without steering wheel, can arrive at the destination. At the same time it is possible earlier to bring piloted motor vehicles to the market, in particular motor vehicles without steering wheel.

Claims (12)

A method for operating a motor vehicle (12) by a Lotsenkraftfahrzeug (14) on a track section (10), the method comprising the following, by a control and navigation device (16) of the motor vehicle to be swept (12) performed steps: - Detecting the track section (10) a travel route (R) on which the piloted driving mode of the motor vehicle (12) to be piloted is limited or not possible, and on which the motor vehicle (12) is to be guided (S1), on the basis of the determined route section (10 Predicting a beginning of the pilot guidance (S2), on the basis of the predicted start of the pilot guidance generation of an order signal (S3) which describes an identification code of the motor vehicle to be puttered (12) and a) a time of the predicted one Beginning, and / or b) geographical coordinates of a transfer location, - when an identity of another motor vehicle as a pilot vehicle (14, S10) is established: coupling the control and navigation device (16) of the motor vehicle (12) to be popped with a control device (30) the Lotsenkraftfahrzeugs (14, S11), - receiving at least one Lotsensignal from the controller (30) of the Lotsenkraftfahrzeugs (14), the at least one control parameter of a motor vehicle system (18) to be set (S15), said at least one, described by the Lotsensignal Control parameter an extension of a in a body of the motor vehicle to be swept (12) recessed or fixed luminous element (20) of the lighting device (S22) describes, - transmitting the received pilot signal to the motor vehicle system (18, S16), and - extending the body in a of the motor vehicle to be swept (12) sunk or fixed luminous element (20) of Lighting device (S22). Method according to Claim 1 characterized by the following steps performed by a control and navigation device (16): - receiving a reference point signal (S19), and - adapting a position of the motor vehicle (12) to be swept by adjusting a longitudinal and / or transverse control of the motor vehicle to be swept (12, S21). Method according to one of the preceding claims, characterized by the following, by the control and navigation device (16) carried out steps: - Receiving an environmental signal from a sensor device (24) of the vehicle to be piloted, the an outer environment and / or an interior of Sending vehicle (12) describes (S17), and - transmitting the received ambient signal to the controller (30) of the pilot vehicle (14, S18). Method according to one of the preceding claims, characterized by the following step carried out by the control and navigation device (16): - receiving an identity signal which describes an identity code of the pilot motor vehicle (14, S9), wherein the determination of the identity of a further motor vehicle as Lotsenkraftfahrzeug (14) in response to the received identity signal takes place (S10). Control and navigation device (16), which is adapted to a method according to one of Claims 1 to 4 perform. Method for piloting a motor vehicle (12) on a route section (10) on which a piloted driving mode of the motor vehicle is limited or not possible, comprising the steps performed by a control device (30) of the pilot motor vehicle (14): Receiving an identity signal from a detection device (32) of the pilot vehicle (14, S6), wherein the identity signal describes an identity code of another motor vehicle detected by detection device (32), Determining the identity of the further motor vehicle as a motor vehicle to be spun (12) as a function of the received identity signal (S7), Coupling the control device (30) of the pilot motor vehicle (14) to a control and navigation device (16) of the motor vehicle (12, S11) to be piloted, Generating a pilot signal (S14) which describes at least one control parameter of a motor vehicle system (18), wherein the at least one control parameter described by the pilot signal is an extension of a luminescent element (20) which is recessed or fixed in a body of the motor vehicle (12) to be popped. the lighting device (S22) describes - Transmission of the pilot signal to the control and navigation device (16) of the vehicle to be piloted (12, S14). Method according to Claim 6 characterized by the following step carried out by the controller (30) of the pilot vehicle (14): - receiving an order signal (S12) describing the one identification code of the motor vehicle (12) to be popped, and a) a time of the predicted start, and / or b) geographical coordinates of a transfer location, and - in dependence on the received order signal generating an identity signal (S13), which describes an identification code of the LOT motor vehicle (14). Method according to one of Claims 6 or 7 characterized by the following steps carried out by a controller (30) of the pilot vehicle (14): - receiving a reference point signal from the detector (32) of the pilot vehicle (14, S19) arranged on the motor vehicle (12) to be piloted, describes externally visible position code (28), - in dependence on the received reference point signal determining a relative position of Lotsenkraftfahrzeugs (14) to the vehicle to be piloted (12, S20), and - depending on the determined relative position of the Lotsenkraftfahrzeugs (14) to the vehicle to be piloted (12): generating a control signal for adjusting a longitudinal and / or lateral control of the Lotsenkraftfahrzeugs (14) and / or the vehicle to be loops (12) for changing the relative position to each other (S21). Method according to one of the preceding claims, characterized by the step: -mechanically coupling the pilot motor vehicle (14, S11) to the motor vehicle (12) to be piloted by means of a coupling device (42) which preferably has a data communication connection for transmitting the pilot signal (S14) and / or to an energy transfer. Method according to one of the preceding claims, characterized in that the at least one control parameter described by the pilot signal: - describes a parameter of a lighting device and thereby describes a light signal to be output by the lighting device and / or light pattern to be outputted; and / or corresponds to a control parameter set in the corresponding motor vehicle system (18) of the pilot vehicle (14). Control device (30), which is adapted to a method according to one of Claims 6 to 10 perform. Motor vehicle (12, 14), characterized by a control and navigation device (16) according to Claim 5 and / or a control device (30) according to Claim 11 ,

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