DE102018212174A1 - Retrofit kit for a vehicle and vehicle system - Google Patents

Abstract

The invention relates to a retrofit kit (10) for a vehicle (1), in particular for a motor vehicle, which can be mounted in and / or on the vehicle (1) and which is designed to act as a driver assistance system of the vehicle (1) in an assembled state and in particular to initiate, execute and / or control a controllable process of autonomous driving in relation to the vehicle (1). The invention further relates to a vehicle system (100) with a vehicle (1) and with a retrofit kit (10) according to the invention designed to be mountable on or in the vehicle (1).

Description

The present invention relates to a retrofit kit for a vehicle and a vehicle system.

In vehicles in general and in particular in the automotive industry, driver assistance systems are increasingly being used with a view to highly automated or autonomous driving. The problem with conventional concepts is that previous systems for implementing such driving concepts are designed to be firmly integrated in a given vehicle. Existing vehicles purchased by a customer cannot readily participate in the rapid development in the field of autonomous driving.

The invention is based on the object of providing means which allow an adaptation of conventional vehicles with regard to aspects of driver assistance and autonomous driving.

The object on which the invention is based is achieved by a retrofit kit for a vehicle having the features of patent claim 1 and by a vehicle system having the features of patent claim 11. Advantageous further developments are the subject of the respective dependent claims.

According to a first aspect of the present invention, a retrofit kit for a vehicle and in particular for a passenger car is created which can be mounted in and / or on the vehicle and which is designed to act as a driver assistance system of the vehicle in an assembled state and in particular a controllable process autonomously Initiate, execute and / or control driving in relation to the vehicle. The measures proposed according to the invention make it possible to retrofit even vehicles that have not previously had a driver assistance system or a system for autonomous driving, or to do so to a sufficient extent, in order to reliably implement the corresponding functionalities. It is also possible to carry out retrofitting repeatedly, for example in the sense of an upgrade, i.e. with improved and expanded functionalities that go beyond simply updating the control software.

• - mit Mitteln einer Sensorik und/oder Mitteln einer Anbindung an eine Sensorik des zu Grunde liegenden Fahrzeugs,
• - mit Mitteln einer Aktorik und/oder Mitteln einer Anbindung an eine Aktorik des zu Grunde liegenden Fahrzeugs,
• - mit Kommunikationsmitteln zur Kommunikation mit Komponenten des Fahrzeugs, insbesondere mit einer fahrzeugseitigen Steuereinheit, einer Motorsteuerung, einer Schnittstelle des Fahrzeugs und/oder
• - mit einer Steuereinheit zur Steuerung des Betriebs der Sensorik, Aktorik, jeweiliger Mittel zur Anbindung und/oder der Kommunikationsmittel.

In an advantageous development of the retrofit kit according to the invention and in particular for implementing driver assistance functions and / or functions of autonomous driving, a respective retrofit kit is designed

• by means of a sensor system and / or by means of a connection to a sensor system of the underlying vehicle,
• with means of an actuator system and / or with a connection to an actuator system of the underlying vehicle,
• with communication means for communication with components of the vehicle, in particular with a vehicle-side control unit, an engine control, an interface of the vehicle and / or
• - With a control unit for controlling the operation of the sensors, actuators, respective means for connection and / or the communication means.

This means that the retrofit kit according to the invention can be set up to interact with components of the underlying vehicle and to use their functionality, for example with regard to measurement data recorded in the vehicle about the operating state of the vehicle, the environment and the like. On the other hand, the retrofit kit according to the invention can have its own components, possibly in addition to the functionality of the vehicle, for example with regard to expanding sensors and the like.

In another exemplary embodiment of the retrofit kit according to the invention, it is designed to be partially or completely reversibly or detachably mountable on or in the underlying vehicle. This means, for example, that parts of the retrofit kit or the entire retrofit kit can also be removed after installation on the vehicle, for example in a case in which the support from the retrofit kit and its function is only required temporarily.

A configuration of the retrofit kit according to the invention, which is partially or completely mountable on a vehicle seat of the underlying vehicle, in particular on a driver's seat, is particularly advantageous.

In particular, it can be considered to design the retrofit kit according to the invention partially or completely as a vehicle seat or as part of a vehicle seat and preferably for an exchange of a vehicle seat, in particular the driver's seat, or a part thereof, which is present in the underlying vehicle.

In an alternative or additional embodiment of the retrofit kit according to the invention, this is partially or completely designed as a robot.

For example, a humanoid shape or shape can be selected, in particular with leg limbs and / or foot limbs for the controlled operation of a vehicle pedal, with arm limbs and / or hand limbs for the controlled operation of steering, gear selection and / or dashboard components and / or with a head element , on and / or in which means the sensor system is formed.

In a particularly flexible configuration of the present invention, the retrofit kit is designed partially or completely as a household robot. Such a household robot then also has the options of driver assistance or autonomous driving as an additional function and can thus act as a chauffeur.

A particularly compact design of the retrofit kit according to the invention is achieved if it is designed partially or completely as a folding robot.

There is a particularly high degree of flexibility in use if the retrofit kit according to the invention is partially or completely stowable in a trunk of the underlying vehicle in an unassembled or disassembled state. This is done by adapting the design accordingly, possibly with the ability to be broken down into individual components.

• - sich in Bezug auf das zu Grunde liegende Fahrzeug und dessen Eigenschaften selbständig einzurichten und/oder
• - in einer Lernphase über ein Zusammenwirken von eigener und/oder fahrzeugseitiger Sensorik, Aktorik und/oder Steuerung Daten im Zusammenhang mit einem Fahrverhalten, Lenkverhalten, Bremsverhalten, Beschleunigungsverhalten, Lenkspiel und/oder Bremsspiel des zu Grunde liegenden Fahrzeugs zu erfassen und/oder zu lernen.

The flexibility of the retrofit kit according to the invention can be further increased if the retrofit kit is designed, in particular via its control unit,

• - Set up independently in relation to the underlying vehicle and its properties and / or
• - to acquire and / or learn data in connection with driving behavior, steering behavior, braking behavior, acceleration behavior, steering play and / or brake play of the underlying vehicle in a learning phase via the interaction of own and / or vehicle-side sensors, actuators and / or controls ,

The retrofit kit according to the invention can also be constructed in several parts or in several parts. For example, the actuator system can be attached to a driver's seat, whereas at least part of the sensor system is designed, for example, in connection with an attachment on the roof of the vehicle, in particular in order to enable a 360 ° view.

Additionally or alternatively, a combination of an external sensor system and a sensor system is also conceivable, which is formed in at least one part of the actuator system in one unit.

According to a further aspect of the present invention, a vehicle system is also created. The vehicle system is designed with a vehicle and with a retrofit kit designed in accordance with the invention and designed or mounted on or in the vehicle.

An application is conceivable in any vehicles, but preferably in motor vehicles and more preferably there in passenger cars.

list of figures

• 1 zeigt eine schematische und teilweise geschnittene Frontansicht eines erfindungsgemäßen Fahrzeugsystems mit einem Fahrzeug und einem installierten Nachrüstsatz.
• 2 zeigt eine schematische Teilansicht eines erfindungsgemäßen Fahrzeugsystems mit einem in einem Fahrzeug installierten Nachrüstsatz, insbesondere im Zusammenhang mit einer Lenkung und weiteren Bedienelementen des zu Grunde liegenden Fahrzeugs.

Further details, features and advantages of the invention result from the following description and the figures.

• 1 shows a schematic and partially sectioned front view of a vehicle system according to the invention with a vehicle and an installed retrofit kit.
• 2 shows a schematic partial view of a vehicle system according to the invention with a retrofit kit installed in a vehicle, in particular in connection with a steering and further controls of the underlying vehicle.

Below, with reference to the 1 and 2 Exemplary embodiments and the technical background of the invention are described in detail. Identical and equivalent elements and components which have the same or equivalent effect are denoted by the same reference symbols. The detailed description of the designated elements and components is not reproduced in every case.

The illustrated features and further properties can be isolated from one another in any form and can be combined with one another as desired without leaving the essence of the invention.

1 shows a schematic and partially sectioned front view of a vehicle system according to the invention 100 with a vehicle 1 and an installed retrofit kit designed according to the invention 10 ,

The retrofit kit 10 is in this case as a robot 10 ' in humanoid form with head 15 as well as arm and hand limbs 11 respectively. 12 trained and on a vehicle seat 5 , namely the driver's seat of the vehicle 1 , placed in assembly. The robot 10 ' points in connection with the arm limbs 11 and the limbs 12 actuators 30 on to how this in 1 the wheel is shown 3 the steering to seize and effect a process of steering.

The robot also points in the area of the head 15 a sensor system 20 , for example cameras or other optical sensors, for environment detection. In addition, a connection to external sensors and / or sensors of the vehicle can be made 1 , which are formed anyway, can be provided. Also a connection to actuators of the vehicle 1 is conceivable. Even the robot can 10 ' or the retrofit kit 10 generally have additional sensors and actuators, for example actuators for operating the pedals of the vehicle 1 or other controls, for example gear selection and / or on the dashboard.

2 shows a schematic partial view of a vehicle system according to the invention 100 with one in a vehicle 1 installed retrofit kit 10 , especially in connection with steering 3 and other controls 6 of the underlying vehicle 1 ,

The retrofit kit 10 is again a humanoid robot 10 ' trained, being in 2 schematically only arm limbs 11 and hand limbs 12 with appropriate actuators 30 are indicated and these the actuation of the steering wheel 3 and the controls 6 serve on the steering wheel.

In the lower part of the 2 is the basic connection of the control unit 50 of the retrofit kit 10 with your own actuators 30 and sensors 20 about the means of communication 40 , for example in the form of a bus and / or corresponding interfaces, as well as via corresponding connections 25 . 35 . 55 with a vehicle sensor system 120 , a vehicle actuator 130 and a vehicle controller 150 shown.

• Im Bereich der Automobilindustrie wird an technischen Gesamtkonzepten gearbeitet, die als Sonderausstattung bestellt, ein hochautomatisiertes Fahren gemäß den im VDA definierten Stufen oder Level ermöglicht. Wenige Jahre später wird auf Basis der gleichen Technologie unter Verwendung von Sensoren, Umfeldmodellen und entsprechender Berechnungen weltweit die im Fahrzeug fest integrierte Lösung zum vollautomatisierten Fahren verfügbar sein.

These and other features and characteristics of the present invention are further illustrated by the following statements:

• In the automotive industry, work is being carried out on overall technical concepts, which are ordered as optional equipment and enable highly automated driving according to the levels or levels defined in the VDA. A few years later, based on the same technology using sensors, environment models and corresponding calculations, the fully integrated solution for fully automated driving will be available worldwide.

The highest availability and security requirements must be met by all components, functions and systems involved. A solution for fully automated driving will probably initially only be available in private vehicles at a very high price or in expensive premium vehicles.

Since the majority of drivers of some quite new and expensive vehicles, it will take some time before this technology is noticeably penetrated.

Through the retrofit solution according to the invention with a retrofit kit 10 it would open up a completely new market and reach a much larger number of customers.

The retrofit kit according to the invention 10 , in the following also for the sake of simplicity as a driving robot 10 ' can be implemented in different variants.

Examples include

1. 1. the one-time permanently installed driving robot 10 ' in the driver's seat 5 .
2. 2. the folding robot that sets itself up if necessary 10 ' , which can also be stowed in the trunk again,
3. 3. the retrofit driver's seat, which enables automated driving and sensors 20 like actuators 30 has integrated, and
4. 4. the technologically considerably upgraded household humanoid robot 10 ' who can also drive if necessary.

The technical problems to be solved differ slightly, but can be divided into rough clusters:

Installation and setup:

• - Ensure adequate and redundant electrical power supply
• - Detect the vehicle type
• - Learning the basic operating elements of the vehicle from the robot vehicle registration DB
• - Secure anchoring in the vehicle 1
• - Connection with vehicle functions (steering 3 , Brake, accelerator pedal, ...)
• - Adaptation to steering play, steering effect, pedal effect
• - Adaptation of all sensors, especially the cameras, to mirrors, instrument cluster etc.
• - Installation of sensors in exposed places (roof rack, I-panel, ...) and their connection to the robot
• - Execution of initial setup and function confirmation routine sensor technology 20:
• - An optimization of the sensor placement is necessary so that the environment model of the robot solution differs in its completeness and accuracy only minimally from that of the solution integrated in the vehicle.
• - Non-existent sensors external to the vehicle may have to be compensated for by additional internal sensors.
• - Without optimization / packaging, too many sensors would also be distributed in the vehicle with risks of misalignment, etc.
• - Sensor cleanliness and position must be checked regularly.

Regulation / driving:

• - A retrofit solution must include all input signals or inputs such as speedometer signals and via a sensor system 20 . 120 Process recorded acceleration / movement with each other.
• - Via various sensors 20 . 21 both the exact vehicle movement and the movement of the driving robot that may be taking place 10 ' relative in or to the vehicle 1 be recorded.
• - The driving robot 10 ' must be from all sensors 20 . 120 and actuators 30 . 130 the behavior of the vehicle 1 can calculate.
• - The driving robot 10 ' not only has to calculate the actually necessary actuator inputs or inputs (e.g. steering wheel movement), but also has to record via intelligent short control loops whether the desired result has been achieved and then readjust if necessary. Another problem is that every vehicle 1 behaves individually differently.
• - Situations must also be recorded using microphones, e.g. Listen to a siren with a subsequent check by cameras to see whether and from where a vehicle with a siren is approaching.
• - Active driving via steering wheel 3 , Pedals and other controls 6 places the highest demands on the quality and speed of regulation. The control requirements in the same vehicle also change over a longer period of time.

ABK adaptation:

• - All display and control panels for the driving robot 10 ' released vehicles 1 must be known and recognized.
• - Ads must be recognizable even in difficult lighting conditions, air humidity, scratched displays etc.
• - Security-related messages, e.g. as CCM, must be provided with the correct response.
• - The display operating concept or ABK check must be part of a set-up routine.
• - Display content must be categorized and evaluated for safe and quick handling.
• - All buttons and switches as well as the gear selector switch, hand brake lever or switch and / or other operating elements 6 must always be able to be operated safely.
• - There must be a qualified response to contradictions in the display operating concept or ABK inputs.

1. 1. Fest installierter Roboter 10: Dieser wird vom Kunden erworben und in einem einzigen Fahrzeug 1 fest verbaut. Die Installation inklusive der Anbindung aller ggf. anderweitig neu positionierten Sensoren und Aktoren für Lenkrad 3, Pedalerie, Tasten und andere Bedienelemente 6 kann zum Beispiel durch den TÜV durchgeführt, eingetragen und per Siegel an relevanten Punkten zertifiziert werden. Dieser Roboter 10' kann schon ab Werk per Sonderkonfiguration auf das zu fahrende Fahrzeug hin optimiert werden. Bei einem Fahrzeugwechsel ist dann ggf. eine Adaption der Roboterhardware notwendig.
2. 2. Sich selbst einrichtender Faltroboter: Dieser kann zum Beispiel im Kofferraum zusammengefaltet und transportiert und bei Bedarf vor einer Fahrt auf dem Fahrersitz 5 platziert und dort mit vorgegebenen Mechanismen fest fixiert werden. Nachdem er eine Anbindung an das Fahrzeugenergiebordnetz als Redundanz zur eigenen Energieversorgung erfahren hat, richtet er sich in dem Wissen, um welches Fahrzeug 1 es sich handelt, selbst ein. Hierbei muss auch kontrolliert werden, ob alle Aktoren 30, 130 festen Halt und eine fixe Position haben. Auch muss getestet werden, ob hinreichend Lenk- und Pedalkräfte übertragen werden können. Erst nach erfolgreicher Einrichtung, Sensoriktest, Anzeigebedienkonzept- und Aktoriktest meldet der Fahrroboter 10' Fahrbereitschaft.
3. 3. Fahrroboter im Fahrersitz: Bei dieser Variante kann ebenfalls einmalig ein neuer Fahrersitz 5 eingebaut sein oder werden, in dem sich ein Fahrroboter 10' befindet. Die redundante Energieversorgung ist somit kontinuierlich automatisch gesichert. Auch ist die feste Positionierung der Aktorik 130 und fahrzeuginternen Sensorik 120 in dieser Lösung systemimmanent. Sobald eine Person auf dem Sitz erkannt wird, lässt sich die Einrichtungsroutine des Roboters 10' nicht starten. Bei dem Sitz 5 kann es sich um einen neutralen Standardsitz (Recaro) mit DIN-Schiene handeln. In einer weiteren Option kann die Anbindung an die Lenkung 3 auch über eine eigens bei Installation freigegebene elektronische Lenkwinkelschnittstelle erfolgen, so dass keine mechanische Verbindung zur Lenkung notwendig würde.
4. 4. Erweiterung eines Humanoidroboters: Diese Variante entspricht im Wesentlichen der Variante 2, nur dass hierbei auf einen bereits im Haushalt vorhandenen Humanoidroboter 10' aufgebaut wird. Von diesem wird eine Variante „Fahrer“ angeboten, die alle notwendige Sensorik 20, Aktorik 30 und HW/SW/Regelungstechnik, also eine Steuereinheit 50, aufweist.

The retrofit kit according to the invention 10 can be designed in very different ways, in particular the four different types of a driving robot mentioned below 10 ' significant:

1. 1. Fixed robot 10: This is purchased by the customer and in a single vehicle 1 permanently installed. The installation including the connection of any other repositioned sensors and actuators for the steering wheel 3 , Pedals, buttons and other controls 6 can be carried out, for example, by the TÜV, registered and certified at relevant points with a seal. That robot 10 ' can be optimized for the vehicle to be driven from the factory using a special configuration. When changing the vehicle, it may then be necessary to adapt the robot hardware.
2. 2. Self-assembling folding robot : This can be folded and transported in the trunk, for example, and if necessary before driving in the driver's seat 5 placed and fixed there with predetermined mechanisms. After experiencing a connection to the vehicle power supply network as redundancy to your own energy supply, he focuses on knowing which vehicle 1 it is yourself a. Here it must also be checked whether all actuators 30 130 have a firm hold and a fixed position. It must also be tested whether sufficient steering and pedal forces can be transmitted. Only after The driving robot reports successful setup, sensor test, display operating concept and actuator test 10 ' Motor pool.
3. 3. Driving robot in the driver's seat : With this variant, a new driver's seat can also be used once 5 be or will be installed in which a driving robot 10 ' located. The redundant energy supply is thus continuously and automatically secured. Also the fixed positioning of the actuators 130 and in-vehicle sensors 120 inherent in this solution. As soon as a person is recognized in the seat, the robot's setup routine can be started 10 ' not start. At the seat 5 it can be a neutral standard seat (Recaro) with DIN rail. Another option is the connection to the steering 3 also take place via an electronic steering angle interface specially approved during installation, so that no mechanical connection to the steering would be necessary.
4. 4. Extension of a humanoid robot : This variant essentially corresponds to the variant 2 , only that here on a humanoid robot already in the household 10 ' is built up. From this a variant "driver" is offered, all the necessary sensors 20 , Actuators 30 and HW / SW / control technology, i.e. a control unit 50 , having.

Installation and setup aspects:

For portable robots 10 ' as a retrofit kit according to the invention 10 the vehicle type is first recognized via a pattern recognition. Then it is mapped whether the robot 10 ' is approved for driving this type. Only then will installation steps be started. After basic positioning and fixation in the driver's seat 5 the connection to two independent power supplies is required. For example, two different high-current 12V connections must be used. One of the two robot batteries is charged with these. At the beginning there is a short load by the robot 10 ' checked whether the energy supply is sufficient.

In the next installation step, the robot is the same 10 ' all controls 6 and display elements from the database with the specific ones in the vehicle 1 from. Buttons are operated by test. For certain vehicles 1 becomes the robot 10 ' in addition to the two steering arms in the form of arm limbs 11 (two due to redundancy) additionally equipped with an operating arm for buttons so that the steering connection for button operation does not have to be disconnected.

Then the robot connects 10 ' with the steering wheel 3 , fixes the optimal connection and performs the same task on the pedals. The brake pedal is completely clutched (8-axis handle).

In the following step, the vehicle is still at a standstill 1 the steering stop is approached and the required angular rotation is recorded. Maximum positions and pressures are also recorded for the pedals. During the first steering and braking operations while driving, the operating conditions of the steering and brakes are recorded under the current conditions (e.g. vehicle loading) and updated again and again for all other control tasks.

Then the robot sets up 10 ' all sensors built in its own hardware 20 correctly. A camera is only available for the instrument cluster and is optimally geared towards this. Any combination of displays is recognized via neural networks. An additional camera is installed in the robot for each rearview mirror and is optimally aligned to the respective mirror. Again it is determined by AI whether the rear view mirrors are set up sensibly. If necessary, the robot knows 10 ' how he can adjust the exterior mirrors using buttons. In the case of the interior mirror, this is done if necessary via one of the two steering arms, i.e. the arm limbs 11 , The robot 10 ' can have a 360-degree HD camera that it can move to move it beyond the headrest to provide true all-round visibility.

The robot 10 ' signals during installation which sensor packages may need to be installed on the roof. This attachment is done either via high-performance magnets or via a roof rack. After the highly secure communication link with the robot 10 ' manufactured, he carries out a test and an electronic fine adjustment of these sensors 20 by. Before he completes his setup, he makes sure that a conversation is carried out to determine who is in the vehicle 1 Commands such as goal changes etc.

Aspects of sensor technology

For all four variants of the driving robot 10 ' applies that optical sensors, usually cameras, are technically exhausted. The robot captures with a full HD 360-degree camera alone 10 ' at the same time a multiple of optical signals than a human driver. Thus, the environment model and thus the knowledge of the potential of the next changes in direction and speed is significantly more extensive and up-to-date at all times.

The sensors available today 20 including cameras, however, are to be developed further so that they constantly run a function check and deliver a full function status with sufficient functional safety to the connected control units. A failure is therefore not marked by a black picture, but is explicitly shown.

Novel ventilation functions also ensure that all sensors installed in the robot are fog-free.

In the different variants of the driving robot 10 ' 360-degree cameras are installed for recording the traffic situation and individual objects. Furthermore, cameras built specifically for the instrument cluster and the CID are used to capture display operating concept or ABK information.

In addition to the all-round camera, the rear-view traffic is recorded via the vehicle mirrors, three additional cameras are installed in the robot, which explicitly capture only the image of one mirror each over the entire surface.

• - Sirenen von Einsatzfahrzeugen,
• - Warnsignalen wie Hupen,
• - Signale kreuzender Züge,
• - Geräusche anderer Fahrzeuge oder des Untergrunds

sowie der Kommunikation im Fahrzeuginnenraum und hierbei auch der Aufträge für z.B. Zieleänderungen.Special microphones are used to record acoustic signals from traffic events such as

• - sirens of emergency vehicles,
• - warning signals such as horns,
• - signals of crossing trains,
• - Noises from other vehicles or the ground

as well as the communication in the vehicle interior and also the orders for changes of destination.

In the robot 10 ' are also motion / gyro sensors (inertial sensors) 20 installed, with the help of which the robot can both record which specific movements the vehicle is currently carrying out (ego-motion). The robot also detects 10 ' with these sensors 20 whether its position in the driver's seat 5 (with the portable variants), which would result in readjustment of all sensors or moving to a safe position for the vehicle.

The other sensors required for fully automatic driving, with which also the availability of the robot 10 ' improvements such as SRR (Short Range Radar), LRR (Long Range Radar) or LIDAR are installed at the optimal retrofit position for the respective technology. These are on the I-board directly behind the windscreen with anti-reflective film on the inside of the windscreen. There are further positions on the roof. Here either a strong magnetic pad is used for secure fixation or a fixed mounting on a roof rack.

Inventions for the display operating concept (ABK) and the adaptation to it

For all vehicles 1 that the driving robot 10 ' allowed to move, he must have his own approval. A basis for this is the availability of all display operating concept or ABK information about all special equipment of these vehicles in a database. The instrument cluster and the central display with dimensions, location, and recognition points are stored here. Then, from the zero point of the object, it is described in relative coordinates where which displays are located and where which messages, eg check control messages, appear. This information is evaluated when the respective camera is set up.

Furthermore, the coordinates and actuation vectors of all control units required for a journey are retrieved from this database and by the robot during the initialization routine in the vehicle 1 used. The robot is over a fuzzy module 10 ' also able to press buttons, for example, that have changed their position slightly compared to the delivery status of the vehicle. All display and control panels are clustered according to their importance and urgency.

An Actio-Reactio set of rules is stored for all control elements. This means that the robot knows how to specifically test whether e.g. a key press has led to the expected result. In the case of the turn signal, this is the visual and acoustic check whether it is working correctly.

benefits

The presented inventive solutions to the technical problems in adapting the technology of fully automated driving into a retrofit solution with a driving robot 10 ' opens up completely new market potential and areas of application.

This makes it possible for the first time to retrofit the extremely large number of existing vehicles with automatic transmissions worldwide (as the only technical premise) in such a way that these vehicles can be driven legally and safely without a license. This results in a multiple of market penetration compared to a special equipment VAF, which will only be offered in premium vehicles and here often only in the upper class. As a result of the very high market volume to be expected, the purchase costs of the required hardware will also drop sharply, which results in a positive business case.

Due to the slightly reduced environment model compared to the vehicle-integrated solution, it may be that the robot is approved for maximum speeds such as 100km / h limited, which is certainly accepted by every customer.

1. 1. das Fahren älterer und gebrechlicher Leute, auch in abgelegenen Regionen,
2. 2. das Transportieren von Kindern zur Schule oder zu den Hobbys, ohne dass ein Erwachsener im Fahrzeug 1 anwesend ist,
3. 3. eine Aufwertung konventioneller Fahrzeuge im Hinblick auf ihren Wert und Nutzen,
4. 4. die Möglichkeit, im Fahrzeug 1 während der Fahrt zu schlafen oder zu arbeiten,
5. 5. der Transport des Eigentümers oder Besitzers des Fahrzeugs 1, nachdem dieser Alkohol getrunken hat, wobei sich der Besitzer am nächsten Tag wieder selbst ans Steuer setzt,
6. 6. das Steuern von Lastkraftwagen, wodurch Auffahrunfälle durch übermüdete Fahrer vermieden werden,
7. 7. das Vermieten des eigenen Fahrzeugs 1 mit dem Roboter 10' oder auch nur des Roboter 10',
8. 8. der Betrieb und die Verwendung des Roboters 10' in einem Spezialmodus auf dem Beifahrersitz, nämlich als beratender Beifahrer für Fahranfänger, dienen,
9. 9. die Möglichkeit einer Aktualisierung des Roboters 10', im Hinblick auf den neuesten Stand bezüglich Hardware und Software.

Through the aspects according to the invention with which the driving robot 10 ' The following scenarios can also be equipped with vehicles for the first time 1 possible that are already driving on our roads today, namely

1. 1. driving older and frail people, even in remote regions,
2. 2. Transporting children to school or hobbies without an adult in the vehicle 1 is present
3. 3. an upgrading of conventional vehicles in terms of their value and benefits,
4. 4. the possibility in the vehicle 1 to sleep or work while driving,
5. 5. the transportation of the owner or owner of the vehicle 1 after drinking alcohol, the owner driving himself again the next day,
6. 6. controlling trucks, thereby avoiding rear-end collisions caused by tired drivers,
7. 7. renting your own vehicle 1 with the robot 10 ' or just the robot 10 ' .
8. 8. the operation and use of the robot 10 ' serve in a special mode on the front passenger seat, namely as an advising passenger for novice drivers,
9. 9. the possibility of updating the robot 10 ' , in terms of the latest hardware and software.

In the variant of the humanoid robot 10 ' , which has been technically expanded for driving, there are further synergies, since this also includes the shopping list etc. in the vehicle 1 Has.

The fact that many customers a few years before the first offer of VAF special equipment is a high-priced vehicle 1 that you still like, with the presented invention on a VAF vehicle 1 being able to update becomes a very high market penetration of driving robots 10 ' to lead. By using them, the number of traffic violations, alcohol trips, etc. is significantly reduced. Road safety increases significantly.

The robot 10 ' will offer different driving styles, which always follow the traffic regulations, but will differ in terms of acceleration, chosen route, etc. In most (automatically) used driving modes, fuel consumption will settle near the minimum possible. This also has a positive ecological effect. This also applies when using electric vehicles 1 ,

LIST OF REFERENCE NUMBERS

1

vehicle

2

body

3

Steering, steering wheel

5

vehicle seat

6

operating element

10

retrofit kit

10 '

robot

11

Armgliedmaß

12

Handgliedmaß

15

head

20

sensors

25

Connection to vehicle sensors 120

30

actuators

35

Connection to vehicle actuators 130

40

means of communication

50

control unit

55

Connection to vehicle control 150

100

vehicle system

120

vehicle sensor

130

Fahrzeugaktorik

150

vehicle control

Claims (11)

Retrofit kit (10) for a vehicle (1), in particular for a passenger car, - Which can be mounted in and / or on the vehicle (1) and - Which is set up to act as a driver assistance system of the vehicle (1) in an assembled state and in particular to initiate, execute and / or control a controllable process of autonomous driving in relation to the vehicle (1). Retrofit kit (10) Claim 1 , with - means of a sensor system (20) and / or means of a connection (25) to a sensor system of the underlying vehicle (1), - Means of an actuator system (30) and / or a connection (35) to an actuator system of the underlying vehicle (1), - Communication means (40) for communication with components of the vehicle (1), in particular with a vehicle-side control unit, an engine control , an interface of the vehicle (1) and / or - a control unit (50) for controlling the operation of the sensors (20), actuators (30), respective means for connection (25, 35) and / or the communication means (40). Retrofit kit (10) according to one of the preceding claims, - Which is partially or completely on the or in the underlying vehicle (1) designed to be reversible or removable. Retrofit kit (10) according to one of the preceding claims, which is designed to be partially or completely mountable on a vehicle seat (5) of the underlying vehicle (1), in particular on a driver's seat. Retrofit kit (10) according to one of the preceding claims, which is designed partially or completely as a robot (10 '), in particular in humanoid form, with leg limbs and foot limbs for the controlled operation of a vehicle pedal system, and / or with arm limbs (11) and hand limbs (12 ) for the controlled operation of a steering system (3), a gear selection and / or dashboard components and / or a head element (15), on which means the sensors (20) are formed. Retrofit kit (10) according to one of the preceding claims, which is partially or completely designed as a household robot. Retrofit kit (10) according to one of the preceding claims, which is partially or completely designed as a folding robot. Retrofit kit (10) according to one of the preceding claims, which is designed partially or completely as a vehicle seat or as part of a vehicle seat and for an exchange of a vehicle seat (5) present in the underlying vehicle (1), in particular driver's seat, or a part thereof , Retrofit kit (10) according to one of the preceding claims, which, in an unmounted or disassembled state, is partially or completely stowable in a trunk of the underlying vehicle (1). Retrofit kit (10) according to one of the preceding claims, which - in particular via the control unit (50) - is formed - Set up independently in relation to the underlying vehicle (1) and its properties and / or - in a learning phase to collect data relating to a driving behavior, steering behavior, braking behavior, acceleration behavior, steering play and / or brake play of the underlying vehicle (1) and a interaction of the sensors and actuators and / or control on the vehicle and / or control side / or to learn. Vehicle system (100) with - a vehicle (1) and - a retrofit kit (10) designed to be mountable on or in the vehicle (1) according to one of the Claims 1 to 10 , - The vehicle (1) being designed in particular as a motor vehicle and / or as a passenger car.

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