DE102018214467A1 - Method and device for operating a functionality, comprising an at least partially automated and / or remote-controlled actuation of an actuator of a vehicle - Google Patents

Abstract

A method is provided for operating a functionality of a vehicle, comprising an at least partially automated and / or remote-controlled actuation of an actuator. It comprises the step of determining first data of one or more first operating parameters in the vehicle, characterizing a performance of the actuator and / or effect of the actuation of the actuator on at least a further part of the vehicle or on the surroundings of the vehicle, in relation to a first current one Time interval and / or a time interval in the past. It also includes the step of comparing the first data of the first operating parameter or the first operating parameters with a predetermined condition. There is then an influencing of a functionality, including an automated and / or remote-controlled actuation of an actuator of the vehicle, depending on the result of the comparison.

Description

The invention relates to a method and a device for operating a functionality, comprising an at least partially automated and / or remote-controlled actuation of an actuator of a vehicle.

Vehicle components that have an influence on the movement (braking, steering, acceleration) of the vehicle must be developed and manufactured according to certain standards. An example of such safety standards is the so-called ASIL (= Automotive Safety and Integrity Level). This provides for different classifications of the requirements, e.g. ASIL-A, ASIL-B, ASIL-C, ASIL-D. An increase in a vehicle system security standard, e.g. from level ASIL-A to level ASIL-B or from level ASIL-B to level ASIL-C means an extension of the development time, protection and a multiplication of costs. In the future, automated or remotely controllable functions for vehicles, e.g. Remote control of a parking process, parking process, a remote-controlled maneuver - even from a greater distance - gain in importance outside the direct line of sight. However, the emergence or marketing of such functions can fail due to the requirements of functional safety or safety in use. At the latest when a, e.g. An actuator that intervenes in the chassis of the vehicle must be automated or operated remotely to a high degree can no longer be expected to allow a driver of the vehicle or another person to intervene directly. Nor can it be expected that the driver will be able to carry out the necessary emergency braking or emergency steering in the event of failure of the brake booster or power steering. For the marketing of highly automated or highly remote-controlled functionalities, a high classification of the corresponding security standards would result. Even high ratings nevertheless do not provide definitive security in the event of a longer service life of the vehicles, since a driver who could determine a conspicuous condition of the vehicle components and intervene accordingly may be missing.

It is an object of this invention to provide a method and a device for operating a functionality, comprising an at least partially automated and / or remote-controlled actuation of an actuator of a vehicle. In particular, it is the object of this invention to enable (long-term) safe and reliable operation of such functionality, even if a user of the vehicle is not ready to drive or is not present in the vehicle.

The object is solved by the features of the independent claims. Advantageous embodiments are described in the dependent claims. It is pointed out that additional features of a claim dependent on an independent claim without the features of the independent claim or only in combination with a subset of the features of the independent claim can form a separate invention that is independent of the combination of all features of the independent claim can be made the subject of an independent claim, a divisional application or a late application. This applies equally to the technical teachings described in the description, which can form an invention that is independent of the features of the independent claims.

The following explanations regarding the method according to the invention also apply in a corresponding manner to the system according to the invention and the corresponding computer program. Further features and advantages of the invention result from the following description of exemplary embodiments of the invention, with reference to the figures of the drawing, which shows details according to the invention, and from the claims. The individual features can each be implemented individually or in any combination in a variant of the invention.

According to a first aspect of the invention, a method for operating a functionality, comprising an at least partially automated and / or remote-controlled actuation of an actuator, of a vehicle is provided. It comprises the step of determining first data of one or more first operating parameters in the vehicle, which is or are related to the operation of the actuator, in relation to a first current time interval and / or a time interval in the past. The first data of one or more first operating parameters can preferably characterize a performance of the actuator and / or the effect of the actuation of the actuator on at least a further part of the vehicle or on the surroundings of the vehicle. It also includes the step of comparing the first data of the first operating parameter or the first operating parameters with a predetermined condition. There is then an influencing of a functionality, including an automated and / or remote-controlled actuation of an actuator, of the vehicle depending on the result of the adjustment.

The actuator is preferably an actuator that intervenes in the chassis of the vehicle or changes one Movement, e.g. longitudinal deceleration, lateral movement of the vehicle, vertical dynamic movement of the vehicle, serves (or can cause an intervention in operation). It can be an electrically, hydraulically, electrohydraulically, pneumatically driven actuator. The actuator can also be an actuator driven by chemical energy. Exceptionally, the actuator of the vehicle can be a starter (generator, alternator) of the vehicle or an actuator of the drive system of the vehicle (eg gearbox, engine).

In this case, the first data can be determined on the basis of the one or more first operating parameters in the vehicle which are related to the operation of an actuator, apply within a current time interval and / or have applied within a time interval in the past. For example, the functionality is influenced in a second time interval or in a further time interval, the further time interval being substantially later than the first time interval and the second time interval. For example, the functionality can be influenced with respect to a later operation, a later terminal cycle of the vehicle and / or for a different functionality or for a different application than in the first time interval.

In a simplified case, a time interval is to be understood as a point in time. A time interval is preferably a time span of approximately 0.2, 0.5, 1, 3, 5 seconds. The one or more first operating parameters can include a time characteristic. The first time interval and / or the second time interval can start (a certain time) before the actuation of the actuator and / or end (a certain time) after the actuation of the actuator. The first operating parameter or parameters that are or are related to the operation of the actuator can identify one or more changes in the vehicle that occur at the beginning and / or after the end of the actuation of the actuator.

In other words, the first data relating to the first operating parameters can relate to an actuation of the actuator beyond the functionality (not for the functionality mentioned) or for no specific functionality or for another functionality.

The one or more first operating parameters in the vehicle are preferably operating parameters which, as a result of the actuation of the actuator, e.g. during or after actuation of the actuator. The operating parameters include, in particular, changes in the corresponding parameter values that have arisen in connection with the actuation of the actuator.

The one or more first operating parameters are, in particular, operating parameters (this also includes the corresponding parameter values), which have (have arisen) in a (temporal and / or causal) connection with the actuation of the actuator.
In a simplified case, these can be the operating parameters of the actuator or a part of the vehicle that is related to the actuator. The first data can correspond directly to these first operating parameters or can be determined on the basis of the one or more operating parameters, for example as a derived, aggregated or statistical value.

• - einer durch den Aktor erbrachten Leistung des Aktors, beispielsweise einer mit dem Aktor ausgeführten Amplitude, einer Kraft, einem Moment,
• - einer von dem Aktor verbrauchten und/oder mit dem Aktor gewandelten Energie, oder einer Energieeffizienz,
• - einer Belastung des Aktors im Betrieb, z.B. durch mechanisches Entgegenwirken, Gegenwirkungen,
• - einer Präzision bzw. Abweichung des Aktors, insbesondere ein Befolgen oder Abweichen von einer Kennlinie,
• - einer Antwortzeit, Totzeit, Folgezeit und/oder eines Aufstartverhaltens,
• - eines Geräuschs oder einer Vibration (in einem hörbaren Spektrum, in einem Infraschallbereich und/oder in einem Ultraschallbereich), die bei der Betätigung des Aktor ermittelt wurde,
• - einer mit dem Aktor bewirkten (nach der Betätigung des Aktors festgestellten) Veränderung der Bewegung des Fahrzeugs, z.B. ein Abbremsen, eine Querbeschleunigung des Fahrzeugs.

The first data of one or more first operating parameters can characterize an actuator's performance, in particular a measure of one or more entries from the following list:

• a power of the actuator provided by the actuator, for example an amplitude carried out with the actuator, a force, a moment,
• an energy consumed by the actuator and / or converted with the actuator, or an energy efficiency,
• - a load on the actuator during operation, e.g. due to mechanical counteraction, counteraction,
• a precision or deviation of the actuator, in particular following or deviating from a characteristic curve,
• a response time, dead time, follow-up time and / or start-up behavior,
• a noise or a vibration (in an audible spectrum, in an infrasound range and / or in an ultrasound range) that was determined when the actuator was actuated,
• - A change in the movement of the vehicle caused by the actuator (ascertained after the actuation of the actuator), for example braking, lateral acceleration of the vehicle.

The first data, characterizing the impact of Actuation of the actuator on at least a further part of the vehicle can, for example, have one or more effects on energy converters, on the vehicle's electrical system and / or on the units connected to the energy system, e.g. energy sources, intermediate energy storage, consumers, fuses, sections of the lines, etc. mark.

• - einer Veränderung einer elektrischen Größe an einer oder mehreren Stellen im Energiebordnetz des Fahrzeugs, die im Zusammenhang mit der Betätigung des Aktors stehen. Ein solches Maß der Veränderung kann eine bestimmte zeitliche Charakteristik, z.B. einen zeitlichen Gradienten einer Veränderung einer elektrischen Größe kennzeichnen. Beispielsweise können die ersten Daten kennzeichnen, wie stark und/oder schnell die Spannung an einer oder mehreren Stellen im Energiebordnetz des Fahrzeugs bei der Betätigung des Aktors gesunken ist und/oder sich nach der Betätigung des Aktors wieder erhöht hat.
• - einer Reaktion einer weiteren Vorrichtung, z.B. eines weiteren Aktors des Fahrzeugs im Zusammenhang mit der Betätigung des Aktors; Beispielweise eine Verringerung der Performance eines anderen Systems bzw. Aktors, die im Zusammenhang mit der Betätigung des Aktors ermittelt wurde.

The first data of one or more first operating parameters can characterize the effect of the actuation of the actuator on at least one further part of the vehicle, in particular a measure of one or more entries from the following list:

• - A change in an electrical variable at one or more points in the vehicle's electrical system, which are related to the actuation of the actuator. Such a measure of the change can characterize a certain temporal characteristic, for example a temporal gradient of a change in an electrical variable. For example, the first data can indicate how strongly and / or quickly the voltage at one or more points in the vehicle's electrical system has decreased when the actuator has been actuated and / or has increased again after the actuator has been actuated.
• a reaction of a further device, for example a further actuator of the vehicle in connection with the actuation of the actuator; For example, a reduction in the performance of another system or actuator, which was determined in connection with the actuation of the actuator.

• - erzeugte Reibungskraft und/oder erzeugter Radschlupf mit der Fahrbahn bei einer Bremsung oder Beschleunigung des Fahrzeugs bei einer Betätigung des Aktors, z.B. eines oder mehrerer Aktoren eines Bremssystems des Fahrzeugs,
• - erzeugte Reibungskraft und/oder Radschlupf mit der Fahrbahn bei einer Lenkung des Fahrzeugs bei einer Betätigung des Aktors, z.B. eines oder mehrerer Aktoren eines Lenksystems des Fahrzeugs,

The first data of one or more first operating parameters can characterize the effect of the actuation of the actuator on the surroundings of the vehicle, in particular a measure of one or more entries from the following list:

• generated frictional force and / or generated wheel slip with the road surface when the vehicle brakes or accelerates when the actuator is actuated, for example one or more actuators of a braking system of the vehicle,
• generated frictional force and / or wheel slip with the road when the vehicle is steered when the actuator is actuated, for example one or more actuators of a steering system of the vehicle,

The first data of one or more first operating parameters can be determined in a qualitative and / or quantitative form. These can, but do not have to, include an explicit identifier for a performance of the actuator and / or for the effect of the actuation of the actuator on at least a further part of the vehicle or for the effect on the surroundings of the vehicle. These can e.g. are determined and / or processed as largely valuation-free and / or coded dimensions or coded value range of the corresponding dimensions. The first data can also be ascertained, the variables scaled or mathematically modified (e.g. reversing variables) according to a non-linear scale in connection with the performance of the actuator and / or the effect of the actuation of the actuator on at least a further part of the vehicle or on the surroundings of the vehicle correspond.

Alternatively or additionally, the first data of one or more first operating parameters in the vehicle can include any other data that are related to the operation of the actuator.

The first data of one or more first operating parameters or the result of the comparison of the data can, in particular in a non-volatile memory, e.g. beyond a terminal cycle of the vehicle. This data can be stored and / or processed in a memory of the vehicle or a computing unit outside the vehicle (for example in the backend or in a mobile user device).

The influencing of the functionality can in particular be a change in the functionality, in particular the parameters, logic and / or the mode of the functionality, and / or a control of the functionality. It is particularly preferably a predictive influencing of the functionality, e.g. before beginning functionality. Alternatively, the functionality can also be performed during operation, in particular dynamically, e.g. already be influenced during the actuation of the actuator. For example, one or more variants of influencing the functionality are provided, which are executed when one or the other variants provided in the predetermined condition are met.

In the context of the present document, the result of the comparison also includes control data for influencing the functionality, which are determined during the comparison or on the basis of the comparison. In other words, the said control data, e.g. Control signals for an appropriate influencing of the functionality can be determined. For example, the control data for influencing the functionality are determined directly or indirectly, preferably on the basis of comparing the first data of the first operating parameter or the plurality of first operating parameters with a predetermined condition. For example, the influencing of the functionality can be carried out by means of control data which are determined during the comparison.

In one application, the first data of a first operating parameter can relate to a manually initiated operation (actuation, control) of the actuator of the vehicle or to a manually executed (operated, controlled) functionality of the vehicle. A similar or a different functionality can then be influenced in the method. In this example a functionality of the vehicle can be influenced, which includes an at least partially automated and / or remote-controlled actuation of the same actuator of the vehicle.

For example, the first data of a first operating parameter in the vehicle, which is related to the operation of an actuator, during an essentially manual control of the vehicle, e.g. with a driver present at the driver's seat. Thereupon, depending on the result of the comparison, an influencing of a functionality, comprising an automated and / or remote-controlled movement of the vehicle and thus correspondingly an at least partially automated and / or remote-controlled actuation of an actuator of the vehicle, which is desired, initiated or carried out at a later time interval should be done.

One or more features, parameters or steps of the method discussed in this document are particularly preferably varied, depending on whether the vehicle is at least partially automated, at least partially remote-controlled, and / or at least temporarily operated without a driver, or an intention to at least partially operate the vehicle automated, at least partially remote-controlled, and / or at least temporarily to move driverless, is recognized. In particular, the at least one automated and / or at least partially remote-controlled actuation of the actuator is an actuation that is not actuated by the driver of the vehicle and / or an actuation that is carried out without a driver being in the vehicle or whether the driver in the vehicle is sufficiently ready to take action, and / or whether an occupant in the vehicle has sufficient authorization to directly or indirectly actuate the at least one actuator of the vehicle. For example, the method is only carried out in a certain variant, at least predominantly only or only if an automated and / or remote-controlled vehicle without occupants or without a driver, e.g. operated only with passengers (who are not drivers).

An automated actuation of the actuator, for example an actuator of the braking system or the steering system of the vehicle, is to be understood in particular as an actuation that is based on an automatically generated decision, e.g. the decision to carry out a (certain) braking process or a (certain) steering process. Remote actuation of the actuator can be actuation of the actuator, for example an actuator of the braking system or the steering system of the vehicle. In particular, such an operation is to be understood that, based on a decision made outside the vehicle, e.g. the decision to carry out a (certain) braking process or a (certain) steering process is made. The at least partially automated and / or remote-controlled actuation of the actuator can take place as part of an automated and / or remote-controlled function. Such functionality can be functionality for at least partially (preferably predominantly) automated and / or remote-controlled movement of the vehicle (driving, parking, maneuvering, etc.). The functionality can also relate to a parked vehicle in which an at least partially automated and / or remote-controlled actuation of an actuator is carried out when the vehicle is at a standstill, in particular without the driver or another user being absent in the vehicle. For example, the functionality can relate to the actuation of an actuator of a door, or also to the folding of a convertible roof of the vehicle, for example, which can be carried out without a direct expression of the will of an occupant and / or remotely, e.g. with the mobile user device. The actuator can be actuated in the context of or for a functionality of the vehicle itself and / or several vehicles (e.g. in the context of cooperative driving, a so-called swarm intelligence) and / or a cloud-controlled system.

The term remote-controlled functionality (which also includes remote-controlled functionality) is to be understood in the context of the present document that the functionality itself, in particular the movement of the vehicle, at least partially or also temporarily from outside the vehicle, e.g. from a distance of a few meters or from a greater distance, with or without visual contact with the vehicle, at least prompted, in particular controlled. The movement can preferably be controlled at least in part by the user (for example depending on at least one user operating action) and / or by a computing unit located outside the vehicle. Particularly preferably, said automated and / or at least partially remote-controlled functionality and / or the method itself are related to parking and / or parking and / or maneuvering of the vehicle, but at least to an action in which the braking system and / or the steering system is at least likely to be used, in particular at least partially automated and / or remotely controlled.

For example, the first operating parameters relate to an actuation of a brake system initiated by a user of the vehicle, the actuator being, for example, a brake pump for boosting the brake force or a brake actuator on a brake disc of a wheel of the vehicle, and / or a steering system of the vehicle, the actuator can be a power steering actuator, linear motor, etc. The at least one first operating parameter can relate to a voltage value or a change in voltage in an on-board electrical system of the vehicle that has arisen in connection with the operation of the actuator. Then, depending on the comparison of the data on the basis of the first operating parameter, an at least partially automated and / or remote-controlled functionality can be influenced, in particular changed or controlled.

Said predetermined condition can be or include one or more comparison values, patterns and / or one or more mathematical relationships (e.g. comparison regulations). These can be applied to the first data during the comparison. In other words, the predetermined condition defined in this document can be comparison data or values and / or one or more comparison rules for performing the comparison.

For example, the predetermined condition can identify an allowable and / or inadmissible range of values for the first data based on the and / or the first operating parameters or their allowable and / or inadmissible deviation (from a value, pattern and / or mathematical relationship). During the comparison, it is checked, for example, whether or to what degree the first data match a pattern, mathematical correlation. The predetermined condition may relate to the first data itself (e.g., two or more data based on the different operating parameters) and / or to other data, e.g. pre-stored or current (vehicle) data can be checked. The predetermined condition can also be adapted to a specific application, e.g. be defined more and more strictly or more and more loosely in order to e.g. to gradually reach the appropriate range of values, and / or to adjust the predetermined condition regularly or event-controlled, e.g. of various signals from the vehicle or predetermined events. A target value and / or a permissible and / or impermissible deviation can also be adapted depending on a relevant increase in the age of the vehicle and / or a usage parameter. The at least one predetermined condition can also be determined by means of information transmitted to the vehicle from the backend, e.g. depending on the statistical information collected.

For example, depending on the comparison, in particular depending on a result value of the comparison, an influencing of one functionality (or several related functionalities) can be carried out. The influencing of the at least one functionality can take the form of a, in particular gradual, release, restriction, change and / or blocking of at least one performance feature of the corresponding functionality, e.g. certain operations are carried out during a remote-controlled parking process, parking process or maneuvering process.

For example, depending on a result of the comparison, which is determined as a quantitative value or a plurality of gradations or coded values, one of several (more than two) options for restricting, changing and / or blocking at least one performance feature of the functionality can be carried out. In other words, a restriction, change and / or blocking of at least one performance feature of the functionality can take place essentially continuously or in several (more than two expediently selected) stages.

For example, influencing said functionality can include a restriction of an executable degree of automation and / or degree of remote control of the functionality or the actuation of the actuator. Here, e.g. a maximum (and / or minimum) degree of automation can be determined, which is preferably in connection with a further condition, e.g. a certain route section, speed range and / or a boundary condition when actuating the actuator and the like, is made available or not available or is brought forward.

In particular, starting or continuing remote control of the vehicle, adaptive changing of the performance features in connection with the functionality can be carried out. A parameter can be adapted or calibrated for the upcoming activation of the actuator and / or for the further operation of the actuator (also for further functionalities). In addition, driving signaling of the vehicle to the outside, e.g. Hazard warning flashers, lights, sound take place. User information, etc. can also be output.

For example, remote control of the vehicle can be restricted to an acceptable level of risk for the upcoming application depending on a result of the at least one comparison of the data. For example, an adaptive change or blocking of at least one performance feature of the functionality can be carried out on the comparison of the data. A graded differentiation can be carried out, which is carried out in appropriately fine steps. In other words, if there is a slight increase in the risk or if there is the slightest suspicion, the all functionality can be deactivated. Rather, it should be adapted adaptively.

The data based on the first operating parameter and / or the data based on the second operating parameters can e.g. represent a certain mathematical relationship from several said (more or less related or independent) operating parameters. For example, the data based on the first operating parameters and / or the data based on the second operating parameters can characterize a ratio of the power of the actuator and a corresponding voltage drop in the on-board electrical system. The data based on the first operating parameters and / or data based on the second operating parameters can also comprise a specific pattern and / or a specific sequence of the values of the respective operating parameters.

The predetermined condition, e.g. A permissible and / or impermissible deviation of the data on the basis of the first operating parameter from a target value can be adapted in the method depending on the determined application of the functionality and / or the driving context. It can also be adapted to a specific application and / or regular or event-controlled adaptation of the predetermined condition. A target value and / or a permissible and / or impermissible deviation can also be adapted depending on a relevant increase in the age of the vehicle and / or a usage parameter. The at least one predetermined condition can also be determined by means of information transmitted to the vehicle from the backend, e.g. depending on the statistical information collected.

Depending on the comparison of the data and on a measure of the risk that is acceptable for the particular application, a combination of performance features that can be carried out as perfectly as possible (according to predefined criteria) can be selected. Combinations of features can be based on a stored regulation, e.g. as a prioritization of different combinations according to their (predetermined or adaptively determined) value for the user. This has the advantage that the best possible functionality (e.g. based on the user's perspective) can be offered, which can be carried out under given boundary conditions and / or a driving operating condition.

In one embodiment, the at least one predetermined condition is determined as a function of the second data of one or more second operating parameters that applied in the vehicle or in one or more further vehicles at one or more time intervals in the past.

The one or more second operating parameters can be essentially the same or, correspondingly, a corresponding type of operating parameters as the first operating parameters.

In a simplified example, the data of one or more second operating parameters can come from the same vehicle. They are preferably subjected to the adjustment cycles from a longer period in relation to several actuations of the actuator, in several applications. During the comparison, their change can be evaluated, for example.

The predetermined condition can change over time, depending on the one or more operating parameters (the respective operating parameter values) in the vehicle at many different time intervals, e.g. with a large number of different actuations of the actuator, can be determined or adapted. In particular, the change in one or more of the first operating parameters can be evaluated within longer periods and taken into account when influencing the functionality (e.g. in a next application or use of the functionality).

The data of one or more second operating parameters preferably relate to one or more further (second) vehicles which differ from the vehicle (first vehicle).

The predetermined condition (e.g. for the comparison of the first data) can be determined or adapted in particular dynamically, depending on the operating parameter or parameters in one or more of the further (second) vehicles.

In other words, the predetermined condition does not (or not only) have to be a fixed condition (a fixed value, e.g. norm value, comparison pattern, comparison sequence), but (also) an adaptable (adaptable over time, during the long-term use of the vehicles) adaptive Component, e.g. Include comparative values, patterns and / or mathematical relationships. This has the advantage that the functionality can also be adapted to a possibly unpredictable condition and change within the life cycle of the vehicles.

The predetermined condition is preferred, in a simplified case a comparison value, a comparison pattern, a mathematical relationship, on the basis of the first several Predefined operating parameters in connection with several (a multiplicity) actuations of the actuator (or comparable actuators) in the vehicle and / or in several comparable vehicles. The at least one predetermined condition is preferably adapted step by step when the method is executed several times. Among other things, there is an advantage that the said predetermined condition can be appropriately adapted during a long-term use, for example over the course of several months or years, kilometers of the vehicle or vehicles or thousands of kilometers traveled (?).

The second data of one or more second operating parameters in the vehicle can be aggregated, e.g. statistically evaluated data act on the basis of one or more second operating parameters, in particular on the basis of a longer period of time. For example, the determination and / or a step-by-step adaptation of the predetermined condition take place for a new terminal cycle, a new (subsequent) application of the functionality.

As already mentioned, the method is not limited to the use of fixed comparison values. Rather, the predetermined condition can be compared with the data on the basis of the (multitude) of the second operating parameters from the past, in particular from a long-term past and / or from at least one (preferably a multitude) of the further vehicles.

A suitable predetermined condition can be selected for an existing or upcoming application of a corresponding functionality in which an automated and / or remote-controlled actuation of the at least one actuator is imminent or is expected with a certain probability.

In other words, suitable “comparison data” for carrying out the said comparison can be ascertained or called up in each case. For example, the said predetermined condition is used to compare the first data on the basis of the one or more first operating parameters, in particular a first data pattern (on the basis of the first operating parameter or parameters), with the second data on the basis of one or more second operating parameters, in particular one or a plurality of second data patterns (based on the second operating parameter or parameters). For example, the method can include applying a pattern recognition method to the first operating parameters and / or the second operating parameters.

For example, the at least one predetermined condition may include a permissible and / or impermissible deviation of the first data based on the first operating parameter, in particular the first data pattern, from information based on one or more second operating parameters, e.g. from a second data pattern.

As a result, the method can be used, for example, to check a deviation of the first data from the (statistically evaluated) second data on the basis of at least one vehicle (preferably a plurality of the further, second vehicles), and the result of the check as a criterion for operation , Blocking or influencing at least one functionality of the vehicle, preferably for certain applications of the functionality.

For example, on the basis of a second operating parameter, the second data can represent a partially remote-controlled and / or automated actuation of braking in the past.

The second data of one or more second operating parameters can show a performance of the (second) actuator and / or an effect of the actuation of the (second) actuator on at least a further part of the (second, different from the first vehicle) or on the environment of the ( second) mark vehicle. In this sense, the above definitions for the first data can also apply analogously to the second data. However, these can also be defined differently from the first data.

1. a) ein, insbesondere statistisches, Maß des Zeitintervalls zwischen einem bestimmten Steuersignal oder einer Kombination von Signalen und einer bestimmten physikalischen Wirkung des Aktors,
2. b) ein, insbesondere statistisches, Maß des Zeitparameters bis zum Erreichen eines Resultats, z.B. eines Stillstands des Fahrzeugs, eines bestimmten Lenkeinschlags, etc.
3. c) ein, insbesondere statistisches, Maß für eine Beschleunigung bzw. Bremsbeschleunigung, etc.

In one example of the method, the second data can represent, for example, on the basis of the following second operating parameters:

1. a) a, in particular statistical, measure of the time interval between a specific control signal or a combination of signals and a specific physical effect of the actuator,
2. b) a, in particular statistical, measure of the time parameter until a result is achieved, for example a standstill of the vehicle, a certain steering angle, etc.
3. c) a, in particular statistical, measure for an acceleration or braking acceleration, etc.

On the basis of the second operating parameter, the data can also more or less explicitly or implicitly represent a measure of the operational readiness, performance of the actuation of the actuator in the vehicle from the past and / or one or more (for example essentially identical) actuators, for example in other vehicles , For example, if a certain actuation of an actuator in the A vehicle with certain first operating parameters is imminent, a predetermined condition can be selected on the basis of one or more (essentially identical) actuators in a number of other vehicles with comparable operating parameters.

For example, the second operating parameters can identify a voltage drop at a specific point in the on-board electrical system, which drops in one or more other vehicles (which differ from the vehicle) when the actuator is actuated, e.g. when operating a brake system. For example, the second data, in particular a data pattern, can be based on one or more second operating parameters in one or more further vehicles. Such data can be anticipatory, e.g. regularly, collected and processed in a backend.

For example, a corresponding database can be created in a backend, which includes the second data (the comparison data) for a large number of specific applications and / or actuations of the actuator. The sections of the second data can be linked to the corresponding use cases. These can e.g. can be read out when a request is made for a specific application.

In a further embodiment, the at least one predetermined condition is determined on the basis of a plurality of aggregated second data from second operating parameters which relate to a large number of comparable actuations of the actuator of the vehicle or one or more comparable actuators from a large number, in particular from a specific number, of further groups Get vehicles.

The second operating parameters preferably relate to one or more further vehicles which are approximately the same age, have the same usage parameters (age, mileage, new parts) and / or are operated under similar boundary conditions and / or a driving operating condition. Alternatively or additionally, the second operating parameters can be determined using a mathematical method, e.g. be determined by means of an interpolation and / or an extrapolation between the data from a number of further vehicles, each with different usage parameters. For example, a predetermined condition for a three-year-old vehicle with approximately average usage parameters can be determined from the data based on the second operating parameters of vehicles that are two to six years old and have above-average or below-average usage parameters.

The second data based on the second operating parameters from further vehicles, which have higher usage parameters and / or an older age than the vehicle, can also be used to predict one or more predetermined conditions suitable for the (first) vehicle. If e.g. If it is determined that the actuation of the corresponding actuator in a number of the second, at least on average older vehicles, or of vehicles with higher usage parameters, has been carried out correctly, a predetermined condition for the vehicle can depend on the second data of this number of vehicles ( with or without a certain additive or multiplicative safety factor), for example, and be continuously adjusted if necessary.

For example, if it is determined that a probability measure for actuating an actuator of the vehicle with an operating parameter within certain parameter limits fulfills a predetermined condition, e.g. is higher than a static or dynamic limit value, a section of relevant data relating to the operating parameters of the vehicle is then called up and evaluated from a previous time interval. One or more second operating parameters can be a plurality, in particular aggregated operating parameters of the specific actuator, of an identical actuator in another vehicle, in particular in a vehicle which is approximately the same age, has the same usage parameters (age, mileage, new parts ) and / or is operated under similar boundary conditions and / or a driving operating condition.

Furthermore, the second information can be determined and taken into account on the basis of second operating parameters depending on a measure of the operational readiness and / or performance of the actuation of the relevant actuator and / or a further actuator of one or more further vehicles from the past. It can be ensured that the predetermined condition is selected on the basis of the data obtained from other vehicles that are functioning properly. For example, the second data can be (explicitly) selected or at least preferably taken into account on the basis of second operating parameters, which are obtained from one or more vehicles in which the relevant functionality and / or the actuation of the actuator (according to certain criteria) functions perfectly or above average Has. Data can also be explicitly determined on the basis of the second operating parameters, which were valid in another vehicle (in particular before an error, an undesired consequence). The latter second data can in turn be used to reduce operational readiness and increase the probability of failure and / or anticipating under-expected performance and / or a reason for an irregularity.

In a further embodiment, the method comprises determining, in particular predicting a measure of the risk in relation to a current or upcoming implementation of the functionality and / or a specific application of the functionality, and adapting the at least one predetermined condition depending on at least one determined measure of the risk.

In other words, it can be prevented here that a certain, e.g. For the expected application, the specified or legally applicable level of risk is not exceeded by appropriately selecting a predetermined condition for comparing the data. The at least one specific measure of the risk can be determined as a function of a measure of one or more possible consequences and / or as a function of one or more probability measures for the occurrence of the one or more consequences. The said degree of risk can essentially relate to the specific application as a whole, e.g. be related to a specific parking process, parking process or a specific maneuvering process (with various associated risks). It can then be determined which measure of the risk may be attributed to a specific, at least probable, actuation of the (specific) actuator or several specific actuators. A predefined condition can then be derived, which can confirm compliance with or falling below the said level of risk in relation to actuation of the actuator (with or without a tolerance or safety margin).

If, for example, actuation of the at least one actuator with a high operating parameter is expected and / or a probability measure for its actuation is comparatively high in the application, it can be ensured that in the application there is no overall measure of the risk that exceeds a certain threshold or is inadmissible results by the comparatively strict selection of the at least one predetermined condition. For example, in such a case, more extensive data can be adjusted, a test procedure can be carried out, and / or a further measure can be initiated with the aim of more precisely determining and / or reducing the degree of risk for the specific application.

A measure of a risk in relation to a current or upcoming implementation of the functionality and / or a specific application of the functionality can e.g. are determined or estimated depending on a measure of a possible damage and / or on a probability of occurrence of a damage. This can be a risk that results from a failure and / or a malfunction of part of the vehicle functionality of the vehicle. For example, it can be a risk that arises from actuation of the actuator, e.g. incorrect braking and / or steering of the vehicle. A measure of the risk can essentially correspond to a product of a measure of a possible damage and / or of a probability of occurrence of a damage and / or a cumulative value in relation to two or more different possible damages. The degree of risk can, but does not have to, correspond to the respective absolute values. This can e.g. scaled according to a non-linear scale, adapted to certain safety standards.

Such a measure of risk can e.g. determined in the form of 2, 4, 8, 16 different dimensions, in particular estimated. Methods known per se for determining, in particular estimating, a risk can also be used. Such a measure of the risk can preferably depend on a specific present or upcoming application of the vehicle functionality (for example longitudinal parking, lateral parking, turning, driving, overtaking, etc.), on information about the surroundings of the vehicle (for example on evaluated sensor data of the vehicle) , and / or from a measure of the attention and / or presence of a user of the vehicle (for example a specific user of the vehicle, for example a driver, a user who remotely controls the vehicle, etc.).

The at least one predetermined condition for comparing the first data of the first operating parameter is preferably adapted depending on the determined degree of risk (e.g. according to a predetermined function, allocation table, etc.).

The at least one predetermined condition can be adapted in such a way that a degree of risk resulting from a (certain, possible, probable) impending execution of the functionality does not exceed a predetermined limit value.

For example, the at least one predetermined condition can also be adjusted taking into account a further measure of the risk which is related to the impending execution of the functionality and / or for the specific application of the functionality. For example, the at least one predetermined condition can be adjusted depending on a measure of risk that is independent of the actuation of the actuator.

The at least one predetermined condition is preferably determined or adjusted in such a way that a cumulative measure of the risk (for example, to be understood as the overall risk, with respect to an impending execution of the functionality and / or for a specific application of the functionality) under a predetermined one Threshold remains.

Thus, for example, so-called homologation criteria for the approval of a vehicle with a functionality, safety standards or a voluntary commitment by a vehicle manufacturer or vehicle operator to operate a functionality can be met. For example, homologation criteria or standards for automated, remote-controlled, driverless driving, parking, maneuvering can be fulfilled or proven. Data can also be dependent on the determined degree of risk regarding a specific implementation of the functionality and / or regarding a specific application of the functionality, e.g. as evidence, be saved permanently.

In a further embodiment, the method comprises determining a boundary condition and / or a driving operating condition for a specific application of the functionality and / or for a specific application, a selection of a first section of the first data of one or more first operating parameters that are already the same or comparable Boundary condition and / or a driving operating condition, from a memory, and / or a selection of a predetermined condition depending on the determined boundary condition and / or a driving operating condition, and / or performing the comparison, in which at least predominantly the selected first data and / or the selected predetermined condition is taken into account.

In a further embodiment, the method comprises transmitting the first data based on the first operating parameter and / or an identifier of a first boundary condition and / or a first driving operating condition for an application of the functionality from the vehicle and / or from one with the vehicle in one Active link operable mobile user device, to a backend, processing the first data, comprising a comparison of the first data with the predetermined condition in the backend, and receiving information (in response to the transmission of the first data), which is dependent on the comparison the first data was determined with the predetermined condition outside the vehicle, in the vehicle and / or in the mobile user device operable in an active connection with the vehicle. One or more steps, including an aggregation of the data or a further aggregation of the data described in this document, can be carried out in the backend. One or more detections of one or more (statistical) trends, pattern detections can also be carried out in a backend. This has the advantage that much more reliable, precise data on a predetermined condition (e.g. based on a large number of other vehicles) can be determined or adjusted. This also results in significantly higher or cheaper computing power and software that can be adapted in fast cycles.

The corresponding functionality (in the vehicle and / or in the mobile user device) can then be influenced depending on the information received (in response to the transmission of the first data). For example, a comparison of the first data on the basis of one or more first operating parameters, in particular a first data pattern, with the data on the basis of one or more second operating parameters, in particular one or more second data patterns, outside the vehicle, e.g. in the mobile user device or backend. The second data can be determined on the basis of one or more second operating parameters, in particular a second data pattern, on the basis of a large number of the operating parameters which in the past corresponded to the respective first operating parameters, in particular from a large number of the second vehicles. For example, the information based on one or more second operating parameters, in particular a second data pattern, can represent certain statistical relationships between several, in particular a large number of such operating parameters.

Optionally, a boundary condition and / or a driving operating condition for a specific application of the functionality can be determined by means of the vehicle or the mobile user device by determining first data of one or more first operating parameters in the vehicle that is associated with the operation of the actuator and is valid for a time interval in the past, from a memory of the vehicle or a mobile user device. Furthermore, the first data and / or an identifier of a first boundary condition and / or a first driving operating condition for the application of the functionality from the vehicle to a backend can optionally be transmitted, and the transmitted data can be processed in the backend, in particular comprising a comparison with the predict condition based on a variety the second data based on the second operating parameters of a plurality of the second vehicles. Furthermore, the processed data can be received from the back end in the vehicle or in the mobile user device, and an functionality can be influenced, including an automated and / or remote-controlled actuation of an actuator of the vehicle, depending on the processed data.

Such a sequence can be carried out before or during the execution of a certain functionality, which may require automated and / or remote-controlled actuation of the actuator of the vehicle.

In a further embodiment, the method includes reading, in particular retrieving, the second data, which are based on one or more second operating parameters from a number of further vehicles, and comparing the first data of a first operating parameter of the vehicle with a predetermined condition, the predetermined one Condition is determined depending on the second data from a number of other vehicles.

The adjustment can be carried out within a computing unit of the vehicle and / or within the mobile user device. The corresponding functionality (in each case in the vehicle and / or in the mobile user device) can then be influenced on the basis of the evaluation, depending on the information provided. In this case, a targeted retrieval of a (suitable) second piece of information based on one or more second operating parameters for the vehicle or for the mobile user device takes place.

In a further embodiment, the data of one or more first operating parameters, in particular a first data pattern, which relates to a time interval from the past, is or are obtained from a memory of the vehicle, in particular from a ring memory present in the vehicle , determined.

In other words, if necessary, not only a current value of an operating parameter, but preferably a certain change history or a time profile of one or more of the first operating parameters can be determined (traced) and taken into account. For example, a first operating parameter e.g. Recorded continuously, cyclically or event-controlled and (until further notice) stored in a ring buffer. If a comparison of the data is initiated, e.g. If it is determined that an actuation of the actuator is imminent with a certain probability measure, information based on the first operating parameter, in particular a first data pattern, can be read out of the memory (ring memory) and taken into account. In other words, reading and further processing, in particular transmission of the data, from the memory (ring memory) can be initiated depending on an indication that a remote-controlled movement of the vehicle is imminent.

For example, the first data is related to one or more first operating parameters in relation to a longer period (preferably in an aggregated form), e.g. determined from the memory of the vehicle, and the second data of one or more second operating parameters (preferably in an aggregated form) determined from the backend.

At least predominantly data sections of the first data, data sections of the second data or the at least one predetermined condition can be selected depending on the expected boundary conditions and / or a driving operating condition and / or on the expected application when operating the functionality or when operating the actuator.

Processing of large amounts of data can thus be dispensed with and at the same time it can be ensured that the first data and / or the predetermined condition or the underlying second data match the expected boundary conditions, a driving operating condition and / or the expected application of actuating the actuator.

In a simplified case, a sufficient match or similarity (a measure of similarity that exceeds a certain measure) and / or a sufficient deviation or dissimilarity (a measure of similarity that falls below a certain measure) of the first data and the second data is considered to be the predetermined condition.

The data can be compared in the vehicle, in the mobile user device or in the backend. This can e.g. are mainly carried out when an application of the functionality is imminent.

• - Ermitteln eines ersten Wahrscheinlichkeitsmaßes für ein bevorstehendes Ausführen einer Funktionalität, umfassend eine automatisierte und/oder ferngesteuerte Betätigung eines Aktors des Fahrzeugs,
• - Ermitteln eines zweiten Wahrscheinlichkeitsmaßes für den Eintritt zumindest einer bestimmten Randbedingung und/oder einer Fahrbetriebsbedingung bei einem wahrscheinlichen Betrieb der Funktionalität,
• - Abgleichen des ermittelten ersten Wahrscheinlichkeitsmaßes und des zweiten Wahrscheinlichkeitsmaßes mit zumindest einem vorausbestimmten Kriterium, und abhängig von dem Vergleich:
• - Auswählen eines ersten Abschnitts der ersten Daten eines oder mehrerer erster Betriebsparameter in Bezug auf ein Zeitintervall aus der Vergangenheit aus einem Speicher, und/oder
• - Abrufen eines zweiten Abschnitts der zweiten Daten eines oder mehrerer zweiter Betriebsparameter, und/oder
• - Abgleichen der ersten Daten eines oder mehrerer erster Betriebsparameter mit den zweiten Daten auf Basis des einen oder der mehreren zweiten Betriebsparameter.

In a further embodiment, the method comprises the following steps:

• Determining a first probability measure for imminent execution of a functionality, comprising automated and / or remote-controlled actuation of an actuator of the vehicle,
• - Determining a second probability measure for the occurrence of at least one specific boundary condition and / or one Driving operating condition when the functionality is likely to operate,
• - Compare the determined first probability measure and the second probability measure with at least one predetermined criterion, and depending on the comparison:
• - Selecting a first section of the first data of one or more first operating parameters in relation to a time interval from the past from a memory, and / or
• - Calling up a second section of the second data of one or more second operating parameters, and / or
• - Matching the first data of one or more first operating parameters with the second data based on the one or more second operating parameters.

The memory is in particular a ring memory. The memory can be the memory or ring memory of the vehicle or of a mobile user device or jaw that is operatively connected to the vehicle. Depending on the predetermined criterion, a retrieval of a second section of the second data based on the one or more second operating parameters by the vehicle or the mobile user device, and / or a comparison of the first data with the second data based on the one or more second operating parameters within the vehicle, within the mobile user device and / or in a backend.

In a further embodiment, the first data of the one or more first operating parameters identify a first change characteristic, and the at least one predetermined condition relates to a permissible and / or impermissible change characteristic of the first data.

The at least one predetermined condition can particularly preferably be selected as a function of one or more second change characteristics on the basis of the change in the second operating parameters in a number of the further vehicles. The at least one first change characteristic and / or the at least one second change characteristic can be the characteristics of a relatively longer-term change, e.g. mark changes that take place on the order of a few months.

For example, the first operating parameters of the vehicle are used to determine that an operating parameter, e.g. a voltage drop that has tended to get bigger. A comparable change characteristic is then determined on the basis of one or more second operating parameters (based on further vehicles). It can then be determined whether the change characteristic of the operating parameters in the vehicle is a deviation from normal aging, wear or seasonal fluctuations, e.g. because of the temperature performance of the battery. By comparing the data, it can thus be ensured that the risk in connection with the actuation of the actuator remains within a permissible level.

In a further embodiment, the one or more first operating parameters for an impending actuation of the actuator and / or the at least one predetermined condition for comparing the first data are determined by means of simulation on the basis of a stored mathematical model, with at least one remote-controlled or automated movement of the vehicle and / or an actuation of the actuator can be simulated by means of one or more mathematically modeled physical processes.

For example, from the first data based on the one or more first operating parameters, which relate in particular to a time interval from the past and apply to one or more boundary conditions and / or one or more driving operating conditions in a specific application and / or with a specific identifier have, and information about a particular upcoming application and / or information about a current or predicted boundary condition and / or a driving operating condition in which the application is carried out, are determined by means of a stored mathematical model in which one or more first operating parameters, the are expected to apply at least in the forthcoming actuation of the actuator, and / or at least a predetermined condition for comparing the current or future first data, and / or a measure that is necessary so that a predetermined measure of the risk in the em is not exceeded at least one upcoming application.

Depending on a detected upcoming application and / or parameters of the boundary conditions and / or a driving operating condition for an upcoming actuation of the at least one actuator, request information can be transmitted from the vehicle and / or from the mobile user device. A suitable second piece of information can then be determined. Thus, one can apply to the application, boundary conditions and / or a driving operating condition or Adequate comparison information is provided for the required operating parameters.

1. a) eine Information kennzeichnend (für einen betreffenden Ort, einen Fahrbahnabschnitt und/oder ein Zeitintervall) eine geltende Verkehrsregel und/oder eine rechtliche Bestimmung;
2. b) eine Tageszeit und/oder einen Ausleuchtungsparameter wie Helligkeit, Dunkelheit, tiefstehende Sonne, etc.;
3. c) einen Wetterparameter, z.B. einen Indikator für bestimmte Niederschläge, Wind, etc.;
4. d) eine Umgebungstemperatur, bei der das Fahrzeug im betreffenden Zeitintervall betrieben wurde oder wird;
5. e) einen Indikator für eine Fahrbahnbeschaffenheit, insbesondere für einen Reibwert, bevorzugt eine räumliche Aufteilung eines Reibwertkoeffizienten (für einen betreffenden Ort, einen Fahrbahnabschnitt und/oder ein Zeitintervall); und/oder
6. f) eine allgemeine Verkehrssituation, z.B. kennzeichnend eine Verkehrsdichte.

The at least one boundary condition preferably relates to one or more of the following conditions:

1. a) identifying information (for a location, a lane section and / or a time interval) of an applicable traffic rule and / or a legal provision;
2. b) a time of day and / or an illumination parameter such as brightness, darkness, low-lying sun, etc .;
3. c) a weather parameter, for example an indicator of certain precipitation, wind, etc .;
4. d) an ambient temperature at which the vehicle was or will be operated in the relevant time interval;
5. e) an indicator for a road surface condition, in particular for a coefficient of friction, preferably a spatial division of a coefficient of friction (for a location in question, a road section and / or a time interval); and or
6. f) a general traffic situation, for example characterizing a traffic density.

1. a) Klemmenstatus des Fahrzeugs,
2. b) Stillstand, Nutzung des Fahrzeugs bei Stillstand, Fahren, Parken, Rangieren des Fahrzeugs,
3. c) Geschwindigkeitsbereich, z.B. 0-15 km/h, 15-30 km/h, 30-50 km/h, 50-70 km/h, 70-130 km/h, 130-180 km/h, 180-210 km/h; und/oder
4. d) Temperatur innerhalb des Fahrzeugs oder Temperatur eines Teils des Fahrzeugs, insbesondere des Aktors des Fahrzeugs.

In this example, the at least one driving operation parameter relating to a (driving) state of the vehicle can be determined depending on one or more items of information listed below:

1. a) terminal status of the vehicle,
2. b) standstill, use of the vehicle when stationary, driving, parking, maneuvering the vehicle,
3. c) Speed range, e.g. 0-15 km / h, 15-30 km / h, 30-50 km / h, 50-70 km / h, 70-130 km / h, 130-180 km / h, 180-210 km / h; and or
4. d) temperature inside the vehicle or temperature of part of the vehicle, in particular the actuator of the vehicle.

In one embodiment, a degree of automation for the operation of at least part of the functionality of the vehicle is adapted, including an automated and / or remote-controlled actuation of an actuator of the vehicle.

The method can preferably be used in connection with the functionality for remote-controlled parking, parking or maneuvering, in which the user is outside the vehicle in an environment of the vehicle and a movement of the vehicle with a mobile user device, e.g. Smartphone, Smart-Close or with the vehicle key, controls.

However, the method also relates to such an automated and / or remote-controlled actuation of the actuator which (with or without the presence and / or willingness to act of a driver within the vehicle) from a great distance, e.g. is remotely controlled by a dispatcher and / or an algorithm located outside the vehicle.

The automated and / or remote-controlled actuation of the actuator can be initiated, released or provided from outside the vehicle. The actuation of the actuator can be more or less immediate, i.e. with a corresponding control command which is interpreted in the vehicle as a command for actuating the actuator, or only indirectly, e.g. with a control command which, in combination with a further condition, leads to an actuation of the at least one actuator.

Furthermore, a system is provided, comprising at least one device provided in the vehicle and a backend and / or a mobile user device, the device in the vehicle and the backend and / or the mobile user device being set up to carry out an active connection, the system being used to execute the Procedure is formed.

The system preferably comprises a device provided in the vehicle and / or a mobile user device and / or a back end, the system being set up to carry out the method for establishing at least one operative connection between the device in the vehicle and the mobile user device and / or back end.

Furthermore, a mobile user device is provided, which is set up to carry out the method together with at least one vehicle and / or together with a backend.

A computer program is also provided, the computer program being designed to carry out at least part of the method when it is executed on a data processing device of the vehicle and / or the mobile user device.

The present invention shows how a risk in connection with the remote-controlled functionalities of the vehicle can be reduced by means of data processing or data analysis. When a specific application is imminent, data should be determined in the field on the basis of the current operating parameters that are relevant for actuating the actuator. The data are based on the operating parameters of a relevant actuator and / or on the operating parameters of a component relevant to the operation of the actuator, for example a part of the on-board electrical system, the energy store, etc. A section of corresponding data can be evaluated from a ring memory provided for this purpose. For example, previous changes in the operating parameters, for example a time profile of the on-board electrical system voltage when the actuator is confirmed from the past, are also taken into account. The section of the data is then compared to a predetermined condition. In a simplified case, the predetermined condition can be based on one or more threshold values and / or data patterns. The predetermined condition is preferably based on real second operating values of other (structurally identical) vehicles. The data can be compared in the vehicle, in the backend and / or in the smartphone with which the vehicle is remotely controlled.

Alternatively, the appropriate comparison data for a given application can be called up from the backend and / or smartphone. The adjustment of the data can also be carried out on the basis of a simulation. A relevant section of the data can be transmitted on the basis of the first operating parameters for the execution of a simulation and / or compared with the data from a simulation.

Certain (critical) trends can also be identified in the process. These can be recognized as critical before the operating parameters themselves become critical. For example, a neutral or positive trend can be determined from the first data and / or second data over a period of use (if necessary, ensured, verified). Depending on the trend identified, at least one measure can be initiated in relation to the operation of the vehicle.

The respective first data based on the first operating parameters and / or the corresponding second data (quasi: the corresponding “comparison data” based on the second data) can be determined in the process depending on the situation and / or dynamically (e.g. determined, selected), e.g. depending on which functionalities, in particular an automated and / or remote-controlled actuation of an actuator, is at least likely to be actuated. Thus, data retrieval and comparison can relate to relevant data and can be carried out without a delay or a disadvantage that the user can perceive.

Depending on the result of the comparison of the data, the functionality can be released, controlled, adapted, and possibly restricted. If necessary, a measure can be carried out that increases the operational readiness of the actuator or reduces its probability of failure. For example, it can also be predicted that a risk increases in connection with an automated specific functionality of the vehicle, which includes a remote-controlled movement of the vehicle. The said comparison of the data can then be carried out. Such a comparison of the data can also be (remotely) controlled, for example controlled by backend requests or smartphone, e.g. regularly or depending on the use of the vehicle or certain functions, and (e.g. at appropriate time intervals).

The method can be used to meet so-called homologation criteria for the approval of a vehicle, safety standards or a voluntary commitment by a vehicle manufacturer or vehicle operator to operate a functionality. For example, such homologation criteria or standards for automated, remote-controlled, driverless driving, parking, maneuvering can be met or proven (e.g. by storing the data described in this document).

According to a further aspect, the invention comprises a system having at least one control device provided in a vehicle, as well as a backend and / or a mobile user device. The control device in the vehicle and the back end and / or the mobile user device can be set up to carry out an active connection. The system is set up to carry out the method according to the first aspect of the invention. The system is in particular set up to determine first data of one or more first operating parameters of the vehicle, which is or are related to the operation of the actuator, in relation to a first current time interval and / or a first time interval in the past configured to compare the first data of the one or more operating parameters with a predetermined condition, and configured to then influence the functionality of the vehicle depending on the result of the comparison.

Software (as a computer program or a computer program product) is also proposed, the software, which can be designed as a computer program, being designed to execute one or more steps of the described method when it is executed on a computing unit, in particular belonging to the system. The software can be designed as an update of previous software, which is used, for example, as part of a functional expansion, for example as part of a so-called Remote Software Update ”which comprises parts of the computer program or the corresponding program code.

• 1 zeigt eine schematische Darstellung wichtiger Komponenten zur Durchführung des Verfahrens in einem Fahrzeug gemäß einer Ausführung der vorliegenden Erfindung.
• 2 zeigt ein Ablaufdiagramm des Verfahrens gemäß einer Ausführung der vorliegenden Erfindung.

Exemplary embodiments of the invention are explained in more detail below without restricting the generality with reference to the attached drawing. The features of the examples can be combined with any other features described in this document.

• 1 shows a schematic representation of important components for performing the method in a vehicle according to an embodiment of the present invention.
• 2 shows a flowchart of the method according to an embodiment of the present invention.

In the following description of the figures, the same elements or functions are provided with the same reference symbols.

In 1 important components for carrying out the method in a vehicle are shown by way of example, the sequence of the method in 2 is shown.

The described method for operating a functionality, comprising an at least partially automated and / or remote-controlled actuation of an actuator, of a vehicle comprises the step of determining S1 first data of one or more first operating parameters in the vehicle, which is or are related to the operation of the actuator, in relation to a first current time interval and / or a time interval in the past. It also includes the step of matching S2 the first data of the first operating parameter or the first operating parameters with a predetermined condition. Then there is an influencing S3 a functionality comprising an automated and / or remote-controlled actuation of an actuator of the vehicle, depending on the result of the comparison.

The information can be sent to the vehicle 10 , to the mobile user device 14 , and / or to the backend 20 to be provided. The information provided can be in the mobile user device 14 and / or in the backend 20 further processed and / or aggregated with further information, for example compared. Thereupon the vehicle can be operated 10 , for example at least one functionality of the vehicle 10 or a functionality of a further vehicle, for example a second vehicle, depending on the information provided, for example dependent on further processed information provided.

In this example, the actuator is an electrically (or electro-hydraulically) driven actuator. It can be an actuator that draws the energy for its actuation (when carrying out a physical effect according to the purpose of the actuator) at least indirectly, preferably directly, from the vehicle's energy system. In particular, it is an actuator that draws a considerable amount of electrical power or current from the on-board electrical system during its intensive actuation. During its intensive functional actuation, the actuator can require more than 1/4 or 1/2 of the power or current that can be supplied in the electrical system or in a specific strand of the electrical system. In other words, it can be an actuator that, when operated intensively, can exert a considerable influence on the electrical system or on the energy distribution in the vehicle.

Said actuator can be an electrically operable actuator of the braking system and / or steering system of the vehicle. This can be an electrically driven brake pump, a power steering pump or another type, e.g. an electrical or electromagnetic element that serves a comparable purpose. The actuator can be part of a so-called brake booster and / or power steering (known from a non-automated, manual operation of the vehicle). Alternatively or additionally, it can be an actuator that is in the immediate vicinity of a wheel or a wheel axle of the vehicle. For example, it can be an actuator that (more or less directly) changes the frictional force or the force against the rotation of the wheel on a brake disc (or a corresponding further development of the brake discs) of a wheel of the vehicle. In particular, it is an electrically (or electro-hydraulically) operable actuator which, for its operation, has a significant output (on the scale of the vehicle's electrical system), e.g. > 50, 1000, 500, 1000 watts required. In other words, it is preferably an actuator that requires a considerable amount of electrical energy from the vehicle's electrical system for its physical effect during operation.

The steps described above are illustrated below using specific examples.

In a first example, an at least probable need for actuating a specific actuator of the vehicle is determined, in particular predicted. In this example, there is a need for an actuation that is remotely controlled and / or without the presence of a driver or without the presence of another person in the vehicle or without a user who is ready to drive (for example in the sleeping user) or a user whose attention is distracted from a driving task, or a driver who does not hold the steering wheel of the vehicle. Such an actuation is distinguished in the process from an actuation during a manual driver or when the conditions listed above do not apply and is treated differently.

In the simplest case, such a prediction (prediction) can be made depending on the activation of a corresponding functionality in the vehicle or on the mobile user device. A case can also be determined in which the driver sits in the vehicle but is not sufficiently involved in the driving task, e.g. does not pay attention to the surroundings of the vehicle. Thereupon, a section of current and between stored first data is determined on the basis of one or more first operating parameters, e.g. selected. Such a section of the data can at least partially include the data from a past relevant to the present application. These are (selectively) selected from the ring buffer.

Alternatively or additionally, a measure of the risk can be determined, which is related to an (already initiated, possible, or probable) execution of the functionality and / or for the specific application of the functionality. Then the process steps S1 . S2 . S3 preferably carried out taking into account a measure of the risk. A measure of the risk that is independent of the actuation of the actuator can also be taken into account. In other words, the method steps can then be carried out when it is recognized that a (first) risk that is dependent on the actuation of the actuator and / or that (second) risk is independent of the actuation of the actuator.

For example, a section of the first data identifies a specific voltage drop on the on-board electrical system (e.g. characterizing one of 2, 4, 8, ... gradations) that occurs when several (certain) controls of the at least one specific actuator, e.g. the braking system. The selected section of the first data is then evaluated. In a variant of the method, a change characteristic of the measure of a change in an electrical variable in connection with a large number of actuations of the actuator can be determined. For example, it can be determined that a change characteristic, e.g. a corresponding time curve of the voltage drop, e.g. within a few weeks or months, has an unfavorable or unknown tendency or deviates from a specified norm. A functionality can then be influenced which can make actuation of the actuator (at least potential, frequent or rare) necessary. As an alternative or in addition, a (further) appropriate measure can be initiated.

In this case, the predefined condition can be a setpoint value stored as a specific parameter for such a change characteristic and predefined permissible and / or impermissible deviations or several specific thresholds. In a variant of the method, the predetermined condition can be determined on the basis of the second data. Such a predetermined condition can e.g. ongoing, about once a week or event-driven, e.g. be adjusted in the event of a particular event.

The corresponding predetermined condition is preferably determined or adapted on the basis of the aggregation of the second data of one or more second operating parameters, which in connection with a large number of actuations of the actuator in a plurality of other vehicles that differ from the vehicle. For example, the at least one predetermined condition can be determined or adapted from a multiplicity of the parameters of the voltage balls and / or voltage increases (recoveries) in the on-board electrical system in the case of a multiplicity of actuations of the actuator (or other comparable actuators) in the vehicle and / or in a plurality of further vehicles , For example, the predetermined condition can include at least one comparison value, which is determined on the basis of the aggregation of the second data of the one or more second operating parameters from a plurality of the other vehicles.

In a further example that can be combined with all other features in this document, a specific risk, in particular a risk exceeding a threshold in connection with a specific actuation of a remote-controlled and / or automated functionality of the vehicle, is determined or estimated in a specific application. For example, the degree of risk is evaluated in appropriately chosen 2, 4, 8, ... levels. The determination of the degree of risk can be estimated, for example, on the basis of the data from the outside sensor system and the position of the user in the case of a remote-controlled process. For example, an (at least rudimentary) algorithm for determining concrete risks is running for an upcoming application. As a measure of the risk, a product can be determined from a probability of occurrence and a consequence. A measure of the functional safety or safety of use for each specific application can be taken into account (on the spot, if all boundary conditions for operation are known). If a measure of probability of execution of a particular remote-controlled movement of the vehicle, comprising an automated and / or remote-controlled actuation of an actuator of the vehicle, fulfills a predetermined condition and / or if the degree of risk in connection with a substantial part of the functionality, for example with a specific parking process, parking process or maneuvering process, or the degree of risk that arises from the proportion of automated and / or remote-controlled actuation of the actuator exceeds a certain threshold (or a corresponding reciprocal value falls below a corresponding threshold), the data can be compared.

• - Erfassen eines ersten Betriebsparameters, insbesondere Erkennung eines ersten Datenmusters auf Basis eines oder mehrerer erster Betriebsparameter im Fahrzeug, und
• - Versenden der Daten auf Basis eines ersten Betriebsparameters, insbesondere des ermittelten Datenmusters vom Fahrzeug und Auswertung der Daten außerhalb vom Fahrzeug, und/oder
• - Anfrage von der vorausbestimmten Bedingung, umfassend Vergleichsdaten an das mobile Anwendergerät und/oder ein Backend 20,
• - Empfang von der vorausbestimmten Bedingung, umfassend Vergleichsdaten von dem mobilen Anwendergerät und/oder vom Backend 20, und
• - Abgleich der Daten innerhalb des Fahrzeugs und/oder innerhalb des mobilen Anwendergeräts.

The following steps are then carried out in this example:

• Detection of a first operating parameter, in particular recognition of a first data pattern based on one or more first operating parameters in the vehicle, and
• - Sending the data based on a first operating parameter, in particular the determined data pattern from the vehicle and evaluating the data outside the vehicle, and / or
• - Request from the predetermined condition, including comparison data to the mobile user device and / or a backend 20 .
• - Receiving the predetermined condition, including comparison data from the mobile user device and / or from the backend 20 , and
• - Comparison of the data within the vehicle and / or within the mobile user device.

A respective variant can be selected in this example, depending on the value range in which the level of risk lies. The comparison data (the second data) can each be determined on the basis of one or more second operating parameters, in particular the second data pattern.

In a further example, which can be combined with all other features in this document, the first data of one or more operating parameters and / or the second data of one or more second operating parameters identify a chemical effect. It can be the chemical effect that applies or arises in connection with the operation of the actuator. For example, a chemical reaction, an influence on a chemical reaction, or a change in the chemical composition of at least one substance. For example, the said chemical action can have an influence on the composition of an engine oil, a fuel mixture, exhaust gases from a gasoline or diesel unit, an afterburner or a catalyst, an oxidation process (burn, rust) and / or on a chemical process in a battery cell of the vehicle.

Furthermore, at least part of the method described can also be carried out as a remote diagnostic method. Part of the process can depend on a particular signal from a backend 20 or from a mobile user device of the user (eg smartphone), from the vehicle key, and / or from an access system of the vehicle.
The data can be evaluated in response to such a (predefined) signal.
A result can then be based on the said evaluation, for example on the back end 20 or from a radio key of the vehicle, from an access system of the vehicle, and / or from a mobile user device (eg smartphone) of a user. At least part of the method can also depend on a signal from a backend 20 or from a radio key of the vehicle, from an access system to the vehicle and / or from a mobile user device 14 (e.g. smartphone) of a user depending on an operator action by a person, in particular in connection with a desired use of the vehicle 10 or a vehicle function. For example, remote diagnosis of the vehicle can be carried out depending on the evaluation of the reaction 10 with or without further transmission of the data from the vehicle 10 , e.g. to a backend 20 , Vehicle key and / or a mobile user device 14 of the user. A change in a display element and / or control element of the vehicle can also be carried out 10 , the vehicle key and / or the mobile user device 14 of the user, in particular in connection with the execution of a remote control functionality of the vehicle 10 stands.

For example, remote control of a certain functionality (eg remote controlled parking) can thus be activated, blocked and / or replaced by an alternative measure in individual cases. For example, if a certain (unsatisfactory) result of the evaluation and / or an only partially unsatisfactory result of the evaluation occurs repeatedly or frequently, for example a signal to the backend 20 be sent and / or information in connection with an unsatisfactory state of at least one vehicle system or the vehicle 10 to be provided.

Advantages of the proposed method are, inter alia, that existing vehicles can be retrofitted or existing systems can be updated, since the method is largely based on data processing and IT based. Part of the method may include an off-vehicle simulation that can provide a precise result. The method can deliver a current result that takes into account the currently valid combination of prevailing conditions, condition of the vehicle, etc. When comparing the data, almost current experience data from other (similar, similar or older) vehicles can always be taken into account.

Claims (17)

Method for operating a functionality of a vehicle, comprising an at least partially automated and / or remote-controlled actuation of an actuator, the method comprising: Determining (S1) first data of one or more first operating parameters of the vehicle, which is or are related to the operation of the actuator, in relation to a first current time interval and / or a first time interval in the past, - comparing (S2) the first data with a predetermined condition, and then: - Influencing (S3) the functionality of the vehicle depending on the result of the comparison. Procedure according to Claim 1 , wherein the first operating parameters are characteristic of a performance of the actuator and / or effect of the actuation of the actuator on at least a further part of the vehicle or on the surroundings of the vehicle. Procedure according to Claim 1 or 2 , in which the at least one predetermined condition is determined as a function of the second data of one or more second operating parameters that applied in the vehicle or in one or more further vehicles at one or more time intervals in the past. Method according to one of the preceding claims, in which the at least one predetermined condition is determined on the basis of a plurality of aggregated second data from second operating parameters which relate to a large number of comparable actuations of the actuator of the vehicle and / or one or more comparable actuators from a large number of further vehicles Respectively. Method according to one of the preceding claims, comprising: Determining, in particular predicting, a measure of a risk in relation to a current or upcoming implementation of the functionality and / or in relation to a specific application of the functionality, - Adjusting the at least one predetermined condition depending on at least one determined measure of the risk. Method according to one of the preceding claims, comprising: Determining a boundary condition and / or a driving operating condition for a specific application of the functionality and / or for a specific application, - Selection of a first section of the first data of one or more first operating parameters, which have already applied to the same or comparable boundary condition and / or a driving operating condition, from a memory, and / or - Selection of a predetermined condition depending on the determined boundary condition and / or a driving operating condition, and / or - Execution of the comparison, in which at least predominantly the selected first data and / or the selected predetermined condition is taken into account. Method according to one of the preceding claims, comprising: - Transmission of the first data based on the first operating parameter and / or an identifier of a first boundary condition and / or a driving operating condition for an application of the functionality from the vehicle, and / or from a mobile user device operable with the vehicle in an active connection, to a backend . Processing the first data, including a comparison of the first data with the predetermined condition in the backend, and - Receiving information, which was determined as a function of the comparison of the first data with the predetermined condition outside the vehicle, in the vehicle and / or in the mobile user device which can be operatively connected to the vehicle. Method according to one of the preceding claims, comprising: Reading, in particular retrieving, the second data based on one or more second operating parameters from a number of other vehicles, - Comparison of the first data of a first operating parameter of the vehicle with a predetermined condition, the predetermined condition being determined as a function of the second data from a number of other vehicles. Method according to one of the preceding claims, in which the data of one or more first operating parameters, in particular a first data pattern, which relates to a time interval from the past or relate, is determined from a memory of the vehicle, in particular from a ring memory present in the vehicle. Method according to one of the preceding claims, comprising: Determining a first probability measure for imminent execution of a functionality, comprising automated and / or remote-controlled actuation of an actuator of the vehicle, Determining a second probability measure for the occurrence of at least one specific boundary condition and / or a driving operating condition when the functionality is likely to operate, - Comparing the determined first probability measure and the second probability measure with at least one predetermined criterion, and depending on the comparison: - Selecting a first section of the first data of one or more first operating parameters in relation to a time interval from the past from a memory, and / or - Calling up a second section of the second data of one or more second operating parameters, and / or - Matching the first data of one or more first operating parameters with the second data based on the one or more second operating parameters. Method according to one of the preceding claims, in which the first data of the one or more first operating parameters characterize a first change characteristic, and wherein the at least one predetermined condition relates to a permissible and / or impermissible change characteristic of the first data. Method according to one of the preceding claims, in which the one or more first operating parameters for an impending actuation of the actuator and / or the at least one predetermined condition for comparing the first data are determined by means of simulation on the basis of a stored mathematical model, at least one being remote-controlled or automated movement of the vehicle and / or actuation of the actuator can be simulated using one or more mathematically modeled physical processes. Method according to one of the preceding claims, in which a degree of automation is adapted for the operation of at least part of the functionality of the vehicle, including an automated and / or remote-controlled actuation of an actuator of the vehicle. Control device which is set up to carry out the method according to one of the Claims 1 to 13 perform. System comprising at least one control device provided in the vehicle (10) Claim 14 , and a backend (20) and / or a mobile user device (14), the control device in the vehicle (10) and the backend (20) and / or the mobile user device (14) being set up to carry out an active connection. Mobile user device (14) which is set up, together with at least one vehicle (10) and / or together with a backend (20), the method according to one of the Claims 1 to 13 perform. Software with program code for performing the method according to one of the Claims 1 to 13 if the software runs on one or more software-controlled devices.

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