DE102018218670B3 - Method for autonomous control of a motor vehicle and integrated control system for a motor vehicle - Google Patents

Abstract

The invention relates to a method for autonomously controlling a motor vehicle (1), a number of sensor signals (18) relating to a driving situation (2) being generated by a number of sensors (16) of the motor vehicle (1), based on the number of sensor signals (18) a first autonomous control system (20) carries out a first evaluation (26) of certain traffic-relevant information (22) in the driving situation (2) and / or a first virtual control command (28) for direct activation of a certain driving function (36) of the motor vehicle (1), the number of sensor signals (18) being used to generate a second evaluation (32) of the specific traffic-relevant information (22) in the driving situation by a second autonomous control system (30) that is different from the first autonomous control system (20). 2) is carried out and / or a second virtual control command (34) for directly controlling the specific driving function (36) of the motor vehicle (1) is generated, and wherein on by comparing the first virtual control command (28) with the second virtual control command (34) and / or by comparing the first evaluation (26) of the traffic-relevant information (22) with the second evaluation (32) of the traffic-relevant information (22) first real control command (44) is generated, and wherein the determined driving function (36) of the motor vehicle (1) is controlled by the first real control command (44).

Description

The invention relates to a method for autonomously controlling a motor vehicle, a number of sensor signals relating to a driving situation being generated by a number of sensors of the motor vehicle, the first evaluation of a certain traffic-relevant information in the driving situation being based on the number of sensor signals by a first autonomous control system takes place and a control command is generated on the basis of the evaluation of the traffic-relevant information, and a specific driving function of the motor vehicle is controlled by the control command. The invention further relates to a control system for a motor vehicle, comprising a number of sensors, the or each sensor being set up to generate at least one sensor signal with respect to a driving situation, and a first control unit which is in data connection with the number of sensors, and which for autonomous control of the motor vehicle is set up on the basis of the sensor signal or the sensor signals.

In an autonomous control system for a motor vehicle, the surroundings of the motor vehicle are detected by one or more sensors arranged in the motor vehicle, the data generated by the sensors are evaluated and a corresponding control command for the motor vehicle is generated, by means of which a driving function such as acceleration, braking or Steering is controlled directly. In principle, an autonomous control system makes it possible to steer the motor vehicle to a desired destination without driver intervention. This enables the supposed driver of the motor vehicle to use the travel time as a simple occupant for other purposes, for example for professional activities or for recreation. Because of this “time saving”, which results for an occupant from the decrease in the control activities of the motor vehicle by the autonomous control system, the importance of the development of fully functional autonomous control systems for motor vehicles has increased significantly in recent times.

A major problem in the development of an autonomous control system continues to be control in the event of unforeseen events in the broadest sense. While an autonomous control system evaluates the sensor data according to predetermined, possibly dynamically learnable algorithms and on the basis of this evaluation, also by appropriate algorithms Control commands generated for the driving functions of the motor vehicle can always arise in real operation of a motor vehicle, for which either no action pattern is stored as an algorithm or for which the accidentally stored action pattern in the algorithm does not result in potential personal injury can be avoided. This problem remains the main obstacle to unrestricted, widespread acceptance by both consumers and government regulators and vehicle registration authorities.

The DE 10 2017 214 611 A1 mentions a method for checking a reaction signal of a vehicle component, which generates it as a reaction to a current driving situation of a motor vehicle, wherein a checking device receives the reaction signal. The method provides that the checking device receives a respective further reaction signal of at least one further vehicle component and uses the received reaction signals to determine a difference between the reaction signals by means of a predetermined calculation function and generates an output signal describing the determined difference at a first signal output. The vehicle components can each be provided by driver assistance systems.

The invention is therefore based on the object of specifying a method by means of which the probability of an accident can be further reduced for a motor vehicle which is controlled by an autonomous control system. The invention is further based on the object of specifying a corresponding control system for a motor vehicle, by means of which the probability of an accident for the motor vehicle can be further reduced, particularly in autonomous driving.

With regard to the method, the stated object is achieved according to the invention by a method for autonomously controlling a motor vehicle, a number of sensor signals relating to a driving situation being generated by a number of sensors of the motor vehicle, a first evaluation being made on the basis of the number of sensor signals by a first autonomous control system a certain traffic-relevant information takes place in the driving situation and / or a first virtual control command is generated for the direct activation of a certain driving function of the motor vehicle, a second evaluation of the specific traffic-relevant information being made on the basis of the number of sensor signals by a second autonomous control system different from the first autonomous control system the driving situation takes place and / or a second virtual control command is generated for direct activation of the specific driving function of the motor vehicle, and wherein the first autonomous control system and the like nd / or the second autonomous control system a typing of the driving situation takes place. It is provided here that, using one of the first virtual control commands with the second virtual control command and / or a first real control command is generated on the basis of a comparison of the first evaluation of the traffic-relevant information with the second evaluation of the traffic-relevant information, the comparison of the first evaluation with the second evaluation of the traffic-relevant information and / or for the comparison of the first Virtual control command with the second control command is weighted according to the typing of the driving situation, and the specific driving function of the motor vehicle is controlled by the first real control command. Advantageous and partially inventive configurations are the subject of the dependent claims and the following description.

A sensor includes in particular a camera, a distance sensor and a speed sensor. However, the term sensor also includes an acceleration sensor that can detect a drift movement of the motor vehicle. In the present case and in the following, a driving situation is to be understood in particular as a given, static environment with all its static obstacles and limitations for a trajectory of the motor vehicle together with the dynamic traffic situation which results from the potential and the actual road users in the said environment.

In the present case and in the following, an autonomous control system is to be understood in particular as a system which is set up for autonomous control of the motor vehicle, that is to say in particular without any driver intervention. Said autonomous control system preferably comprises a computer unit with one or more processors and one or more corresponding memories assigned to the processor or processors and addressed by this or these, the individual algorithms for evaluating the sensor signals and correspondingly controlling the driving function of the motor vehicle are stored in a non-volatile memory depending on the driving situation. In particular, said algorithms can be continuously updated in accordance with a learning routine.

A certain traffic-relevant information includes, in particular, information about a static obstacle, such as a guardrail, a tree or a wall, and also information about a traffic signal, such as a traffic light or a traffic sign, but also information about a potential one or actual road user and, if applicable, its movement relative to the vehicle. Another motor vehicle, such as a motor vehicle, can be a potential or actual road user car . truck or a motorcycle, a pedestrian or a cyclist with his bike.

An evaluation of certain traffic-relevant information includes in particular correct detection and recognition of objective information, for example the switching status of a traffic light or the instruction of a traffic sign, but also the curvature of a curve or the relative instantaneous distance to another road user. Likewise, the evaluation can include a prediction of a future trajectory of another road user or a possible reaction of another road user to a detected, suddenly occurring change, such as a change in a switching state of a traffic light or a sudden movement of another road user.

A first or second virtual control command is present and is given below in particular by the command which the first or the second control system provides in accordance with the corresponding algorithm in view of the evaluation or evaluations carried out in a present driving situation. In this context, the term virtual only means that the type of control command and its procurement is provided by the corresponding control system as the control command appropriate in the present driving situation, but that the actual control process of the driving function does not occur. For example, a virtual control command can consist of a command for a brake system to carry out a braking operation for a duration specified by the control command with a force specified by the control command, without actually actuating the brake, since it is a virtual control command , The first real control command preferably differs from the corresponding virtual control command only in its real application.

In this context, direct control includes control of a driving function without the need for further processing steps for the control command in question. In the case of a virtual control command, this means that the virtual control command would directly change or influence the driving function without further processing steps being required if it were not a virtual control command but a real control command. Steering, braking, accelerating, but also actuation of a lighting system or a manual transmission are included as driving functions.

The comparison of the first virtual control command with the second virtual control command and / or the comparison of the first evaluation with the second evaluation can take place, in particular, in a specially provided component. This component can be provided, for example, by an additional hardware component which is connected to a computer unit of the first autonomous control system and to a further computer unit of the second autonomous control system which is separate from the latter via corresponding interfaces. However, the comparison can also be made via a specially provided processor and a specially provided memory area in the computer unit of the first autonomous control system, or else in the computer unit of the first autonomous control system as an independent software routine on the native components there.

The comparison of said evaluations can include, for example, a numerical comparison for numerically ascertainable values such as, for example, a speed limit displayed on a traffic sign or a distance to an obstacle or to another road user, but also a speed and direction of another road user. The comparison of the virtual control commands mentioned includes, in particular, a comparison of the type of the respective control command, that is to say, for example, a steering command or braking command, and, if there is comparability, a comparison of the proposed time profiles for influencing the particular driving function in question.

The driving situation can be typified by prioritizing the first autonomous control system, by unanimity of the autonomous control systems involved, or, in the case of an odd number of autonomous control systems involved, by majority vote. The typing of the driving situation here means in particular a fixed classification of the driving situation in a plurality of predetermined classes - e.g. Motorway, country road or city - or the assignment of individual probabilities for several of the classes. The weighting according to the typing makes it possible to measure the contribution of an autonomous control system involved in evaluating the traffic-relevant information and / or the contribution to the first control command to be issued depending on the respective strengths of the autonomous control systems.

• Einzelne Kraftfahrzeug-Hersteller machen bei der Entwicklung von autonomen Steuersystemen unterschiedliche Fortschritte, wobei die autonomen Steuersysteme unterschiedlicher Hersteller verschiedene Fahrsituationen unterschiedlich gut, d. h. insbesondere unterschiedlich sicher hinsichtlich einer Unfallwahrscheinlichkeit bewältigen. Erfahrungsgemäß korrelieren hierbei die Stärken des jeweiligen autonomen Steuersystems hinsichtlich der betreffenden Fahrsituationen jeweils mit den typischen Anwendungen der Kraftfahrzeuge eines Herstellers, also zum Beispiel Stadtverkehr versus Fahren außerorts oder auf Autobahnen etc. Dies liegt insbesondere an einem größeren Entwicklungsaufwand für die vorinstallierten Algorithmen, welche denjenigen Fahrsituationen entsprechen, in welchen ein Kraftfahrzeug eines Herstellers vorwiegend genutzt wird. Andererseits dürfte eine höhere Nutzung durch Verbraucher auch eine steilere Lernkurve bei Updaten der Algorithmen in Abhängigkeit der bewältigten Fahrsituationen bedingen, weswegen bei einem Einspielen der Updates auf einen zentralen Server ein noch größerer Fortschritt für die bereits „starken“ Fahrsituationen eines Kraftfahrzeugs entstehen dürfte.

The following circumstances are advantageously used by the invention:

• Individual motor vehicle manufacturers are making different progress in the development of autonomous control systems, the autonomous control systems from different manufacturers coping differently with different driving situations, ie in particular with different degrees of certainty with regard to an accident probability. Experience has shown that the strengths of the respective autonomous control system with regard to the driving situations in question correlate with the typical applications of a manufacturer's motor vehicles, e.g. city traffic versus driving out of town or on motorways etc. This is due in particular to a greater development effort for the pre-installed algorithms that match those driving situations correspond in which a motor vehicle of a manufacturer is predominantly used. On the other hand, a higher usage by consumers should also result in a steeper learning curve when updating the algorithms depending on the driving situations that have been mastered, which is why when the updates are imported to a central server, even greater progress can be made for the already “strong” driving situations of a motor vehicle.

Here, the at least two autonomous control systems involved are not only used as simple back-ups to one another. By comparing the evaluations and / or the generated control commands from two different autonomous control systems, which come in particular from different manufacturers, the strengths and the particular developmental advantage of each individual system can be exploited, so that the real control command generated in the method according to the invention is that of allows the autonomous control systems involved, in particular with regard to safety, to provide the best possible solution to the driving situation.

The first evaluation of the traffic-relevant information is preferably compared with the second evaluation of the traffic-relevant information, the first real control command being generated by the first autonomous control system on the basis of this comparison. In particular, this means that only the evaluations are compared, and the first real control command itself is only generated by the first autonomous control system on the basis of the result of the comparison. This takes into account the fact that, particularly in a confusing driving situation, with potentially several unforeseen events, the recognition of the surroundings and in particular the evaluation of the relevant traffic-relevant information represent the more problematic part. The proposed procedure thus eliminates the synergy effects of the Autonomous tax systems involved in the evaluation. The real control command can then be carried out advantageously on the basis of these mutually compared evaluations by the first autonomous control system, the first autonomous control system preferably being the autonomous control system developed by the manufacturer of the motor vehicle and “native” in the motor vehicle, which development-related information provides the greatest possible information of the possible reactions of the motor vehicle to the available control commands.

It proves to be further advantageous if, based on the number of sensor signals, a third autonomous control system is used to carry out a third evaluation of certain traffic-relevant information in the driving situation and / or to issue a third virtual control command for direct activation of the specific driving function of the motor vehicle, the first real control command is additionally generated on the basis of a comparison of the third virtual control command with the first virtual control command and the second virtual control command and / or on the basis of the comparison of the first evaluation and the second evaluation with the third evaluation of the traffic-relevant information. The comparison of the above-mentioned evaluations to generate a final evaluation and / or the comparison of the above-mentioned control commands can take place in particular via a majority decision. On the one hand, the participation of a third autonomous control system provides additional insights when evaluating a driving situation, on the other hand, a majority decision can be implemented without great mathematical complexity.

The first evaluation of the traffic-relevant information preferably results in an imminent danger in the driving situation, whereupon the first real control command to avoid the danger is generated by deliberately neglecting the second evaluation or the second virtual control command. A particularly imminent danger is a serious collision with another road user, e.g. includes a pedestrian, which can result, for example, from a person suddenly running onto the roadway and, if necessary, evasive movements of other vehicles that start thereon, as relevant traffic-relevant information. A wheel suddenly lost by a vehicle in front - as traffic-relevant information - can independently represent the risk of a collision, or the evasive movements of other vehicles thereon to immediately avoid a collision with the wheel can represent an immediate danger. In the event of such an immediate danger, which is recognized on the basis of the evaluation of the first autonomous control system, the second autonomous control system can now be overruled in order to immediately reduce the risk recognized by the first autonomous control system.

A user input of an occupant of the motor vehicle is advantageously recorded with respect to the driving function controlled by the first real control command, the user input being used for a second real control command in a comparable driving situation. The user input can be made in particular by a voice command, which is detected, for example, by a microphone provided in the interior of the motor vehicle, but also by an input at a corresponding input terminal in the motor vehicle, e.g. in the center console. The user input is preferably recorded during and / or after the execution of the driving function as provided in accordance with the first real control command. Under a comparable driving situation, this includes in particular the same typing. Depending on how coarsely the typing rasterizes the individual driving situations, other identical parameters may also be required to match, for example the typing can represent a right-hand bend and a driving situation comparable to the specific driving situation by means of a right-hand bend in a given area around the present Cornering angle and the driven speed are given. The user input can be used to determine whether a first real control command generated in a specific driving situation leads to unpleasant driving behavior for an occupant of the motor vehicle, which can be taken into account in a subsequent comparable driving situation for the corresponding generation of the second real control command, e.g. via a changed weighting of the evaluations by the first and the second control system or via a changed weighting of the virtual control commands.

With regard to the control system, the above-mentioned object is achieved according to the invention by an integrated control system for a motor vehicle, comprising: a number of sensors, the or each sensor being set up to generate at least one sensor signal relating to a driving situation, a first control unit which is equipped with the number of sensors is in data connection, and is set up for autonomous control of the motor vehicle on the basis of the sensor signal or the sensor signals and for a typing of the driving situation, a second control unit which is different from the first control unit and is in data connection with the number of sensors, and for autonomous control of the motor vehicle is set up on the basis of the sensor signal or the sensor signals, and a comparison unit which is in data connection with the first control unit and with the second control unit. It is provided here that the comparison unit is set up to use one of the first Control unit output evaluation of certain traffic-related information in the driving situation with an evaluation of the traffic-related information output by the second control unit based on a weighting according to the typing of the driving situation and / or to compare a control command issued by the first control unit for a specific driving function of the motor vehicle with one of to compare the control command issued for the driving function of the motor vehicle with the second control unit on the basis of a weighting according to the typing of the driving situation. The advantages specified for the method and for its further developments can be transferred here analogously to the integrated control system.

A data connection includes in particular any connection set up for the transmission of the data obtained, both wirelessly and by cable. The first control unit preferably forms a control unit of a first autonomous control system, and the second control unit correspondingly the control unit of a second autonomous control system. The driving function is then preferably controlled as a function of the comparison made or as a function of the two comparisons.

In an advantageous embodiment of the integrated control system, the first control unit is implemented in a first computer unit, and the comparison unit in an auxiliary computer unit that is physically separate from the first computer unit. In particular, both the first computer unit and the auxiliary computer unit each have at least one processor and at least one memory each, which is assigned to the processor in question and can be addressed by it. The auxiliary computer unit preferably has a non-volatile memory area in which the algorithms required for the comparison operations to be carried out, and particularly preferably also learning routines for continuously adapting and improving them in operation (“machine learning”), are stored. In particular, the second control system is also implemented in an independent, second computer unit.

Following a comparison carried out in the auxiliary computer unit, the driving function can either be controlled directly by the latter if the subject of the comparison is given by the control commands. However, control can also be carried out in the first computer unit by the first control system, in particular when the object of the comparison is given by the evaluations of the traffic-relevant information. In this case, the auxiliary computer unit uses the corresponding data connection, e.g. Via a data bus, preferably a final evaluation of the traffic-relevant information about the driving situation is output to the first computer unit, by means of which the first control system can create the final, real control command for direct activation of the driving function.

In a further advantageous, alternative embodiment of the integrated control system, the first control unit is implemented in a first computer unit with corresponding first electronic components, which in particular comprise at least one processor and at least one memory assigned to the processor, and the comparison unit by corresponding software in the first computer unit implemented, the software of the comparison unit being implemented in the first computer unit on the first electronic components and / or on additional components separate from the first electronic components. This means in particular that the software of the comparison unit can either be completely implemented on the same processor and memory components on which the first control system is also implemented, or that at least parts of the comparison unit, in particular partial processes of the sequence routines given or defined by them, can be implemented on their own Processor and memory components provided for the comparison unit and implemented for this are implemented in the first computer unit.

The second control system can be implemented in an independent second memory unit that is physically separate from the first computer unit, or, similarly to the comparison unit, can be implemented in software in the first computer unit, with the implementation either completely on the one intended for the implementation of the first control unit Processor and memory components can take place, or at least parts of the second control unit are implemented on processor and memory components that are provided in the first computer unit for the comparison unit and reserved for them.

The invention further specifies a motor vehicle with a previously described integrated control system. The advantages specified for the integrated control system and for its further developments, and thus also the advantages specified for the method for autonomous control of a motor vehicle and for the relevant further developments, can be analogously transferred to the motor vehicle itself.

In addition, the invention specifies a computer program product, in particular in the form of a file stored on a data carrier and / or a non-volatile memory, containing an executable program which, when installed on a computer program suitable for executing the program automatically executes the following steps: receiving a first evaluation of traffic-relevant information about a driving situation of a motor vehicle, a second evaluation of the traffic-relevant information about the driving situation and a typing of the driving situation as input variables and / or receiving a first control command to control a driving function of a motor vehicle, one second control command for controlling the driving function and a typing of a driving situation as input variables, comparison of the first evaluation of the traffic-relevant information with the second evaluation of the traffic-relevant information based on a weighting according to the typing of the driving situation and / comparison of the first control command with the second control command based on a weighting according to the typing of the driving situation, and creating a final assessment of the traffic-relevant information or a final tax order hls based on the comparison or comparisons. The advantages specified for the integrated control system and for its further developments, and thus also the advantages specified for the method for autonomous control of a motor vehicle and for the relevant further developments, can be transferred analogously to the computer program product.

The first and the second evaluation or the first and the second control command are preferably to be created by different autonomous control systems of the motor vehicle. When comparing the control commands, these are preferably initially only virtual control commands, i.e. in particular the control commands are suitable by their nature to control the corresponding driving function as by the respective autonomous control system, but are initially not actually carried out for the duration of the comparison. Only the final control command generated on the basis of the comparison is a real control command, which preferably directly controls the driving function in question.

• 1 in einer Draufsicht ein Kraftfahrzeug mit zwei autonomen Steuersystemen in einer Fahrsituation,
• 2 ein Verfahren zum Steuern des Kraftfahrzeugs nach 1 in der Fahrsituation, und
• 3 ein integriertes Steuersystem für das Kraftfahrzeug nach 1.

An exemplary embodiment of the invention is explained in more detail below with reference to drawings. Each shows schematically:

• 1 a plan view of a motor vehicle with two autonomous control systems in a driving situation,
• 2 a method for controlling the motor vehicle 1 in the driving situation, and
• 3 an integrated control system for the motor vehicle 1 ,

Corresponding parts and sizes are given the same reference numerals in all figures.

In 1 is a schematic top view of a motor vehicle 1 shown which is in a driving situation 2 located. The driving situation 2 is given here by a street layout 4 , by a momentary movement 6 of the motor vehicle 1 , which is composed of the current speed and the current direction of movement and thus the complete speed vector of the motor vehicle 1 reflects, furthermore by other road users 8a . 8b in the vicinity of the motor vehicle 1 , which are given in the present case by two further motor vehicles. In addition, the driving situation 2 characterized by the current driving movements 10a . 10b of the other road users 8a respectively. 8b , through traffic signs 12 , which are given here by a traffic sign, as well as by static obstacles 14 in the vicinity of the street layout, which are indicated here by corresponding hatched blockages.

The car 1 has a number of sensors 16 on what the environment of the motor vehicle 1 , and thus the driving situation 2 optically as completely as possible. The sensors 16 are given, for example, by cameras. Each of the sensors 16 generates a corresponding sensor signal 18 , which is the one from the relevant sensor 16 recorded information content about the driving situation 2 fully included at all times. The sensor signals 18 become a first autonomous tax system 20 supplied, which can be implemented in particular on a specially provided computer unit, not shown in the drawing. From the sensors 16 now becomes traffic-relevant information 22 the driving situation 2 recorded, which in the present case as an example in a curve 24 the road layout 4 given is.

Based on the traffic-related information 22 the first tax system now creates an initial assessment 26 , This can with respect to the curve 24 For example, a current distance and geometric information about the curvature of the road 4 through the curve 24 include. Likewise, the first review 26 already a recommendation regarding an optimal driving speed for the curve 24 as well as an ideal line to be driven. Based on the first rating 26 is now a first virtual control command by the first autonomous control system 28 generated. You can use this to generate the first virtual control command 28 also assessments of other traffic-related information, for example with regard to other road users 8a . 8b , as well as their current driving movements 10a . 10b flow into.

The sensor signals are in a comparable manner 18 a second autonomous control system 30 supplied, which in particular by a independent computer unit, not shown in the drawing, can be implemented, or can be implemented as software on the computer unit of the first autonomous control system. The second autonomous control system 30 creates a second rating 32 the traffic-relevant information 22 , and based on the second rating 32 a second virtual control command 34 , The first virtual control command 28 as well as the second virtual control command 34 are control commands of a specific driving function 36 , which in the present case by a steering movement for controlling the motor vehicle 1 through the curve 24 given is. The two virtual control commands mentioned 28 . 34 are suitable in terms of type and electrical impulse to control the steering movement as it is by the first autonomous control system 20 or the second autonomous control system 30 based on the first rating 26 or the second rating 32 each for the curve 24 for independent control of the driving function 36 would be provided.

The control of the driving function 36 , ie in the present case the steering movement, takes place only after the two evaluations have yet to be shown 26 . 32 and / or the two virtual control commands 28 . 34 in a comparison unit 40 were compared with each other. Also the comparison unit 40 can be implemented on the one hand by an independent computer unit, or on the other hand as software on the computer unit of the first autonomous control system 20 be implemented.

In 2 the sequence of a method is shown schematically in a block diagram, by means of which for the motor vehicle 1 in the driving situation 2 to 1 the driving function 36 is controlled. The first autonomous control system 20 hits based on the sensor signals 18 the first rating 26 the traffic-relevant information 22 , Based on the first rating 26 again becomes the first virtual control command 28 generated. Similarly, the second autonomous control system creates 30 about the second rating 32 the traffic-relevant information 22 the second virtual control command 34 , The two reviews 26 . 32 and / or the two virtual control commands 28 . 34 are now the comparison unit 40 fed, the two reviews 26 . 32 are compared with each other and / or the two virtual control commands 28 . 34 be compared with each other. In the former case, a final assessment can be made as a result of the comparison 42 to the first tax system 20 are issued where there is a real control command 44 generated, and this to a steering 46 of the motor vehicle 1 outputs which by the real control command 44 is controlled directly.

The comparison of the two ratings 26 . 32 In the case of numerical quantities, this may consist, for example, of averaging, which may also be based on a typing 48 the driving situation 2 can be weighted. The typing 48 can be transmitted to the comparison unit by one of the two autonomous control systems. By weighting the ratings 26 . 32 can be taken into account the fact that autonomous control systems from different manufacturers, as preferred here for the first autonomous control system 20 and for the second autonomous control system 30 are to be used in different areas of application and thus also have different development progress in different driving situations. The typing performed according to these said applications 48 the traffic situation 2 thus allows the autonomous control system to be weighted more depending on its level of development and reliability.

The two virtual control commands 28 . 34 compared with each other, the real control command can be the result of the comparison 44 directly from the comparison unit 40 to the steering 46 be issued. Here, too, the comparison can be weighted based on the typing 48 the traffic situation 2 in addition, however, the two evaluations can also be made 26 . 32 flow into. For example, if an immediate dangerous situation is recognized by one of the two autonomous control systems, e.g. an impending collision with possible personal injury, but the other autonomous control system has not yet made such an assessment, and as a result a corresponding virtual control command for one is issued in the first-mentioned autonomous control system If emergency braking and / or an evasive maneuver is generated, then by using the corresponding evaluations of the two autonomous control systems, in addition to comparing the virtual control commands, it can be recognized that the virtual control command for the emergency braking and / or for the evasive maneuver takes place on the basis of an assessment of an immediate dangerous situation. In this case, the comparison of the two virtual control commands can be influenced by the two evaluations in that the corresponding virtual control command is prioritized as a result of the detected dangerous situation and immediately as a real control command 44 is issued, in particular in order not to lose any valuable time for avoiding the impending accident, which could elapse, for example, if one waits until the relevant dangerous situation is also recognized as such by the other autonomous control system.

In 3 is schematically in a block diagram a possible implementation of the integrated control system 50 for the motor vehicle 1 to 1 shown. The integrated control system 50 includes the sensors 16 , a first computer unit 52 to implement the first autonomous control system 20, a second computer unit 54 to implement the second virtual control system 30 which from the first computer unit 52 is physically separate, and an auxiliary computing unit 56 to implement the comparison unit 40 , The first computing unit 52 , the second computer unit 54 , and the auxiliary computing unit 56 each have at least one processor and in each case at least one memory assigned to the processor in question and addressable by it, which, however, is shown in 3 are not shown in detail.

The sensors 16 are via connecting cables 58 each with the first computer unit 52 and with the second computer unit 54 for the transmission of the sensor signals 18 connected. Next are the first arithmetic unit 52 and the second computer unit 54 each with the auxiliary computer unit 56 via connecting cable 60 , and if necessary connected via corresponding interfaces (not shown in more detail) for transmitting the evaluations and / or the virtual control commands from the autonomous control systems to the comparison unit, and optionally for transmitting a final evaluation from the comparison unit to the first autonomous control system. The first computing unit 52 and / or the auxiliary computing unit 56 have a connection 62 to a wire harness 64 on, via which the control signals for the driving function of the motor vehicle 1 via the wiring harness in the motor vehicle 1 transferred to their respective destination, using the wire harness 64 itself no longer part of the integrated tax system 50 is.

As an alternative to in 3 shown representation can both the comparison unit 40 as well as the second autonomous control system 30 completely on the computer unit 52 be implemented, be it on specially provided electronic components or as a pure software solution on the native components, which are also used for the first autonomous control system 20 are provided.

Although the invention has been illustrated and described in detail by the preferred embodiment, the invention is not restricted by this embodiment. Other variations can be derived therefrom by those skilled in the art without departing from the scope of the invention.

LIST OF REFERENCE NUMBERS

1

motor vehicle

2

driving situation

4

road layout

6

travel movement

8a, b

other road users

10a, b

travel movement

12

road sign

14

static obstacles

16

sensor

18

sensor signal

20

first autonomous control system

22

traffic-related information

24

Curve

26

first evaluation

28

first virtual control command

30

second autonomous control system

32

second rating

34

second virtual control command

36

driving function

40

comparing unit

42

final rating

44

real control command

46

steering

48

typing

50

integrated control system

52

first computer unit

54

second computer unit

56

Auxiliary processing unit

58

connection cable

60

road sign

62

connection

64

harness

Claims (10)

Method for autonomously controlling a motor vehicle (1), wherein - a number of sensor signals (18) relating to a driving situation (2) are generated by a number of sensors (16) of the motor vehicle (1) - the number of sensor signals (18 ) a first autonomous control system (20) carries out a first evaluation (26) of certain traffic-relevant information (22) in the driving situation (2) and / or a first virtual control command (28) for direct activation of a certain driving function (36) of the motor vehicle (1) is generated, - based on the number of sensor signals (18) by an autonomous control system (20) different second autonomous control system (30) a second evaluation (32) of the specific traffic-relevant information (22) takes place in the driving situation (2) and / or a second virtual control command (34) for direct activation of the specific driving function (36) of the Motor vehicle (1) is generated, - the first autonomous control system (20) and / or the second autonomous control system (30) typing (48) the driving situation (2), - a comparison of the first virtual control command (28 ) a first real control command (44) is generated with the second virtual control command (34) and / or on the basis of a comparison of the first evaluation (26) of the traffic-relevant information (22) with the second evaluation (32) of the traffic-relevant information (22), - For the comparison of the first evaluation (26) with the second evaluation (32) of the traffic-relevant information (2) and / or for the comparison of the first virtual control command (28) with the second control command (34) is weighted according to the typing (48) of the driving situation (2), and - the particular driving function (36) of the motor vehicle (1) being controlled by the first real control command (44). Procedure according to Claim 1 , wherein the first evaluation (26) of the traffic-relevant information (22) is compared with the second evaluation (32) of the traffic-relevant information (22), and based on this comparison the first real control command (44) is generated by the first autonomous control system (20) becomes. Procedure according to Claim 1 or Claim 2 , - based on the number of sensor signals (18) by a third autonomous control system, a third evaluation of certain traffic-relevant information (22) is carried out in the driving situation (2) and / or a third virtual control command for direct activation of the specific driving function (36) of the Motor vehicle (1) is issued, - the first real control command (44) additionally based on a comparison of the third virtual control command with the first virtual control command (28) and the second virtual control command (34) and / or based on the comparison of the first evaluation ( 26) and the second evaluation (32) with the third evaluation of the traffic-relevant information (22) is generated. Method according to one of the preceding claims, wherein the first evaluation (26) of the traffic-relevant information (22) results in an imminent danger in the driving situation (2), and then the first real control command (44) to avoid the danger while deliberately neglecting the second evaluation (32) or the second virtual control command (34) is generated. Method according to one of the preceding claims, wherein a user input of an occupant of the motor vehicle (1) relating to the driving function (36) controlled by the first real control command (44) is recorded, and wherein in a comparable driving situation (2) the user input is used for a second real control command. An integrated control system (50) for a motor vehicle, comprising: - a number of sensors (16), the or each sensor (16) being set up to generate at least one sensor signal (18) with respect to a driving situation (2), - a first control unit (20), which is connected to the number of sensors (16) in a data connection (58) and which is used for autonomous control of the motor vehicle (1) on the basis of the sensor signal (18) or sensor signals (18) and for a typing (48) of the driving situation ( 2) is set up a second control unit (30) different from the first control unit (20), which is in data connection (58) with the number of sensors (16) and which is set up for autonomous control of the motor vehicle (1) on the basis of the sensor signal (18) or the sensor signals (18), - a comparison unit (40), which is in data connection (60) with the first control unit (20) and with the second control unit (30), and which is set up a first evaluation (26) of certain traffic-relevant information (22) in the driving situation (2) output by the first control unit (20) with a second evaluation (32) of the traffic-relevant information (22) output by the second control unit (30) based on a Compare weighting according to the typing (48) of the driving situation (2) and / or a first control command (28) issued by the first control unit (20) for a specific driving function (36) of the motor vehicle (1) with a second control command (34) issued by the second control unit (30) for the driving function (36) of the motor vehicle ( 1) to be compared based on a weighting according to the typing (48) of the driving situation (2). Integrated control system (50) according to Claim 6 , wherein the first control unit (20) is implemented in a first computer unit (52), and the comparison unit (40) is implemented in an auxiliary computer unit (56) physically separate from the first computer unit (52). Integrated control system (50) according to Claim 6 , wherein the first control unit (20) is implemented in a first computer unit (52) with corresponding first electronic components, and the comparison unit (40) is implemented by corresponding software in the first computer unit (52), and wherein the software of the comparison unit ( 40) is implemented in the first computer unit (52) on the first electronic components and / or on additional components separate from the first electronic components. Motor vehicle (1) with an integrated control system (50) according to one of the Claims 6 to 8th , Computer program product containing an executable program that automatically carries out the following steps when installed on a computer unit (52, 56): - Receiving a first evaluation (26) of traffic-relevant information (22) of a driving situation (2) of a motor vehicle (1), a second evaluation (32) of the traffic-relevant information (22) of the driving situation (2) and a typing (48) of the driving situation (2) as input variables and / or Receiving a first control command (28) for controlling a driving function (36) of a motor vehicle (1), a second control command (34) for controlling the driving function (36) and a typing (48) of a driving situation (2) as input variables, - Comparison of the first evaluation (26) of the traffic-relevant information (22) with the second evaluation (32) of the traffic-relevant information (22) 22) based on a weighting according to the typing (48) of the driving situation (2) and / or the comparison of the first control command (28) with the second control command (34) 22) based on a weighting according to the typing (48) of the driving situation (2), and - Creation of a final evaluation (42) of the traffic-relevant information (22) or a final control command (44) on the basis of the comparison or comparisons.

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