DE102021109723A1 - Methods for trajectory planning, in particular for monitoring and/or adjusting trajectory planning, for a vehicle; System; computer program - Google Patents

Abstract

The invention relates to a method for trajectory planning, in particular for monitoring and/or adjusting trajectory planning, for a vehicle, the method comprising the following steps:
-- determining a current vehicle speed of the vehicle;
-- determining a curve radius of a curve, the curve lying on a trajectory of the vehicle;
-- determining a projected vehicle speed using the current vehicle speed and a target acceleration for the turn;
-- determining a lateral acceleration using the planned vehicle speed and the curve radius for the curve;
-- Comparing the lateral acceleration with a selectable and/or adjustable maximum lateral acceleration, the planned vehicle speed being adjusted as a function of the comparison of the lateral acceleration with the selectable and/or adjustable maximum lateral acceleration.

Description

The invention relates to a method for trajectory planning, in particular for monitoring and/or adjusting trajectory planning, for a vehicle. Furthermore, the invention relates to a system for trajectory planning, in particular for monitoring and/or adjusting a trajectory planning, for a vehicle. Furthermore, the invention relates to a computer program.

Autonomous driving or partially autonomous driving offers a wide range of possible applications, for example for the transport of people or goods or in robotics. Autonomous driving means in particular the movement of vehicles (including mobile robots and driverless transport systems). With the help of control devices and sensor systems, such a vehicle can move partially or completely independently. Assistant systems and trajectory planning systems play an important role in this context. The future path curve or trajectory of a vehicle is determined and determined with the aid of a trajectory planning system, so that the behavior of the vehicle can be adapted in such a way that the vehicle follows the planned trajectory.

the DE 102011080761 A1 describes a device for carrying out a speed warning for a motor vehicle, in which a control unit calculates a curvature of the route on the basis of map data for a predefinable section of the route ahead and uses this to calculate and output a maximum speed as a recommendation.

the DE 102017212899 A1 describes a method for calculating trajectories. In the path curve, also known as a trajectory, the location, the speed and the acceleration for the total length of the path are described as a function of time.

A decisive aspect for the application of such systems is safety and the avoidance of accidents.

It is an object of the present invention to provide a reliable and in particular flexibly applicable method for trajectory planning, in particular for monitoring and/or adjusting a trajectory planning, for a vehicle, with which safety can be increased.

• -- Ermitteln einer aktuellen Fahrzeuggeschwindigkeit des Fahrzeugs;
• -- Ermitteln eines Kurvenradius einer Kurve, wobei die Kurve auf einer Trajektorie des Fahrzeugs liegt;
• -- Ermitteln einer geplanten Fahrzeuggeschwindigkeit mithilfe der aktuellen Fahrzeuggeschwindigkeit und einer Soll-Beschleunigung für die Kurve;
• -- Ermitteln einer Querbeschleunigung mithilfe der geplanten Fahrzeuggeschwindigkeit und des Kurvenradius für die Kurve;
• -- Abgleichen der Querbeschleunigung mit einer wählbaren und/oder einstellbaren maximalen Querbeschleunigung,

wobei in Abhängigkeit des Abgleichs der Querbeschleunigung mit der wählbaren und/oder einstellbaren maximalen Querbeschleunigung eine Anpassung der geplanten Fahrzeuggeschwindigkeit durchgeführt wird.The object is achieved according to the invention by a method for trajectory planning, in particular for monitoring and/or adjusting trajectory planning, for a vehicle, the method comprising the following steps:

• -- determining a current vehicle speed of the vehicle;
• -- determining a curve radius of a curve, the curve lying on a trajectory of the vehicle;
• -- determining a projected vehicle speed using the current vehicle speed and a target acceleration for the turn;
• -- determining a lateral acceleration using the planned vehicle speed and the curve radius for the curve;
• -- Comparing the lateral acceleration with a selectable and/or adjustable maximum lateral acceleration,

the planned vehicle speed being adjusted as a function of the comparison of the lateral acceleration with the selectable and/or adjustable maximum lateral acceleration.

The steps of the method according to the invention can be carried out in different sequences. In particular, it is also conceivable for the steps to be carried out in a different order than that specified above.

A particularly advantageous method can be implemented with the aid of the present invention, which monitors and limits the trajectory planning of the autonomous driving function, so that a predefined or definable lateral acceleration is not exceeded. This particularly advantageously prevents the vehicle from tipping over. In addition, according to the invention, a method with a particularly high level of safety integrity can be implemented.

The vehicle can be a partially or fully autonomous vehicle. The vehicle can be a motor vehicle, a mobile robot and/or a driverless transport system, for example.

According to one embodiment of the present invention, a particular advantage results for very narrow vehicles and vehicles with a high center of gravity, which are particularly susceptible to lateral acceleration in curves. Vehicles with a high center of gravity, especially when loaded, and a small track width have a high tendency to roll over. In today's vehicles, the chassis is designed in a very complex manner, taking all driving situations into account NEN tipping over of the vehicle is prevented as reliably as possible. This is necessary, for example, if a vehicle is being driven through a curve at too high a speed, either intentionally or unintentionally. With the help of the present invention, particularly safe cornering can be achieved in an efficient manner, so that the susceptibility to accidents can be reduced and/or the constraints and specifications in the design of the chassis can be reduced. This saves costs and increases security. Accordingly, the method and system according to the invention can advantageously be used, for example, on vehicles that are designed as autonomous, in particular driverless, logistics vehicles (or transporters). Autonomous logistics vehicles are often very narrow and have a comparatively high center of gravity. According to the invention, vehicles of this type can be prevented from tipping over in a particularly advantageous manner.

According to one embodiment of the present invention, it is particularly conceivable for the planned vehicle speed to be adjusted as a function of the comparison of the lateral acceleration with the selectable and/or adjustable maximum lateral acceleration if the comparison shows that a definable comparison criterion is met. The comparison criterion can, for example, include the criterion that the transverse acceleration determined is above the selectable and/or adjustable maximum transverse acceleration.

• - entweder eine Anpassung der geplanten Fahrzeuggeschwindigkeit durchgeführt wird, insbesondere wenn das Abgleichkriterium erfüllt ist, oder
• - keine Anpassung der geplanten Fahrzeuggeschwindigkeit durchgeführt, insbesondere wenn das Abgleichkriterium nicht erfüllt ist.

According to one embodiment of the present invention, it is particularly conceivable that, depending on the result of the comparison of the transverse acceleration with the selectable and/or adjustable maximum transverse acceleration

• - either an adjustment of the planned vehicle speed is carried out, in particular if the adjustment criterion is met, or
• - no adjustment of the planned vehicle speed carried out, especially if the comparison criterion is not met.

According to the invention, it is preferably possible for the setpoint acceleration to relate to a longitudinal direction of the vehicle and for the transverse acceleration to relate to a transverse direction of the vehicle perpendicular to the longitudinal direction of the vehicle. The transverse direction of the vehicle is in particular a direction parallel to the surface or local lane on which the vehicle is located. The longitudinal direction of the vehicle is in particular a direction pointing in the direction of travel when the vehicle is traveling straight ahead.

According to the invention, it is possible in particular for one, several or all steps of the method according to the invention to be carried out in a computer-implemented manner, in particular with the aid of a system for trajectory planning (in particular a control device). Particularly preferably, at least the adjustment of the lateral acceleration to the selectable and/or adjustable maximum lateral acceleration and the adjustment of the planned vehicle speed depending on the adjustment of the lateral acceleration to the selectable and/or adjustable maximum lateral acceleration are carried out in a computer-implemented manner.

According to the invention it is conceivable that the curve lies on the trajectory of the vehicle planned by the trajectory planning. It is conceivable that the curve is a curve to be traveled through by the vehicle on the trajectory in the future. It is alternatively conceivable that the curve is a curve on the planned trajectory of the vehicle through which the passage has already begun. Thus, forward-looking planning and regulation is conceivable as well as a short-term reaction to possible imponderables and/or unforeseen problems and/or events.

The variables used in the method, i.e. in particular at least the current vehicle speed, the curve radius, the planned vehicle speed, the target acceleration, the lateral acceleration, the steering angle specification and the selectable and/or adjustable maximum lateral acceleration (as well as possible other variables used), can in particular be understood as one or more pieces of information about these quantities and/or as one or more values relating to these quantities.

Advantageous developments and configurations can be found in the dependent claims.

According to one embodiment of the present invention, it is provided that the selectable and/or predefinable maximum lateral acceleration is selected and/or dependent on a vehicle characteristic of the vehicle and/or an environmental condition, in particular a weather condition and/or friction condition and/or a loading condition of the vehicle. or is specified. In particular, the selectable and/or specifiable maximum lateral acceleration is selected from a group of maximum lateral acceleration values, the group of maximum lateral acceleration values including values for different weather conditions. The various weather conditions and/or friction conditions between the road and the tires can according to one embodiment, can also be understood as different weather conditions and/or friction conditions. It is conceivable, for example, that the value of the selected and/or specified maximum lateral acceleration is lower in the rain and/or wet road and/or icy road than in the case of a dry road.

According to one embodiment of the present invention, it is provided that the current vehicle speed of the vehicle is determined using one or more wheel speed sensors and/or using a speed of a drive motor of the vehicle and/or using a navigation satellite system. The wheel speed sensor or sensors are preferably arranged on the vehicle and provide measured values relating to the wheel speeds, from which one or more values relating to the current speed are determined, for example with the aid of the system for trajectory planning. In an alternative embodiment, the current vehicle speed can be determined via the speed of the drive motor and taking into account a possible gear ratio.
Additionally or alternatively, the current vehicle speed can be detected using a navigation satellite system, in particular using a GPS sensor installed in the vehicle, which enables the speed to be determined by calculating the difference between the distances traveled and determining the time that has elapsed.

According to one embodiment of the present invention, it is provided that the curve radius of the curve is determined as a function of a steering angle specification, in particular a steering angle specification of the trajectory planning, and a wheelbase of the vehicle. The curve radius can be determined in particular using the relationship R=I/alpha, where R is the curve radius, where I indicates the wheelbase and where alpha is the steering angle specification.

According to one embodiment of the present invention, it is provided that the comparison of the lateral acceleration with the selectable and / or adjustable maximum lateral acceleration includes a determination of whether the lateral acceleration is greater than the maximum lateral acceleration, in the event that the comparison shows that the Lateral acceleration is greater than the maximum lateral acceleration, the adaptation of the planned vehicle speed is carried out, in particular such that the planned vehicle speed is reduced. In this way, an advantageous monitoring for the trajectory planning can be implemented. It is preferably conceivable that no adjustment of the planned vehicle speed is carried out in the event that the comparison shows that the transverse acceleration is less than or equal to the maximum transverse acceleration.

According to one embodiment of the present invention, it is provided that the target acceleration is a target acceleration determined and/or specified by the trajectory planning. The trajectory planning thus preferably specifies both a setpoint acceleration and a steering angle specification, which the trajectory planning has determined in particular for the planned trajectory (ie in particular the curve or a section of the curve). The target acceleration determined and/or specified by the trajectory planning includes in particular one or more planned target values for the acceleration of the vehicle when driving through the curve.

• -- wobei das System zur Ermittlung einer aktuelle Fahrzeuggeschwindigkeit des Fahrzeugs konfiguriert ist;
• -- wobei das System zur Ermittlung eines Kurvenradius einer Kurve konfiguriert ist, wobei die Kurve auf einer Trajektorie des Fahrzeugs liegt;
• -- wobei das System zur Ermittlung einer geplanten Fahrzeuggeschwindigkeit mithilfe der aktuellen Fahrzeuggeschwindigkeit und einer Soll-Beschleunigung für die Kurve konfiguriert ist;
• -- wobei das System zur Ermittlung einer Querbeschleunigung mithilfe der geplanten Fahrzeuggeschwindigkeit und des Kurvenradius für die Kurve konfiguriert ist;
• -- wobei das System zum Abgleichen der Querbeschleunigung mit einer wählbaren und/oder einstellbaren maximalen Querbeschleunigung konfiguriert ist,

wobei das System derart konfiguriert ist, dass in Abhängigkeit des Abgleichs der Querbeschleunigung mit der wählbaren und/oder einstellbaren maximalen Querbeschleunigung eine Anpassung der geplanten Fahrzeuggeschwindigkeit durchgeführt wird.Another subject matter of the present invention is a system for trajectory planning, in particular for monitoring and/or adjusting trajectory planning, for a vehicle

• -- wherein the system is configured to determine a current vehicle speed of the vehicle;
• -- wherein the system is configured to determine a curve radius of a curve, the curve lying on a trajectory of the vehicle;
• -- wherein the system is configured to determine a projected vehicle speed using the current vehicle speed and a target acceleration for the curve;
• -- wherein the system is configured to determine a lateral acceleration using the planned vehicle speed and the curve radius for the curve;
• -- wherein the system is configured to adjust the lateral acceleration with a selectable and/or adjustable maximum lateral acceleration,

the system being configured in such a way that the planned vehicle speed is adjusted as a function of the comparison of the lateral acceleration with the selectable and/or adjustable maximum lateral acceleration.

The system for trajectory planning can be implemented using a controller, which is preferably located entirely or partially in the vehicle. The control device is designed in particular computer-implemented and configured such that the steps of a method according to a Embodiment of the present invention are carried out. The system for trajectory planning can also be distributed to several control units in the vehicle. Accordingly, it is conceivable that the control device is designed using a plurality of control units.

A further subject of the present invention is a computer program comprising instructions which, when the computer program is executed by a computer, in particular by a system for trajectory planning, cause the latter to carry out a method according to an embodiment of the present invention.

• -- dass der Computer mithilfe von einem oder mehreren Computereinrichtungen im Fahrzeug ausgebildet ist, insbesondere derart, dass die Befehle teilweise oder vollständig auf der einen oder den mehreren Computereinrichtungen im Fahrzeug ausgeführt werden, und/oder
• -- dass der Computer mithilfe einer Cloud ausgebildet ist, insbesondere derart, dass die Befehle teilweise oder vollständig in der Cloud ausgeführt werden.

According to one embodiment of the present invention, it is conceivable

• -- that the computer is designed using one or more computer devices in the vehicle, in particular in such a way that the commands are partially or completely executed on the one or more computer devices in the vehicle, and/or
• -- that the computer is designed using a cloud, in particular such that the commands are partially or fully executed in the cloud.

The advantages and refinements that have already been described in connection with the method according to the invention or an embodiment of the method according to the invention can be used for the system according to the invention and the computer program according to the invention.

• 1 eine schematische Darstellung eines Systems gemäß einer Ausführungsform der vorliegenden Erfindung;
• 2 eine schematische Darstellung eines Verfahrens gemäß einer Ausführungsform der vorliegenden Erfindung.

Further details and advantages of the invention are to be explained below with reference to the exemplary embodiments illustrated in the drawings. Herein shows:

• 1 a schematic representation of a system according to an embodiment of the present invention;
• 2 a schematic representation of a method according to an embodiment of the present invention.

In 1 1 is a schematic representation of a system for trajectory planning according to an embodiment of the present invention. The system is designed partially or completely as part of a vehicle 1 . The system is set up in particular using a computer-implemented control device 10 . The control device 10 is set up in particular to implement an autonomous driving function and includes a trajectory planning 6 for this purpose. The vehicle 1 has one or more environment sensors 2, 2′, each of which is set up for detecting the surroundings, in particular for detecting detection areas 3, 3′ of the vehicle 1 are. Various sensor types are possible for the environmental sensors 2, 2', such as cameras or acoustic sensors, and in particular also combinations of different sensors and sensor types. The environmental sensors 2, 2′ supply environmental data that the autonomous driving system and/or the trajectory planning 6 of the vehicle 1 uses for the fully or partially autonomous control of the vehicle 1.

The vehicle can be controlled in particular with the aid of trajectory planning 6 in such a way that it follows trajectory 100 . In the illustrated embodiment, the future route of the vehicle includes a curve K with a radius R. In particular, the future curve or trajectory 100 of the vehicle 1 is determined and/or determined using the trajectory planning 6 (i.e. in particular the autonomous driving function of the vehicle 1). . The autonomous driving function or the trajectory planning 6 is configured to adapt the behavior of the vehicle 1 in such a way that the vehicle 1 follows the planned trajectory 100 . The trajectory planning 6 determines, among other things, the trajectory 100 for the vehicle 1 on the basis of the environmental data obtained using the environmental sensors 2, 2 ' Set acceleration a and implement a steering angle alpha or a steering angle specification alpha. For this purpose, the trajectory planning 6 determines the desired acceleration a and the steering angle specification alpha and outputs or makes them available. This information is transferred to the trajectory tracking control 7, which is part of the system for monitoring and/or adjusting the trajectory planning 6. The transverse acceleration q_actual that occurs is determined on the basis of the existing vehicle speed (or the current vehicle speed v_0), the specified setpoint acceleration a and the steering angle specification alpha. The transverse acceleration q_actual relates in particular to a transverse direction 301 of the vehicle 1 perpendicular to the longitudinal direction 300 of the vehicle 1. If the transverse acceleration q_actual that occurs exceeds a defined maximum permissible transverse acceleration q_max, a corrected acceleration a_korr (in the longitudinal direction 300) is calculated. This corrected acceleration a_korr is then used in particular instead of setpoint acceleration a and is in particular implemented by the drive system of vehicle 1 .

The current vehicle speed v_0 is preferably with a high safety integer ity determined by one or more wheel speed sensors 4, 4'.

The permissible maximum transverse acceleration q_max is preferably defined in a table, in particular a look-up table, and can vary due to weather conditions, for example. It is conceivable that the maximum lateral acceleration q_max depends on the vehicle type of the vehicle 1 and/or is vehicle-specific.

In 2 1 is shown a schematic representation of a method according to an embodiment of the present invention. The trajectory planning 6 determines for the current trajectory 100, in particular for a curve K lying on the planned trajectory, a setpoint acceleration a in the longitudinal direction 300 of the vehicle 1 and a steering angle specification alpha. In particular, an autonomous driving function for the vehicle 1 can thus be implemented with the aid of the trajectory planning 6 . The two variables (or values relating to these two variables) serve as input variables for a monitoring function of trajectory planning 6 in trajectory tracking control 7 and are made available to trajectory tracking control 7 by trajectory planning 6 . It is conceivable that the trajectory planning 6 and the trajectory following control 7 are designed as a common system or that they are separate devices. The illustrated method according to an embodiment of the present invention comprises the following steps.

In a vehicle speed detection step 201, a current vehicle speed v_0 is detected and/or determined using one or more wheel speed sensors 4, 4'.

In a vehicle speed determination step 202, a planned vehicle speed v_new is determined on the basis of the current vehicle speed v_0 and the target acceleration a, in particular using the relationship v_new=v_0+a*t, where t is the time.

In a curve radius determination step 203, a curve radius R of the curve K lying on the future trajectory is determined on the basis of the steering angle specification alpha and the wheelbase I of the vehicle, in particular using the relationship R=I/alpha.

In an actual lateral acceleration determination step 204, a lateral acceleration q_actual is determined on the basis of the planned vehicle speed v_new and the curve radius R, in particular using the relationship q_actual=(v_new)^2*R.

In a comparison step 205, the transverse acceleration q_actual is compared with a selected and/or set or specified maximum transverse acceleration q_max. In this context, it is particularly preferably determined whether transverse acceleration q_actual is less than or equal to maximum transverse acceleration q_max.

If the comparison in the comparison step 205 shows that the lateral acceleration q_actual is less than or equal to the maximum lateral acceleration q_max, the trajectory following control 7 establishes that the setpoint acceleration a can be used. In this case, an adjustment of the setpoint acceleration a and/or an intervention by the trajectory following control 7 to change the intended setpoint acceleration a is not necessary. Thus, if the maximum transverse acceleration q_max is not exceeded with the transverse acceleration q_actual, then the target acceleration a is implemented by the drive system of the vehicle 1 .

If the comparison in comparison step 205 shows that the lateral acceleration q_actual is greater than the maximum lateral acceleration q_max, in particular such that the occurring lateral acceleration q_actual exceeds the defined permissible maximum lateral acceleration q_max, a corrected acceleration a_korr (in the vehicle longitudinal direction 300 ) is calculated and the vehicle speed reduced accordingly.

In this way it can be ensured in a particularly advantageous manner that the desired steering angle alpha or the steering angle specification alpha is always implemented and the vehicle 1 does not leave the trajectory 100 . In order to achieve a particularly advantageous level of safety, only the vehicle speed is adjusted with the aid of the trajectory following control 7 and not the steering angle specification alpha.

Reference List

1

vehicle

2

environmental sensor

2'

environmental sensor

3

detection range

3'

detection range

4

wheel speed sensor

4'

wheel speed sensor

6

trajectory planning

7

trajectory following control

10

control device

100

trajectory

201

vehicle speed detection step

202

vehicle speed determination step

203

curve radius determination step

204

ACTUAL lateral acceleration determination step

205

matching step

206

Correction acceleration determination step

300

longitudinal direction of the vehicle

301

transverse direction of the vehicle

alpha

Steering angle specification

a

target acceleration

a_corr

corrected acceleration

v_new

planned vehicle speed

v_0

current vehicle speed

K

Curve

I

wheelbase

R

curve radius

t

time

q_is

lateral acceleration

q_max

maximum lateral acceleration

QUOTES INCLUDED IN DESCRIPTION

This list of documents cited by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent Literature Cited

• DE 102011080761 A1 [0003]
• DE 102017212899 A1 [0004]

Claims (9)

Method for trajectory planning, in particular for monitoring and/or adjusting a trajectory planning, for a vehicle (1), the method comprising the following steps: -- determining a current vehicle speed (v_0) of the vehicle; - Determining a curve radius (R) of a curve (K), the curve (K) lying on a trajectory (100) of the vehicle (1); -- Determining a planned vehicle speed (v_neu) using the current vehicle speed (v_0) and a target acceleration (a) for the curve (K); -- Determining a transverse acceleration (q_ist) using the planned vehicle speed (v_neu) and the curve radius (R) for the curve (K); -- Comparing the lateral acceleration (q_ist) with a selectable and/or adjustable maximum lateral acceleration (q_max), with an adjustment of the planned vehicle speed (v_neu ) is carried out. procedure after claim 1 , wherein the selectable and/or predeterminable maximum lateral acceleration is selected and/or specified as a function of a vehicle characteristic of the vehicle (1) and/or an environmental condition, in particular a weather condition and/or friction condition, and/or a loading condition of the vehicle (1). . Method according to one of the preceding claims, wherein the determination of the current vehicle speed (v_0) of the vehicle (1) using one or more wheel speed sensors (4, 4 ') and / or using a speed of a drive motor of the vehicle (1) and / or using a Navigation satellite system is carried out. Method according to one of the preceding claims, wherein the curve radius (R) of the curve (K) is determined as a function of a steering angle specification (alpha), in particular a steering angle specification (alpha) of the trajectory planning, and a wheelbase (I) of the vehicle (1). The method according to any one of the preceding claims, wherein the comparison of the lateral acceleration (q_ist) with the selectable and / or adjustable maximum lateral acceleration (q_max) comprises a determination of whether the lateral acceleration (q_ist) is greater than the maximum lateral acceleration (q_max), wherein for the If the comparison shows that the lateral acceleration (q_ist) is greater than the maximum lateral acceleration (q_max), the planned vehicle speed (v_neu) is adjusted, in particular in such a way that the planned vehicle speed (v_neu) is reduced. Method according to one of the preceding claims, wherein the target acceleration (a) is a target acceleration (a) determined and/or specified by the trajectory planning. System for trajectory planning, in particular for monitoring and/or adjusting trajectory planning, for a vehicle (1), -- wherein the system is configured to determine a current vehicle speed (v_0) of the vehicle (1); -- wherein the system is configured to determine a curve radius (R) of a curve (K), the curve (K) lying on a trajectory (100) of the vehicle (1); -- wherein the system is configured to determine a planned vehicle speed (v_new) using the current vehicle speed (v_0) and a target acceleration (a) for the curve (K); -- wherein the system for determining a lateral acceleration (q_ist) using the planned vehicle speed (v_neu) and the curve radius (R) for the curve (K) is configured; -- wherein the system is configured to adjust the lateral acceleration (q_actual) with a selectable and/or adjustable maximum lateral acceleration (q_max), the system being configured in such a way that, depending on the adjustment of the lateral acceleration (q_actual) with the selectable and/or adjustable maximum lateral acceleration (q_max) an adjustment of the planned vehicle speed (v_neu) is carried out. Computer program, comprising instructions which, when the computer program is executed by a computer, in particular by a system for trajectory planning, cause the latter to carry out a method according to one of Claims 1 until 6 to perform. computer program claim 8 , wherein the computer is designed using one or more computer devices in the vehicle, in particular in such a way that the commands are partially or completely executed on the one or more computer devices in the vehicle, and/or wherein the computer is designed using a cloud, in particular in such a way that the commands are partially or fully executed in the cloud.

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