DE102021209647A1 - Method for controlling timing of multiple infrastructure systems - Google Patents

Abstract

The invention relates to a method for controlling a temporal behavior of multiple infrastructure systems for infrastructure-supported assistance to a motor vehicle in an at least partially automated driving task, which share one or more resources, comprising the following steps: determining one or more timing parameters for each of the multiple infrastructure systems , wherein the respective one or the respective several timing parameters specify a respective timing of the several infrastructure systems for a temporal use of the one or the several shared resources,
Sending the determined timing parameters to the appropriate infrastructure systems.
The invention relates to a device, a system, a computer program and a machine-readable storage medium.

Description

The invention relates to a method for controlling a temporal behavior of a plurality of infrastructure systems for infrastructure-supported assistance to a motor vehicle in an at least partially automated driving task, which share one or more resources. The invention relates to a device, a system, a computer program and a machine-readable storage medium.

State of the art

The disclosure document DE 10 2017 115 710 A1 discloses a lidar array.

The disclosure document U.S. 2019/0313446 A1 discloses a method for network communication within a vehicle.

Disclosure of Invention

The object on which the invention is based is to be seen as providing a concept for controlling a temporal behavior of multiple infrastructure systems for infrastructure-supported assistance to a motor vehicle in an at least partially automated driving task, with the multiple infrastructure systems sharing one or more resources.

This object is solved by means of the respective subject matter of the independent claims. Advantageous configurations of the invention are the subject matter of the dependent subclaims.

• Ermitteln von einem oder mehreren Timing-Parametern für jedes der mehreren Infrastruktursysteme, wobei der jeweils eine oder die jeweiligen mehreren Timing-Parameter ein jeweiliges Timing der mehrere Infrastruktursysteme für eine zeitliche Nutzung der einen oder der mehreren geteilten Ressourcen vorgeben,
• Senden der ermittelten Timing-Parameter an die entsprechenden Infrastruktursysteme.

According to a first aspect, a method for controlling a temporal behavior of a plurality of infrastructure systems for infrastructure-supported assistance to a motor vehicle in an at least partially automated driving task, which share one or more resources, is provided, comprising the following steps:

• Determination of one or more timing parameters for each of the multiple infrastructure systems, wherein the respective one or the respective multiple timing parameters specify a respective timing of the multiple infrastructure systems for a temporal use of the one or more shared resources,
• Sending the determined timing parameters to the appropriate infrastructure systems.

According to a second aspect, a device is provided which is set up to carry out all the steps of the method according to the first aspect.

• mehrere Infrastruktursysteme zum infrastrukturgestützen Assistieren eines Kraftfahrzeugs bei einer zumindest teilautomatisierten Fahraufgabe, welche sich eine oder mehrere Ressourcen teilen, und
• die Vorrichtung nach dem zweiten Aspekt.

According to a third aspect there is provided a system comprising:

• several infrastructure systems for infrastructure-supported assistance to a motor vehicle in an at least partially automated driving task, which share one or more resources, and
• the device according to the second aspect.

According to a fourth aspect, a computer program is provided which comprises instructions which, when the computer program is executed by a computer, for example by the device according to the second aspect and/or by the system according to the third aspect, cause this to carry out a method according to the first aspect to execute.

According to a fifth aspect, there is provided a machine-readable storage medium on which the computer program according to the fourth aspect is stored.

The invention is based on and includes the knowledge that the above object is achieved in that the timing parameters for the multiple infrastructure systems are specified by a central entity, these timing parameters specifying or specifying the extent to which the infrastructure systems who are allowed to use one or more shared resources temporally.

Thus, in particular, the technical advantage is brought about that the corresponding temporal behavior can be efficiently controlled due to the central control. Furthermore, this brings about the technical advantage that the one or more shared resources can be used efficiently.

Furthermore, this brings about the technical advantage, for example, that peak loads when using the one or more shared resources can be efficiently avoided.

If the singular is used for the resource in this description, the plural should always be read and vice versa. If the singular for the infrastructure system is used in this description, the plural should always be read as well. If the singular for the motor vehicle is used in the context of this description, the plural should always be read as well and vice versa. This means in particular that statements relating to a motor vehicle zeug, refer to an infrastructure system and a resource, also apply in an analogous manner to several infrastructure systems, several motor vehicles and several resources and vice versa.

The terms "assist" and "support" can be used interchangeably.

According to one embodiment, it is provided that the one or more resources include a communication network and the one or more timing parameters include a transmission timing that indicates when and/or how long the infrastructure systems can communicate via the communication network.

This brings about the technical advantage, for example, that the communication network can be used efficiently. In particular, peak loads can be avoided in an efficient manner. For example, an available bandwidth of the communication network can be efficiently used in an advantageous manner.

According to one embodiment, a communication network comprises a wireless communication network and/or a wired communication network. According to one embodiment, a communication network is a wireless communication network or is a wired communication network.

A wireless communication network includes, for example, a cellular network and/or a WLAN communication network. A wired communication network includes, for example, an Ethernet communication network.

According to one embodiment, it is provided that the one or more resources include a data processing system and the one or more timing parameters include a processing timing that specifies when and/or how long the infrastructure systems may use the data processing system for data processing.

This brings about the technical advantage, for example, that the data processing system can be used efficiently. In particular, load peaks can be avoided in an advantageous manner.

According to one embodiment, it is provided that the one or more timing parameters include a data output timing that specifies when and/or how long the infrastructure systems may output data.

This brings about the technical advantage, for example, that an output of data can be efficiently controlled by the infrastructure systems. For example, it can be advantageously avoided that all infrastructure systems output their data at the same time. This could lead to a peak load in a communication network. This can advantageously be efficiently avoided by appropriate selection of timing parameters.

According to one embodiment, it is provided that the infrastructure systems each comprise at least one infrastructure environment sensor, which is set up to detect an environment of the motor vehicle and to output environment sensor data corresponding to the acquisition, the data output timing indicating when and/or how long the infrastructure systems receive the environment sensor data and/or may output environment data based on the environment sensor data, which describe the environment of the motor vehicle.

This brings about the technical advantage, for example, that an output of surroundings sensor data and/or surroundings data based on the surroundings sensor data can be efficiently controlled. For example, it is advantageously possible to avoid the infrastructure systems all outputting the surroundings sensor data and/or the surroundings data at the same time.

Environment data based on the environment sensor data are, for example, evaluated environment sensor data and/or merged environment sensor data. Environment data include, for example, an object list of one or more objects that are in the area surrounding the motor vehicle.

An environment sensor within the meaning of the description is, for example, one of the following environment sensors: video sensor, in particular video sensor of a video camera, radar sensor, ultrasonic sensor, magnetic field sensor, infrared sensor and lidar sensor.

According to one embodiment, it is provided that the infrastructure systems each emit a heartbeat signal, with the one or more timing parameters being determined based on the heartbeat signals.

This brings about the technical advantage, for example, that the timing parameters can be determined efficiently.

A heartbeat signal is, for example, a control signal that monitors the functionality of components and/or transmission links, for example. For example, a receiver of a heartbeat signal expects heartbeat signals within predetermined time intervals or intervals. If a heartbeat signal fails to appear or is not received by the receiver within a predetermined time interval or interval, the receiver assumes that the transmitter of the heartbeat signal has failed, for example, or has a fault and/or that a transmission path between the transmitter and receiver is faulty or has failed. For example, the receiver may implement an emergency response plan in response to an absence or a heartbeat signal received outside of a predetermined time interval or interval.

According to one embodiment it is provided that the method according to the first aspect is executed or carried out by means of the device according to the second aspect and/or by means of the system according to the third aspect.

Device features and system features result analogously from corresponding process features and vice versa. This therefore means that technical functionalities of the method result analogously from corresponding technical functionalities of the device and the system and vice versa.

According to one embodiment it is provided that the method according to the first aspect is a computer-implemented method.

The phrase "at least partially automated driving" includes one or more of the following cases: assisted driving, partially automated driving, highly automated driving, fully automated driving. The wording “at least partially automated” therefore includes one or more of the following wordings: assisted, partially automated, highly automated, fully automated.

Assisted driving means that a driver of the motor vehicle continuously carries out either the lateral or the longitudinal guidance of the motor vehicle. The respective other driving task (that is, controlling the longitudinal or lateral guidance of the motor vehicle) is carried out automatically. This means that when driving the motor vehicle with assistance, either the lateral or the longitudinal guidance is controlled automatically.

Partly automated driving means that in a specific situation (for example: driving on a motorway, driving within a parking lot, overtaking an object, driving within a lane defined by lane markings) and/or for a certain period of time, a longitudinal and a Lateral guidance of the motor vehicle are controlled automatically. A driver of the motor vehicle does not have to manually control the longitudinal and lateral guidance of the motor vehicle. However, the driver must constantly monitor the automatic control of the longitudinal and lateral guidance in order to be able to intervene manually if necessary. The driver must be ready to take full control of the vehicle at any time.

Highly automated driving means that for a certain period of time in a specific situation (for example: driving on a freeway, driving in a parking lot, overtaking an object, driving in a lane defined by lane markings), longitudinal and lateral guidance of the motor vehicle be controlled automatically. A driver of the motor vehicle does not have to manually control the longitudinal and lateral guidance of the motor vehicle. The driver does not have to constantly monitor the automatic control of the longitudinal and lateral guidance in order to be able to intervene manually if necessary. If necessary, a takeover request is automatically issued to the driver to take over control of the longitudinal and lateral guidance, in particular with a sufficient time reserve. The driver must therefore potentially be able to take over control of the longitudinal and lateral guidance. Limits of the automatic control of the lateral and longitudinal guidance are recognized automatically. With highly automated guidance, it is not possible to automatically bring about a risk-minimum state in every initial situation.

Fully automated driving means that in a specific situation (for example: driving on a freeway, driving within a parking lot, overtaking an object, driving within a lane that is defined by lane markings), longitudinal and lateral guidance of the motor vehicle are controlled automatically. A driver of the motor vehicle does not have to manually control the longitudinal and lateral guidance of the motor vehicle. The driver does not have to monitor the automatic control of the longitudinal and lateral guidance in order to be able to intervene manually if necessary. Before the automatic control of the lateral and longitudinal guidance is ended, the driver is automatically prompted to take over the driving task (controlling the lateral and longitudinal guidance of the motor vehicle), in particular with a sufficient time reserve. If the driver does not take over the task of driving, the system automatically returns to a risk-minimum state. Limits of the automatic control of the lateral and longitudinal guidance are recognized automatically. In all situations it is possible to automatically return to a risk-minimum system state.

The embodiments and exemplary embodiments described in the description can each be combined with one another in any form even if this is not explicitly described.

According to an embodiment, an infrastructure system comprises one or more infrastructure environment sensors, a processing unit and a communication unit. The infrastructure surroundings sensors are set up, for example, to record surroundings of the motor vehicle and to output surroundings sensor data corresponding to the detection. The processing device, which can include one or more processors, for example, is set up, for example, to process the surroundings sensor data. The processing includes, for example, analyzing the surroundings sensor data in order to detect one or more objects in the surroundings of the motor vehicle. Based on the detected objects, the processing unit can create an object list, for example. This therefore means that the processing unit is set up, for example, to create an object list which includes or indicates the detected object or objects. The processing includes, for example, analyzing the environmental sensor data to identify a clearance. The communication unit is set up, for example, to send a result of the analysis(s), for example via a communication network. For example, the processing device is set up to merge the surroundings sensor data from the infrastructure surroundings sensors. For example, it is provided that the analysis steps described above are carried out on the basis, that is to say using, the merged environmental sensor data. The corresponding statements apply analogously.

For example, a data processing system is implemented within a cloud infrastructure. For example, according to one embodiment, it is provided that the data processing system comprises one or more data processing devices, each of which is implemented in a cloud infrastructure.

The infrastructure environment sensor or sensors of an infrastructure system communicate with the processing unit of the infrastructure system via a communication network, for example. For example, the infrastructure environment sensor or sensors of the infrastructure systems use the same communication network as a resource for communicating with the corresponding processing unit. In one embodiment, it is provided that the timing parameter(s) determined include a communication timing which indicates when and/or how long the respective infrastructure environment sensor(s) may communicate with the respective processing unit of the infrastructure systems.

The, in particular central, device according to the second aspect, which controls the respective temporal behavior of the infrastructure systems, can be connected to the infrastructure systems via a wired and/or wireless connection, for example, and supplies the infrastructure systems with time information, for example can be used by any infrastructure system. For example, it is provided that the infrastructure systems are and/or are synchronized to a common clock, e.g. by means of GNSS. This means that the infrastructure systems are and/or are synchronized, for example, to a common clock, for example by means of GNSS.

A journey of the motor vehicle within the meaning of the description is, for example, an at least partially automated journey, in particular an infrastructure-supported, at least partially automated journey.

An at least partially automated driving task includes, for example, an at least partially automated guided trip. The motor vehicle is therefore, for example, guided at least partially automatically. An at least partially automated driving task thus includes at least partially automated driving of the motor vehicle.

• 1 ein Ablaufdiagramm eines Verfahrens nach dem ersten Aspekt,
• 2 eine Vorrichtung nach dem zweiten Aspekt,
• 3 ein System nach dem dritten Aspekt,
• 4 ein maschinenlesbares Speichermedium nach dem fünften Aspekt,
• 5 ein infrastrukturgestütztes, zumindest teilautomatisiert geführtes Kraftfahrzeug,
• 6 eine Initialisierung und Koordinierung der Timings von mehreren Infrastruktursystemen,
• 7 eine Ressourcenverwendung ohne das hier beschriebene Konzept,
• 8 eine Ressourcenverwendung mit Verwendung des hier beschriebenen Konzepts,
• 9 ein erstes Blockdiagramm und
• 10 ein zweites Blockdiagramm.

Embodiments of the invention are shown in the drawings and explained in more detail in the following description. Show it:

• 1 a flowchart of a method according to the first aspect,
• 2 a device according to the second aspect,
• 3 a system according to the third aspect,
• 4 a machine-readable storage medium according to the fifth aspect,
• 5 an infrastructure-supported, at least partially automated motor vehicle,
• 6 an initialization and coordination of the timings of several infrastructure systems,
• 7 a use of resources without the concept described here,
• 8th a use of resources using the concept described here,
• 9 a first block diagram and
• 10 a second block diagram.

The same reference symbols can be used below for the same features.

• Ermitteln 101 von einem oder mehreren Timing-Parametern für jedes der mehreren Infrastruktursysteme, wobei der jeweils eine oder die jeweiligen mehreren Timing-Parameter ein jeweiliges Timing der mehrere Infrastruktursysteme für eine zeitliche Nutzung der einen oder der mehreren geteilten Ressourcen vorgeben,
• Senden 103 der ermittelten Timing-Parameter an die entsprechenden Infrastruktursysteme.

1 shows a flow chart of a method for controlling a temporal behavior of several infrastructure systems for infrastructure-supported assistance of a motor vehicle in an at least partially automated driving task, which share one or more resources, comprising the following steps:

• Determining 101 one or more timing parameters for each of the multiple infrastructure systems, wherein the respective one or the respective multiple timing parameters specify a respective timing of the multiple infrastructure systems for a temporal use of the one or more shared resources,
• Sending 103 the determined timing parameters to the appropriate infrastructure systems.

2 shows a device 201 which is set up to carry out all steps of the method according to the first aspect.

3 shows a system 301.

The system 301 includes a first infrastructure system 303, a second infrastructure system 305 and a third infrastructure system 307 for infrastructure-supported assistance to a motor vehicle in an at least partially automated driving task.

The three infrastructure systems 303, 305, 307 share a resource 309. In an embodiment that is not shown, the three infrastructure systems 303, 305, 307 share multiple resources.

The resource 309 is, for example, a communication network or is, for example, a data processing system.

The system 301 also includes the device 201 of FIG 2 . This means that the device 201 determines one or more timing parameters for each of the three infrastructure systems 303, 305 and 307, with each one or the respective multiple timing parameters determining a respective timing of the multiple infrastructure systems 303, 305, 307 for use of resource 309. After the determination, the device 201 sends the determined timing parameters to the corresponding infrastructure systems 303, 305, 307.

4 shows a machine-readable storage medium 401. A computer program 403 is stored on the machine-readable storage medium 401, which comprises instructions which, when the computer program 403 is executed by a computer, cause the computer to execute a method according to the first aspect.

5 shows an infrastructure-supported motor vehicle 501 that is at least partially automated and is driving on a road 503. There are several motor vehicles 505 in the vicinity of motor vehicle 501. Motor vehicle 501 and several motor vehicles 505 are driving in the direction of a tunnel 507.

A first infrastructure system 509 and a second infrastructure system 511 are provided for infrastructure-supported, at least partially automated driving of motor vehicle 501 in order to assist motor vehicle 501 in its at least partially automated driving.

Four infrastructure elements are provided, which are used to mount environment sensors. These four infrastructure elements essentially have a U-shape and are arranged like a bridge on the road 503. Street 503 runs below the upside down U.

In detail, a first infrastructure element 513, a second infrastructure element 515, a third infrastructure element 517 and a fourth infrastructure element 519 are provided.

A first surroundings sensor 521 and a second surroundings sensor 523 are arranged on the first infrastructure element 513 . A third surroundings sensor 525 and a fourth surroundings sensor 527 are arranged on the second infrastructure element 515 . A fifth surroundings sensor 529 and a sixth surroundings sensor 531 are arranged on the third infrastructure element 517 . A seventh surroundings sensor 533 and an eighth surroundings sensor 535 are arranged on the fourth infrastructure element 519 .

The first surroundings sensor 521, the second surroundings sensor 523, the third surroundings sensor 525 and the fourth surroundings sensor 527 are assigned to the first infrastructure system 509. The fifth, sixth, seventh, eighth infrastructure surroundings sensors 529, 531, 533, 535 are assigned to the second infrastructure system 511.

The first infrastructure system 509 comprises a first communication unit 537 and comprises a first data processing device 539. The second infrastructure system 511 comprises a second communication unit 541 and a second data processing device 543.

Shown symbolically by a lock symbol, identified by the reference number 545, it is intended to illustrate that the data processed by the data processing devices 539, 543 can be encrypted.

The infrastructure environment sensors detect the environment of motor vehicle 501 and provide environment sensor data corresponding to this acquisition, i.e. output corresponding environment sensor data to the first data processing device 539 and to the second data processing device 543. Specifically, the first, second, third and fourth infrastructure environment sensors transmit the corresponding environment sensor data to the first data processing device 539. In detail, the fifth, sixth, seventh, eighth infrastructure environment sensors output the corresponding environment sensor data to the second data processing device 543 . The two data processing devices 539, 543 process the surroundings sensor data, with this processing being able to include, for example, a merging of the surroundings sensor data. Based on the surroundings sensor data and/or based on the merged surroundings sensor data, objects in the surroundings of motor vehicle 501 can be detected, for example. Examples of such detected objects are the multiple motor vehicles 505 that are located in the vicinity of motor vehicle 501 . An object list created in this way is then sent, for example, from the respective infrastructure system 509, 511 to the motor vehicle 501 using the corresponding communication unit 537, 541. For example, a common communication network is used for this transmission. This means that, for example, the two infrastructure systems 509, 511 share a common communication network in order to communicate with motor vehicle 501.

For example, if both infrastructure systems 509, 511 send at the same time, this can lead to a peak load, for example. According to the concept described here, it is provided that the two infrastructure systems 509, 511 are given a respective timing parameter, for example, which includes a transmission timing that indicates when and/or for how long the infrastructure systems 509, 511 via the communication network are allowed to communicate with the motor vehicle 501 . For example, the transmission timings are selected in such a way that the two infrastructure systems 509, 511 always communicate with the motor vehicle 501 one after the other.

A device 201 according to FIG 2 intended.

6 FIG. 1 shows initializing and coordinating timings of multiple infrastructure systems.

In detail, a first infrastructure system 601, a second infrastructure system 603 and a third infrastructure system 605 are provided for infrastructure-supported assistance to a motor vehicle in an at least partially automated driving task.

A device 607 is also provided, which is set up to carry out all the steps of the method according to the first aspect.

According to a first step 609, the first infrastructure system 601 registers with the device 607. Since no other infrastructure systems are registered with the device 607 at this point in time, the first infrastructure system 601 can use one or more resources for itself without having to share them with other infrastructure systems. In this case, it is provided, for example, that the device 607 notifies the first infrastructure system according to a second step 611 that it can select corresponding timing parameters itself.

If, at a later point in time, the second infrastructure system 603 logs on to the device 607 after its own initialization in accordance with a third step 613, a fourth step 615 provides that the device 607 transmits timing parameters to the second infrastructure system 603, which indicate a timing of the specify second infrastructure system 603 for use of the one or more shared resources.

If the third infrastructure system 605 initializes itself at an even later point in time and, after initialization, registers with the device 607 according to a fifth step 617, the device 607 will determine corresponding timing parameters for the third infrastructure system 605 and send them to it according to a sixth step 619 . The device 607 also adjusts the timing parameters for the second infrastructure system 603 and for the first infrastructure system 601 accordingly and sends the corresponding adjusted timing parameters to the second infrastructure system 603 in accordance with a seventh step 621 and to the first in accordance with an eighth step 623 Infrastructure system 601.

7 shows a first graph 701. An abscissa 703 of the first graph 701 indicates a time in seconds. An ordinate 705 of the first graph 701 indicates resource usage in arbitrary units.

The resource, such as a communications network or a data processing system, is shared between three infrastructure systems. A use of resources is identified by reference number 707 for the first infrastructure system. A use of resources by the second infrastructure system is Reference numeral 709 identified. A use of resources by the third infrastructure system is identified by reference number 711 .

The three infrastructure systems are given non-timing parameters that dictate timing for use of the shared resource. Accordingly, the three infrastructure systems use the resource at the same time, resulting in a correspondingly high resource usage or resource utilization.

8th shows a second graph 801, in which, in contrast to the case in which no corresponding timing parameters are specified for the three infrastructure systems, one or more timing parameters are now specified for each of the three infrastructure systems. The second graph 801 shows that due to the specified timing parameters, the infrastructure systems may only use the resource one after the other, so that, in contrast to the first graph 701 according to 7 there is a more even utilization of the resource and load peaks, as shown in the first graph 701 7 shows can be efficiently avoided.

9 shows a first block diagram 901, which is intended to explain the concept described here by way of example.

The first block diagram 901 includes a first infrastructure system 903, a second infrastructure system 905 and a third infrastructure system 907 for infrastructure-supported assistance to a motor vehicle in an at least partially automated driving task. The three infrastructure systems 903, 905, 907 share a common communication network 909.

In detail, the first infrastructure system 903 supports, ie assists, a first motor vehicle 911 in at least partially automated driving. The second infrastructure system 905 supports a second motor vehicle 913 in at least partially automated driving. The third infrastructure system 907 supports a third motor vehicle 915 in at least partially automated driving.

A block with the reference number 917 is intended to identify all infrastructure environment sensors that are assigned to the first infrastructure system 903 . A block with the reference number 919 is intended to symbolize all infrastructure environment sensors that are assigned to the second infrastructure system 905 . A further block with the reference number 921 is intended to symbolize all infrastructure surroundings sensors which are assigned to the third infrastructure system 907 . Since the three infrastructure systems 903, 905, 907 share a common communication network 909, the infrastructure environment sensors communicate according to blocks 917, 919, 921 via this common communication network with the corresponding infrastructure systems 903, 905, 907. The three infrastructure systems 903, 905, 907 via this common communication network 909 with the corresponding motor vehicles 911, 913, 915.

If all infrastructure systems 903, 905, 907 communicate at the same time with the correspondingly assigned motor vehicles 911, 913, 915, this can lead to a peak load when using the communication network 909. The same applies if all infrastructure environment sensors according to blocks 917, 919, 921 send the environment sensor data at the same time to a data processing device (not shown) of the three infrastructure systems 903, 905, 907 via the common communication network 909.

According to the concept described here, however, it is provided that the infrastructure systems 903, 905, 907 are given timing parameters for the use of the common communication network 909, which tell the infrastructure systems 903, 905, 907 when and/or how long they use the communication network 909 allowed to use. Thus, for example, the infrastructure environment sensors according to blocks 917, 919, 921 may only send their respective environment sensor data to the data processing devices via the common communication network 909 at specific, consecutive time intervals. For example, the three infrastructure systems 903, 905, 907 may only send object lists, for example correspondingly created, to the three motor vehicles 911, 913, 915 via the common communication network 909 at specific, consecutive time intervals. In this way, one or more load peaks can be avoided in an advantageous manner. A bandwidth that is specified by the communication network 909 can thus be used efficiently in an advantageous manner.

10 shows a second block diagram 1001, which is intended to explain the concept described here by way of example.

The elements according to the second block diagram 1001 are analogous to the elements according to the first block diagram 901. As a difference, however, the infrastructure environment sensors according to blocks 917, 919, 921 are connected to the corresponding data processing devices of the systems 903, 905, 907 via their own communication network. However, the three infrastructure systems 903, 905, 907 continue to share a common communication network 909 for communication tion with the motor vehicles 911, 913, 915. It is therefore provided, for example, that the three infrastructure systems 903, 905, 907 are only specified for this use when and/or for how long they may communicate with the motor vehicles 911, 913, 915.

The resource exemplified in the block diagrams 901, 1001 shared by the infrastructure systems was a communication network. In embodiments that are not shown, the three infrastructure systems 903, 905, 907 can share a data processing system in addition to or instead of the shared communication network. For example, the three infrastructure systems 903, 905, 907 share a common cloud infrastructure in which a data processing device is implemented, which processes the surroundings sensor data from the infrastructure surroundings sensors.

In summary, a concept for the adaptive planning of a temporal behavior of infrastructure systems, also referred to as IAD systems (IAD stands for "Infrastructure Assisted Automated Driving", ie infrastructure-supported automated driving) is provided.

In one embodiment there is provided a central control unit, for example the device according to the second aspect, which monitors and controls a timing of each IAD system, i. H. for example, a timing of a perimeter sensor or perimeter sensor fusion output and/or a timing of processing and/or a timing of transmission.

One embodiment provides that, starting from a single IAD system A, the IAD system reports the initialization to the central control unit during an initialization phase. If, for example, there is only one IAD system in the area (area=places where resources are shared, e.g. radio channel, computing time, ...), the timings can be freely chosen by the IAD system A, what communicated by the control unit.

If another IAD system B is initialized in the area, the IAD system B reports the initialization to the control unit. This then chooses a schedule that avoids peak loads when using the resources, e.g. B. a time-interleaved schedule.

If a third IAD system C is added and the centrally controlled scheduling of the IAD systems would lead to peak loads, the IAD system C is included in the existing schedule. In this case, for example, the central control unit can adjust the scheduling of all existing IAD systems in such a way that the peak loading of resource utilization is minimized.

The timings can be adjusted, for example, with incremental time shifts over a defined period of time in order to avoid explicit signaling to a heartbeat monitor, but to remain within the heartbeat monitor's reception time window in order to avoid an error message from the heartbeat monitor. In particular, a heartbeat signal is a message that indicates that the IAD system or systems are still running. If the heartbeat signals are not received in a timely manner, the IAD system is expected to be in an error state, so it is necessary to avoid having the determined timings introduce a delay that is higher than the overhead allowed for the heartbeat. If an IAD system has more stringent time constraints, the central control unit can also take this into account and plan accordingly.

In general, for example, the data itself is intended not to be altered or touched, and the timestamps in the data still correspond to the actual sensor timestamp, so the backend doesn't notice any difference, only that the time of sending may vary slightly.

In the following, two scenarios are described in which the concept is applied as an example.

Cloud processing scenario

• - Gemeinsames Netzwerk zwischen Umfeldsensoren und lAD-Systemen, gemeinsame Computing-Ressourcen (z. B. lokale Server oder entfernte Cloud-Server oder gehostet bei einem Cloud-Anbieter (AWS, Azure, ...) oder einer Multi Access Edge Cloud (MEC),
• - Gemeinsames drahtloses Netzwerk (z. B. Mobilfunknetz), das die Daten an die Kraftfahrzeuge für den Anwendungsfall IAD (Infrastructure Assisted Automated Driving) überträgt,
• - das gemeinsame Netz zu den lAD-Systemen und auch die IAD-Systeme müssen große Lastspitzen bewältigen.

When used in the cloud (cloud infrastructure), a system is provided, for example, in which data from a number of environmental sensors are combined and/or processed in one or more IAD systems. These IAD systems can be hosted locally or in the cloud, for example on a remote server, at a cloud provider (Microsoft Azure, Amazon AWS, ...) or a Multi Access Edge Cloud (MEC) hosted by a mobile network operator (MNO) is deployed at the edge of its network. Since all environment sensor data and/or environment data are generated synchronously at the same time without the concept, the systems and networks have to cope with large peak loads at the following points:

• - Shared network between environmental sensors and lAD systems, shared computing resources (e.g. local servers or remote cloud servers or hosted by a cloud provider (AWS, Azure, ...) or a Multi Access Edge Cloud (MEC ),
• - Common wireless network (e.g. cellular network) that transmits the data to the motor vehicle transmits witness for the use case IAD (Infrastructure Assisted Automated Driving),
• - The common network to the IAD systems and also the IAD systems have to cope with large peak loads.

The concept described here provides in particular for data traffic to be distributed much more evenly over time, so that advantageously fewer hardware and resource overheads are required. From this, an increase in the reliability of the communication connection over which the data traffic runs can also advantageously be achieved.

Direct communication scenario:

Another example scenario involves three or more IAD systems in the same area operating independently, i. H. each IAD system has its own computing resources and a modem for DSRC communication. The only resource that is shared is the radio channel. If all IAD systems operate at the same radio rate and start communicating at the same time, the radio channel will be congested at that time and the messages will be delayed. In such a case, the central controller adjusts the timing of the IAD systems according to the concept described here. This prevents overloading of the wireless channel. The central controller can be connected to the IAD systems via a wired or wireless connection and supplies the IAD systems with time information that can be used by any IAD system. For example, it is envisaged that the IAD systems will be synchronized to a common clock, e.g. using GNSS.

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 102017115710 A1 [0002]
• US20190313446A1 [0003]

Claims (10)

Method for controlling a temporal behavior of a plurality of infrastructure systems (303, 305, 307) for infrastructure-supported assistance to a motor vehicle (501) in an at least partially automated driving task, which share one or more resources (309), comprising the following steps: Determining (101) one or more timing parameters for each of the plurality of infrastructure systems (303, 305, 307), wherein the respective one or the respective plurality of timing parameters a respective timing of the plurality of infrastructure systems (303, 305, 307) for a specify temporal use of the one or more shared resources (309), Sending (103) the determined timing parameters to the corresponding infrastructure systems (303, 305, 307). procedure after claim 1 , wherein the one or more resources (309) comprise a communication network and wherein the one or more timing parameters comprise a transmission timing indicating when and/or how long the infrastructure systems (303, 305, 307) communicate via the communication network can. procedure after claim 1 or 2 , wherein the one or more resources (309) comprise a data processing system and wherein the one or more timing parameters comprise a processing timing indicating when and/or how long the infrastructure systems (303, 305, 307) the data processing system for a allowed to use data processing. Method according to one of the preceding claims, wherein the one or more timing parameters comprise a data output timing which indicates when and/or how long the infrastructure systems (303, 305, 307) are allowed to output data. procedure after claim 4 , wherein the infrastructure systems (303, 305, 307) each comprise at least one infrastructure environment sensor (521, 523, 525, 527), which is set up to detect an environment of the motor vehicle (501) and to output environment sensor data corresponding to the detection, the data output timing indicating , when and/or for how long the infrastructure systems (303, 305, 307) may output the surroundings sensor data and/or surroundings data based on the surroundings sensor data, which describe the surroundings of the motor vehicle (501). Method according to one of the preceding claims, wherein the infrastructure systems (303, 305, 307) each emit a heartbeat signal, the one or more timing parameters being determined based on the heartbeat signals. Device (201) set up to carry out all steps of the method according to one of the preceding claims. System (301), comprising: a plurality of infrastructure systems (303, 305, 307) for infrastructure-supported assistance to a motor vehicle (501) in an at least partially automated driving task, which share one or more resources (309), and the device claim 7 . Computer program (403), comprising instructions which, when the computer program (403) is executed by a computer, cause it to carry out a method according to one of Claims 1 until 6 to execute. Machine-readable storage medium (401) on which the computer program (403) after claim 9 is saved.

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