DE102021212493A1 - Method for infrastructure-supported assistance in a motor vehicle - Google Patents

Abstract

The invention relates to a method for infrastructure-supported assistance to a motor vehicle during an at least partially automated journey through an infrastructure using at least two drones each having a monitoring device, comprising the following steps: receiving status signals which represent a respective status of the at least two drones, generating Control signals for controlling the at least two drones in such a way that when the at least two drones are controlled based on the control signals generated, the at least two drones monitor an area of the infrastructure in the area surrounding the motor vehicle using their monitoring device, outputting the control signals generated, receiving after outputting the control signals generated monitoring signals from the respective monitoring device of the at least two drones, which represent the area monitored by the respective monitoring device,monitoring the area based on the monitoring signals. Determining infrastructure assistance data for infrastructure-supported assistance of the motor vehicle during at least partially automated driving through the infrastructure based on monitoring, sending the infrastructure assistance data to the motor vehicle. 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 infrastructure-supported assistance in a motor vehicle, a device, a system for infrastructure-supported assistance in a motor vehicle, a computer program and a machine-readable storage medium.

State of the art

The disclosure document DE 10 2016 202 033 A1 discloses a method for monitoring a parking lot for motor vehicles, the parking lot being monitored by means of a monitoring device of a flying drone.

Disclosure of Invention

The object on which the invention is based is to be seen as providing a concept for efficient, infrastructure-supported assistance to a motor vehicle during an at least partially automated journey through an infrastructure.

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.

• Empfangen von Zustandssignalen, welche einen jeweiligen Zustand der zumindest zwei Drohnen repräsentieren,
• Erzeugen von Steuersignalen zum Steuern der zumindest zwei Drohnen derart, dass bei einem Steuern der zumindest zwei Drohnen basierend auf den erzeugten Steuersignalen die zumindest zwei Drohnen einen Bereich der Infrastruktur im Umfeld des Kraftfahrzeugs mittels ihrer Überwachungseinrichtung überwachen,
• Ausgeben der erzeugten Steuersignale, nach Ausgeben der erzeugten Steuersignale Empfangen von Überwachungssignalen der jeweiligen Überwachungseinrichtung der zumindest zwei Drohnen, welche den mittels der jeweiligen Überwachungseinrichtung überwachten Bereich repräsentieren,
• Überwachen des Bereichs basierend auf den Überwachungssignalen, Ermitteln von Infrastrukturassistenzdaten zum Infrastrukturgestützten Assistieren des Kraftfahrzeugs bei der zumindest teilautomatisierten Fahrt durch die Infrastruktur basierend auf dem Überwachen,
• Senden der Infrastrukturassistenzdaten an das Kraftfahrzeug.

According to a first aspect, a method for infrastructure-supported assistance to a motor vehicle during an at least partially automated journey through an infrastructure using at least two drones each having a monitoring device is provided, comprising the following steps:

• receiving status signals which represent a respective status of the at least two drones,
• Generating control signals for controlling the at least two drones in such a way that when the at least two drones are controlled based on the generated control signals, the at least two drones monitor an area of the infrastructure in the vicinity of the motor vehicle using their monitoring device,
• outputting the generated control signals, after outputting the generated control signals, receiving monitoring signals from the respective monitoring device of the at least two drones, which represent the area monitored by the respective monitoring device,
• Monitoring the area based on the monitoring signals, determining infrastructure assistance data for infrastructure-supported assistance of the motor vehicle during the at least partially automated journey through the infrastructure based on the monitoring,
• Sending the infrastructure assistance data to the motor vehicle.

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.

• zumindest zwei Drohnen jeweils aufweisend eine Überwachungseinrichtung und die Vorrichtung nach dem zweiten Aspekt.

According to a third aspect, a system for infrastructure-supported assistance to a motor vehicle during an at least partially automated journey through an infrastructure is provided, comprising:

• at least two drones each having a monitoring device 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 finding that the above object can be achieved by using at least two drones to monitor an area in the vicinity of a motor vehicle that is driving at least partially automatically through an infrastructure. This will e.g. B. the technical advantage means that the area can be monitored efficiently. Furthermore, drones have the technical advantage that they can be used more flexibly compared to environmental sensors that are stationary within the infrastructure. Furthermore, this can bring about the technical advantage that areas of an infrastructure can also be monitored for which it is not worthwhile for economic reasons and/or for which it is technically very complex to use stationary surroundings sensors for corresponding monitoring. For example, there may be areas within the infrastructure that are rarely used by motor vehicles. In such a rare case, drones can then be used to monitor this area without the need for extra environment sensors to be stationary would have to. Next, the technical advantage is caused that z. B. a failure of an environment sensor, which is arranged stationary within the infrastructure, can be efficiently compensated insofar as in such a case two drones can be controlled to the area which was monitored by the defective environment sensor. Thus e.g. B. operation of the infrastructure can be efficiently ensured in an advantageous manner.

Because the infrastructure assistance data are determined based on the monitoring, they can be determined efficiently and the motor vehicle can thus advantageously be efficiently assisted during its at least partially automated journey within the infrastructure. The motor vehicle can thus be efficiently supported in an at least partially automated driving task.

High safety requirements are generally placed on at least partially automated driving of a motor vehicle, which can be at least partially met by the concept described here

Thus, in particular, the technical advantage is brought about that a concept for infrastructure-supported assistance of a motor vehicle is provided.

In one embodiment it is provided that based on the monitoring of the area, ie based on the monitoring signals, motor vehicle control signals for the at least partially automated control of a lateral and/or longitudinal guidance of a motor vehicle are generated such that with an at least partially automated control of the lateral and/or or longitudinal guidance of the motor vehicle, this is guided at least partially automatically within the infrastructure, in particular within the area of the infrastructure. In particular, the generated motor vehicle signals are output, for example they are sent to the motor vehicle via a wireless communication network.

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

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.

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.

Infrastructure assistance data within the meaning of the description refers to data that is suitable for at least partially automated driving of the motor vehicle. Infrastructure assistance data are therefore particularly suitable for use in generating control signals for at least partially automated control of a lateral and/or longitudinal guidance of the motor vehicle.

The phrase “at least two” includes in particular the phrase “two or more than two”. This means in particular that, according to one embodiment, more than two drones can be provided. This means, in particular, that the phrase “the at least two drones” should always include the following phrase: “two or more than two drones”.

Each of the drones includes its own monitoring device. For example, are the drones identical or are the drones different. For example, the respective monitoring devices of the drones are identical or are e.g. B. at least partially, in particular completely, different.

According to one embodiment, a monitoring device of the drone comprises one or more environment sensors. If there are several environment sensors, these are z. B. identical or are these z. B. different.

An environment sensor within the meaning of the description is z. B. one of the following environment sensors: radar sensor, video sensor, in particular video sensor of a video camera, for example video sensor (s) of a stereo video camera, ultrasonic sensor, LiDAR sensor, magnetic field sensor and infrared sensor.

According to one embodiment, the concept described here is applied to several areas of the infrastructure. In particular, this means that when the singular is used for the area of infrastructure, the plural should always be read and vice versa.

The specific 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 one embodiment, it is provided that the monitoring devices each have a monitoring range that specifies the maximum distance up to which the respective monitoring device can monitor an area, with the control signals being generated based on the respective monitoring range in such a way that when the at least two drones are controlled based on the generated control signals, the at least two drones monitor this at a respective distance from the area, the respective distance being less than or less than or equal to the corresponding surveillance range.

This will e.g. B. the technical advantage is that the area can be monitored efficiently insofar as it is ensured according to this embodiment that the area is always within the monitoring range.

According to one embodiment it is provided that the monitoring signals are analyzed, the analyzing comprising a pattern analysis in order to detect one or more objects in the area. A pattern analysis includes a search for one or more predetermined patterns, each of which is assigned a predetermined object type, for example motor vehicle, pedestrian, motorcycle, animal, truck.

According to one embodiment, it is provided that the monitoring signals are analyzed in order to detect one or more objects in the area, with the analysis of the monitoring signals comprising comparing the area with a reference area assigned to the area in order to determine differences between the area and the reference area, wherein based on the monitoring of the area a new reference area is determined, which is assigned to the area.

This will e.g. B. the technical advantage means that the analysis of the environment sensor signals can be carried out efficiently. So-called free space detection is provided according to this embodiment. A known scene, the reference area, is assumed here, with the current scene, ie the area, being compared with this reference area in order to determine differences. Differences point in particular to newly added or disappeared objects. In this respect, it can be efficiently determined on the basis of determined differences that an object is detected. This will e.g. B. further the technical advantage causes that a new reference range can be efficiently determined. So if z. For example, if the scene has changed from a known state to an unknown state over time, for example because a tree has grown or signs have been removed or reinstalled within the infrastructure or other changes have been made to the infrastructure, a new reference area can be created in this way , which can then be used for the above-mentioned free space detection. For this purpose, the monitoring signals of the monitoring device of the drones are used.

According to one embodiment, it is provided that the monitoring signals are analyzed in order to detect one or more objects in the area, with the analysis of the monitoring signals comprising comparing the area with a reference area assigned to the area in order to determine differences between the area and the reference area, for example to detect one or more objects based on the determined differences.

This will e.g. B. the technical advantage means that the analysis of the environment sensor signals can be carried out efficiently. So-called free space detection is provided according to this embodiment. A known scene, the reference area, is assumed here, with the current scene, ie the area, being compared with this reference area in order to determine differences. Differences point in particular to newly added or disappeared objects. In this respect, it can be efficiently determined on the basis of determined differences that an object is detected.

According to one embodiment it is provided that based on the monitoring of the area, ie in particular based on the detected object or objects, a new reference area is determined, which is assigned to the area.

This will e.g. B. the technical advantage means that a new reference range can be efficiently determined. So if z. For example, if the scene has changed from a known state to an unknown state over time, for example because a tree has grown or signs have been removed or reinstalled within the infrastructure or other changes have been made to the infrastructure, a new reference area can be created in this way , which can then be used for the above-mentioned free space detection. For this purpose, the monitoring signals of the monitoring device of the drones are used.

According to one embodiment, it is provided that the control signals for controlling the at least two drones are generated in such a way that when the at least two drones are controlled based on the generated control signals, the at least two drones monitor the area from different directions.

This will e.g. B. the technical advantage means that the area can be monitored efficiently. According to this embodiment, it is therefore provided that the monitoring devices detect the area from different directions, so that the monitoring signals can be generated based on detections from different directions. This can e.g. B. an object can be detected, which from a certain angle, so from a certain direction, by a monitoring device of one of the drones can not be detected because it z. B. is covered by another object. However, because the area is monitored from different directions by means of the respective monitoring device, such an object can be detected.

According to one embodiment, it is provided that the monitoring devices each have one or more environment sensors, in particular each based on a sensor technology, such that the environment sensors form a diverse environment sensor combination.

This will e.g. B. the technical advantage means that the area can be monitored efficiently. In particular, this brings about the technical advantage that potential disadvantages that could arise from a specific sensor technology with regard to monitoring can be efficiently compensated for by another sensor technology. So e.g. B. a distance from the radar sensor to a detected object can be measured efficiently and accurately by means of a radar sensor. A video sensor of a video camera is usually less good at this in a direct comparison. For this an object classification based on video images from a video sensor can usually be carried out more precisely and efficiently than with a radar sensor. An infrared sensor has z. B. has the technical advantage that this enables efficient and accurate detection of the presence of a detected object. So e.g. B. efficiently distinguish between a non-living and a living object.

A diverse environment sensor combination has the property of diversity.

Diversity is understood as a strategy to increase reliability. For example, the environment sensors used are designed redundantly. For example, alternatively or additionally, different realizations and/or implementations of the surroundings sensors are used, which for example are not structurally identical, that is to say structurally different, or at least differ in one or more individual components (components). This brings about the technical advantage, for example, that environmental sensors that perform the same but are realized and/or implemented differently also have different sensitivity or insensitivity to a given fault and therefore probably do not all fail at the same time. For example, components from different manufacturers are used. For example, different protocols are used to control the environment sensors. For example, different sensor technologies are used, such as radar, ultrasonic, magnetic field, infrared, LIDAR, and video technology.

According to one embodiment, it is provided that the states indicate one or more of the following information: position, speed, direction of movement, impulse, state of charge of an energy store for driving a drive motor of the drone.

This will e.g. B. the technical advantage causes the states to indicate particularly appropriate information.

According to one embodiment, a flight route is determined for each of the at least two drones, with the control signals being generated on the basis of the determined flight routes.

This will e.g. B. the technical advantage means that the control signals can be generated efficiently. For example, it is provided that the control signals are generated in such a way, based on the determined flight routes, that the at least two drones fly along the respectively determined flight route.

According to one embodiment, it is provided that the determination comprises reading out at least one predetermined flight route from a memory in which a large number of predetermined flight routes are stored, the respective flight route being determined based on the at least one read-out, predetermined flight route.

This will e.g. B. the technical advantage means that the respective flight route can be determined efficiently. For example, it is provided that the determined flight route is the same as the read flight route. That means e.g. B. that the control signals are generated based on the read out or the flight routes. This means in particular that the at least two drones fly along the predetermined flight routes that have been read out when controlled on the basis of the corresponding control signals. In particular, this results in the technical advantage that the two drones can be operated efficiently.

According to one embodiment, it is provided that it is determined whether controlling the at least two drones based on the generated control signals led to a problem which is based on the flight routes determined, with the flight routes determined being adjusted based on the problem determined if so, to avoid the problem in the future.

This will e.g. B. the technical advantage means that a problem that has occurred can be efficiently avoided for the future.

According to one embodiment, it is provided that the determination includes a simulation of at least one test flight route.

This will e.g. B. the technical advantage means that the flight routes can be determined efficiently. Such a simulation is particularly advantageous when something changes within the infrastructure, which makes it necessary to quickly redetermine flight routes through the infrastructure. For example, road works with a change in traffic routing can be a reason why previously determined flight routes can no longer be used because there are obstacles in the previously determined flight routes due to the road work and/or the change in traffic routing. For example, previously determined flight routes are no longer in line with the changed traffic routing, so that surveillance using drones can no longer be carried out efficiently and effectively. By simulating, for example, flight routes can be determined that take these changes into account. The flight routes newly determined in this way are stored in the memory, for example.

According to one embodiment, it is provided that the monitoring signals are analyzed in order to determine an analysis result, with the analysis comprising object recognition in order to detect an object in the area, and/or with the analysis comprising free space recognition in order to detect an occupancy of an area in recognize the area in order to determine an occupancy status, which indicates whether the area is free or occupied, the analysis result indicating whether an object was detected in the area, and/or the analysis result indicating the determined occupancy status of the area in the area, wherein the infrastructure assistance data is determined based on the analysis result.

This will e.g. B. the technical advantage means that the infrastructure assistance data can be efficiently determined, so that the motor vehicle can be efficiently supported.

According to one embodiment, it is provided that the infrastructure assistance data is generated based on the analysis result in such a way that the infrastructure assistance data includes the analysis result.

This brings about the technical advantage, for example, that the analysis result can be efficiently made available to the motor vehicle.

This means in particular that according to one embodiment it is provided that the infrastructure assistance data include the analysis result.

According to one specific embodiment, it is provided that the infrastructure assistance data include trajectory data which describe a target trajectory to be traveled by the motor vehicle.

This brings about the technical advantage, for example, that the motor vehicle can be efficiently assisted.

According to one specific embodiment, it is provided that motor vehicle status signals are received which represent a motor vehicle status of the motor vehicle, with the control signals being generated on the basis of the motor vehicle status.

This brings about the technical advantage, for example, that the drones can be controlled efficiently. For example, the control signals are generated in such a way that the drones monitor an area that lies in front of the motor vehicle in relation to a current direction of movement of the motor vehicle.

For example, an automobile condition indicates: position, speed, acceleration, and/or direction of movement.

According to one embodiment, it is provided that traffic situation signals are received which represent a traffic situation in the infrastructure, with the control signals being generated on the basis of the traffic situation.

This brings about the technical advantage, for example, that the drones can be controlled efficiently. For example, the control signals are generated in such a way that the drones monitor an area in the infrastructure that, depending on the current traffic situation, requires particularly intensive monitoring. For example, it is advantageous and provided, for example, to monitor an accident black spot particularly intensively.

According to one embodiment, it is provided that motor vehicle surroundings signals are received from the motor vehicle, which represent a motor vehicle surroundings of the motor vehicle, the control signals being generated based on the motor vehicle surroundings and/or the area being monitored based on the motor vehicle surroundings.

This brings about the technical advantage, for example, that the drones can be controlled efficiently and/or that the area can be monitored efficiently. According to this specific embodiment, additional information is therefore available for assisting the motor vehicle.

A drone as used in the description is an unmanned aerial vehicle. The drone is B. a multicopter, in particular a quadrocopter, a hexacopter or an octocopter.

The monitoring of the area by means of the at least one drone includes flying monitoring. In particular, this means that the drone monitors the area on the fly. The control signals are therefore in particular such that when the at least one drone is controlled based on the generated control signals, the at least one drone also monitors the area while flying.

In one embodiment, the method of the first aspect is a computer-implemented method.

Technical functionalities of the method according to the first aspect result analogously from corresponding technical functionalities of the device according to the second aspect and/or of the system according to the third aspect and vice versa.

In one embodiment, the method according to the first aspect is carried out using the device according to the second aspect.

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

The infrastructure includes, for example: parking lot, tunnel entrance, tunnel exit, construction site, junction, roundabout, intersection, junction, road, underpass, country road, freeway junction, freeway, freeway entrance and/or freeway exit.

• 1 ein Ablaufdiagramm eines Verfahrens nach dem ersten Aspekt,
• 2 eine Vorrichtung nach dem zweiten Aspekt,
• 3 ein maschinenlesbares Speichermedium nach dem fünften Aspekt,
• 4 ein System nach dem dritten Aspekt,
• 5 eine Drohne,
• 6 drei Drohnen,
• 7 drei Drohnen und
• 8 eine Infrastruktur.

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 machine-readable storage medium according to the fifth aspect,
• 4 a system according to the third aspect,
• 5 a drone,
• 6 three drones,
• 7 three drones and
• 8th an infrastructure.

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

• Empfangen 101 von Zustandssignalen, welche einen jeweiligen Zustand der zumindest zwei Drohnen repräsentieren,
• Erzeugen 103 von Steuersignalen zum Steuern der zumindest zwei Drohnen derart, dass bei einem Steuern der zumindest zwei Drohnen basierend auf den erzeugten Steuersignalen die zumindest zwei Drohnen einen Bereich der Infrastruktur im Umfeld des Kraftfahrzeugs mittels ihrer Überwachungseinrichtung überwachen,
• Ausgeben 105 der erzeugten Steuersignale, nach Ausgeben der erzeugten Steuersignale Empfangen 107 von Überwachungssignalen der jeweiligen Überwachungseinrichtung der zumindest zwei Drohnen, welche den mittels der jeweiligen Überwachungseinrichtung überwachten Bereich repräsentieren,
• Überwachen 109 des Bereichs basierend auf den Überwachungssignalen, Ermitteln 111 von Infrastrukturassistenzdaten zum infrastrukturgestützten Assistieren des Kraftfahrzeugs bei der zumindest teilautomatisierten Fahrt durch die Infrastruktur basierend auf dem Überwachen,
• Senden 113 der Infrastrukturassistenzdaten an das Kraftfahrzeug.

1 shows a flowchart of a method for infrastructure-supported assistance to a motor vehicle during an at least partially automated journey through an infrastructure using at least two drones each having a monitoring device, comprising the following steps:

• Receiving 101 status signals which represent a respective status of the at least two drones,
• Generating 103 control signals for controlling the at least two drones in such a way that when the at least two drones are controlled based on the generated control signals, the at least two drones monitor an area of the infrastructure in the vicinity of the motor vehicle using their monitoring device,
• outputting 105 the generated control signals, after outputting the generated control signals, receiving 107 monitoring signals from the respective monitoring device of the at least two drones, which represent the area monitored by the respective monitoring device,
• Monitoring 109 the area based on the monitoring signals, determining 111 infrastructure assistance data for infrastructure-supported assistance of the motor vehicle during the at least partially automated journey through the infrastructure based on the monitoring,
• Sending 113 the infrastructure assistance data to the motor vehicle.

Sending includes, for example, sending via a communication network, which can include, for example, a wireless and/or a wired communication network.

In one embodiment, the method according to the first aspect includes monitoring the area using the monitoring device of the at least one drone.

The motor vehicle receives this infrastructure assistance data, in particular the motor vehicle receives the infrastructure assistance data via the communication network, so that the infrastructure assistance data can be used in the motor vehicle to generate and output control signals for at least partially automated control of a lateral and/or longitudinal guidance of the motor vehicle. Based on the output control signals, the lateral and/or longitudinal guidance of the motor vehicle can be controlled at least partially automatically.

The motor vehicle thus advantageously receives support or assistance from the infrastructure in its at least partially automated driving task.

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 machine-readable storage medium 301 on which a computer program 303 is stored.

The computer program 303 comprises instructions which, when the computer program 303 is executed by a computer, cause the latter to execute a method according to the first aspect.

4 shows a system 401 for infrastructure-supported assistance to a motor vehicle during an at least partially automated journey through an infrastructure 403.

An at least partially automated motor vehicle 405 is driving within the infrastructure 403.

The system 401 comprises a device 407 according to the second aspect.

The system 401 further includes a first drone 409, a second drone 411 and a third drone 413. The first drone 409 includes a first monitoring device 415. The second drone 411 includes a second monitoring device 417. The third drone 413 includes a third monitoring device 419.

The first monitoring device 415 includes a first environment sensor 421. The second monitoring device 417 includes a second environment sensor 423. The third monitoring device 419 includes a third environment sensor 425.

In specific embodiments that are not shown, it can be provided that the monitoring devices 415, 417, 419 each include more than one surroundings sensor. These environment sensors are z. B. identical or z. B. designed differently. For example, the first environment sensor 421 is a radar sensor. For example, the second surroundings sensor 423 is a video sensor. For example, the third environment sensor 425 is a radar sensor.

The first monitoring device 415 has a first detection angle 427 . The second monitoring device 417 has a second detection angle 429 . The third monitoring device 419 has a third monitoring angle 431 .

The three drones 409, 411, 413 are controlled by the device 407 in such a way that the three detection angles 427, 429, 431 at least partially overlap. Several areas of the infrastructure 403 are thus defined, which are monitored by at least two drones.

A first area 433 is monitored by the first monitoring device 415 and by the second monitoring device 417 . A second area 435 is monitored by all three monitoring devices 415, 417, 419. A third area 437 is monitored by the second monitoring device 417 and by the third monitoring device 419 .

A communication between the three drones 409, 411, 413 and the device 407 is symbolically identified by double arrows with the reference number 439. The communication includes corresponding sending and receiving of control signals and status signals and supervisory signals.

For example, B. the device 407 information about a respective position and/or a respective speed and/or a respective direction of movement and/or a respective pulse and/or a respective charge status of an energy store for driving a drive motor of the corresponding drone. Based on this information, the device 407 generates the corresponding control signals for controlling the corresponding drone.

In an embodiment that is not shown, communication between the drones is provided so that the drones can, for example, synchronize their positions and/or monitor each other.

In an embodiment that is not shown, a drone controls the other drones based on the control signals from device 407.

Furthermore, a cloud infrastructure 441 is provided, which is part of the system 401 according to one embodiment and is not part of the system 401 according to another embodiment. A database 443 is installed in the cloud infrastructure 441 . A communication between the cloud infrastructure 441 and the device 407 is shown symbolically by means of a double arrow with the reference number 445.

The database 443 includes a memory 447 in which a large number of predetermined flight routes are stored. A digital map of the infrastructure 403 is also stored in the memory 447 . The device 407 can thus request the digital map of the infrastructure 403 from the memory 447 and can e.g. B. request appropriate flight routes based on the respective state of the three drones 409, 411, 413. The flight routes and the digital map are thus read from the memory 447 and transmitted to the device 407 .

5 shows a drone 501 comprising a monitoring device 503, which in the present case comprises a video camera 505 having a video sensor (not shown). The drone 501 flies within an infrastructure 507.

An area which can still be captured by the video camera 505 is represented symbolically by an arrow with reference number 509 . This is followed by another area 511 which can no longer be reliably monitored by the video camera 505 . Accordingly, this area is symbolically marked with a question mark identified by reference numeral 513. Objects located within the area 511 can therefore no longer be reliably detected by the video camera 505 . For example, a false positive and/or false negative detection rate of objects based on the video images of the video camera 505 for the further area 511 increases to values which are greater than or greater than a predetermined safety threshold value. It is particularly helpful for at least partially automated driving of a motor vehicle within the infrastructure if objects are reliably detected.

A corresponding monitoring range is in 5 symbolically marked by a line with the reference number 515.

For this reason, one embodiment provides that the at least two drones are controlled in such a way that the at least two drones fly at a respective distance from the monitored area which is less than or less than a corresponding monitoring range of the monitoring devices.

This is symbolic in 6 shown. The three drones 409, 411, 413 fly there at a height 601 above the ground in such a way that the distance, identified by a double arrow with the reference number 603, to the ground 602 is less than or less than the surveillance ranges of the three surveillance devices of the three drones 409, 411 , 413 is. i.e. ie in particular that the distance 603 is always less than or less than or equal to a technological detection limit, ie detection range, of the surroundings sensors of the monitoring devices.

7 shows the three drones 409, 411, 413 within an infrastructure 701. For the sake of clarity, a device according to the second aspect is not shown here. There is a lane speed base 705 on a lane 703 of the infrastructure 701. There is a tree 707 and a sign 709 at the edge of the lane 703. A scene is thus created which is used as a reference scene, i.e. as a reference area for the free space detection described above can. This familiar scene may change over time. For example, it can be provided in the past that the sign 709 was not yet present, so that, according to the embodiments described here, the monitoring signals of the three drones 409, 411, 413 can be used to define, ie to establish, a new reference area.

For example, in the future it can be provided that the tree 707 grows, ie changes its size and/or its shape. This also changes the scene shown here. This can then be taken into account in the future by correspondingly determining a new reference range.

8th shows an infrastructure 801 in which a video camera 803 comprising a video sensor (not shown) is arranged in a stationary manner. The infrastructure 801 includes a three-lane road 805 comprising a first lane 807, a second lane 809 and a third lane 811. Relative to the plane of the paper, the first lane 807 is the left lane, the second lane 809 is the middle lane and is the third lane 811 the right lane.

A first motor vehicle 813, a second motor vehicle 815 and a third motor vehicle 817 are driving in the middle lane 809 from bottom to top relative to the plane of the paper. In relation to the corresponding direction of travel, the third motor vehicle 817 is driving in front of the second motor vehicle 815, which is driving in front of the first motor vehicle 813. The three motor vehicles 813, 815, 817 are passenger vehicles.

A fifth motor vehicle 819 is driving in the right lane from bottom to top relative to the plane of the paper. The fifth motor vehicle 819 is a truck. When the fifth motor vehicle 819 drives past the video camera 803, it covers an area of the middle and left lane in front of the video camera 803 due to its dimensions. This means that the video camera 803 cannot capture this area 821 when the fifth motor vehicle 819 drives past the video camera 803 . Thus, at this time, the video camera 803 cannot detect any objects, for example motor vehicles, which are located in the area 821. For example, the second motor vehicle 815 drives past the video camera 803 at the same time as the fifth motor vehicle 819, so that the second motor vehicle 815 cannot be captured by the video camera 803 at this time.

If the first motor vehicle were to be supported by the infrastructure alone on the video images from the video camera 803 during an at least partially automated journey on the road 805, the second motor vehicle 815 would not be taken into account for this support, which could lead to a critical situation, which is symbolized by a lightning bolt denoted by the reference numeral 823. For example, a setpoint speed could be specified for the first motor vehicle 813, which could lead to a critical approach to the second motor vehicle 815.

Therefore, according to the concept described here, it is provided that at least two drones each having a monitoring device are provided in order to monitor the road 805 . For example, it is provided that the two drones are controlled in such a way that they monitor area 821 so that information about area 821 is available, based on which the first motor vehicle can be guided at least partially automatically with the support of the infrastructure.

For the sake of clarity, in 8th the two drones not drawn. For example, the drones according to the 4 until 7 be used.

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 102016202033 A1 [0002]

Claims (20)

Method for infrastructure-supported assistance to a motor vehicle (813) during an at least partially automated journey through an infrastructure (801) using at least two drones (409, 411, 413, 501), each having a monitoring device (415, 417, 419, 503), comprising the following steps: Receiving (101) status signals which represent a respective status of the at least two drones (409, 411, 413, 501), Generating (103) control signals for controlling the at least two drones (409, 411, 413, 501) in such a way that when the at least two drones (409, 411, 413, 501) are controlled based on the generated control signals, the at least two drones ( 409, 411, 413, 501) monitor an area (821) of the infrastructure (801) in the vicinity of the motor vehicle (813) using their monitoring device, Outputting (105) the generated control signals, after outputting the generated control signals, receiving (107) monitoring signals from the respective monitoring device (415, 417, 419, 503) of the at least two drones (409, 411, 413, 501), which use the respective monitoring device (415, 417, 419, 503) represent the monitored area (821), monitoring (109) the area (821) based on the monitoring signals. Determining (111) infrastructure assistance data for infrastructure-supported assistance of the motor vehicle during the at least partially automated journey through the infrastructure (801) based on the monitoring, Sending (113) the infrastructure assistance data to the motor vehicle (813). procedure after claim 1 , wherein the monitoring devices (415, 417, 419, 503) each have a monitoring range (515) which indicates the maximum distance up to which the respective monitoring device (415, 417, 419, 503) can monitor an area, the control signals being based are generated at the respective monitoring range (515) in such a way that when the at least two drones (409, 411, 413, 501) are controlled based on the generated control signals, the at least two drones monitor the area (821) at a respective distance from it, wherein the respective distance is less than or less than or equal to the corresponding surveillance range (515). procedure after claim 1 or 2 , wherein the monitoring signals are analyzed in order to detect one or more objects in the area (821), wherein the analyzing of the monitoring signals comprises comparing the area (821) with a reference area assigned to the area (821) in order to detect differences in the area (821 ) with the reference area, wherein based on the monitoring of the area (821) a new reference area is determined, which is assigned to the area. Method according to one of the preceding claims, wherein the control signals for controlling the at least two drones (409, 411, 413, 501) are generated such that when controlling the at least two drones (409, 411, 413, 501) based on the generated Control signals which at least two drones (409, 411, 413, 501) monitor the area (821) from different directions. Method according to one of the preceding claims, wherein the monitoring devices (415, 417, 419, 503) each have one or more environment sensors (421, 423, 425), in particular each based on a sensor technology, such that the environment sensors (421, 423 , 425) form a diverse environment sensor combination. Method according to one of the preceding claims, wherein the states indicate one or more of the following information: position, speed, direction of movement, momentum, state of charge of an energy store for driving a drive motor of the drone (409, 411, 413, 501). Method according to one of the preceding claims, wherein a flight route is determined for each of the at least two drones (409, 411, 413, 501), the control signals being generated on the basis of the determined flight routes. procedure after claim 7 , wherein the determination comprises reading out at least one predetermined flight route from a memory (447) in which a large number of predetermined flight routes is stored, the respective flight route being determined on the basis of the at least one read-out, predetermined flight route. procedure after claim 7 or 8th , it being determined whether controlling the at least two drones (409, 411, 413, 501) based on the generated control signals led to a problem which is based on the determined flight routes, wherein, if so, the determined flight routes based on the determined problem can be adjusted to avoid the problem in the future. Procedure according to one of Claims 7 until 9 , wherein the determination comprises simulating at least one test flight route. Method according to one of the preceding claims, wherein the monitoring signals are analyzed to determine an analysis result, wherein the analyzing comprises an object detection to detect an object in the area (821), and / or wherein the analyzing comprises a free space detection to a Detect occupancy of an area in the area (821) in order to determine an occupancy status, which indicates whether the area is free or occupied, the analysis result indicating whether an object was detected in the area (821), and/or wherein the Analysis result indicates the determined occupancy status of the area in the area (821), wherein the infrastructure assistance data are determined based on the analysis result. procedure after claim 11 , wherein the infrastructure assistance data is generated based on the analysis result in such a way that the infrastructure assistance data includes the analysis result. Method according to one of the preceding claims, wherein the infrastructure assistance data include trajectory data which describe a target trajectory to be traveled by the motor vehicle. Method according to one of the preceding claims, wherein motor vehicle status signals are received which represent a motor vehicle status of the motor vehicle (813), the control signals being generated based on the motor vehicle status. Method according to one of the preceding claims, wherein traffic situation signals are received which represent a traffic situation in the infrastructure, the control signals being generated based on the traffic situation. Method according to one of the preceding claims, wherein motor vehicle surroundings signals are received from the motor vehicle (813), which represent a motor vehicle surroundings of the motor vehicle (813), the control signals being generated based on the motor vehicle surroundings and/or the area (821) being monitored based on the motor vehicle surroundings . Device (201, 407) set up to carry out all steps of the method according to one of the preceding claims. System (401) for infrastructure-supported assistance to a motor vehicle during an at least partially automated journey through an infrastructure (801), comprising: at least two drones (409, 411, 413, 501), each having a monitoring device (415, 417, 419, 503) and the device after Claim 17 . Computer program (303), comprising instructions which, when the computer program is executed by a computer, cause the latter to carry out a method according to one of Claims 1 until 16 to execute. Machine-readable storage medium (301) on which the computer program (303) after claim 19 is saved.

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