DE102022129912A1 - CONTROL DEVICE AND METHOD FOR CONTROLLING OPERATION OF A MOTOR VEHICLE - Google Patents

Abstract

A control device is provided for controlling an operation of a motor vehicle, wherein the control device is designed to receive map data, pollution information relating to a sensor of the motor vehicle, information relating to a location of a rainy area and information relating to a destination of the motor vehicle; to determine whether the sensor is dirty based on the pollution information; and if it is determined that the sensor is dirty, to plan a route of the motor vehicle based on the map data, the information relating to the destination and the information relating to the location of the rainy area such that the route leads from a current position of the motor vehicle through the rainy area to the destination and/or to plan a route of the motor vehicle such that the motor vehicle is parked outdoors at the destination and/or to suggest parking outdoors at the destination.

Description

The present disclosure relates to a control device or control unit for controlling an operation of a motor vehicle, a motor vehicle with the control device and/or a (control) method for controlling an operation of a motor vehicle. Additionally or alternatively, a computer program is provided which comprises instructions which, when the program is executed by a computer, cause the computer to at least partially carry out the method. Additionally or alternatively, a computer-readable medium is provided which comprises instructions which, when the instructions are executed by a computer, cause the computer to at least partially carry out the method.

Sensors, especially environmental sensors (e.g. cameras, radars, etc.) on (motor) vehicles can become dirty due to environmental influences (e.g. slush, rain, dust, etc.). If sensors are dirty, a function based on data recorded by the dirty sensors (e.g. object detection) can often no longer be reliably maintained.

The EN 10 2019 205 094 A1 relates to a method for operating a pollution monitoring system in a motor vehicle, wherein the motor vehicle has a plurality of environmental sensors which detect the surroundings of the motor vehicle in respective detection areas, wherein for a portion of the environmental sensors comprising at least two environmental sensors, sensor information which describes a performance restriction due to a visual obstruction is determined for the respective environmental sensor from sensor data of the respective environmental sensor, wherein by jointly evaluating the sensor information from various sensors, pollution information which describes a pollution of the motor vehicle is determined, and wherein, if at least one action criterion evaluating the pollution information is met, at least one measure associated with the action criterion is carried out to inform the driver and/or to remove the pollution.

The EN 10 2019 209 291 A1 relates to a method for the automated cleaning of at least one environmental sensor of an environmental sensor system of an autonomous vehicle, wherein the environmental sensor is designed as an imaging sensor, for example as a video camera or as an imaging radar sensor or as an imaging lidar sensor. The method has the following steps: generating image data from an image of a vehicle's surroundings using the environmental sensor, analyzing the image data and detecting contamination of the environmental sensor based on the analysis, evaluating the contamination based on the analysis, and initiating measures depending on the evaluation, wherein the analysis of the image data and/or the detection of contamination of the environmental sensor and/or the evaluation of the contamination is carried out using a neural network.

Against the background of this prior art, an object of the present disclosure is to provide a device and a method which are each suitable for enriching the prior art.

The problem is solved by the features of the independent claim. The subclaims contain optional further developments of the invention.

The object is then achieved by a control device for controlling an operation of a motor vehicle.

The control device is configured to receive map data, pollution information concerning a sensor of the motor vehicle, information concerning a location of a rain area, and information concerning a destination of the motor vehicle.

The control device is designed to determine whether the sensor is dirty based on the contamination information.

The control device can be designed to plan a route of the motor vehicle based on the map data, the information concerning the destination and the information concerning the location of the rain area such that the route leads from a current position of the motor vehicle through the rain area to the destination when it is determined that the sensor is dirty.

Alternatively or additionally, the control device can be configured to plan a route of the motor vehicle such that the motor vehicle is parked outdoors at the destination in order to use the rain to clean the sensors.

Alternatively or additionally, the control device can be configured to suggest to the driver that they park outdoors at the destination (optionally including one or more specific parking suggestions) in order to use the rain to clean the sensors.

It is therefore suggested to include (foreseeable) weather conditions in route planning and to plan a navigation route explicitly and, if possible, through a rainy area in order to to allow any dirt found on a (surrounding) sensor to be removed by rain. This may avoid time-consuming and energy-intensive active washing of the dirty sensor, e.g. in a car wash.

It is conceivable that the sensor has an algorithm that allows the sensor, e.g. a camera, to detect whether the sensor is dirty. It is also conceivable that the sensor stores this knowledge in the contamination information. However, the disclosure is not limited to this. Additionally or alternatively, the control device itself can also be designed to determine, optionally with an algorithm, whether the sensor is dirty.

According to the disclosure, the term "receive" can be interpreted both narrowly and broadly. This means that, with a narrow interpretation, "receive" can be understood to mean that the control device receives the information in question from another unit that is physically separate from the control device. However, with a broad interpretation of the term, it is also conceivable that the information in question is already stored in a memory in the control device and is loaded by the control unit only for the purpose of route planning. The latter can be the case in particular with map data.

The control device or control unit can be part of a driver assistance system or represent this. The control device can be, for example, an electronic control unit (ECU). The electronic control unit can be an intelligent processor-controlled unit that can communicate with other modules via a central gateway (CGW), for example, and that can form the vehicle's on-board network via field buses such as the CAN bus, LIN bus, MOST bus, FlexRay and/or via automotive Ethernet, e.g. together with telematics control units and/or (environmental) sensors.

It is conceivable that the control device controls functions relevant to the driving behavior of the motor vehicle, such as the steering, engine control, power transmission, and/or the braking system. In addition, driver assistance systems such as a navigation system, a parking assistant, an adaptive cruise control (ACC), a lane keeping assistant, a lane change assistant, a traffic sign recognition system, a light signal recognition system, a start-off assistant, a night vision assistant and/or an intersection assistant can be controlled by the control device.

Optional further developments of the control device described above are explained in detail below.

The control device may be configured to determine whether the rain area is located at the destination based on the information regarding the location of the rain area and the map data.

The control device may be designed to plan the route so that the motor vehicle is parked outdoors at the destination only if it is determined that the rain area is located at the destination.

The control device may be configured to receive information regarding a location of a car wash, to determine whether the car wash is located along the planned route based on the information regarding the location of the car wash, and if it is determined that the car wash is located along the planned route, to output a control signal to a human-machine interface of the motor vehicle, which causes the human-machine interface to output information to a driver of the motor vehicle that the car wash is located along the route.

Information regarding the location of the car wash may be part of the map data.

The control device may be configured to receive a user input via the human-machine interface in response to the output information and to plan the route of the motor vehicle based on the user input.

The human-machine interface can, for example, have a display and display the information on it. The human-machine interface can be designed to receive, recognize and forward user inputs to the control device by haptic actuation of a part of the human-machine interface, by recognizing gestures of the user using a part of the human-machine interface and/or by recognizing a voice instruction using a part of the human-machine interface. The control device can be part of the human-machine interface.

The control device may be configured to plan the route of the motor vehicle based on the user input such that the route leads to the car wash.

The control device can be designed to control a transverse and/or longitudinal guidance of the motor vehicle such that the motor vehicle moves along the planned route. An extent of the control of the transverse and/or longitudinal guidance can depend on a degree or level of automation of the motor vehicle.

The above can be summarized in other words and in a possible more concrete embodiment of the disclosure as described below, whereby the following description is not to be interpreted as limiting the disclosure.

Although some automotive sensors currently have contamination detection algorithms, many sensors on vehicles do not have their own cleaning device.

This can be problematic because an (optional automated driving) function based on data collected by the dirty sensors can often no longer be reliably maintained.

It is therefore suggested that the expected weather conditions be taken into account when planning the route, so that the navigation route, for example, leads through a likely rain area if a sensor detects its own pollution. The navigation route is therefore explicitly planned through the rain area in order to use the rain to clean the sensor.

Likewise, outdoor parking can be suggested at the destination with appropriate parking space suggestions in order to use the rain to clean the sensors.

It is conceivable that the driver will wait until the rain has passed through before proposing further measures, as cleaning by the rain is possible and thus further measures may become unnecessary.

In addition, if a sensor detects its own contamination and the vehicle is in the immediate vicinity of a gas station/charging station with an associated car wash, or the navigation route passes a car wash, it is possible for a visit to the car wash to be proactively suggested. For example, a window can open in the vehicle HMI, alerting the driver to dirty sensors and the possibility of cleaning them.

Depending on the severity of the restriction or the number of dirty sensors, a car wash closer or further away may be suggested.

A further advantage of this approach is that information already available in the vehicle, i.e. locations of petrol stations and car washes as well as weather information, can be used.

Furthermore, a motor vehicle with the control unit described above is provided.

The motor vehicle may be a passenger car, in particular an automobile, or a commercial vehicle, such as a truck.

The motor vehicle can be automated. The motor vehicle can be designed to at least partially and/or at least temporarily assume longitudinal guidance and/or transverse guidance by means of the control device during automated driving of the motor vehicle.

Automated driving can be carried out in such a way that the movement of the motor vehicle is (largely) autonomous. Automated driving can be controlled at least partially and/or temporarily by the control device.

The motor vehicle can be a motor vehicle with autonomy level 0, i.e. the driver takes over the dynamic driving task, even if supporting systems (e.g. ABS or ESP) are present.

The motor vehicle may be a motor vehicle of autonomy level 1, i.e. have certain driver assistance systems that support the driver in operating the vehicle, such as adaptive cruise control (ACC).

The motor vehicle can be a motor vehicle of autonomy level 2, i.e. be so partially automated that functions such as automatic parking, lane keeping or lateral guidance, general longitudinal guidance, acceleration and/or braking are taken over by driver assistance systems.

The motor vehicle can be a level 3 autonomy motor vehicle, i.e. so conditionally automated that the driver does not have to continuously monitor the vehicle system. The motor vehicle independently carries out functions such as activating the indicator, changing lanes and/or keeping in lane. The driver can turn his attention to other things, but will be prompted by the system to take over control within a pre-warning period if necessary.

The motor vehicle can be a motor vehicle with autonomy level 4, i.e. so highly automated that the vehicle system permanently takes over control of the vehicle. If the system can no longer handle the driving tasks, the driver can be asked to take over control.

The motor vehicle can be a level 5 autonomy motor vehicle, i.e. so fully automated that the driver is not required to perform the driving task. No human intervention is required other than setting the destination and starting the system. The motor vehicle can operate without a steering wheel and pedals.

What is described above with reference to the control device also applies analogously to the motor vehicle and vice versa.

Furthermore, a method for controlling an operation of a motor vehicle is provided.

The method includes receiving map data, pollution information concerning a sensor of the motor vehicle, information concerning a location of a rain area, and information concerning a destination of the motor vehicle.

The method includes determining whether the sensor is dirty based on the contamination information.

If it is determined that the sensor is dirty, one or more of the following steps are performed based on the map data, the information regarding the destination, and the information regarding the location of the rain area to use the rain to clean the sensor: planning a route of the motor vehicle such that the route leads from a current position of the motor vehicle through the rain area to the destination; and/or planning a route of the motor vehicle such that the motor vehicle is parked outdoors at the destination; and/or suggesting outdoor parking at the destination.

The (control) method may be a computer-implemented method, i.e. one, several or all steps of the method can be carried out at least partially by a computer or a data processing device, optionally the control device described above.

What is described above with reference to the control device and the motor vehicle also applies analogously to the method and vice versa.

Furthermore, a computer program is provided, comprising instructions which, when the program is executed by a computer, cause the computer to at least partially carry out or implement the method described above.

A program code of the computer program can be in any code, in particular in a code that is suitable for controlling motor vehicles.

What is described above with reference to the control device, the motor vehicle and the method also applies analogously to the computer program and vice versa.

Furthermore, a computer-readable medium, in particular a computer-readable storage medium, is provided. The computer-readable medium comprises instructions which, when executed by a computer, cause the computer to at least partially carry out the method described above.

That is, a computer-readable medium may be provided that comprises a computer program as defined above. The computer-readable medium may be any digital data storage device, such as a USB stick, a hard disk, a CD-ROM, an SD card or an SSD card.

The computer program does not necessarily have to be stored on such a computer-readable storage medium in order to be made available to the motor vehicle, but can also be obtained via the Internet or otherwise externally.

What is described above with reference to the method, the control device, the computer program and the motor vehicle also applies analogously to the computer-readable medium and vice versa.

• 1 zeigt schematisch ein Kraftfahrzeug mit einer offenbarungsgemäßen Steuervorrichtung, und
• 2 zeigt schematisch ein Ablaufdiagramm eines von der Steuervorrichtung ausgeführten, offenbarungsgemäßen Verfahrens zum Steuern eines Betriebs des Kraftfahrzeugs.

Below is an embodiment with reference to 1 and 2 described.

• 1 shows schematically a motor vehicle with a control device according to the disclosure, and
• 2 shows schematically a flow diagram of a method according to the disclosure, carried out by the control device, for controlling an operation of the motor vehicle.

This in 1 The motor vehicle 1 shown has a (surrounding) sensor 2, such as a radar sensor, a LIDAR sensor, an ultrasonic sensor and/or a camera, a control device connected to the sensor 2 on the input side device 3 for controlling an operation of the motor vehicle 1 and a human-machine interface 4 connected to the control device 3 on both the input side and the output side.

Thus, the motor vehicle 1 and in particular its control device 3 is designed to provide the following in detail with reference to 2 to carry out the procedures described.

In a first step S1 of the method, the sensor 2 determines whether the sensor 2 is dirty and outputs a result of the determination by means of contamination information to the control device 3. The first step S1 of the method is carried out continuously, i.e. the sensor 2 determines, for example, at constant time intervals whether the sensor 2 is dirty and outputs the corresponding contamination information to the control device 3.

In a second step S2 of the method, the control device 3 receives information concerning a destination of the motor vehicle 1 from a user of the motor vehicle 1 via the human-machine interface 4.

In a third step S3 of the method, the control device 3 determines, based on the contamination information, that the sensor 2 is dirty.

In a fourth step S4 of the method, the control device 3 receives, i.e. loads, map data and, since the contamination of the sensor 2 was determined in the third step S3, weather information comprising information regarding a location of a rainy area.

In a fifth step S5 of the method, since the contamination of the sensor 2 was determined in the third step S3, the control device 3 plans a route of the motor vehicle 1 based on the map data, the information concerning the destination and the information concerning the location of the rain area, such that the route leads from a current position of the motor vehicle 1 through the rain area to the destination.

In a sixth step S6 of the method, the motor vehicle 1 begins to travel along the planned route. In the sixth step S6, the control device 3 controls a transverse and/or longitudinal guidance of the motor vehicle 1 so that the motor vehicle 1 moves along the planned route. The extent of the control depends on the degree of automation of the motor vehicle 1 and also on the extent to which automated driving is impaired or possible due to the dirty sensor 2. The sixth step S6 is also carried out or executed continuously, with the control device 3 orienting itself on a current route according to the method.

In a seventh step S7 of the method, the control device 3 determines that the motor vehicle 1 has passed or driven through the rain area and determines, based on the current contamination information, whether the sensor 2 is still dirty after driving through the rain area or whether this is no longer the case. If it is determined that the sensor 2 is still dirty after driving through the rain area, the method continues with an eighth step S8. Otherwise, the method ends.

In an eighth step S8 of the method, the control device 3 plans the route based on the map data such that the motor vehicle 1 is parked outdoors at the destination if the control device 3 determines, based on the information regarding the location of the rain area and the map data, that a rain area is located at the destination. In addition, the control device 3 loads information contained in the map data regarding a location of (car) wash stations and checks whether one of the wash stations is located along the planned route. If it is determined that at least one wash station is located along the planned route, the control device 3 outputs a control signal to the human-machine interface 4 of the motor vehicle 1. The control signal causes the human-machine interface 4 to output information to a driver of the motor vehicle that the wash station is located along the route.

In a ninth step S9 of the method, the control device 3 receives a user input via the human-machine interface 4 in response to the information output and determines, based on the user input, whether or not the user wants to drive to the car wash that is located along the route. If the user wants to drive to the car wash, the route is replanned accordingly by the control device 3 so that the car wash is at least an intermediate destination on the planned route.

The embodiment described above comprises only one possible process sequence and, according to the disclosure, deviations therefrom are conceivable.

List of reference symbols

1

Motor vehicle

2

sensor

3

Control device

4

Human-machine interface

S1 - S9

Process steps

QUOTES INCLUDED IN THE DESCRIPTION

This list of documents listed 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 accepts no liability for any errors or omissions.

Cited patent literature

• DE 102019205094 A1 [0003]
• DE 102019209291 A1 [0004]

Claims (9)

Control device (3) for controlling an operation of a motor vehicle (1), characterized in that the control device (3) is designed to: - receive map data, pollution information relating to a sensor of the motor vehicle (1), information relating to a location of a rainy area and information relating to a destination of the motor vehicle (1), - determine based on the pollution information whether the sensor (2) is dirty, and - if it is determined that the sensor (2) is dirty, based on the map data, the information relating to the destination and the information relating to the location of the rainy area • plan a route of the motor vehicle such that the route leads from a current position of the motor vehicle (1) through the rainy area to the destination; and/or • plan a route of the motor vehicle such that the motor vehicle (1) is parked outdoors at the destination; and/or • suggest parking outdoors at the destination. Control device (3) according to Claim 1 , characterized in that the control device (3) is designed to: - determine whether the rain area is located at the destination based on the information concerning the location of the rain area and the map data, and - only if it is determined that the rain area is located at the destination, plan the route such that the motor vehicle (1) is parked outdoors at the destination. Control device (3) according to Claim 1 or 2 , characterized in that the control device (3) is designed to: - receive information relating to a location of a car wash, - determine, based on the information relating to the location of the car wash, whether the car wash is located along the planned route, and - if it is determined that the car wash is located along the planned route, output a control signal to a human-machine interface (4) of the motor vehicle (1), which causes the human-machine interface to output information to a driver of the motor vehicle (1) that the car wash is located along the route. Control device (3) according to Claim 3 , characterized in that the control device (3) is designed to: - receive a user input via the human-machine interface (4) in response to the output information, and - plan the route of the motor vehicle (1) based on the user input. Control device (3) according to Claim 4 , characterized in that the control device (3) is designed to plan the route of the motor vehicle (1) based on the user input such that the route leads to the car wash. Control device (3) according to one of the Claims 1 until 5 , characterized in that the control device (3) is designed to control a transverse and/or longitudinal guidance of the motor vehicle (1) such that the motor vehicle (1) moves along the planned route. Motor vehicle (1), characterized in that the motor vehicle (1) has the control device (3) according to one of the Claims 1 until 6 includes. Method for controlling an operation of a motor vehicle (1), characterized in that the method comprises: - receiving map data, pollution information relating to a sensor (2) of the motor vehicle (1), information relating to a location of a rain area and information relating to a destination of the motor vehicle (1), - determining based on the pollution information whether the sensor (2) is dirty, and - if it is determined that the sensor (2) is dirty, carrying out one or more of the following steps based on the map data, the information relating to the destination and the information relating to the location of the rain area: • planning a route of the motor vehicle such that the route leads from a current position of the motor vehicle (1) through the rain area to the destination; and/or • planning a route of the motor vehicle such that the motor vehicle (1) is parked outdoors at the destination; and/or • suggesting outdoor parking at the destination. Computer program and/or computer-readable medium, characterized in that the computer program or the computer-readable medium comprises instructions which, when the program or the instructions are executed by a computer, cause the computer to carry out the method according to Claim 8 to execute.

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