DE102022208369B3 - Method for generating control data for at least partially autonomous operation of an ego vehicle and control system - Google Patents

Abstract

The invention relates to a method for generating control data for at least partially autonomous operation of an ego vehicle (1), comprising the steps: - providing a navigation system (4) through the ego vehicle (1) and generating navigation data for a route based on the input, - providing at least a communication unit for acquiring external data by the ego vehicle (1), - receiving by means of the at least one communication unit, the current signal data relating to the ego vehicle (1) for the entered route, - receiving by means of the at least one communication unit, which is the ego vehicle (1) relevant environmental raw data for the entered route, - receiving, by means of the at least one communication unit, the raw environmental server data relating to the ego vehicle (1), - receiving, by means of the at least one communication unit, V2X data relating to the environment ahead of the ego vehicle (1), - generating internal, operating data relating to the ego vehicle (1) through internal sensors, - generating detailed and time-dependent control data by the ego vehicle (1) based on the received signal data, the received raw environment data, the received raw environment server data, the received V2X data, the navigation data and the operating data, so that the detailed and time-dependent control data enables the ego vehicle (1) to be operated without the ego vehicle (1) itself generating sensor data relating to the environment. The invention further relates to a control system.

Description

The invention relates to a method for generating control data for at least partially autonomous operation of an ego vehicle and a control system.

An autonomous vehicle/semi-autonomous vehicle is a vehicle that does not require a driver or in which the driver only intervenes in emergencies when necessary. The vehicle drives autonomously, for example by independently recognizing the course of the road, other road users or obstacles and calculating the corresponding control commands in the vehicle and forwarding them to the actuators in the vehicle, thereby correctly influencing the vehicle's course of travel.

Advanced Driver Assistance Systems (ADAS) and Autonomous Driving (AD) are well-known market-leading technologies in current automotive research and the market. Both ADAS and AD rely heavily on the information about the vehicle's environment, which is referred to in the art as "perception", "digital environment", "vehicle context" or simply "environment".

This information is collected in two ways, either exclusively with the on-board sensors, as in the case of adjusting the vehicle speed based on the distance to the vehicle in front, or with the on-board sensors, in particular lidar sensors/radar sensors together with information from external systems, such as the Cloud, GPS, map information, etc.

However, such sensors, for example radar sensors/ultrasonic sensors/lidar sensors and cameras, are very expensive. Retrofitting is not possible or unprofitable, especially with older vehicles.

The DE 10 2020 211970 A1 discloses a method for controlling an autonomously driving vehicle, comprising: recording environment sensor data of an environment of a vehicle by an environment sensor of the vehicle, the environment sensor data being summarized as data points in a first three-dimensional point cloud with a first resolution of environment sensor data; Generating a second three-dimensional point cloud of environmental sensor data based on the first three-dimensional point cloud of environmental sensor data by a first trained neural network, wherein the second three-dimensional point cloud comprises data points of the first three-dimensional point cloud, and wherein the second three-dimensional point cloud has a point area with a second resolution that is higher is as the first resolution; and recognizing an object in the area surrounding the vehicle based on the data points of the point area of the second three-dimensional point cloud with the second resolution by a second trained neural network. It is therefore the object of the present invention to provide an efficient method for the autonomous operation of an ego vehicle. It is also a task to specify a control system.

The DE 10 2019 131 446 A1 discloses a method for acquiring environmental information for autonomously operated vehicles, wherein the environmental information is transmitted using Car2x communication.

The US 11 250 702 B2 discloses a method of acquiring environmental sensor information collected by a sensor, the sensor being disposed in the environment of the vehicle.

The DE 10 2016 123 875 A1 discloses a system comprising a processor programmed to receive a first data value from a first data collector as input to operate a first vehicle.

The DE 10 2017 212 644 A1 discloses a sensor system and a method for determining at least one traffic situation on at least one roadway area using the sensor system.

This task is solved by a method with the features of claim 1 and a control system with the features of claim 8.

The subclaims list further advantageous measures that can be suitably combined with one another to achieve further advantages.

• - Bereitstellen eines Navigationssystems durch das Egofahrzeug zum Eingeben einer Route und generieren von Navigationsdaten für eine Route anhand der Eingabe,
• - Bereitstellen zumindest einer Kommunikationseinheit zum Erfassen von externen Daten durch das Egofahrzeug,
• - Empfangen mittels der zumindest einen Kommunikationseinheit, die das Egofahrzeug betreffenden aktuellen Signaldaten für die eingegebene Route, wobei die Signaldaten durch eine Straßeninfrastruktur bereitgestellt werden, wobei die Signaldaten zumindest aktuelle Signaldaten zur Steuerung des Stra-ßenverkehrs gemäß der Straßenverkehrsordnung aufweisen,
• - Empfangen mittels der zumindest einen Kommunikationseinheit die das Egofahrzeug betreffenden Umfeldrohdaten für die eingegebene Route, wobei die Umfeldrohdaten das vorausliegende Umfeld zumindest teilweise umfassen, wobei die Umfeldrohdaten durch eine Infrastruktur bereitgestellt werden, wobei die Umfeldrohdaten zumindest Kamerarohdaten und/oder Radarrohdaten umfassen,
• - Empfangen mittels der zumindest einen Kommunikationseinheit die das Egofahrzeug betreffenden Umfeldserverrohdaten, welche von einem externen Server bereitgestellt werden, wobei die Umfeldserverrohdaten zumindest aktuelle Verkehrszustandsinformationen umfassen,
• - Empfangen mittels der zumindest einen Kommunikationseinheit von V2X-Daten betreffend das vorausliegende Umfeld des Egofahrzeuges durch eine V2X-Verbindung zu anderen Verkehrsteilnehmern,
• - Empfangen, die das Egofahrzeug betreffenden aktuellen Informationsdaten für die eingegebene Route, welche durch Internet-of-Things-Vorrichtungen bereitgestellt werden,
• - Generieren von internen, das Egofahrzeug betreffende Betriebsdaten durch interne Sensoren,
• - Generieren von detaillierten und zeitabhängigen Steuerungsdaten durch das Egofahrzeug auf Basis der empfangenen Signaldaten, der empfangenen Umfeldrohdaten, der empfangenen Umfeldserverrohdaten, der empfangenen V2X-Daten, der Navigationsdaten und der Betriebsdaten, so dass anhand der detaillierten und zeitabhängigen Steuerungsdaten ein Betreiben des Egofahrzeugs ohne Generierung von, das Umfeld betreffende, Sensordaten durch das Egofahrzeug selber ermöglicht wird.

The task is solved by a method for generating control data for at least partially autonomous operation of an ego vehicle, comprising the steps:

• - providing a navigation system by the ego vehicle for entering a route and generating navigation data for a route based on the input,
• - Providing at least one communication unit for acquiring external data by the ego vehicle,
• - Receiving, by means of the at least one communication unit, the current signal data relating to the ego vehicle for the entered route, the signal data passing through a road infrastructure is provided, the signal data having at least current signal data for controlling road traffic in accordance with the road traffic regulations,
• - Receive by means of the at least one communication unit the raw environment data relating to the ego vehicle for the entered route, the raw environment data at least partially comprising the environment ahead, the raw environment data being provided by an infrastructure, the raw environment data comprising at least raw camera data and/or raw radar data,
• - Receiving, by means of the at least one communication unit, the raw environment server data relating to the ego vehicle, which is provided by an external server, the raw environment server data comprising at least current traffic status information,
• - Receiving, by means of the at least one communication unit, V2X data relating to the surroundings of the ego vehicle ahead through a V2X connection to other road users,
• - Receive the current information data relating to the ego vehicle for the entered route, which is provided by Internet of Things devices,
• - Generating internal operating data relating to the ego vehicle through internal sensors,
• - Generating detailed and time-dependent control data by the ego vehicle based on the received signal data, the received raw environment data, the received raw environment server data, the received V2X data, the navigation data and the operating data, so that the ego vehicle can be operated without generation based on the detailed and time-dependent control data of sensor data relating to the environment is made possible by the ego vehicle itself.

Vehicle-to-Infrastructure (V2X) refers to the exchange of data between a vehicle and the surrounding infrastructure. In particular, this can be understood as vehicle-to-vehicle communication. Vehicle-to-vehicle communication refers to the exchange of information and data between motor vehicles. For example, the relevant road users can collect V2V data, such as ABS interventions, steering angle, position, direction and speed as well as environmental data, such as camera images, lidar sensor data, etc., and send this data to the ego vehicle via radio (WLAN, UMTS). Furthermore, a communication unit can be understood as one or more transmitting and receiving devices with which the ego vehicle can communicate with the infrastructure etc. and other vehicles on the road.

Raw data refers to unprocessed or only partially pre-processed data.

Signal data can be, for example, traffic lights red, green, construction site warnings, etc. Raw environmental data can, for example, show the surroundings ahead as a camera image/radar recordings or lidar sensor data of the surroundings ahead.

Such cameras can, for example, be attached to the side of the street.

Raw environmental server data includes, for example, information about route closures, construction sites ahead, as well as the weather on the route to be traveled.

Furthermore, further data relating to the surroundings of the ego vehicle ahead can also be transmitted.

Operating data is, for example, information about the temperature of the vehicle, for example the engine temperature, tank level indicator, pressure indicators for example the tires or other parameters relating to the engine compartment/interior of the ego vehicle.

The ego vehicle thus receives all the necessary data and measurements externally, for example from the infrastructure/other vehicles, and only has to process this data internally to create the digitally required environment. For this purpose, the ego vehicle can have the necessary algorithms/evaluation processes.

The method according to the invention allows the ego vehicle to dispense with expensive sensors for recording the surroundings. The required data is generated externally and processed internally. Thus, the ego vehicle can completely create or receive the digital environment by the ego vehicle collecting external data, for example from the infrastructure, via V2X communication, external server, without using or requiring expensive sensors built into the ego vehicle to detect the environment.

By transmitting the digital signal data through the road infrastructure, raw environmental data for the route entered, which at least partially includes the surrounding environment ahead, raw environmental server data and VtX data, a full A constant image of the environment can be created, based on which the ego vehicle can create control data to generate a trajectory. Based on the control data, at least corresponding movement actuators are controlled, which control the movements in the longitudinal direction (braking and accelerator), in the transverse direction (steering) and in the vertical direction (suspension). The control data is generated taking into account the internal operating data, which, for example, prevents the engine from overheating or the tank being empty (energy in e-mobility).

This means that autonomous operation for the ego vehicle can be achieved without expensive sensors. In particular, the method can also be applied to older ego vehicles, for example, without retrofitting expensive sensors.

For example, autonomous operation of the ego vehicle can only be achieved on highways where such an infrastructure is easy to implement or already exists. Older ego vehicles can therefore use the method (with appropriate implementation and the presence of a communication unit) without having to retrofit expensive sensors, which is usually not worthwhile for older ego vehicles or which therefore have no space for retrofitting such sensors. This means, for example, that users/owners of older ego vehicles can also drive autonomously, especially on long journeys on the motorway where such an infrastructure has already been implemented, and can therefore reach their destination in a more relaxed manner.

In further training, an interaction between the ego vehicle and the smart home can be accomplished by means of a bidirectional connection between a smart home interface of a smart home of a user of the ego vehicle. An exchange can take place here, for example a shopping list can be transmitted from the smart home to the ego vehicle.

In addition, with further training, the current arrival time of the ego vehicle can be transmitted to the smart home interface using the bidirectional connection between a smart home interface of the smart home. This means that, for example, the smart home software can automatically open the garage door according to the arrival time or the user can regulate appropriate settings such as turning up the heating etc. according to the arrival time. The ego vehicle can also automatically report a delay.

• - Empfangen von Smart Home Daten durch das Smart Home des Nutzers des Egofahrzeugs durch die bidirektionale Verbindung,
• - Generieren von detaillierten und zeitabhängigen Steuerungsdaten durch das Egofahrzeug auf Basis der empfangenen Signaldaten, der empfangenen Umfeldrohdaten, der empfangenen Umfeldserverrohdaten, der empfangenen V2X-Daten, der Navigationsdaten, der Betriebsdaten und der Smart Home Daten.

Furthermore, in a further embodiment, the method includes the steps:

• - Receiving smart home data through the smart home of the ego vehicle user through the bidirectional connection,
• - Generating detailed and time-dependent control data by the ego vehicle based on the received signal data, the received raw environmental data, the received raw environmental server data, the received V2X data, the navigation data, the operating data and the smart home data.

In particular, the detailed and time-dependent control data generated in this way can be used to control the ego vehicle on private property, for example parking in a garage/carport or parking the ego vehicle on a predetermined property space.

This means that parking in a garage, for example, can also be accomplished autonomously. In particular, the smart home data required for this, such as camera images, based on which the parking trajectory required for parking is determined, can be entered once into the ego vehicle, for example when appropriate smart home software is installed, and/or a parking trajectory can be learned. Optionally or alternatively, camera images can be transmitted to the ego vehicle for evaluation by sensors integrated into the garage, such as a camera. By connecting the ego vehicle to a smart home, it can be transmitted, for example, whether a garage door is open and the autonomous ego vehicle can park there directly using the learned parking trajectory. This increases the user's comfort.

• - Empfangen, die das Egofahrzeug betreffenden aktuellen Dienstleistungsdaten für die eingegebene Route, welche durch Dienstleister bereitgestellt werden, wobei als Dienstleister zumindest Tankstellen umfasst sind und/oder,
• - Generieren von detaillierten und zeitabhängigen Steuerungsdaten durch das Egofahrzeug auf Basis der empfangenen Signaldaten, der empfangenen Umfeldrohdaten, der empfangenen Umfeldserverrohdaten, der empfangenen V2X-Daten, der Betriebsdaten, der Navigationsdaten und der Informationsdaten und/oder Dienstleistungsdaten.

In further training, the procedure includes the following steps:

• - Receive the current service data relating to the ego vehicle for the entered route, which is provided by service providers, the service providers including at least gas stations and/or,
• - Generating detailed and time-dependent control data by the ego vehicle based on the received signal data, the received raw environment data, the received raw environment server data, the received V2X data, the operating data, the navigation data and the information data and / or service data.

Service providers are gas stations and can also, for example, car washes/workshops be. Events or restaurants can, for example, be an Internet of Things device located along the route.

Accordingly, information data can be information about the restaurant or event, for example information about parking at a large event or parking in a parking garage. In further training, these can be output acoustically, for example through a microphone, and/or optically, for example on a display in the ego vehicle.

Furthermore, the task is solved by a control system for generating control data for at least partially autonomous operation of an ego vehicle, the control system having a first interface for bidirectional communication with the autonomous ego vehicle, the first interface further being used to receive navigation data for a route, which is at least include the destination information of the ego vehicle, is formed by the ego vehicle, wherein a second interface is provided, wherein the second interface is designed to receive at least the current signal data relating to the ego vehicle, which are provided by a road infrastructure, for the entered route, wherein the Signal data have at least current signal data for controlling road traffic in accordance with the road traffic regulations, and is designed to receive the raw environmental data relating to the ego vehicle for the entered route, which at least partially includes the surrounding environment, the raw environmental data being provided by an infrastructure, the raw environmental data being at least Include raw camera data and/or raw radar data,
and is designed to receive the raw surroundings server data relating to the ego vehicle, which are provided by an external server, wherein the raw surroundings server data includes at least current traffic status information and is designed to receive V2X data from other road users relating to at least the surroundings of the ego vehicle ahead,
and wherein the control system is designed to generate detailed and time-dependent control data for the autonomous operation of the ego vehicle based on the received signal data, the received raw environment data, the received raw environment server data, the received V2X data and the navigation data and to the ego vehicle by means of the first interface autonomous operation, so that based on the detailed and time-dependent control data, the ego vehicle can be operated without generating sensor data relating to the environment by the ego vehicle itself.

Control data can be speed/steering angle adjustment/braking/acceleration/adjusting lights/operating windshield wipers etc.

This means that autonomous operation for the ego vehicle can be achieved without expensive sensors. In particular, the control system can also be used for older ego vehicles, for example, without retrofitting expensive sensors. In addition, computationally intensive operations in the ego vehicle can be dispensed with. This means that hardware, such as processors, can be saved. This means that the control data can also be calculated very quickly, since such an external server, for example used for the control system, can easily have a higher computing capacity; for example, these can be several servers/computers etc.

This means that the installation of sensors as well as the calculation, and thus a large number of processors, can be dispensed with in the ego vehicle, so that older, even much older, ego vehicles can use such a control system. In a further embodiment, the first interface is designed to receive the operating data generated by internal sensors and relating to the ego vehicle, wherein the control system is further designed to do so on the basis of the received signal data, the received raw environment data, the received raw environment server data, the received V2X data and the navigation data and the operating data to generate detailed and time-dependent control data for the autonomous operation of the ego vehicle and to transmit it to the ego vehicle for autonomous operation using the first interface. This means that further calculation steps can be outsourced from the ego vehicle to the control system. Furthermore, the operating data can be included when generating the control data. The operating data can be transmitted continuously to the control system, or only in the event of major changes/critical situations.

Furthermore, the first interface can be designed to receive the global position from the ego vehicle by transmitting the position data through the ego vehicle itself. This can be, for example, the global position data, which is generated using GPS, for example.

In a further embodiment, the control system is designed to establish a bidirectional connection between a smart home interface of a smart home of a user of the ego vehicle, so that an interaction between the ego vehicle and the smart home can be accomplished.

Furthermore, the control system can be designed to transmit the current arrival time of the ego vehicle to the smart home interface by means of the bidirectional connection between the smart home interface of the smart home.

In further training, the control system is an external computer system with a corresponding software module. This allows a lot of computing capacity to be made available to the control system, enabling faster calculation of the detailed and time-dependent control data.

In a further embodiment, the detailed and time-dependent control data includes at least information about a steering rotation, acceleration and/or braking as a function of time, as well as about internal setting parameters of the ego vehicle. Furthermore, the control data includes all parameters that are required for trajectory planning and trajectory execution.

• 1: ein erfindungsgemäßes Verfahren im Egofahrzeug schematisch,
• 2: ein erfindungsgemäßes Steuerungssystem in einer ersten Ausgestaltung schematisch,
• 3: ein erfindungsgemäßes Steuerungssystem in einer zweiten Ausgestaltung schematisch.

Further properties and advantages of the present invention emerge from the following description with reference to the accompanying figures. Show:

• 1 : a method according to the invention in the ego vehicle schematically,
• 2 : a control system according to the invention in a first embodiment schematically,
• 3 : A control system according to the invention in a second embodiment schematically.

1 shows a ego vehicle 1 schematically with a method according to the invention. The ego vehicle 1 has a communication unit, which is designed here as several transmitting and receiving devices 2a,..., 2i, through which the ego vehicle 1 can communicate with the surroundings and other road users 3 on the road, that is, in order to send data and to recieve.

Furthermore, the ego vehicle 1 has a navigation device 4 with a transmitting and receiving unit 2c in order to enter a destination and create a route.

Furthermore, the current signal data relating to the ego vehicle 1 for the entered route, which is provided by a road infrastructure 8, such as a traffic light, is first received by the ego vehicle 1 by means of the transmitting and receiving unit 2a. The signal data includes at least current signal data for controlling road traffic in accordance with the road traffic regulations. This can be, for example, the current traffic light switching (green/red).

Furthermore, the ego vehicle 1 can receive the raw environmental data relating to the ego vehicle 1 for the entered route using the transmitting and receiving unit 2b. These include the environment ahead of the ego vehicle 1. The raw environmental data can be provided by an infrastructure 5, the raw environmental data comprising at least raw camera data and/or raw radar data. The infrastructure 5 can be, for example, cameras/lidar sensors/radar sensors arranged on the side of the road/building, which provide an image of the surroundings/surroundings as raw surroundings data. The raw environmental data can be partially preprocessed/compressed so that transmission is possible without any problems. Other road users, objects, pedestrians, obstacles, and cyclists in the environment of the ego vehicle 1 can thus be recognized in the raw environmental data.

Furthermore, the ego vehicle 1 can receive raw environment server data, which is provided by an external server 6, using the transmitting and receiving unit 2g. The external server 6 can, for example, be designed as a cloud. The raw environment server data includes current traffic status information. These can also include weather data/temperature data or other data relating to the environment.

Furthermore, the ego vehicle 1 can use the transmitting and receiving unit 2i to communicate with one or different positioning systems 7 in order to show itself and other road users the way.

Using V2X connections through a transmitting and receiving unit 2d, for example via radio, to other vehicles 3, V2X data, in particular V2V data relating to the surroundings of the ego vehicle 1 ahead, can be received by the ego vehicle 1. Vehicle-to-infrastructure (V2X) essentially means the exchange of data between an ego vehicle 1 and the surrounding infrastructure. In particular, this can be understood as vehicle-to-vehicle communication. Vehicle-to-vehicle communication can be understood as the exchange of information and data between the ego vehicle 1 and the vehicles 3/road users. Information about the set steering angle, the speed, and the global position, etc. can also be sent from the vehicles to the ego vehicle 1.

Furthermore, the ego vehicle 1 can have at least one bidirectional connection by means of a transmitting and receiving unit 2f between a smart home interface of a smart home 11 of the user of the ego vehicle 1. This allows data from the ego vehicle 1 to be sent to the smart home 11. Such data can, for example, be the updated arrival time of the ego vehicle 1 in the smart home 11. The smart home 11 can therefore carry out predetermined actions linked to the arrival time, for example turning up the heating or opening the garage door.

In particular, using the detailed and time-dependent control data generated in this way, autonomous control of the ego vehicle 1 on private property, for example parking in a garage/carport or parking the ego vehicle 1 on a predetermined property space, can be accomplished. By connecting the ego vehicle 1 to a smart home 11, it can be transmitted, for example, whether a garage door is open and the autonomous ego vehicle 1 can park there directly using a learned trajectory. This increases the user's comfort. This means that parking in a garage, for example, can also be accomplished autonomously.

Furthermore, the ego vehicle 1 can generate internal operating data, for example by measuring the temperature in the engine compartment, tank level indicator, pressure indicators for example of the tires or other parameters relating to the engine compartment/interior of the ego vehicle 1 through internally arranged sensors such as temperature sensor, fill level indicator sensor, pressure sensor.

So that the ego vehicle 1 can drive partially or completely autonomously, it has motion actuators that control the movements in the longitudinal direction (brakes and gas), in the transverse direction (steering) and in the vertical direction (suspension), as well as other settings (light), etc.

Furthermore, the ego vehicle 1 is designed to generate detailed and time-dependent control data for autonomous operation based on the received signal data, the received raw environment data, the received raw environment server data, the received V2X data, the operating data, the navigation data and the smart home data.

The ego vehicle 1 calculates the target trajectory based on the received data and generates the detailed and time-dependent control data for autonomous operation, i.e. to realize the target trajectory, and controls the movement actuators in the three directions, longitudinal, transverse and vertical.

For calculation purposes, the ego vehicle 1 has one or more ECUs (Electric Control Units) 12. These ECUs 12 receive all external data and measurements and process them internally to create the digital environment. This means that all required data is generated externally and processed internally. The ego vehicle 1 can thus completely create the digital environment by the ego vehicle 1 collecting data from the infrastructure 5 and the road infrastructure 8, the location system 7, the navigation device 4 and the external server 6 and from other road users 3, without the ego vehicle 1 Built-in expensive sensors are used or required to detect the environment. In addition, autonomous operation on private property can also be achieved by connecting to the Smart Home 11 and interacting with the Smart Home 11.

Autonomous operation for the ego vehicle 1 can thus be accomplished without expensive sensors. In particular, the method can also be applied to older ego vehicles 1, for example, without retrofitting expensive sensors such as radar sensors/cameras/lidar sensors to record the surroundings ahead. Older ego vehicles 1 can therefore use the method without having to retrofit expensive sensors, which is generally not worthwhile for older ego vehicles 1 or which therefore have no space for retrofitting such sensors.

In addition, the ego vehicle 1 can optionally receive the current service data relating to the route of the ego vehicle 1 from a service provider 9 using the transmitting and receiving unit 2e. The service data includes the service offered in each case. Service providers are primarily gas stations. Service providers can also be car washes or workshops, for example.

Furthermore, the ego vehicle 1 can use the transmitting and receiving unit 2h to receive the current information data relating to the ego vehicle 1 for the entered route, which is provided by Internet of Things devices 10.

These can be, for example, restaurants or events that are along the route. The restaurants or events are designed as Internet of Things devices 10. Accordingly, information data may include information about the restaurant or event, for example Information about parking at a major event, parking in a parking garage.

This means that autonomous driving to the nearest gas station can be achieved through a connection to the service provider in conjunction with, for example, a low fuel level indicator.

2 shows a control system 13 according to the invention. This can be designed as a software module in connection with external computer systems 14.

The control system 13 has a first interface 15, which is designed for bidirectional communication with the ego vehicle 1. Data can be sent by the ego vehicle 1 as well as received by the control system 13 and vice versa.

First, the ego vehicle 1 uses the first interface 15 to transmit the navigation data, which was created for a selected route using a navigation device 4.

Furthermore, the control system 13 has a second interface 16, which is designed at least to receive external data.

The control system 13 receives, through the second interface 16, the current signal data relating to the ego vehicle 1 for the entered route from a road infrastructure 8, such as a traffic light.

Furthermore, the control system 13 receives through the second interface 16 the raw environmental data relating to the ego vehicle 1 for the entered route through an infrastructure 5. The raw environmental data represents at least the surroundings of the ego vehicle 1 ahead.

In addition, the control system 13 receives raw environment server data which is provided by an external server 6, the raw environment server data including current traffic status information and, for example, weather data/temperature data or other data relating to the environment.

In addition, the control system 13 receives location data/position data. These can be sent to the control system 13 either from the ego vehicle 1 or directly from the corresponding positioning systems 7.

In addition, V2X data relating to the surroundings of the ego vehicle 1 ahead are transmitted to the control system 13 by road users.

Based on the received signal data, the received raw environment data, the received raw environment server data, the received V2X data and the route, the control system 13 can now use a high computing capacity to quickly and generate detailed and time-dependent control data for the autonomous operation of the ego vehicle 1 and using the first interface 15 transmit to the ego vehicle 1 for autonomous operation.

The ego vehicle 1 can achieve autonomous driving based on the detailed and time-dependent control data and using the operating data generated by the ego vehicle 1 itself through internal sensors.

With such a control system 13, autonomous driving can be achieved for ego vehicles 1 without corresponding sensors or for older ego vehicles 1, which neither have the appropriate sensors (camera/lidar/ultrasound sensors) nor the corresponding computing capacity.

The operating data can also be transmitted by means of the bidirectional connection through the first interface 15, permanently or only when one of the operating data changes, the respective update, so that the control system 13 based on the received signal data, the received raw environment data, the received raw environment server data, the received V2X data and the received operating data and the route create the detailed and time-dependent control data.

The control data can include at least information about a steering rotation, acceleration and/or braking as a function of time, as well as about internal setting parameters of the ego vehicle and all parameters that are required for trajectory planning and trajectory execution.

3 shows another control system 13a according to the invention.

The control system 13a also has the first interface 15, which is designed for bidirectional communication with the ego vehicle 1. The ego vehicle 1 transmits the navigation data, which was created for a selected route using a navigation device 4.

Furthermore, the control system 13a has the second interface 16.

The control system 13a receives through the second interface 16 the current signal data generated by a road infrastructure 8 for the entered route, the relevant raw environment data for the entered route through an infrastructure 5, the raw environment server data, which are provided by an external server 6, as well as the V2X data from other road users.

In addition, the control system 13a receives the location data/position data.

Furthermore, the control system 13a can be connected to the smart home interface of a smart home 11 of the user of the ego vehicle 1. As a result, data can be sent indirectly from the ego vehicle 1 via the control system 13a to the smart home 11 or, if necessary, evaluated by it and then the evaluation can be sent to the smart home 11. This data can, for example, contain the updated arrival time of the ego vehicle 1 in the smart home 11. This means that the smart home 11 can carry out predetermined actions linked to the arrival time, for example turning up the heating or opening the garage door.

In addition, information can be transmitted to the control system 13a through the smart home interface, which can be included in the processing by the control system 13a, for example “garage door open”. Based on the received signal data, the received raw environmental data, the received raw environmental server data, the received V2X data, the route and possibly the smart home data, the control system 13a can now use a high computing capacity to quickly and provide detailed and time-dependent control data for the autonomous operation of the ego vehicle 1 generate and transmit to the ego vehicle 1 for autonomous operation using the first interface 15.

In addition, the control system 13a can optionally receive data from a service provider 9, the current service data relating to the route of the ego vehicle 1 and/or receive the current information data relating to the ego vehicle 1 for the entered route and include it in the generation of the time-dependent control data and, if necessary, record it a display/microphone in the ego vehicle 1.

Claims (14)

Method for generating control data for at least partially autonomous operation of an ego vehicle (1), characterized by the steps: - providing a navigation system (4) by the ego vehicle (1) for entering a route and generating navigation data for a route based on the input, - providing at least one communication unit for acquiring external data by the ego vehicle (1), - receiving, by means of the at least one communication unit, the current signal data relating to the ego vehicle (1) for the entered route, the signal data being provided by a road infrastructure (8), wherein the signal data have at least current signal data for controlling road traffic in accordance with the road traffic regulations, - receiving, by means of the at least one communication unit, the raw environment data relating to the ego vehicle (1) for the entered route, the raw environment data at least partially comprising the environment ahead, the raw environment data being provided by a Infrastructure (5) are provided, wherein the raw environment data includes at least raw camera data and / or raw radar data, - receiving by means of the at least one communication unit, the raw environment server data relating to the ego vehicle (1), which are provided by an external server (6), wherein the raw environment server data at least current traffic status information, - receiving, by means of the at least one communication unit, V2X data relating to the surroundings of the ego vehicle (1) ahead through a V2X connection to other road users (3), - generating internal operating data relating to the ego vehicle (1) through internal Sensors, - Generating detailed and time-dependent control data by the ego vehicle (1) based on the received signal data, the received raw environment data, the received raw environment server data, the received V2X data, the navigation data and the operating data, so that based on the detailed and time-dependent control data Operating the ego vehicle (1) without generating sensor data relating to the environment is made possible by the ego vehicle (1) itself. Procedure according to Claim 1 , characterized in that by means of a bidirectional connection between a smart home interface of a smart home (11) of a user of the ego vehicle (1), an interaction between the Ego vehicle (1) and the smart home (11) is accomplished. Procedure according to Claim 2 , characterized in that the current arrival time of the ego vehicle (1) is transmitted to the smart home interface by means of the bidirectional connection between a smart home interface of the smart home (11). Method according to one of the preceding Claims 2 or 3 , characterized by the further step: - receiving smart home data through the smart home (11) of the user of the ego vehicle (1) through the bidirectional connection, - generating detailed and time-dependent control data by the ego vehicle (1) based on the received signal data , the received raw environmental data, the received raw environmental server data, the received V2X data, the operating data, the navigation data and the smart home data. Procedure according to Claim 4 , characterized in that the generated detailed and time-dependent control data is used to control the ego vehicle (1) on private property, parking it in a garage/carport or parking the ego vehicle (1) on a predetermined property space. Method according to one of the preceding claims, characterized by the steps: - receiving the current service data relating to the ego vehicle (1) for the entered route, which are provided by service providers (9), at least gas stations being included as service providers (9) and / or - receiving the current information data relating to the ego vehicle (1) for the entered route, which is provided by Internet of Things devices (10), - generating detailed and time-dependent control data by the ego vehicle (1) based on the received Signal data, the received raw environmental data, the received raw environmental server data, the received V2X data, the operating data, the navigation data and the information data and / or service data. Procedure according to Claim 6 , characterized in that the information data and/or service data are output acoustically and/or optically in the ego vehicle (1). Control system (13,13a) for generating control data for the at least partially autonomous operation of an ego vehicle (1), the control system (13,13a) having a first interface (15) for bidirectional communication with the autonomous ego vehicle (1), the first Interface (15) further for receiving navigation data for a route, which includes at least the destination information of the ego vehicle (1), is designed by the ego vehicle (1), characterized in that a second interface (15) is provided, wherein the second interface (15) is designed to receive at least the current signal data relating to the ego vehicle (1), which are provided by a road infrastructure (8), for the route entered, the signal data having at least current signal data for controlling road traffic in accordance with the road traffic regulations, and is designed to receive the raw environmental data relating to the ego vehicle (1) for the entered route, which at least partially includes the surrounding environment ahead, the raw environmental data being provided by an infrastructure (5), the raw environmental data comprising at least raw camera data and / or raw radar data, and is designed to receive the raw surroundings server data relating to the ego vehicle (1), which are provided by an external server (6), wherein raw surroundings server data includes at least current traffic status information and to receive V2X data from other road users (3) relating to at least the surroundings of the ego vehicle ahead (1) is designed, and wherein the control system (13, 13a) is designed to provide detailed and time-dependent control data for the autonomous operation of the ego vehicle based on the received signal data, the received raw environment data, the received raw environment server data, the received V2X data, the navigation data (1) and transmit it to the ego vehicle (1) for autonomous operation using the first interface (15), so that the ego vehicle (1) can be operated using the detailed and time-dependent control data without generating sensor data relating to the environment the ego vehicle (1) can be accomplished itself. Control system (13,13a). Claim 8 , characterized in that the first interface (15) is designed to receive the operating data generated by internal sensors and relating to the ego vehicle (1), and wherein the control system (13, 13a) is designed to, on the basis of the received signal data, the received raw environmental data, the received raw environmental server data, the received V2X data, the navigation data and the operating data to generate detailed and time-dependent control data for the autonomous operation of the ego vehicle (1) and by means of the first interface (15). to transmit the ego vehicle (1) for autonomous operation. Control system (13,13a) according to one of the previous ones Claims 8 or 9 , characterized in that the first interface (15) is designed to receive the global position from the ego vehicle (1) by transmitting the position data through the ego vehicle (1) itself. Control system (13,13a) according to one of the previous ones Claims 8 until 10 , characterized in that the control system (13, 13a) is designed to implement a bidirectional connection between a smart home interface of a smart home (11) of a user of the ego vehicle (1), so that an interaction between the ego vehicle (1) and the Smart Home (11) can be achieved. Control system (13,13a). Claim 11 , characterized in that the control system (13, 13a) is designed to transmit the current arrival time of the ego vehicle (1) to the smart home interface by means of the bidirectional connection between the smart home interface of the smart home (11). Control system (13,13a) according to one of the preceding Claims 8 until 12 , characterized in that the control system (13,13a) is an external computer system (14) with a corresponding software module. Control system (13,13a) according to one of the previous ones Claims 8 until 13 , characterized in that the detailed and time-dependent control data include at least information about a steering rotation, acceleration and / or braking as a function of time, as well as about internal setting parameters of the ego vehicle (1).

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