EP1569183A2 - System for open-loop and/or for closed loop control of driver assist systems and method related thereto - Google Patents

System for open-loop and/or for closed loop control of driver assist systems and method related thereto Download PDF

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Publication number
EP1569183A2
EP1569183A2 EP05100036A EP05100036A EP1569183A2 EP 1569183 A2 EP1569183 A2 EP 1569183A2 EP 05100036 A EP05100036 A EP 05100036A EP 05100036 A EP05100036 A EP 05100036A EP 1569183 A2 EP1569183 A2 EP 1569183A2
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EP
European Patent Office
Prior art keywords
driver assistance
instructions
data
assistance systems
central station
Prior art date
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Granted
Application number
EP05100036A
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German (de)
French (fr)
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EP1569183A3 (en
EP1569183B1 (en
Inventor
Vasco Vollmer
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Robert Bosch GmbH
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Robert Bosch GmbH
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/164—Centralised systems, e.g. external to vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/22—Platooning, i.e. convoy of communicating vehicles

Definitions

  • the task is based, a system of the type mentioned and a method of to develop the above-mentioned type so that the problem of product liability when using autonomous electronic systems intervening in the vehicle guidance is eliminated.
  • the invention is based on the principle or on the method of a Inftapatentedunter spaten driver assistance system, wherein the present invention a Solution to the problem of product liability when used autonomously in the Vehicle guidance intrusive electronic systems provides.
  • Basis of the present invention here is the use of currently in the Development and high-speed and high availability Third and fourth generation mobile networks, to at least one central station, In particular, at least one central computer, in the process of control and Control of the particular autonomous driver assistance systems integrate and this Central station, especially this central computer, the responsibility to transfer.
  • the system according to the present invention as well as the method based according to the present invention on the availability of at least one in particular wireless vehicle-to-infrastructure communication that meets the requirements Fulfills.
  • a vehicle communicates either in critical situations, periodically or even permanently with one or more (central) computer systems, advantageously managed by at least one trusted institution and advantageously meet high security requirements.
  • This at least one (central) computer system monitors in an appropriate manner
  • the status of the driver assistance systems is constantly updated and is entitled to enter the Intervene control of the respective vehicle when a situation to become critical threatens or is already critical.
  • the decisions and the reactions at least for a certain time centrally and / or in the means of transportation save in case of a system failure to be able to trace the cause and in this way the question of the existence of a product liability case in more reliable Way to clarify.
  • FIG. 1 An exemplary embodiment of the present invention is shown in FIG.
  • a so-called platoon 100 drives out of three vehicles with the help of Communication between each other and with the inventively given, below explained infrastructure.
  • Communication with the infrastructure takes place via a Gateway or base station 200.
  • the transport of the respective driver assistance system of the motor vehicle 100th certain data and instructions 10 are via a wireless communication network 300 to a central computer 400, which is shown in Figure 1 of three redundant Decision units 402, 404, 406 composed.
  • the data and instructions 10 through the gateway or through the Base station 200 bundled, collected and processed, wherein the antenna 210 of the Gateways or the base station 200 receiving or sending the data and Instructions 10 allows.
  • the respective drivers of the four motor vehicles are informed by means of the from the system 500 transmitted data and information 10 instructed a specific Order in Platoon 100, with the weakest braking Vehicle front, that is should be arranged in the illustration of Figure 1 above.
  • a scenario encompassed by the present invention now assumes that the Driver does not follow this instruction 10 and take a different order, the central computer 400 of the system 500 being short or temporary Malfunction did not get the information about the order correctly and therefore from the ordered order should go out.
  • the central computer 400 While driving, the central computer 400 now indicates the platoon 100, a Emergency braking.
  • the plausibility check in the vehicles shows in this case a high endangerment by the wrongly in the rear, in the Representation of Figure 1 lower range sorted weaker braking vehicle, so that in front of this weaker braking vehicle driving vehicles in the In accordance with the present invention only one on the maximum braking value of weakest behind it driving vehicle perform limited braking.
  • the present invention is based on the embodiment of the Platooning illustrates.
  • the methodology or procedure according to the The present invention applies in the same way and accordingly also for others
  • Driver assistance functions such as A [N] ot [B] remse], intersection assistance, Lane change assistance, distance control assistance, overtaking assistance, threading assistance and The assistant not mentioned here, who fulfills the essential requirements of Use of a communication 20 between vehicles 100 and an intervention in the Driving function without involvement of the driver meet.

Abstract

System (500) for controlling and or regulating driver assistance systems, especially for a motor vehicle (100) that has a number of autonomous driver assistance systems. The system comprises a central station (400) for controlling the driver assistance systems using data and or instructions (10) that are exchanged between it and the systems. Optimally the central station is configured as a central computer with a wireless network to connect it to the individual assistance systems. An independent claim is made for a method for controlling and or regulating driver assistance systems, especially for a motor vehicle.

Description

Technisches GebietTechnical area

Die vorliegende Erfindung betrifft allgemein das technische Gebiet der infrastrukturgestützten Fahrerassistenzsysteme, insbesondere

  • ein System zum Steuern und/oder zum Regeln mindestens eines, insbesondere mehrerer jeweils mindestens einem Fortbewegungsmittel, insbesondere jeweils mindestens einem Kraftfahrzeug, zugeordneter, vorzugsweise autonomer Fahrerassistenzsysteme sowie
  • ein hierauf bezogenes Verfahren zum Betreiben eines derartigen Systems.
The present invention generally relates to the technical field of infrastructure-assisted driver assistance systems, in particular
  • a system for controlling and / or regulating at least one, in particular more in each case at least one means of transportation, in particular in each case at least one motor vehicle, associated, preferably autonomous driver assistance systems and
  • a related method for operating such a system.

Stand der TechnikState of the art

In der Vergangenheit hat es viele Entwicklungen hin zu autonom fahrenden oder zumindest den Führer eines Fortbewegungsmittels, insbesondere eines Kraftfahrzeugs, aktiv unterstützenden elektronischen Systemen gegeben. Eine breite Einführung und Marktpenetration derartiger Systeme scheiterte in diesem Zusammenhang nur zum Teil an technischen Schwierigkeiten.In the past, there have been many developments towards autonomous or driving at least the driver of a means of transportation, in particular of a motor vehicle, given actively supporting electronic systems. A broad introduction and Market penetration of such systems failed only partially in this context at technical difficulties.

Ein wesentliches Argument gegen den Einsatz aktiver Fahrerassistenzsysteme war stets die Frage der Sicherheit und der Produkthaftung, denn ein wesentliches Element dieser konventionellen Systeme besteht darin, dem Führer des Fortbewegungsmittels zumindest in Teilfunktionen die Kontrolle über das Fortbewegungsmittel abzunehmen und diese Kontrolle elektronischen Systemen im Fortbewegungsmittel zu übertragen.An essential argument against the use of active driver assistance systems has always been the issue of safety and product liability, because an essential element of this conventional systems consists of, at least, the leader of the means of transportation to take control of the means of locomotion in subfunctions and these Control electronic systems in the means of transport to transfer.

Beispielhafte Anwendungen sind

  • der Spurwechselassistent, bei dem das elektronische System autonom einen Spurwechsel verhindert, wenn sich daraus eine gefährliche Situation ergeben könnte,
  • der Überholassistent, der autonom in der Lage ist, Überholvorgänge einzuschätzen und unter Umständen auch durchzuführen,
  • der Kreuzungsassistent, der ein Einfahren in eine Kreuzung verhindert, wenn sich daraus eine gefährliche Situation ergeben könnte, oder auch
  • das Platooning (sogenannte elektronische Deichsel), bei dem mehrere Fahrzeuge ihre sämtlichen Fahrfunktion autonom aufeinander abstimmen und dadurch in der Lage sind, ohne Fahrereingriff einem ersten Fahrzeug zu folgen.
Exemplary applications are
  • the lane change assistant, in which the electronic system autonomously prevents a lane change, if this could result in a dangerous situation,
  • the overtaking assistant, who is autonomous in assessing and possibly performing overtaking
  • the intersection assistant, which prevents entering an intersection, if it could result in a dangerous situation, or even
  • the Platooning (so-called electronic drawbar), in which several vehicles autonomously coordinate all their driving function and thus are able to follow a first vehicle without driver intervention.

All diese Systeme stellen unterschiedlich hohe Anforderungen

  • an die zum Beispiel mittels Radar, Ultraschall und/oder Video realisierbare Sensorik, mit der ein Bild der Umgebung erstellt wird, sowie
  • an die Kommunikation der verschiedenen beteiligten Fortbewegungsmittel untereinander.
All these systems have different requirements
  • to the sensors, which can be realized for example by means of radar, ultrasound and / or video, with which an image of the environment is created, as well as
  • to the communication between the various means of transport involved.

In der Vergangenheit wurden bzw. derzeit werden in verschiedenen Projekten weltweit entsprechende technologische Grundlagen sowohl in der Sensorik als auch in der Fahrzeug-zu-Fahrzeug-Kommunikation geschaffen.In the past have been or are currently in various projects worldwide Appropriate technological foundations in sensor technology as well as in technology Vehicle-to-vehicle communication created.

Darstellung der Erfmdung: Aufgabe, Lösung, VorteilePresentation of the invention: task, solution, advantages

Ausgehend von den vorstehend dargelegten Nachteilen und Unzulänglichkeiten sowie unter Würdigung des umrissenen Standes der Technik liegt der vorliegenden Erfindung die Aufgabe zugrunde, ein System der eingangs genannten Art sowie ein Verfahren der eingangs genannten Art so weiterzuentwickeln, dass das Problem der Produkthaftung beim Einsatz autonom in die Fahrzeugführung eingreifender elektronischer Systeme beseitigt wird. Based on the disadvantages and shortcomings set out above, as well as In consideration of the outlined prior art, the present invention the task is based, a system of the type mentioned and a method of to develop the above-mentioned type so that the problem of product liability when using autonomous electronic systems intervening in the vehicle guidance is eliminated.

Diese Aufgabe wird durch ein System mit den im Anspruch 1 angegebenen Merkmalen sowie durch ein Verfahren mit den im Anspruch 6 angegebenen Merkmalen gelöst. Vorteilhafte Ausgestaltungen und zweckmäßige Weiterbildungen der vorliegenden Erfindung sind in den jeweiligen Unteransprüchen gekennzeichnet.This object is achieved by a system having the features specified in claim 1 and solved by a method having the features specified in claim 6. Advantageous embodiments and expedient developments of the present Invention are characterized in the respective subclaims.

Die Erfindung basiert auf dem Prinzip bzw. auf der Methode eines inftastrukturunterstützten Fahrerassistenzsystems, wobei die vorliegende Erfindung eine Lösung für das Problem der Produkthaftung beim Einsatz autonom in die Fahrzeugführung eingreifender elektronischer Systeme vor stellt.The invention is based on the principle or on the method of a Inftastrukturunterstützeten driver assistance system, wherein the present invention a Solution to the problem of product liability when used autonomously in the Vehicle guidance intrusive electronic systems provides.

Grundlage der vorliegenden Erfindung ist hierbei der Einsatz von sich derzeit in der Entwicklung und im Aufbau befindlichen hochratigen und hochverfügbaren Mobilfunknetzen der dritten und vierten Generation, um mindestens eine Zentralstation, insbesondere mindestens einen zentralen Rechner, in den Prozess der Steuerung und Regelung der insbesondere autonomen Fahrerassistenzsysteme einzubinden und dieser Zentralstation, insbesondere diesem Zentralrechner, die Verantwortung zu übertragen.Basis of the present invention here is the use of currently in the Development and high-speed and high availability Third and fourth generation mobile networks, to at least one central station, In particular, at least one central computer, in the process of control and Control of the particular autonomous driver assistance systems integrate and this Central station, especially this central computer, the responsibility to transfer.

Das System gemäß der vorliegenden Erfindung wie auch das Verfahren gemäß der vorliegenden Erfmdung gehen von autonomen Fahrerassistenzsystemen aus, die

  • mit Hilfe ihrer Sensorik und/oder
  • durch Kommunikation mit anderen Fortbewegungsmitteln
in der Lage sind, den Führer des Fortbewegungsmittels in komplexen oder potentiell gefährlichen Situationen zu unterstützen, indem sie autonom in die unmittelbaren Fahrfunktionen, wie etwa das Beschleunigen, das Bremsen, Lenken oder das Geben von Warnsignalen und von sonstigen Signalen, eingreifen.The system according to the present invention as well as the method according to the present invention are based on autonomous driver assistance systems which
  • with the help of their sensors and / or
  • through communication with other means of transportation
be able to assist the operator of the vehicle in complex or potentially dangerous situations by intervening autonomously in the immediate driving functions such as accelerating, braking, steering or giving warning signals and other signals.

Hierbei beruht das System gemäß der vorliegenden Erfindung wie auch das Verfahren gemäß der vorliegenden Erfindung auf der Verfügbarkeit mindestens einer insbesondere drahtlosen Fahrzeug-zu-Infrastruktur-Kommunikation, die die gestellten Anforderungen erfüllt.Here, the system according to the present invention as well as the method based according to the present invention on the availability of at least one in particular wireless vehicle-to-infrastructure communication that meets the requirements Fulfills.

Diese Kommunikation kann sowohl

  • auf aktuellen oder auch auf zukünftigen zellularen Mobilfunksystemen, wie etwa
    • auf Bluetooth,
    • auf G[eneral]P[acket]R[adio]S[ervice],
    • auf G[lobal]S[ystem for]M[obile Communication],
    • auf U[niversal]M[obile]T[elecommunication]S[ystem],
    • auf W[ireless]A[pplication]P[rotocol] und/oder
    • auf W[ireless]L[ocal]A[rea]N[etwork],
  • auf Rundfunkdiensten, wie etwa auf D[igital]A[udio]B[roadcasting],
  • auf direkter Fahrzeug-zu-Bake-Basis und/oder
  • auf Multihopbasis, bei der zunächst ein oder mehrere Fahrzeuge als Relaisstation dienen,
aufbauen.This communication can be both
  • on current or future cellular mobile radio systems, such as
    • on Bluetooth,
    • on G [eneral] P [acket] R [adio] S [ervice],
    • to G [lobal] S [ystem for] M [obile Communication],
    • on U [niversal] M [obile] T [elecommunication] S [ystem],
    • on W [ireless] A [application] P [rotocol] and / or
    • on W [ireless] L [ocal] A [rea] N [etwork],
  • on broadcasting services, such as D [igital] A [audio] B [roadcasting],
  • on a direct vehicle-to-beacon basis and / or
  • on multi-hop basis, where initially one or more vehicles serve as a relay station,
build up.

Diese exemplarische(n) Kommunikationsart(en) mit der Infrastruktur nutzend, kommuniziert ein Fahrzeug entweder in kritischen Situationen, periodisch oder auch permanent mit einem oder mehreren (Zentral-)Rechnersystemen, die vorteilhafterweise von mindestens einer vertrauenswürdigen Institution verwaltet werden und vorteilhafterweise hohe Sicherheitsanforderungen erfüllen.Using this exemplary communication type (s) with the infrastructure, a vehicle communicates either in critical situations, periodically or even permanently with one or more (central) computer systems, advantageously managed by at least one trusted institution and advantageously meet high security requirements.

Dieses mindestens eine (Zentral-)Rechnersystem überwacht in zweckmäßiger Weise laufend den Zustand der Fahrerassistenzsysteme und ist jederzeit dazu berechtigt, in die Steuerung des jeweiligen Fahrzeugs einzugreifen, wenn eine Situation kritisch zu werden droht oder bereits kritisch ist.This at least one (central) computer system monitors in an appropriate manner The status of the driver assistance systems is constantly updated and is entitled to enter the Intervene control of the respective vehicle when a situation to become critical threatens or is already critical.

Um etwaigen Fehlfunktionen vorzubeugen, ist es vorteilhaft, für die Zentralstation oder den Zentralrechner leistungsfähige redundante Entscheidungssysteme einzusetzen, zum Beispiel drei voneinander unabhängige Entscheidungssysteme, die

  • eine Mehrheitsentscheidung treffen können und
  • gleichzeitig eine Plausibilitätsprüfung von empfangenen Daten und Anweisungen durchführen können.
In order to prevent any malfunctions, it is advantageous to use efficient redundant decision systems for the central station or the central computer, for example three independent decision systems, the
  • can make a majority decision and
  • Simultaneously perform a plausibility check of received data and instructions.

Unabhängig hiervon oder in Verbindung hiermit entspricht es einer bevorzugten Ausführungsform der vorliegenden Erfindung, die Entscheidungen und die Reaktionen hierauf zumindest für eine gewisse Zeit zentral und/oder im Fortbewegungsmittel zu speichern, um im Falle eines Systemversagens die Ursache nachvollziehen zu können und auf diese Weise die Frage des Vorliegens eines Produkthaftungsfalls in zuverlässiger Weise klären zu können.Regardless of or in connection therewith, it corresponds to a preferred one Embodiment of the present invention, the decisions and the reactions at least for a certain time centrally and / or in the means of transportation save in case of a system failure to be able to trace the cause and in this way the question of the existence of a product liability case in more reliable Way to clarify.

Die vorliegende Erfindung betrifft schließlich die Verwendung mindestens eines Systems gemäß der vorstehend dargelegten Art und/oder eines Verfahrens gemäß der vorstehend dargelegten Art zum Erhöhen der Sicherheit, insbesondere zum Vermeiden von Unfällen, im Straßenverkehr, zum Beispiel

  • beim Platooning und/oder
  • im Rahmen eines Fahrerassistenzsyetems, etwa
    • eines Abstandsregelassistenzsystems,
    • eines A[utomatischen]N[ot]B[rems]-Systems,
    • eines Einfädelassistenzsystems,
    • eines Kreuzungsassistenzsystems,
    • eines Spurwechselassistenzsystems,
    • eines Überholassistenzsystems,
die die wesentlichen Voraussetzungen der Nutzung einer Kommunikation zwischen Fahrzeugen und/oder eines Eingriffs in die Fahrfunktion ohne Einbeziehung des Fahrers erfüllen.Finally, the present invention relates to the use of at least one system according to the kind set out above and / or a method according to the kind set forth above for increasing safety, in particular for avoiding accidents on the road, for example
  • at the platooning and / or
  • as part of a driver assistance system, such as
    • a distance control assistance system,
    • an A [atomic] N [ot] B [rems] system,
    • a threading assistance system,
    • a crossing assistance system,
    • a lane change assistance system,
    • an overtake assistance system,
meet the essential requirements of the use of communication between vehicles and / or an intervention in the driving function without involvement of the driver.

Das System gemäß der vorstehend dargelegten Art wie auch das Verfahren gemäß der vorstehend dargelegten Art bedarf einer Normung, denn hier werden sicherheitskritische Funktionen in verschiedensten Fahrzeugen ausgeführt. Der Nachweis ist hierbei zum Beispiel durch die Konformität zu einer derartigen Norm gegeben.The system according to the above-mentioned type as well as the method according to the The way outlined above requires standardization, because this is where safety-critical ones are concerned Functions performed in various vehicles. The evidence is here to Example given by the conformity to such a standard.

Kurze Beschreibung der ZeichnungenBrief description of the drawings

Wie bereits vorstehend erörtert, gibt es verschiedene Möglichkeiten, die Lehre der vorliegenden Erfmdung in vorteilhafter Weise auszugestalten und weiterzubilden. Hierzu wird einerseits auf die den Ansprüchen 1 und 6 nachgeordneten Ansprüche verwiesen, andererseits werden weitere Ausgestaltungen, Merkmale und Vorteile der vorliegenden Erfindung nachstehend anhand des durch Figur 1 veranschaulichten Ausführungsbeispiels näher erläutert.As already discussed above, there are various ways of teaching present invention advantageously embodying and developing. For this On the one hand, reference is made to the claims subordinate to claims 1 and 6, On the other hand, further embodiments, features and advantages of the present Invention below with reference to the embodiment illustrated by Figure 1 explained in more detail.

Es zeigt:

  • Fig. 1 in schematischer Darstellung ein Ausführungsbeispiel für ein System gemäß der vorliegenden Erfindung, das auf einem Kommunikationsmodell gemäß der vorliegenden Erfindung basiert und nach dem Verfahren gemäß der vorliegenden Erfindung arbeitet.
    • It shows:
  • 1 is a schematic representation of an embodiment of a system according to the present invention based on a communication model according to the present invention and operating according to the method of the present invention.

    • Bester Weg zur Ausführung der ErfindungBest way to carry out the invention

    Eine exemplarische Ausführung der vorliegenden Erfindung ist in Figur 1 dargestellt.An exemplary embodiment of the present invention is shown in FIG.

    Hierbei fährt ein sogenanntes Platoon 100 aus drei Fahrzeugen mit Hilfe der Kommunikation untereinander und mit der erfindungsgemäß gegebenen, nachfolgend erläuterten Infrastruktur. Die Kommunikation mit der Infrastruktur erfolgt über ein Gateway oder eine Basisstation 200.Here, a so-called platoon 100 drives out of three vehicles with the help of Communication between each other and with the inventively given, below explained infrastructure. Communication with the infrastructure takes place via a Gateway or base station 200.

    Der Transport der für das jeweilige Fahrerassistenzsystem der Kraftfahrzeuge 100 bestimmten Daten und Anweisungen 10 erfolgt über ein drahtloses Kommunikationsnetz 300 zu einem zentralen Rechner 400, der sich in Figur 1 aus drei redundanten Entscheidungseinheiten 402, 404, 406 zusammensetzt.The transport of the respective driver assistance system of the motor vehicle 100th certain data and instructions 10 are via a wireless communication network 300 to a central computer 400, which is shown in Figure 1 of three redundant Decision units 402, 404, 406 composed.

    Hierbei werden die Daten und Anweisungen 10 durch das Gateway bzw. durch die Basisstation 200 gebündelt, gesammelt und aufbereitet, wobei die Antenne 210 des Gateways bzw. der Basisstation 200 ein Empfangen bzw. Senden der Daten und Anweisungen 10 ermöglicht.In this case, the data and instructions 10 through the gateway or through the Base station 200 bundled, collected and processed, wherein the antenna 210 of the Gateways or the base station 200 receiving or sending the data and Instructions 10 allows.

    Im Platoon 100 aus drei (oder mehr) Fahrzeugen kann nun zum Beispiel bei Erkennen einer potentiell gefährlichen Situation das Rechnersystem 400 das letzte, in der Darstellung gemäß Figur 1 unterste Fahrzeug mit neunzig Prozent der maximalen Bremskraft verzögern lassen, das vorletzte, in der Darstellung gemäß Figur 1 zweitunterste Fahrzeug mit achtzig Prozent der maximalen Bremskraft und so weiter. Auf diese Weise wird ein eng fahrender, autonom gesteuerter Konvoi wirkungsvoll und gefahrlos auseinandergezogen, was zu einer signifikanten Herabsetzung der Unfallgefahr im Platoon 100 führt. In the platoon 100 of three (or more) vehicles can now be detected, for example, at a potentially dangerous situation the computer system 400 the last, in the Representation of Figure 1 lowest vehicle with ninety percent of the maximum Delay braking force, the penultimate, in the illustration of Figure 1 second lowest vehicle with eighty percent of the maximum braking force and so on. On this way, a tight-moving, autonomously controlled convoy becomes effective and effective safely pulled apart, resulting in a significant reduction in the risk of accidents in the platoon 100 leads.

    Alternativ oder in Ergänzung hierzu können beim Aufbau eines Platoon 100 aus vier Fahrzeugen die fahrdynamikrelevanten Parameter der einzelnen Fahrzeuge ausgetauscht werden, so zum Beispiel

    • die maximale Beschleunigung,
    • die maximale Bremsverzögerung,
    • die maximale Querbeschleunigung und
    • die maximale (Wunsch-)Geschwindigkeit.
    Alternatively or in addition to this, the vehicle dynamics-relevant parameters of the individual vehicles can be exchanged during the construction of a platoon 100 from four vehicles, such as for example
    • the maximum acceleration,
    • the maximum braking delay,
    • the maximum lateral acceleration and
    • the maximum (desired) speed.

    Anhand dieser Werte werden die jeweiligen Führer der vier Kraftfahrzeuge mittels der vom System 500 übermittelten Daten und Informationen 10 angewiesen, eine bestimmte Reihenfolge im Platoon 100 einzunehmen, wobei das am schwächsten bremsende Fahrzeug vorne, das heißt in der Darstellung gemäß Figur 1 oben angeordnet sein sollte.Based on these values, the respective drivers of the four motor vehicles are informed by means of the from the system 500 transmitted data and information 10 instructed a specific Order in Platoon 100, with the weakest braking Vehicle front, that is should be arranged in the illustration of Figure 1 above.

    Ein von der vorliegenden Erfindung umfasstes Szenario geht nun davon aus, dass sich die Fahrer nicht an diese Anweisung 10 halten und eine andere Reihenfolge einnehmen, wobei der zentrale Rechner 400 des Systems 500 aufgrund einer kurzen oder temporären Fehlfunktion die Information über die Reihenfolge nicht korrekt erhalten und daher von der angewiesenen Reihenfolge ausgehen soll.A scenario encompassed by the present invention now assumes that the Driver does not follow this instruction 10 and take a different order, the central computer 400 of the system 500 being short or temporary Malfunction did not get the information about the order correctly and therefore from the ordered order should go out.

    Während der Fahrt weist nun der zentrale Rechner 400 das Platoon 100 an, eine Notbremsung durchzuführen. Die Plausibilitätsprüfung in den Fahrzeugen ergibt jedoch in diesem Fall eine hohe Gefährdung durch das fälschlicherweise im hinteren, in der Darstellung gemäß Figur 1 unteren Bereich einsortierte schwächer bremsende Fahrzeug, so dass die vor diesem schwächer bremsenden Fahrzeug fahrenden Fahrzeuge im Einklang mit der vorliegenden Erfindung nur eine auf den maximalen Bremswert des schwächsten dahinter fahrenden Fahrzeugs begrenzte Bremsung durchführen.While driving, the central computer 400 now indicates the platoon 100, a Emergency braking. However, the plausibility check in the vehicles shows in this case a high endangerment by the wrongly in the rear, in the Representation of Figure 1 lower range sorted weaker braking vehicle, so that in front of this weaker braking vehicle driving vehicles in the In accordance with the present invention only one on the maximum braking value of weakest behind it driving vehicle perform limited braking.

    Auf diese Weise werden die Geschwindigkeitsunterschiede zwischen den Fahrzeugen so gering gehalten, dass eine dynamische Regelung auf den maximalen Bremswert des Gesamtplatoons 100 möglich ist. Die sich hinter, das heißt in der Darstellung gemäß Figur 1 unter dem schwächer bremsenden Fahrzeug befindlichen Fahrzeuge bremsen vorteilhafterweise mit ihrer maximalen Bremskraft, um auch in diesem Fall ein Auseinanderziehen des Platoons 100 zu gewährleisten. In this way, the speed differences between the vehicles so kept low, that a dynamic control to the maximum braking value of Total platons 100 is possible. The behind, that is in the representation according to Figure 1 brakes under the slower braking vehicle vehicles advantageously with its maximum braking force, in order to also in this case To pull apart the Platoons 100 to ensure.

    In Figur 1 ist die vorliegende Erfindung anhand des Ausführungsbeispiels des Platoonings veranschaulicht. Die Methodik bzw. Vorgehensweise gemäß der vorliegenden Erfindung gilt in gleicher Weise bzw. entsprechend auch für andere Fahrerassistenzfunktionen, wie etwa A[utomatische]N[ot]B[remse], Kreuzungsassistenz, Spurwechselassistenz, Abstandsregelassistenz, Überholassistenz, Einfädelassistenz und dergleichen hier nicht genannte Assistenten, die die wesentlichen Voraussetzungen der Nutzung einer Kommunikation 20 zwischen Fahrzeugen 100 und eines Eingriffs in die Fahrfunktion ohne Einbeziehung des Fahrers erfüllen.In Figure 1, the present invention is based on the embodiment of the Platooning illustrates. The methodology or procedure according to the The present invention applies in the same way and accordingly also for others Driver assistance functions, such as A [N] ot [B] remse], intersection assistance, Lane change assistance, distance control assistance, overtaking assistance, threading assistance and The assistant not mentioned here, who fulfills the essential requirements of Use of a communication 20 between vehicles 100 and an intervention in the Driving function without involvement of the driver meet.

    Claims (10)

    System (500) zum Steuern und/oder zum Regeln mindestens eines,
    insbesondere mehrerer jeweils mindestens einem Fortbewegungsmittel (100), insbesondere jeweils mindestens einem Kraftfahrzeug, zugeordneter, vorzugsweise autonomer Fahrerassistenzsysteme,
    dadurch gekennzeichnet, dass die Fahrerassistenzsysteme mittels Daten und/oder Anweisungen (10) steuerbar und/oder regelbar sind, die zwischen den Fahrerassistenzsystemen und mindestens einer Zentralstation (400), insbesondere mindestens einem zentralen Rechner, über mindestens ein insbesondere drahtloses Kommunikationsnetz (300) austauschbar sind.    System (500) for controlling and / or regulating at least one,
    in particular a plurality of respectively at least one means of locomotion (100), in particular in each case at least one motor vehicle, associated, preferably autonomous driver assistance systems,
    characterized in that the driver assistance systems are controllable and / or controllable by means of data and / or instructions (10) interchangeable between the driver assistance systems and at least one central station (400), in particular at least one central computer via at least one particular wireless communication network (300) are.         System gemäß Anspruch 1, dadurch gekennzeichnet, dass zwischen die Fahrerassistenzsysteme und die Zentralstation (400), insbesondere zwischen die Fahrerassistenzsysteme und das Kommunikationsnetz (300), mindestens eine Basisstation oder mindestens ein Gateway (200) geschaltet ist.System according to claim 1, characterized in that between the driver assistance systems and the central station (400), in particular between the driver assistance systems and the communication network (300), at least one base station or at least one gateway (200) is connected. System gemäß Anspruch 2, dadurch gekennzeichnet, dass die Daten und/oder Anweisungen (10) durch die Basisstation bzw. durch das Gateway (200) bündelbar, sammelbar und/oder aufbereitbar sind, insbesondere dass die Daten und/oder Anweisungen (10) durch mindestens eine der Basisstation bzw. dem Gateway (200) zugeordnete Antenneneinheit (210) empfangbar und/oder sendbar sind.A system according to claim 2, characterized in that the data and / or instructions (10) by the base station or by the gateway (200) are bundled, collectable and / or editable, in particular that the data and / or instructions (10) at least one of the base station or the gateway (200) associated with the antenna unit (210) are receivable and / or sendable. System gemäß mindestens einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass das Kommunikationsnetz (300) auf mindestens einem insbesondere hochratigen und/oder insbesondere hochverfügbaren Mobilfunknetz der zweiten, dritten und/oder vierten Generation, zum Beispiel auf Bluetooth, auf G[eneral]P[acket]R[adio]S[ervice], auf G[lobal]S[ystem for]M[obile Communication], auf U[niversal]M[obile]T[elecommunication]S[ystem], auf W[ireless]A[pplication]P[rotocol] und/oder auf W[ireless]L[ocal]A[rea]N[etwork], basiert.System according to at least one of claims 1 to 3, characterized in that the communication network (300) on at least one particular high-rate and / or particularly highly available mobile network of the second, third and / or fourth generation, for example on Bluetooth, on G [eneral] P [acket] R [adio] S [ervice], to G [lobal] S [ystem for] M [obile Communication], on U [niversal] M [obile] T [elecommunication] S [ystem], on W [ireless] A [application] P [rotocol] and / or on W [ireless] L [ocal] A [rea] N [etwork], based. System gemäß mindestens einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass die Zentralstation (400) mehr als eine, zum Beispiel mindestens drei insbesondere redundante Entscheidungseinheiten (402, 404, 406) aufweist, so dass hinsichtlich der empfangenen und/oder gesendeten Daten und/oder Anweisungen (10) sowie hinsichtlich der hierauf getroffenen Entscheidungen und/oder erfolgten Reaktionen mindestens eine Plausibilitätsprüfung durchführbar ist und/oder mindestens eine Mehrheitsentscheidung treffbar ist. System according to at least one of claims 1 to 3, characterized in that the central station (400) more than one, for example, at least three particular redundant decision units (402, 404, 406), so that in terms of the received and / or transmitted data and / or instructions (10), as well as the decisions and / or reactions taken at least one plausibility check is feasible and / or at least one majority decision is applicable. Verfahren zum Steuern und/oder zum Regeln mindestens eines, insbesondere mehrerer jeweils mindestens einem Fortbewegungsmittel (100), insbesondere jeweils mindestens einem Kraftfahrzeug, zugeordneter, vorzugsweise autonomer Fahrerassistenzsysteme,
    dadurch gekennzeichnet, dass die Fahrerassistenzsysteme mittels Daten und/oder Anweisungen (10) gesteuert und/oder geregelt werden, die zwischen den Fahrerassistenzsystemen und mindestens einer Zentralstation (400), insbesondere mindestens einem zentralen Rechner, über mindestens ein insbesondere drahtloses Kommunikationsnetz (300) ausgetauscht werden.    Method for controlling and / or regulating at least one, in particular more, in each case at least one transportation means (100), in particular in each case at least one motor vehicle, assigned, preferably autonomous driver assistance systems,
    characterized in that the driver assistance systems are controlled and / or regulated by means of data and / or instructions (10) exchanged between the driver assistance systems and at least one central station (400), in particular at least one central computer via at least one particular wireless communication network (300) become.         Verfahren gemäß Anspruch 6, dadurch gekennzeichnet, dass die Daten und/oder Anweisungen (10) durch die Basisstation bzw. durch das Gateway (200) gebündelt, gesammelt und/oder aufbereitet werden, insbesondere dass die Daten und/oder Anweisungen (10) durch mindestens eine der Basisstation bzw. dem Gateway (200) zugeordnete Antenneneinheit (210) empfangen und/oder gesendet werden.A method according to claim 6, characterized in that the data and / or instructions (10) by the base station or by the gateway (200) are bundled, collected and / or processed, in particular that the data and / or instructions (10) at least one of the base station or the gateway (200) associated with the antenna unit (210) are received and / or sent. Verfahren gemäß Anspruch 6 oder 7, dadurch gekennzeichnet, dass das Fortbewegungsmittel (100), insbesondere dessen Fahrerassistenzsystem, in einer kritischen Situation und/oder periodisch und/oder permanent über das Kommunikationsnetz (300) mit der Zentralstation (400) kommuniziert.Method according to claim 6 or 7, characterized that the transportation means (100), in particular its driver assistance system, in a critical situation and / or periodically and / or permanent communicates with the central station (400) via the communications network (300). Verfahren gemäß mindestens einem der Ansprüche 6 bis 8, dadurch gekennzeichnet, dass die Zentralstation (400) von mindestens einer insbesondere vertrauenswürdigen Institution verwaltet wird und/oder hohen Sicherheitsanforderungen genügt und/oder dass hinsichtlich der empfangenen und/oder gesendeten Daten und/oder Anweisungen (10) sowie hinsichtlich der hierauf getroffenen Entscheidungen und/oder erfolgten Reaktionen mindestens eine Plausibilitätsprüfung durchgeführt werden kann, woraufhin die getroffenen Entscheidungen und/oder die erfolgten Reaktionen zumindest für eine gewisse Zeitspanne zentral, zum Beispiel in der Zentralstation (400), und/oder dezentral, zum Beispiel im Fortbewegungsmittel (100), insbesondere in dessen Fahrerassistenzsystem, gespeichert werden, um im Falle eines Versagens des Systems (500) die Ursache des Versagens nachvollziehen zu können.Method according to at least one of claims 6 to 8, characterized that the central station (400) is managed by at least one particular trustworthy institution and / or meets high security requirements and / or that at least one plausibility check can be carried out with regard to the received and / or sent data and / or instructions (10) as well as with regard to the decisions and / or reactions taken thereon, whereupon the decisions taken and / or the reactions taken are at least for a certain period of time centrally, for example in the central station (400), and / or decentralized, for example in the means of locomotion (100), in particular in its driver assistance system, be stored in order to be able to understand the cause of the failure in the event of a failure of the system (500). Verwendung mindestens eines Systems (500) gemäß mindestens einem der Ansprüche 1 bis 5 und/oder eines Verfahrens gemäß mindestens einem der Ansprüche 6 bis 9 zum Erhöhen der Sicherheit, insbesondere zum Vermeiden von Unfällen, im Straßenverkehr, zum Beispiel beim Platooning und/oder im Rahmen eines Fahrerassistenzsyetems, etwa eines Abstandsregelassistenzsystems, eines A[utomatischen]N[ot]B[rems]-Systems, eines Einfädelassistenzsystems, eines Kreuzungsassistenzsystems, eines Spurwechselassistenzsystems, eines Überholassistenzsystems. Use of at least one system (500) according to at least one of claims 1 to 5 and / or a method according to at least one of claims 6 to 9 for increasing safety, in particular for avoiding accidents, in road traffic, for example at the platooning and / or as part of a driver assistance system, such as a distance control assistance system, an A [atomic] N [ot] B [rems] system, a threading assistance system, a crossing assistance system, a lane change assistance system, an overtake assistance system.
    EP20050100036 2004-02-24 2005-01-05 System for open-loop and/or for closed loop control of driver assist systems and method related thereto Expired - Fee Related EP1569183B1 (en)

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    CN111433700A (en) * 2017-12-08 2020-07-17 克诺尔商用车制动系统有限公司 Method for moving a vehicle fleet on the basis of a predefinable overall operating strategy associated with the vehicle fleet
    WO2019110735A1 (en) 2017-12-08 2019-06-13 Knorr-Bremse Systeme für Nutzfahrzeuge GmbH Method for triggering an automatic emergency braking operation in a vehicle convoy
    WO2019110736A1 (en) 2017-12-08 2019-06-13 Knorr-Bremse Systeme für Nutzfahrzeuge GmbH Method for moving a line of vehicles based on a predefinable overall operating strategy associated with the line of vehicles
    DE102018001055A1 (en) 2017-12-08 2019-06-13 Knorr-Bremse Systeme für Nutzfahrzeuge GmbH Method for triggering an automatic emergency braking operation in a vehicle convoy
    WO2019110738A1 (en) 2017-12-08 2019-06-13 Knorr-Bremse Systeme für Nutzfahrzeuge GmbH Method for controlling the driving behavior of a leading vehicle of a vehicle train
    DE102018108919A1 (en) 2018-04-16 2019-10-17 Knorr-Bremse Systeme für Nutzfahrzeuge GmbH Method for controlling the driving, braking and / or steering behavior of at least one motor vehicle following a preceding motor vehicle
    DE102019101443A1 (en) 2019-01-21 2020-07-23 Knorr-Bremse Systeme für Nutzfahrzeuge GmbH Method for controlling a vehicle column during emergency braking
    DE102019101443B4 (en) 2019-01-21 2023-07-20 Knorr-Bremse Systeme für Nutzfahrzeuge GmbH Method for controlling a convoy of vehicles during emergency braking

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    EP1569183A3 (en) 2006-08-16
    ES2298931T3 (en) 2008-05-16
    DE502005002870D1 (en) 2008-04-03
    EP1569183B1 (en) 2008-02-20
    DE102004008895A1 (en) 2005-09-08

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