EP2195796B1 - Method for providing driving operation data - Google Patents

Method for providing driving operation data Download PDF

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Publication number
EP2195796B1
EP2195796B1 EP08801578.9A EP08801578A EP2195796B1 EP 2195796 B1 EP2195796 B1 EP 2195796B1 EP 08801578 A EP08801578 A EP 08801578A EP 2195796 B1 EP2195796 B1 EP 2195796B1
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Prior art keywords
motor vehicle
driving operation
operation data
network
data
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EP08801578.9A
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German (de)
French (fr)
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EP2195796A1 (en
Inventor
Gregor Nitz
Felix Dr. Klanner
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Bayerische Motoren Werke AG
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Bayerische Motoren Werke AG
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • 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
    • G08G1/163—Decentralised systems, e.g. inter-vehicle communication involving continuous checking

Definitions

  • the invention relates to a method for providing driving operation data in a network for the wireless exchange of driving operation data.
  • the DE 10 2005 017 419 A1 describes a method for transmitting information that is relevant for the operation of vehicles, wherein the information is provided by a transmitting unit of a first vehicle in an environment of the first vehicle in a technically evaluable form and by means of a receiver unit in a second vehicle at least partially recording and / or evaluation of the information takes place when the second vehicle is in the surrounding area of the first vehicle.
  • the vehicles thus provide driving operation data to each other using wireless communication means.
  • a first motor vehicle can transmit its driving operation data to a stationary infrastructure device, which forwards and / or interprets the travel operating data of the first motor vehicle, if necessary, to a second motor vehicle.
  • the document US 2007/100537 A1 discloses a vehicle probe based traffic information system and associated method for collecting traffic data.
  • a so-called host vehicle dictates status data of other vehicles, aggregates and processes these and forwards the processed data to a traffic information center. This is intended to reduce the number of communication channels required to communicate the status data of a plurality of vehicle probes to the traffic information center.
  • the invention broadens the database that can be used in the network.
  • absolute driving operation data of a motor vehicle is first determined by another motor vehicle and then disseminated by this other motor vehicle in a communication network.
  • absolute driving data of a motor vehicle are operationally relevant data of this motor vehicle to understand that relate exclusively to this motor vehicle, so for example, an absolute driving speed of this motor vehicle and / or an absolute position of this motor vehicle.
  • relative speeds that are related to the "measuring" motor vehicle are not to be regarded as absolute driving operating data of a motor vehicle "measured” by another motor vehicle.
  • the absolute driving operation data is determined by comparing relative driving force data of the "measured" motor vehicle (eg a relative speed between "measured” and “measuring” motor vehicle) related to the "surveying" motor vehicle in connection with known absolute driving operation data of the "surveying" vehicle. Motor vehicle are evaluated.
  • the absolute driving data of the "surveying" Motor vehicles can be determined, for example, by a tachometer and / or a satellite-based position determination system.
  • the "surveying" motor vehicle is connected to the network in terms of communication technology.
  • this connection is made by a radio module.
  • an environment sensor system of the motor vehicle connected to the network by communication technology is used for the measurement.
  • This preferably has at least one radar or lidar sensor or an image processing unit.
  • the "measured" motor vehicle is preferably located in the immediate vicinity of the "surveying" motor vehicle, at least within the range of its surroundings sensor system.
  • the "measured" motor vehicle preferably drives directly in front of the "surveying" motor vehicle or directly behind the “surveying” motor vehicle.
  • the absolute driving operation data are preferably transmitted in the network in such a way that they can be assigned to a specific motor vehicle or at least to a single motor vehicle. This can be realized, for example, by the absolute position of the "measured” motor vehicle determined and timely, or possibly together with a time indication is transmitted. With sufficient accuracy of the position information, this allows a clear assignment to the respective "measured" motor vehicle, since no other motor vehicle can be at the exact same location at the same time.
  • the absolute travel operating data transmitted in the network are evaluated by at least one subscriber of the network, in particular an infrastructure device, with assignment to a specific motor vehicle or at least one individual motor vehicle.
  • a model can be made in which the positions and routes of individual motor vehicles are modeled.
  • the present invention determines the "measuring" motor vehicle, hereinafter also referred to as the first motor vehicle, further by means of at least one own sensor arranged in the first motor vehicle absolute driving operation data of the first motor vehicle and this absolute driving operation data of the first motor vehicle are transmitted from the first motor vehicle to at least one other participant of the network.
  • the first motor vehicle in the network therefore not only provides the driving data of the "measured" motor vehicle, also referred to below as the second motor vehicle, but also its own driving operating data.
  • the other participant of the network, to which the driving data of the second, and possibly also of the first, motor vehicle are transmitted, may in particular be designed as a third motor vehicle.
  • the driving operation data of the second motor vehicle can then be evaluated, for example, by a driver assistance system of the third motor vehicle.
  • the driving operation data of the second, and possibly also the first, motor vehicle can also be transmitted to an infrastructure facility.
  • Such an infrastructure device preferably transmits the driving operation data of the second motor vehicle and / or a traffic information derived from these travel operating data to at least one third motor vehicle.
  • a plurality of infrastructure devices communicating with each other can be provided in a network. An information flow can then lead from the first motor vehicle via several infrastructure facilities to a third motor vehicle.
  • the driving operation data of the second motor vehicle will be transmitted by the first motor vehicle only if the second motor vehicle is not connected by communication to the network. Namely, unnecessary communication effort can be avoided if the second motor vehicle anyway provides its driving operation data itself in the network or would at least be able to do so.
  • the first motor vehicle may have means for receiving communication data from subscribers of the network and also comprise an evaluation unit for determining whether the second motor vehicle communication data, the content determined by the first motor vehicle concerning the second motor vehicle Driving data correspond even in the network communicates. Consequently, it may be advantageous to transmit the driving operation data of the second motor vehicle only by the first motor vehicle if the evaluation unit determines that the second motor vehicle does not communicate any communication data in the network that corresponds in terms of content to this driving operation data.
  • the first motor vehicle also has means for receiving communication data from subscribers of the network, and the first motor vehicle comprises an evaluation unit for determining whether communication data that the first motor vehicle receives by means of an infrastructure Receives device based on data that correspond in content to the driving data determined by the first motor vehicle.
  • the driving operation data of the second motor vehicle are advantageously transmitted by the first motor vehicle in the network only if the evaluation unit determines that the communication data is not based on data that corresponds in content to the driving operation data.
  • the redundant provision can be avoided even in cases in which driving operation data of the second motor vehicle are not received directly from the first motor vehicle, but are already taken into account in the model of an infrastructure facility.
  • radio technologies for example IEEE802.11p
  • C2C car-to-car
  • C2X infrastructure facilities
  • driver assistance systems which serve, for example, to detect and avoid potential collisions between two objects (eg Communication-based Cross Traffic Assistant KQA of the BMW Group Research and Technology, presented at the "Aachen Colloquium” 2006), need not only the data of the own vehicle, but also the data of all relevant objects in the environment.
  • the own vehicle data can be detected by vehicle-autonomous sensors.
  • the collection of the data of all relevant objects is usually not possible only with vehicle-autonomous sensors on the own vehicle.
  • the availability of the driving operation data of individual road users for other road users and / or for an infrastructure device can also be limited by the fact that the communication means used for transmission fail or work incorrectly.
  • driving operation data of other road users are made available by a vehicle with a communication device equipped first motor vehicle driving data of at least one second motor vehicle, which is located in the vicinity of the first motor vehicle, detected by own sensors and this driving operation data of the second motor vehicle by means of the communication device spread in a network.
  • the network may comprise only the first motor vehicle and a third motor vehicle, to which the first motor vehicle transmits the driving operation data of the second motor vehicle.
  • the network may also include at least one infrastructure device and a plurality of other road users.
  • the driving operation data of the second motor vehicle are then transmitted from the first motor vehicle to the infrastructure device.
  • driving data of many other road users are transmitted to the infrastructure facility by other road users in the present example.
  • the collected driving operation data can enter in particular into a traffic flow model.
  • the driving operation data of the second motor vehicle is propagated in the network together with driving operation data of the first motor vehicle. There is then no additional communication channel or no additional addressing required.
  • An increase in performance can be achieved in that the driving operation data of the second motor vehicle are propagated by the first motor vehicle in the network only if the second motor vehicle does not have a suitable communication device to do this itself, or if a corresponding communication device of the second motor vehicle in the current situation is not ready.
  • a performance increase can also be achieved by the fact that the driving operation data of the second motor vehicle are distributed by the first motor vehicle in the network only if these driving operation data in the current situation are expected to be relevant for other participants of the network. This may in particular depend on the position, direction of travel and driving speed of the other participants in the network.
  • Fig. 1 illustrates the functional principle of an example system.
  • a motor vehicle - according to the above-mentioned first motor vehicle - is equipped with vehicle sensors and a radio module. By the radio module, the motor vehicle is connected to a communication system.
  • Vehicle sensors 11 of the motor vehicle detect own vehicle data of the motor vehicle (eg the own driving speed), which are made available to the communication system 40 via an evaluation unit 12 and a relevance assessment by a relevance evaluation unit 30 via the radio module after an evaluation and interpretation.
  • own vehicle data of the motor vehicle eg the own driving speed
  • the communication system 40 comprises the own vehicle and all objects within radio range of the own vehicle (eg other vehicles and infrastructure devices), which are equipped with a radio module and also make their data, referred to below as object data, available to the communication system 40 , On the basis of this object data, an environment model can be generated in the own vehicle and / or in at least one of the objects and / or even in each individual object.
  • a certain number of environment sensors 21 are also installed on the own vehicle. If an object (for example another vehicle - corresponding to the above-mentioned second motor vehicle) is within the range of the environment sensors 21, measurement data relating to this object (eg a relative speed) of the own vehicle is detected and stored in an evaluation system Interpretation unit 22 evaluated and interpreted. As a result of these method steps, object data of the object (eg driving operation data of the second motor vehicle) can be determined in the case of the own vehicle (eg its absolute speed).
  • the object data determined in this way can be compared in a comparison unit 23 of the own vehicle with those object data which the own vehicle itself has received via the radio module from other communication users of the communication system 40. If no object data is received from an object detected in the environment of the own vehicle, it can be concluded from this that this object does not have a functioning radio module. Accordingly, if necessary after a Relevance check, the subject of the object vehicle specific object data from the own vehicle - in a sense representative of the object - the communication system are made available.
  • the advantage can be exploited that the vehicle-autonomous sensors and / or algorithms required for the determination of this object data already for the purposes of other driver assistance systems in Vehicle are provided (eg front radar at ACC and rear radar at lane change assistance).
  • the additional measurement, calculation and cost is therefore relatively low.
  • the object in question has a functioning radio module is determined in the present case via the radio data received from the own vehicle.
  • the advantage can be exploited that the object data of the relevant object are transmitted to the one via the communication system 40 and, on the other hand, are detected by the vehicle-autonomous environmental sensors 21 on the own vehicle. For if an object is detected by the vehicle-autonomous sensors 21 of the own vehicle, but no data is received from this object via the communication system 40, then it can be assumed that the object has no or no functional radio module.
  • the object data that an object sends are provided with an identification feature, if the object also has an external property that can also be detected by the surroundings sensors 21 of the own vehicle, and if the identification feature and the external property are mutually exclusive are assignable.
  • a vehicle can send a code derived from the imprint of its license plate as an identification feature together with its driving operation data. If the own vehicle, which has a camera as environmental sensor 21, now image-based bearing the imprint of the license plate of another vehicle determined and derived from the same code, it may be concluded that this vehicle is equipped with a radio module and its Fahr sunnyschal sent itself.
  • a vehicle can send a code derived from its overall size and / or its exterior color as an identification feature together with its driving operation data. If the own vehicle, which has a camera as environment sensor 21, now image processing-based determines the overall size and / or exterior color of another vehicle in its environment and derived from it in about the same code, it may conclude that this vehicle with high probability with a Radio module is equipped and its driving data sent itself.
  • the own vehicle can be at least approximately determine the absolute position of another vehicle when aware of its own absolute position by means of environmental sensors. If the own vehicle now receives radio data object data describing an object with exactly this absolute position, or if it receives object data with additional identifying position data corresponding to this absolute position, it may conclude that this vehicle is equipped with a radio module is and sends its driving data itself.
  • Vehicle 1 and vehicle 2 are each equipped with a radio module.
  • Vehicle 2 also has vehicle-autonomous sensors (eg front and rear radar).
  • the vehicles 3 and 4 have no radio module.
  • the driver of the vehicle 1 interprets the traffic control incorrectly. It is therefore assumed that the vehicle 1 with the vehicle 4 is on a collision course.
  • the driving operation data of the vehicle 4 eg, absolute position and speed
  • Fig. 2 radar lobes 2a are shown at the front and rear of the vehicle 2, detected and transmitted to the vehicle 1 via the radio module together with the driving operating data of the vehicle 2 determined by self-sensors.
  • Vehicle 1 can thus receive the driving operation data of vehicle 4 via the radio module, although the vehicle 4 itself has no radio module.
  • radio-based driver assistance systems An important criterion for the market introduction of radio-based driver assistance systems is the expected performance, reliability and availability even with a low distribution of the system. Since all these quality measures increase with increasing equipment rate of the vehicles with radio modules, in particular a market introduction of such systems is supported by the inventively achieved virtual increase in the equipment rate. But even with a high equipment rate with radio modules, the proposed method offers further advantages. Thus, for example, the data of a not equipped with a radio module classic car can be detected by the vehicle-autonomous sensors of a modern, equipped with a radio, own vehicle and thus made available through the communication system.
  • a provision for the creation of a financial compensation between the passive and the actively communicating participants in a method according to the invention is also conceivable.
  • the acquisition of a radio module can thus be jointly funded financially.
  • Transmitted driving data can be provided with an assignment characteristic of the sender.

Description

Die Erfindung betrifft ein Verfahren zur Bereitstellung von Fahrbetriebsdaten in einem Netzwerk zum drahtlosen Austausch von Fahrbetriebsdaten.The invention relates to a method for providing driving operation data in a network for the wireless exchange of driving operation data.

Die DE 10 2005 017 419 A1 beschreibt ein Verfahren zur Übermittlung von Informationen, die für den Betrieb von Fahrzeugen relevant sind, wobei die Informationen durch eine Sendeeinheit eines ersten Fahrzeugs in einem Umgebungsbereich des ersten Fahrzeugs in technisch auswertbarer Form bereitgestellt werden und mittels einer Empfängereinheit in einem zweiten Fahrzeug eine zumindest teilweise Aufnahme und/oder Auswertung der Informationen erfolgt, wenn sich das zweite Fahrzeug im Umgebungsbereich des ersten Fahrzeugs befindet. Die Fahrzeuge stellen also untereinander unter Ausnutzung von drahtlosen Kommunikationsmitteln Fahrbetriebsdaten bereit.The DE 10 2005 017 419 A1 describes a method for transmitting information that is relevant for the operation of vehicles, wherein the information is provided by a transmitting unit of a first vehicle in an environment of the first vehicle in a technically evaluable form and by means of a receiver unit in a second vehicle at least partially recording and / or evaluation of the information takes place when the second vehicle is in the surrounding area of the first vehicle. The vehicles thus provide driving operation data to each other using wireless communication means.

Bekannt ist auch ein indirekte Bereitstellung von Fahrbetriebsdaten unter Ausnutzung von Infrastruktur-Einrichtungen. Es kann dabei beispielsweise ein erstes Kraftfahrzeug seine Fahrbetriebsdaten an eine stationäre Infrastruktur-Einrichtung übermitteln, welche die Fahrbetriebsdaten des ersten Kraftfahrzeugs, gegebenenfalls aufbereitet und/oder interpretiert, an ein zweites Kraftfahrzeug weiterleitet.Also known is an indirect provision of driving data using infrastructure facilities. In this case, for example, a first motor vehicle can transmit its driving operation data to a stationary infrastructure device, which forwards and / or interprets the travel operating data of the first motor vehicle, if necessary, to a second motor vehicle.

Die Zuverlässigkeit und/oder Verfügbarkeit von Vorrichtungen und Verfahren, die auf der Verwertung von auf solchem oder ähnlichem Wege erlangter Information bezüglich Fahrbetriebsdaten anderer Kraftfahrzeuge beruhen, ist heute jedoch noch erheblich eingeschränkt durch die Tatsache, dass nur ein verhältnismäßig geringer Anteil aller Verkehrsteilnehmer mit entsprechenden Kommunikationsmitteln ausgerüstet ist.However, the reliability and / or availability of devices and methods based on the exploitation of information obtained in such or similar ways with respect to driving data of other motor vehicles is today still considerably limited by the fact that only a relatively small proportion of all road users with corresponding communication means equipped.

Das Dokument US 2007/100537 A1 offenbart ein auf Fahrzeugsonden basierendes Verkehrs-Informationssystem und ein dazugehöriges Verfahren zum Sammeln von Verkehrsdaten. Ein so genanntes Host-Fahrzeug dtektiert dabei Zustandsdaten anderer Fahrzeuge, aggregiert und verarbeitet diese und leitet die verarbeiteten Daten an ein Verkehrsinformationszentrum weiter. Dadurch soll die Anzahl der Kommunikationskanäle verringert werden, die zur Übermittlung der Zustandsdaten einer Vielzahl von Fahrzeugsonden an das Verkehrsinformationszentrum erforderlich ist.The document US 2007/100537 A1 discloses a vehicle probe based traffic information system and associated method for collecting traffic data. A so-called host vehicle dictates status data of other vehicles, aggregates and processes these and forwards the processed data to a traffic information center. This is intended to reduce the number of communication channels required to communicate the status data of a plurality of vehicle probes to the traffic information center.

Es ist eine Aufgabe der Erfindung, ein einfaches gattungsgemäßes Verfahren zu schaffen, durch welches das einem Verkehrsteilnehmer zur Verfügung stehende Informationsangebot verbessert wird.It is an object of the invention to provide a simple generic method by which the information available to a road user is improved.

Gelöst wird diese Aufgabe durch ein Verfahren mit den Merkmalen des Anspruchs 1. Vorteilhafte Ausführungsformen und Weiterbildungen der Erfindung ergeben sich aus den abhängigen Ansprüchen.This object is achieved by a method having the features of claim 1. Advantageous embodiments and developments of the invention will become apparent from the dependent claims.

Durch die Erfindung wird die im Netzwerk nutzbare Datenbasis erweitert.The invention broadens the database that can be used in the network.

Bei bekannten Vorrichtungen und Verfahren stehen die Daten von Verkehrsteilnehmern, die nicht mit Kommunikationsmitteln zur Übermittlung ihrer betriebsrelevanten Daten ausgerüstet sind, anderen Verkehrsteilnehmern und/oder Infrastruktur-Einrichtungen nicht zur Verfügung.In known devices and methods, the data of road users who are not equipped with communication means for transmitting their operational data, other road users and / or infrastructure facilities are not available.

Dem wird erfindungsgemäß abgeholfen, indem die Kommunikationsmittel anderer Verkehrsteilnehmer genutzt werden, um die betriebsrelevanten Daten solcher Verkehrsteilnehmer bereitzustellen.This is remedied according to the invention by using the means of communication of other road users in order to provide the operationally relevant data of such road users.

Aus der DE 10 2004 053 754 A1 ist ein Kraftfahrzeug bekannt, das in der Lage ist, eine Verringerung der Geschwindigkeit eines voraus fahrenden anderen Verkehrsteilnehmers zu erkennen und hieraus auf eine Kollisionsgefahr zwischen dem Kraftfahrzeug und dem anderen Verkehrsteilnehmer zu schließen. Die Verringerung der Geschwindigkeit bzw. die Geschwindigkeit selbst wird dabei jedoch nicht an andere Verkehrsteilnehmer übertragen. Eine Nutzung für weitere Zwecke im Netzwerk ist somit nicht möglich.From the DE 10 2004 053 754 A1 is a motor vehicle is known, which is able to detect a reduction in the speed of a driving ahead other road users and to conclude from this on a collision hazard between the motor vehicle and the other road users. However, the reduction in speed or the speed itself is not transmitted to other road users. A use for further purposes in the network is therefore not possible.

Demgegenüber werden bei der Erfindung absolute Fahrbetriebsdaten eines Kraftfahrzeugs zunächst von einem anderen Kraftfahrzeug bestimmt und anschließend von diesem anderen Kraftfahrzeug in einem Kommunikations-Netzwerk verbreitet.In contrast, in the invention, absolute driving operation data of a motor vehicle is first determined by another motor vehicle and then disseminated by this other motor vehicle in a communication network.

Unter absoluten Fahrbetriebsdaten eines Kraftfahrzeugs sind dabei betriebsrelevante Daten dieses Kraftfahrzeugs zu verstehen, die sich ausschließlich auf dieses Kraftfahrzeug beziehen, also beispielsweise eine absolute Fahrgeschwindigkeit dieses Kraftfahrzeugs und/oder eine absolute Position dieses Kraftfahrzeugs. Nicht als absolute Fahrbetriebsdaten eines durch ein anderes Kraftfahrzeug "vermessenen" Kraftfahrzeugs anzusehen sind hingegen Relativgeschwindigkeiten, die auf das "vermessende" Kraftfahrzeug bezogen sind. Vorzugsweise werden die absoluten Fahrbetriebsdaten jedoch bestimmt, indem relative auf das "vermessende" Kraftfahrzeug bezogene Fahrbetriebsdaten des "vermessenen" Kraftfahrzeug (z. B. eine Relativgeschwindigkeit zwischen "vermessenem" und "vermessendem" Kraftfahrzeug) in Verbindung mit bekannten absoluten Fahrbetriebsdaten des "vermessenden" Kraftfahrzeugs ausgewertet werden. Die absoluten Fahrbetriebsdaten des "vermessenden" Kraftfahrzeugs können beispielsweise durch einen Tachometer und/oder ein satellitengestütztes Positionsbestimmungssystem bestimmbar sein.Under absolute driving data of a motor vehicle are operationally relevant data of this motor vehicle to understand that relate exclusively to this motor vehicle, so for example, an absolute driving speed of this motor vehicle and / or an absolute position of this motor vehicle. On the other hand, relative speeds that are related to the "measuring" motor vehicle are not to be regarded as absolute driving operating data of a motor vehicle "measured" by another motor vehicle. Preferably, however, the absolute driving operation data is determined by comparing relative driving force data of the "measured" motor vehicle (eg a relative speed between "measured" and "measuring" motor vehicle) related to the "surveying" motor vehicle in connection with known absolute driving operation data of the "surveying" vehicle. Motor vehicle are evaluated. The absolute driving data of the "surveying" Motor vehicles can be determined, for example, by a tachometer and / or a satellite-based position determination system.

Zur weiteren Verbreitung der absoluten Fahrbetriebsdaten des "vermessenen" Kraftfahrzeugs ist das "vermessende" Kraftfahrzeug an das Netzwerk kommunikationstechnisch angebunden. Vorzugsweise erfolgt diese Anbindung durch ein Funkmodul.To further disseminate the absolute driving data of the "measured" motor vehicle, the "surveying" motor vehicle is connected to the network in terms of communication technology. Preferably, this connection is made by a radio module.

Zur Vermessung dient erfindungsgemäß eine Umfeldsensorik des an das Netzwerk kommunikationstechnisch angebundenen Kraftfahrzeugs. Diese weist vorzugsweise zumindest einen Radar- oder Lidarsensor oder eine Bildverarbeitungseinheit auf.According to the invention, an environment sensor system of the motor vehicle connected to the network by communication technology is used for the measurement. This preferably has at least one radar or lidar sensor or an image processing unit.

Vorzugsweise befindet sich das "vermessene" Kraftfahrzeug in der unmittelbaren Umgebung des "vermessenden" Kraftfahrzeugs, zumindest in der Reichweite von dessen Umfeldsensorik.The "measured" motor vehicle is preferably located in the immediate vicinity of the "surveying" motor vehicle, at least within the range of its surroundings sensor system.

Vorzugsweise fährt das "vermessene" Kraftfahrzeug unmittelbar vor dem "vermessenden" Kraftfahrzeug oder unmittelbar hinter dem "vermessenden" Kraftfahrzeug.The "measured" motor vehicle preferably drives directly in front of the "surveying" motor vehicle or directly behind the "surveying" motor vehicle.

Vorzugsweise werden die absoluten Fahrbetriebsdaten derart im Netzwerk übermittelt, dass sie einem bestimmten Kraftfahrzeug oder zumindest einem einzelnen Kraftfahrzeug zuordbar sind. Dies kann beispielsweise realisiert werden, indem die absolute Position des "vermessenen" Kraftfahrzeugs bestimmt und zeitnah, oder auch gegebenenfalls gemeinsam mit einer Zeitangabe, übermittelt wird. Bei ausreichender Genauigkeit der Positionsangabe erlaubt dies eine eindeutige Zuordnung zu dem jeweils "vermessenen" Kraftfahrzeug, da sich kein anderes Kraftfahrzeug zur gleichen Zeit am exakt gleichen Ort befinden kann.The absolute driving operation data are preferably transmitted in the network in such a way that they can be assigned to a specific motor vehicle or at least to a single motor vehicle. This can be realized, for example, by the absolute position of the "measured" motor vehicle determined and timely, or possibly together with a time indication is transmitted. With sufficient accuracy of the position information, this allows a clear assignment to the respective "measured" motor vehicle, since no other motor vehicle can be at the exact same location at the same time.

Vorzugsweise werden die im Netzwerk übermittelten absoluten Fahrbetriebsdaten durch zumindest einen Teilnehmer des Netzwerks, insbesondere eine Infrastruktur-Einrichtung, unter Zuordnung zu einem bestimmten Kraftfahrzeug oder zumindest einem einzelnen Kraftfahrzeug ausgewertet. Beispielsweise kann eine Modellbildung vorgenommen werden, bei der die Positionen und Fahrwege einzelner Kraftfahrzeug modelliert werden.Preferably, the absolute travel operating data transmitted in the network are evaluated by at least one subscriber of the network, in particular an infrastructure device, with assignment to a specific motor vehicle or at least one individual motor vehicle. For example, a model can be made in which the positions and routes of individual motor vehicles are modeled.

Gemäß einer bevorzugten Ausführungsform der vorliegenden Erfindung bestimmt das "vermessende" Kraftfahrzeug, im Folgenden auch als erstes Kraftfahrzeug bezeichnet, ferner mittels zumindest eines bei dem ersten Kraftfahrzeug angeordneten Eigensensors absolute Fahrbetriebsdaten des ersten Kraftfahrzeugs und diese absoluten Fahrbetriebsdaten des ersten Kraftfahrzeugs werden von dem ersten Kraftfahrzeug an zumindest einen anderen Teilnehmer des Netzwerks übermittelt. Das erste Kraftfahrzeug stellt im Netzwerk also nicht nur die Fahrbetriebsdaten des "vermessenen" Kraftfahrzeugs, im Folgenden auch als zweites Kraftfahrzeug bezeichnet, bereit, sondern zudem seine eigenen Fahrbetriebsdaten.According to a preferred embodiment of the present invention determines the "measuring" motor vehicle, hereinafter also referred to as the first motor vehicle, further by means of at least one own sensor arranged in the first motor vehicle absolute driving operation data of the first motor vehicle and this absolute driving operation data of the first motor vehicle are transmitted from the first motor vehicle to at least one other participant of the network. The first motor vehicle in the network therefore not only provides the driving data of the "measured" motor vehicle, also referred to below as the second motor vehicle, but also its own driving operating data.

Der andere Teilnehmer des Netzwerks, an den die Fahrbetriebsdaten des zweiten, und gegebenenfalls auch des ersten, Kraftfahrzeugs übermittelt werden, kann insbesondere als drittes Kraftfahrzeug ausgebildet sein. Die Fahrbetriebsdaten des zweiten Kraftfahrzeugs können dann beispielsweise durch ein Fahrerassistenzsystem des dritten Kraftfahrzeugs ausgewertet werden.The other participant of the network, to which the driving data of the second, and possibly also of the first, motor vehicle are transmitted, may in particular be designed as a third motor vehicle. The driving operation data of the second motor vehicle can then be evaluated, for example, by a driver assistance system of the third motor vehicle.

Alternativ oder zusätzlich können die Fahrbetriebsdaten des zweiten, und gegebenenfalls auch des ersten, Kraftfahrzeugs auch an eine Infrastruktur-Einrichtung übermittelt werden. Eine solche Infrastruktur-Einrichtung übermittelt die Fahrbetriebsdaten des zweiten Kraftfahrzeugs und/oder eine aus diesen Fahrbetriebsdaten abgeleitete Verkehrsinformation vorzugsweise wiederum an zumindest ein drittes Kraftfahrzeug. Selbstverständlich können auch mehrere untereinander kommunizierende Infrastruktur-Einrichtungen in einem Netzwerk vorgesehen sein. Ein Informationsfluss kann dann auch vom ersten Kraftfahrzeug über mehrere Infrastruktur-Einrichtungen zu einem dritten Kraftfahrzeug führen.Alternatively or additionally, the driving operation data of the second, and possibly also the first, motor vehicle can also be transmitted to an infrastructure facility. Such an infrastructure device preferably transmits the driving operation data of the second motor vehicle and / or a traffic information derived from these travel operating data to at least one third motor vehicle. Of course, a plurality of infrastructure devices communicating with each other can be provided in a network. An information flow can then lead from the first motor vehicle via several infrastructure facilities to a third motor vehicle.

Vorzugsweise werden die Fahrbetriebsdaten des zweiten Kraftfahrzeugs nur dann durch das erste Kraftfahrzeug übermittelt werden, wenn das zweite Kraftfahrzeug nicht kommunikationstechnisch an das Netzwerk angebunden ist. Es kann nämlich unnötiger Kommunikationsaufwand vermieden werden, wenn das zweite Kraftfahrzeug seine Fahrbetriebsdaten ohnehin selbst im Netzwerk bereitstellt oder hierzu zumindest in der Lage wäre.Preferably, the driving operation data of the second motor vehicle will be transmitted by the first motor vehicle only if the second motor vehicle is not connected by communication to the network. Namely, unnecessary communication effort can be avoided if the second motor vehicle anyway provides its driving operation data itself in the network or would at least be able to do so.

Um festzustellen, ob das zweite Kraftfahrzeug seine Fahrbetriebsdaten ohnehin selbst im Netzwerk bereitstellt, kann das erste Kraftfahrzeug Mittel zum Empfang von Kommunikationsdaten von Teilnehmern des Netzwerks aufweisen und zudem eine Auswerteeinheit umfassen zur Feststellung, ob das zweite Kraftfahrzeug Kommunikationsdaten, die inhaltlich den vom ersten Kraftfahrzeug bestimmten, das zweite Kraftfahrzeug betreffenden Fahrbetriebsdaten entsprechen, selbst in dem Netzwerk kommuniziert. Folgerichtig kann es vorteilhaft die Fahrbetriebsdaten des zweiten Kraftfahrzeugs nur dann durch das erste Kraftfahrzeug zu übermitteln, wenn die Auswerteeinheit feststellt, dass das zweite Kraftfahrzeug keine Kommunikationsdaten in dem Netzwerk kommuniziert, die inhaltlich diesen Fahrbetriebsdaten entsprechen.In order to determine whether the second motor vehicle already provides its driving data itself in the network, the first motor vehicle may have means for receiving communication data from subscribers of the network and also comprise an evaluation unit for determining whether the second motor vehicle communication data, the content determined by the first motor vehicle concerning the second motor vehicle Driving data correspond even in the network communicates. Consequently, it may be advantageous to transmit the driving operation data of the second motor vehicle only by the first motor vehicle if the evaluation unit determines that the second motor vehicle does not communicate any communication data in the network that corresponds in terms of content to this driving operation data.

Gemäß einer alternativ oder zusätzlich anwendbaren bevorzugten Ausführungsform der vorliegenden Erfindung weist das erste Kraftfahrzeug ebenfalls Mittel zum Empfang von Kommunikationsdaten von Teilnehmern des Netzwerks auf und das erste Kraftfahrzeug umfasst eine Auswerteeinheit zur Feststellung, ob Kommunikationsdaten, die das erste Kraftfahrzeug mit diesen Mitteln von einer Infrastruktur-Einrichtung empfängt, auf Daten basieren, die inhaltlich den vom ersten Kraftfahrzeug bestimmten Fahrbetriebsdaten entsprechen. Wieder werden vorteilhafterweise die Fahrbetriebsdaten des zweiten Kraftfahrzeugs nur dann durch das erste Kraftfahrzeug im Netzwerk übermittelt, wenn die Auswerteeinheit feststellt, dass die Kommunikationsdaten nicht auf Daten basieren, die inhaltlich den Fahrbetriebsdaten entsprechen. So kann die redundante Bereitstellung auch in Fällen vermieden werden, in welchen Fahrbetriebsdaten des zweiten Kraftfahrzeugs zwar nicht direkt vom ersten Kraftfahrzeug empfangen werden, jedoch im Modell einer Infrastruktur-Einrichtung bereits berücksichtigt sind.According to an alternatively or additionally applicable preferred embodiment of the present invention, the first motor vehicle also has means for receiving communication data from subscribers of the network, and the first motor vehicle comprises an evaluation unit for determining whether communication data that the first motor vehicle receives by means of an infrastructure Receives device based on data that correspond in content to the driving data determined by the first motor vehicle. Again, the driving operation data of the second motor vehicle are advantageously transmitted by the first motor vehicle in the network only if the evaluation unit determines that the communication data is not based on data that corresponds in content to the driving operation data. Thus, the redundant provision can be avoided even in cases in which driving operation data of the second motor vehicle are not received directly from the first motor vehicle, but are already taken into account in the model of an infrastructure facility.

Im Folgenden wird anhand der beigefügten Zeichnungen ein bevorzugtes Ausführungsbeispiel der Erfindung beschrieben. Daraus ergeben sich weitere Details, bevorzugte Ausführungsformen und Weiterbildungen der Erfindung. Im Einzelnen zeigen

Fig. 1
ein Ablaufschema für eine bevorzugtes Ausführungsbeispiel der Erfindung und
Fig. 2
eine Verkehrssituation, in welcher die Erfindung sich als besonders vorteilhaft erweist.
Hereinafter, a preferred embodiment of the invention will be described with reference to the accompanying drawings. This results in further details, preferred embodiments and further developments of the invention. Show in detail
Fig. 1
a flow chart for a preferred embodiment of the invention and
Fig. 2
a traffic situation in which the invention proves to be particularly advantageous.

Um die Verkehrssicherheit zu erhöhen, bzw. den Komfort der Fahrzeugführung zu verbessern, sind Systeme bekannt, die mit Hilfe am Fahrzeug angeordneter Umgebungssensoren - hier auch fahrzeugautarke Sensoren genannt - bestimmte Daten (z.B. Position und Geschwindigkeit) anderer Objekte, insbesondere anderer Verkehrsteilnehmer, erfassen. Diese Form der Datenerfassung ist jedoch nur möglich solange ein unmittelbarer Sichtkontakt zu einem solchen Objekt gegeben ist und die Reichweite der Sensoren ausreicht. Ein Beispiel für auf Basis von Umgebungssensoren gewonnene Daten sind Abstandsdaten, die in Fahrerassistenzsystemen wie etwa ACC (Adaptive Cruise Control) Verwendung finden.In order to increase the traffic safety, or to improve the comfort of the vehicle management, systems are known, which with the help of the vehicle arranged environment sensors - also called vehicle-autonomous sensors - certain data (eg position and speed) of other objects, especially other road users detect. However, this form of data acquisition is only possible as long as a direct visual contact given such an object and the range of the sensors is sufficient. An example of data obtained based on environmental sensors are distance data used in driver assistance systems such as ACC (Adaptive Cruise Control).

Zur Erfassung auch sichtverdeckter und weiter als die Reichweite fahrzeugautarker Sensoren entfernter Objekte bietet sich die Nutzung von Funktechnologien (z.B. IEEE802.11p) und gegebenenfalls anderen Technologien zur drahtlosen Informationsübertragung an. Auf Grundlage solcher Technologien wird der Datenaustausch zwischen einzelnen Verkehrsteilnehmern (C2C = Car-to-Car) sowie zwischen Verkehrsteilnehmern und Einrichtungen einer Infrastruktur (C2X) ermöglicht. Voraussetzung für den Datenaustausch ist, dass ein Objekt bzw. Verkehrsteilnehmer mit einer entsprechenden Kommunikationseinrichtung ausgerüstet ist.For the detection of objects that are hidden from view and far beyond the range of vehicle-autonomous sensors, the use of radio technologies (for example IEEE802.11p) and possibly other technologies for wireless information transmission is also possible. On the basis of such technologies, the exchange of data between individual road users (C2C = car-to-car) as well as between road users and infrastructure facilities (C2X) is made possible. Prerequisite for the data exchange is that an object or road user is equipped with a corresponding communication device.

Die Performance, Verfügbarkeit und Zuverlässigkeit aller Verkehrsregelungs-, Verkehrsinformations- und Fahrerassistenz-Systeme, die auf Funktechnologien zurückgreifen, ist stark vom Ausrüstungsgrad der Verkehrsteilnehmer mit entsprechender Funkhardware und - software abhängig. So wird bei vielen prototypisch realisierten Fahrerassistenz-Systemen die volle Performance erst erzielt, wenn ein hoher Ausrüstungsgrad erreicht ist. Insbesondere kooperative Fahrerassistenz-Systeme, die beispielsweise zur Erkennung und Vermeidung potenzieller Kollisionen zwischen zwei Objekten dienen (z.B. Kommunikationsbasierter Querverkehrsassistent KQA der BMW Group Forschung und Technik, vorgestellt beim "Aachener Kolloquium" 2006), benötigen neben den Daten des Eigenfahrzeugs zusätzlich die Daten möglichst aller relevanten Objekte in der Umgebung. Die Eigenfahrzeugdaten können mit fahrzeugautarken Sensoren erfasst werden. Dagegen ist die Erfassung der Daten aller relevanten Objekte in der Regel nicht nur mit fahrzeugautarken Sensoren am Eigenfahrzeug möglich.The performance, availability and reliability of all traffic control, traffic information and driver assistance systems that rely on wireless technologies is highly dependent on the equipment level of the road users with the appropriate radio hardware and software. Thus, in many prototypically implemented driver assistance systems, the full performance is only achieved when a high level of equipment is achieved. In particular, cooperative driver assistance systems, which serve, for example, to detect and avoid potential collisions between two objects (eg Communication-based Cross Traffic Assistant KQA of the BMW Group Research and Technology, presented at the "Aachen Colloquium" 2006), need not only the data of the own vehicle, but also the data of all relevant objects in the environment. The own vehicle data can be detected by vehicle-autonomous sensors. In contrast, the collection of the data of all relevant objects is usually not possible only with vehicle-autonomous sensors on the own vehicle.

Die Verfügbarkeit der Fahrbetriebsdaten einzelner Verkehrsteilnehmer für andere Verkehrsteilnehmer und/oder für eine Infrastruktur-Einrichtung kann zudem dadurch eingeschränkt sein, dass die zur Übertragung eingesetzten Kommunikationsmittel ausfallen oder fehlerhaft arbeiten.The availability of the driving operation data of individual road users for other road users and / or for an infrastructure device can also be limited by the fact that the communication means used for transmission fail or work incorrectly.

Im vorliegenden Ausführungsbeispiel für die Erfindung werden Fahrbetriebsdaten weiterer Verkehrsteilnehmer zur Verfügung gestellt, indem ein mit einer Kommunikationseinrichtung ausgestattetes erstes Kraftfahrzeug Fahrbetriebsdaten zumindest eines zweiten Kraftfahrzeugs, das sich in der Umgebung des ersten Kraftfahrzeugs befindet, mittels eigener Sensoren erfasst und diese Fahrbetriebsdaten des zweiten Kraftfahrzeugs mittels der Kommunikationseinrichtung in einem Netzwerk verbreitet. Das Netzwerk kann im einfachsten Fall lediglich das erste Kraftfahrzeug und ein drittes Kraftfahrzeug umfassen, an welches das erste Kraftfahrzeug die Fahrbetriebsdaten des zweiten Kraftfahrzeugs überträgt. Das Netzwerk kann aber auch zumindest eine Infrastruktur-Einrichtung und eine Vielzahl anderer Verkehrsteilnehmer umfassen. Die Fahrbetriebsdaten des zweiten Kraftfahrzeugs werden dann vom ersten Kraftfahrzeug an die Infrastruktur-Einrichtung übertragen. Ebenso werden im vorliegenden Beispiel von anderen Verkehrsteilnehmern Fahrbetriebsdaten vieler anderer Verkehrsteilnehmer an die Infrastruktur-Einrichtung übertragen. Diese verteilt die empfangenen Fahrbetriebsdaten entweder selbsttätig oder auf Anfrage im Netzwerk und/oder sie nimmt eine Interpretation aller empfangenen Fahrbetriebsdaten vor, gewinnt daraus Verkehrsinformationen und verteilt diese selbsttätig oder auf Anfrage im Netzwerk. Zur Gewinnung von Verkehrsinformationen können die gesammelten Fahrbetriebsdaten insbesondere in eine Verkehrsflussmodell eingehen.In the present exemplary embodiment of the invention, driving operation data of other road users are made available by a vehicle with a communication device equipped first motor vehicle driving data of at least one second motor vehicle, which is located in the vicinity of the first motor vehicle, detected by own sensors and this driving operation data of the second motor vehicle by means of the communication device spread in a network. In the simplest case, the network may comprise only the first motor vehicle and a third motor vehicle, to which the first motor vehicle transmits the driving operation data of the second motor vehicle. The network may also include at least one infrastructure device and a plurality of other road users. The driving operation data of the second motor vehicle are then transmitted from the first motor vehicle to the infrastructure device. Likewise, driving data of many other road users are transmitted to the infrastructure facility by other road users in the present example. This distributes the received driving operation data either automatically or on request in the network and / or makes an interpretation of all received driving data before gaining traffic information and distributes this automatically or on request in the network. In order to obtain traffic information, the collected driving operation data can enter in particular into a traffic flow model.

Vorzugsweise werden die Fahrbetriebsdaten des zweiten Kraftfahrzeugs gemeinsam mit Fahrbetriebsdaten des ersten Kraftfahrzeugs im Netzwerk verbreitet. Es ist dann kein zusätzlicher Kommunikationskanal bzw. keine zusätzliche Adressierung erforderlich.Preferably, the driving operation data of the second motor vehicle is propagated in the network together with driving operation data of the first motor vehicle. There is then no additional communication channel or no additional addressing required.

Eine Performancesteigerung kann dadurch erzielt werden, dass die Fahrbetriebsdaten des zweiten Kraftfahrzeugs nur dann vom ersten Kraftfahrzeug in dem Netzwerk verbreitet werden, wenn das zweite Kraftfahrzeugs gar nicht über eine geeignete Kommunikationseinrichtung verfügt, um dies selbst zu tun, oder wenn eine entsprechende Kommunikationseinrichtung des zweiten Kraftfahrzeugs in der aktuellen Situation nicht betriebsbereit ist.An increase in performance can be achieved in that the driving operation data of the second motor vehicle are propagated by the first motor vehicle in the network only if the second motor vehicle does not have a suitable communication device to do this itself, or if a corresponding communication device of the second motor vehicle in the current situation is not ready.

Eine Performancesteigerung kann auch dadurch erzielt werden, dass die Fahrbetriebsdaten des zweiten Kraftfahrzeugs nur dann vom ersten Kraftfahrzeug in dem Netzwerk verbreitet werden, wenn diese Fahrbetriebsdaten in der aktuellen Situation erwartungsgemäß für andere Teilnehmer des Netzwerks relevant sind. Dies kann insbesondere von der Position, Fahrtrichtung und Fahrgeschwindigkeit der anderen Teilnehmer des Netzwerks abhängen.A performance increase can also be achieved by the fact that the driving operation data of the second motor vehicle are distributed by the first motor vehicle in the network only if these driving operation data in the current situation are expected to be relevant for other participants of the network. This may in particular depend on the position, direction of travel and driving speed of the other participants in the network.

Fig. 1 veranschaulicht des Funktionsprinzip eines Beispiel-Systems. Ein Kraftfahrzeug - entsprechend dem oben genannten ersten Kraftfahrzeug - sei mit Fahrzeugsensoren und einem Funkmodul ausgestattet. Durch das Funkmodul ist das Kraftfahrzeug an ein Kommunikationssystem angebunden. Fig. 1 illustrates the functional principle of an example system. A motor vehicle - according to the above-mentioned first motor vehicle - is equipped with vehicle sensors and a radio module. By the radio module, the motor vehicle is connected to a communication system.

Fahrzeugsensoren 11 des Kraftfahrzeugs erfassen Eigenfahrzeugdaten des Kraftfahrzeugs (z. B. die eigene Fahrgeschwindigkeit), welche nach einer Auswertung und Interpretation durch eine Auswerte- und Interpretationseinheit 12 und einer Relevanzbeurteilung durch eine Relevanzbeurteilungseinheit 30 über das Funkmodul dem Kommunikationssystem 40 zur Verfügung gestellt werden.Vehicle sensors 11 of the motor vehicle detect own vehicle data of the motor vehicle (eg the own driving speed), which are made available to the communication system 40 via an evaluation unit 12 and a relevance assessment by a relevance evaluation unit 30 via the radio module after an evaluation and interpretation.

Das Kommunikationssystem 40 umfasst das Eigenfahrzeug und alle in Funkreichweite des Eigenfahrzeugs befindlichen Objekte (z. B. andere Fahrzeuge und Infrastruktur-Einrichtungen), welche mit einem Funkmodul ausgestattet sind und ebenfalls ihre Daten, im Folgenden als Objektdaten bezeichnet, dem Kommunikationssystem 40 zur Verfügung stellen. Auf Grundlage dieser Objektdaten kann bei dem Eigenfahrzeug und/oder bei zumindest einem der Objekte und/oder sogar bei jedem einzelnen Objekt ein Umgebungsmodell generiert werden.The communication system 40 comprises the own vehicle and all objects within radio range of the own vehicle (eg other vehicles and infrastructure devices), which are equipped with a radio module and also make their data, referred to below as object data, available to the communication system 40 , On the basis of this object data, an environment model can be generated in the own vehicle and / or in at least one of the objects and / or even in each individual object.

Zur Überwachung des direkten Fahrzeugumfelds sind am Eigenfahrzeug zudem eine gewisse Anzahl von Umfeldsensoren 21 verbaut. Befindet sich ein Objekt (z. B. ein anderes Fahrzeug - entsprechend dem oben genannten zweiten Kraftfahrzeug) in der Reichweite der Umfeldsensoren 21, so werden vom Eigenfahrzeug dieses Objekt betreffende Messdaten (z. B. eine Relativgeschwindigkeit) erfasst und in einer Auswerte- und Interpretationseinheit 22 ausgewertet und interpretiert. Als Ergebnis dieser Verfahrensschritte lassen sich beim Eigenfahrzeug Objektdaten des Objekts (z. B. Fahrbetriebsdaten des zweiten Kraftfahrzeugs) bestimmen (z. B. dessen Absolutgeschwindigkeit).For monitoring the direct vehicle environment, a certain number of environment sensors 21 are also installed on the own vehicle. If an object (for example another vehicle - corresponding to the above-mentioned second motor vehicle) is within the range of the environment sensors 21, measurement data relating to this object (eg a relative speed) of the own vehicle is detected and stored in an evaluation system Interpretation unit 22 evaluated and interpreted. As a result of these method steps, object data of the object (eg driving operation data of the second motor vehicle) can be determined in the case of the own vehicle (eg its absolute speed).

Um festzustellen, ob das jeweilige Objekt ein funktionstüchtiges Funkmodul besitzt, können die auf diese Weise bestimmten Objektdaten in einer Vergleichseinheit 23 des Eigenfahrzeugs mit solchen Objektdaten verglichen werden, die das Eigenfahrzeug selbst über das Funkmodul von anderen Kommunikationsteilnehmern des Kommunikationssystems 40 empfangen hat. Werden von einem in der Umgebung des Eigenfahrzeugs detektierten Objekt nämlich keine Objektdaten empfangen, so kann daraus geschlossen werden, dass dieses Objekt nicht über ein funktionsfähiges Funkmodul verfügt. Dementsprechend können, gegebenenfalls nach einer Relevanzprüfung, die das Objekt betreffenden beim Eigenfahrzeug bestimmten Objektdaten von dem Eigenfahrzeug - gewissermaßen stellvertretend für das Objekt - dem Kommunikationssystem zur Verfügung gestellt werden.In order to determine whether the respective object has a functioning radio module, the object data determined in this way can be compared in a comparison unit 23 of the own vehicle with those object data which the own vehicle itself has received via the radio module from other communication users of the communication system 40. If no object data is received from an object detected in the environment of the own vehicle, it can be concluded from this that this object does not have a functioning radio module. Accordingly, if necessary after a Relevance check, the subject of the object vehicle specific object data from the own vehicle - in a sense representative of the object - the communication system are made available.

Bei der Erweiterung der vom Eigenfahrzeug im Kommunikationssystem zur Verfügung gestellten Funkinhalte um die Objektdaten anderer Objekte, welche das Eigenfahrzeug umgeben, kann der Vorteil genutzt werden, dass die zur Bestimmung dieser Objektdaten erforderlichen fahrzeugautarken Sensoren und/oder Algorithmen ohnehin bereits für die Zwecke anderer Fahrerassistenzsysteme im Fahrzeug vorgesehen sind (z.B. Frontradar bei ACC und Heckradar bei Spurwechselassistenz). Der zusätzliche Mess-, Rechen- und Kostenaufwand ist daher verhältnismäßig gering.When extending the radio content provided by the own vehicle in the communication system to the object data of other objects surrounding the own vehicle, the advantage can be exploited that the vehicle-autonomous sensors and / or algorithms required for the determination of this object data already for the purposes of other driver assistance systems in Vehicle are provided (eg front radar at ACC and rear radar at lane change assistance). The additional measurement, calculation and cost is therefore relatively low.

Ob das betreffende Objekt über ein funktionstüchtiges Funkmodul verfügt, wird vorliegend über die von dem Eigenfahrzeug empfangenen Funkdaten festgestellt. Hierbei kann der Vorteil genutzt werden, dass die Objektdaten des betreffenden Objekts zum einen über das Kommunikationssystem 40 übermittelt und zum anderen durch die fahrzeugautarken Umfeldsensoren 21 am Eigenfahrzeug erfasst werden. Denn wird ein Objekt durch die fahrzeugautarken Sensoren 21 des Eigenfahrzeugs erfasst, jedoch werden keine Daten von diesem Objekt über das Kommunikationssystem 40 empfangen, so kann davon ausgegangen werden, dass das Objekt kein bzw. kein funktionstüchtiges Funkmodul besitzt.Whether the object in question has a functioning radio module is determined in the present case via the radio data received from the own vehicle. In this case, the advantage can be exploited that the object data of the relevant object are transmitted to the one via the communication system 40 and, on the other hand, are detected by the vehicle-autonomous environmental sensors 21 on the own vehicle. For if an object is detected by the vehicle-autonomous sensors 21 of the own vehicle, but no data is received from this object via the communication system 40, then it can be assumed that the object has no or no functional radio module.

In Zweifelsfällen kann es vorteilhaft sein und zur Gesamtsicherheit beitragen, die Objektdaten eines detektierten Objekts im Kommunikationssystem 40 zu verteilen, auch wenn nicht mit letzter Sicherheit festgestellt werden kann bzw. konnte, ob dieses Objekt seine Objektdaten selbst zur Verfügung stellt.In cases of doubt, it can be advantageous and contribute to the overall security of distributing the object data of a detected object in the communication system 40, even if it can not be ascertained with complete certainty or whether this object itself makes its object data available.

Es kann auch vorteilhaft sein, wenn die Objektdaten, die ein Objekt versendet, mit einem Identifikationsmerkmal versehen sind, wenn das Objekt zudem eine äußerliche Eigenschaft aufweist, die auch durch die Umfeldsensoren 21 des Eigenfahrzeugs feststellbar ist, und wenn das Identifikationsmerkmal und die äußerliche Eigenschaft einander zuordbar sind. Beispielsweise kann ein Fahrzeug einen aus dem Aufdruck seines Nummernschilds abgeleiteten Code als Identifikationsmerkmal gemeinsam mit seinen Fahrbetriebsdaten versenden. Wenn das Eigenfahrzeug, das über eine Kamera als Umfeldsensor 21 verfügt, nun bildverarbeitungsgestützt den Aufdruck des Nummernschilds eines anderen Fahrzeugs bestimmt und daraus denselben Code ableitet, kann es daraus folgern, dass dieses Fahrzeug mit einem Funkmodul ausgestattet ist und seine Fahrbetriebsdaten selbst versendet.It may also be advantageous if the object data that an object sends are provided with an identification feature, if the object also has an external property that can also be detected by the surroundings sensors 21 of the own vehicle, and if the identification feature and the external property are mutually exclusive are assignable. For example, a vehicle can send a code derived from the imprint of its license plate as an identification feature together with its driving operation data. If the own vehicle, which has a camera as environmental sensor 21, now image-based bearing the imprint of the license plate of another vehicle determined and derived from the same code, it may be concluded that this vehicle is equipped with a radio module and its Fahrbetriebsdaten sent itself.

Alternativ kann ein Fahrzeug einen aus seiner Gesamtgröße und/oder seiner Außenfarbe abgeleiteten Code als Identifikationsmerkmal gemeinsam mit seinen Fahrbetriebsdaten versenden. Wenn das Eigenfahrzeug, das über eine Kamera als Umfeldsensor 21 verfügt, nun bildverarbeitungsgestützt die Gesamtgröße und/oder Außenfarbe eines anderen Fahrzeugs in seiner Umgebung bestimmt und daraus in etwa denselben Code ableitet, so kann es daraus folgern, dass dieses Fahrzeug mit hoher Wahrscheinlichkeit mit einem Funkmodul ausgestattet ist und seine Fahrbetriebsdaten selbst versendet.Alternatively, a vehicle can send a code derived from its overall size and / or its exterior color as an identification feature together with its driving operation data. If the own vehicle, which has a camera as environment sensor 21, now image processing-based determines the overall size and / or exterior color of another vehicle in its environment and derived from it in about the same code, it may conclude that this vehicle with high probability with a Radio module is equipped and its driving data sent itself.

Ebenso kann das Eigenfahrzeug bei Bekanntsein seiner eigenen absoluten Position mittels Umfeldsensorik die absolute Position eines anderen Fahrzeugs zumindest näherungsweise bestimmen. Wenn das Eigenfahrzeug nun über Funk Objektdaten empfängt, die ein Objekt mit exakt dieser absoluten Position beschreiben, oder wenn es Objektdaten mit zusätzlichen als Identifikationsmerkmal dienenden Positionsdaten empfängt, die dieser absoluten Position entsprechen, so kann es daraus folgern, dass dieses Fahrzeug mit einem Funkmodul ausgestattet ist und seine Fahrbetriebsdaten selbst versendet.Likewise, the own vehicle can be at least approximately determine the absolute position of another vehicle when aware of its own absolute position by means of environmental sensors. If the own vehicle now receives radio data object data describing an object with exactly this absolute position, or if it receives object data with additional identifying position data corresponding to this absolute position, it may conclude that this vehicle is equipped with a radio module is and sends its driving data itself.

Als Beispiel für den Mehrwert einer Erweiterung der Funkinhalte um die Daten anderer Objekte sei auf die in Fig. 2 dargestellte Verkehrssituation verwiesen. An eine Kreuzung nähern sich ein wartepflichtiges (Zeichen 5) Fahrzeug 1 und drei vorfahrtsberechtigte (Zeichen 6) Fahrzeuge 2, 3 und 4 an. Fahrzeug 1 und Fahrzeug 2 sind jeweils mit einem Funkmodul ausgestattet. Fahrzeug 2 verfügt zusätzlich über fahrzeugautarke Sensoren (z.B. Radar im Front- und Heckbereich). Die Fahrzeuge 3 und 4 besitzen kein Funkmodul.As an example of the added value of an extension of the radio content to the data of other objects is on the in Fig. 2 referenced traffic situation. At an intersection, a waiting (sign 5) vehicle 1 and three right of way (sign 6) approach vehicles 2, 3 and 4. Vehicle 1 and vehicle 2 are each equipped with a radio module. Vehicle 2 also has vehicle-autonomous sensors (eg front and rear radar). The vehicles 3 and 4 have no radio module.

Der Fahrer des Fahrzeugs 1 interpretiert die Verkehrsregelung falsch. Es wird davon ausgegangen, dass sich daher das Fahrzeug 1 mit Fahrzeug 4 auf Kollisionskurs befindet. Vom Fahrzeug 2 werden die Fahrbetriebsdaten des Fahrzeugs 4 (z. B. absolute Position und Geschwindigkeit) auf Basis fahrzeugautarker Sensoren des Fahrzeugs 2, in Fig. 2 dargestellt sind Radarkeulen 2a vorne und hinten am Fahrzeug 2, erfasst und gemeinsam mit den durch Eigensensoren ermittelten Fahrbetriebsdaten des Fahrzeugs 2 über das Funkmodul an das Fahrzeug 1 übermittelt. Fahrzeug 1 kann also die Fahrbetriebsdaten von Fahrzeug 4 über das Funkmodul empfangen, obwohl das Fahrzeug 4 selbst über kein Funkmodul verfügt.The driver of the vehicle 1 interprets the traffic control incorrectly. It is therefore assumed that the vehicle 1 with the vehicle 4 is on a collision course. From the vehicle 2, the driving operation data of the vehicle 4 (eg, absolute position and speed) based on vehicle-autonomous sensors of the vehicle 2, Fig. 2 radar lobes 2a are shown at the front and rear of the vehicle 2, detected and transmitted to the vehicle 1 via the radio module together with the driving operating data of the vehicle 2 determined by self-sensors. Vehicle 1 can thus receive the driving operation data of vehicle 4 via the radio module, although the vehicle 4 itself has no radio module.

Durch die erfindungsgemäße Nutzung fahrzeugautarker Sensoren in Verbindung mit einem Funkmodul kann also gewissermaßen eine virtuelle Erhöhung der Ausstattungsrate der Fahrzeuge mit Funkmodulen erzielt werden. Bereits unter der Annahme, dass lediglich ein Radar im Front- und Heckbereich des Eigenfahrzeugs genutzt wird und ausschließlich Objekte berücksichtigt werden, die denselben Fahrstreifen befahren wie das Eigenfahrzeug, kann die Ausstattungsrate virtuell um zweihundert Prozent erhöht werden. Erfolgt auch die Berücksichtigung von Objekten, die benachbarte Fahrstreifen befahren, kann die virtuelle Ausstattungsrate sogar noch weiter erhöht werden.As a result of the inventive use of vehicle-autonomous sensors in conjunction with a radio module, a virtual increase in the equipment rate of the vehicles with radio modules can thus be achieved. Already under the assumption that only one radar is used in the front and rear of the own vehicle and only objects are considered that drive the same lane as the own vehicle, the equipment rate can be virtually increased by two hundred percent. If consideration is also given to objects driving on adjacent lanes, the virtual equipment rate can be increased even further.

Ein bedeutendes Kriterium für die Markteinführung von funkbasierten Fahrerassistenzsystemen ist die zu erwartende Performance, Zuverlässigkeit und Verfügbarkeit bereits bei einer geringen Verbreitung des Systems. Da all diese Qualitätsmaße mit steigender Ausstattungsrate der Fahrzeuge mit Funkmodulen steigen, wird durch die erfindungsgemäß erreichte virtuelle Erhöhung der Ausstattungsrate insbesondere eine Markeinführung solcher Systeme unterstützt. Aber auch bei einer hohen Ausstattungsrate mit Funkmodulen bietet das vorgeschlagene Verfahren weitere Vorteile. So können beispielsweise die Daten eines nicht mit einem Funkmodul ausgestatteten Oldtimers durch die fahrzeugautarken Sensoren eines modernen, mit einem Funkmodul ausgerüsteten, Eigenfahrzeugs erfasst und damit über das Kommunikationssystem zur Verfügung gestellt werden.An important criterion for the market introduction of radio-based driver assistance systems is the expected performance, reliability and availability even with a low distribution of the system. Since all these quality measures increase with increasing equipment rate of the vehicles with radio modules, in particular a market introduction of such systems is supported by the inventively achieved virtual increase in the equipment rate. But even with a high equipment rate with radio modules, the proposed method offers further advantages. Thus, for example, the data of a not equipped with a radio module classic car can be detected by the vehicle-autonomous sensors of a modern, equipped with a radio, own vehicle and thus made available through the communication system.

Denkbar ist auch eine Regelung zur Schaffung eines finanziellen Ausgleichs zwischen den passiven und den aktiv kommunizierenden Teilnehmern an einem erfindungsgemäßen Verfahren. Die Anschaffung eines Funkmoduls kann somit gemeinschaftlich finanziell gefördert werden. Dazu kann gegebenenfalls auch bei einer Infrastruktur-Einrichtung protokolliert werden, welches Fahrzeug in besonders hohem Maße die Bereitstellung von Fahrbetriebsdaten anderer Fahrzeuge übernommen hat. Übermittelte Fahrbetriebsdaten können dazu mit einem Zuordnungsmerkmal des Absenders versehen sein bzw. werden.Also conceivable is a provision for the creation of a financial compensation between the passive and the actively communicating participants in a method according to the invention. The acquisition of a radio module can thus be jointly funded financially. For this purpose, it may also be possible to record in an infrastructure device which vehicle has taken on the provision of driving operation data of other vehicles in a particularly high degree. Transmitted driving data can be provided with an assignment characteristic of the sender.

Claims (8)

  1. A method for providing driving operation data in a network for wirelessly exchanging driving operation data, comprising the steps:
    - a first motor vehicle (2) connected to the network by communication technology determines absolute driving operation data of a second motor vehicle (3, 4) by means of at least one environment sensor (21) arranged in the first motor vehicle and
    - these absolute driving operation data of the second motor vehicle are transmitted by the first motor vehicle to at least one other subscriber (1) to the network,
    wherein the driving operation data of the second motor vehicle are only transmitted by the first motor vehicle when the second motor vehicle is not connected by communication technology to the network.
  2. A method according to claim 1, characterised in that the first motor vehicle furthermore determines absolute driving operation data of the first motor vehicle by means of at least one sensor (11) of its own arranged in the first motor vehicle and in that these absolute driving operation data of the first motor vehicle are transmitted by the first motor vehicle to at least one other subscriber (1) to the network.
  3. A method according to claim 1 or 2, characterised in that the other subscriber to the network is configured as a third motor vehicle and in that the driving operation data of the second motor vehicle are at least partially evaluated by at least one driver assistance system of the third motor vehicle.
  4. A method according to claim 1 or 2, characterised in that the other subscriber to the network is configured as an infrastructure device and in that the infrastructure device transmits the driving operation data of the second motor vehicle, and/or traffic information derived from these driving operation data to at least one third motor vehicle.
  5. A method according to any one of claims 1 to 4, characterised in that the driving operation data of the second motor vehicle describe at least the absolute speed thereof.
  6. A method according to any one of claims 1 to 5, characterised in that the driving operation data of the second motor vehicle describe at least the absolute position thereof.
  7. A method according to any one of claims 1 to 6, characterised in that the first motor vehicle has means for receiving communication data from subscribers to the network, in that the first motor vehicle comprises an evaluation unit (22) to determine whether the second motor vehicle itself communicates communication data in the network, said communication data corresponding in terms of content to the driving operation data determined by the first motor vehicle, and in that the driving operation data of the second motor vehicle is only transmitted by the first motor vehicle when the evaluation unit determines that the second motor vehicle does not communicate any communication data in the network, which correspond in terms of content to the driving operation data.
  8. A method according to any one of claims 1 to 6, characterised in that the at least one environment sensor arranged in the first motor vehicle is configured as a radar sensor or as a LIDAR sensor or as an image processing unit, and/or in that the network is configured as a radio network and the first motor vehicle is connected to this radio network via a radio module.
EP08801578.9A 2007-09-07 2008-08-14 Method for providing driving operation data Active EP2195796B1 (en)

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DE102007042793A DE102007042793A1 (en) 2007-09-07 2007-09-07 Method for providing driving operation data
PCT/EP2008/006680 WO2009033546A1 (en) 2007-09-07 2008-08-14 Method for providing driving operation data

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US7974772B2 (en) 2011-07-05

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