EP3250431A1

EP3250431A1 - Method and system for operating a motor vehicle

Info

Publication number: EP3250431A1
Application number: EP16702503.0A
Authority: EP
Inventors: Tobias Attensperger; Moritz Reiff; Martin SORGE
Original assignee: Audi AG
Current assignee: Audi AG
Priority date: 2015-01-31
Filing date: 2016-01-25
Publication date: 2017-12-06
Also published as: DE102015001248A1; US20170361843A1; US10214216B2; CN107207014A; WO2016120201A1; DE102015001248B4; CN107207014B

Abstract

The invention relates to a method for operating a motor vehicle (10), comprising the steps: acquiring a destination which is input by vehicle occupant; determining which residual range the motor vehicle (10) will have at the destination; if the acquired residual range is less than a predefined threshold value: operating the motor vehicle (10) in a consumption-optimisation mode in which the motor vehicle (10) is operated to carry out automatically measures for reducing the consumption of the motor vehicle (10) until the destination is reached, wherein each of the measures is evaluated continuously with respect to its influence on the reduction in consumption which can be achieved thereby; each of the measures is evaluated continuously in terms of its influence on a restriction of a driver of the motor vehicle (10); the individual measures are activated and deactivated as a function of their respective continuously determined influences on the reduction of the consumption and on the restriction of the driver until the destination is reached, in such a way that the motor vehicle (10) reaches the destination with a residual range which corresponds at least to the threshold value, and the restriction of the driver by the measures is minimised. The invention further relates to a system (12) for operating a motor vehicle (10).

Description

Method and system for operating a motor vehicle

DESCRIPTION The invention relates to a method and system for operating a motor vehicle and to a motor vehicle having such a system.

Depending on the fill level of a fuel tank and / or the battery charge level of a motor vehicle, a driver may not be able to reach a desired destination under certain circumstances. In order to achieve the goal nevertheless, the start of a gas station and / or a charging station is required. It is difficult for the driver to estimate with which driving style and under what other conditions he can safely reach his destination without refueling and / or reloading. In particular, when using pure electric vehicles, a disadvantage is that fast charging stations are not available across the board. This can result in significant delays due to required detours or due to extended charging time. DE 10 2005 037 553 A1 shows a method for controlling a hybrid vehicle. The mode of operation of the electric motor of the hybrid vehicle is selected as a function of the route data and taking into account a state of charge of an energy storage of the hybrid vehicle. An operating strategy for operating the hybrid vehicle is predefined by specifying a geographical travel destination and / or a destination parameter of the operating strategy, one of these travel routes being selected taking into account the operating strategy when alternative travel routes are available. DE 103 06 093 A1 shows a method for determining an optimal fuel consumption and a warning system for warning a driver when there is not enough fuel to reach a desired destination. Fuel consumption is calculated and the driver is warned if there is not enough fuel to reach a gas station on the way back from the desired destination.

DE 10 2004 047 856 A1 shows a device for controlling the operation of a motor vehicle, which has a device for detecting environmental and vehicle operating parameters, which are processed in a computer unit and displayed on a display device. In order to improve the influence by the driver, an input device is provided, via which some of the vehicle operating parameters can be manipulated during operation of the motor vehicle.

It is the object of the present invention to provide a solution by means of which a driver of a motor vehicle is assisted in an improved manner in achieving a desired travel destination without refueling and / or reloading.

This object is achieved by a method and by a system for operating a motor vehicle having the features of the independent patent claims. Advantageous embodiments with expedient and non-trivial developments of the invention are specified in the dependent claims.

The method according to the invention for operating a motor vehicle comprises the following steps:

Detecting a destination input by a vehicle occupant;

Determining which remaining range the motor vehicle will have at the destination;

if the determined residual range is less than a predefined threshold value: operating the motor vehicle in a consumption optimization mode in which the motor vehicle is used for automatic

Implementation of measures to reduce the consumption of the motor vehicle until the achievement of the objective

■ each measure is continuously assessed for its impact on the resulting reduction in consumption; ■ each measure is continuously assessed for its impact on a driver's restriction of the motor vehicle;

■ the individual measures depending on their respective continuously determined influences on the reduction of consumption and on the limitation of the driver until reaching the destination can be activated and deactivated in such a way that the motor vehicle reaches the destination with a remaining range which corresponds at least to the threshold value and the restriction of the driver by the measures is minimized.

The destination input can be done, for example, in a vehicle-side navigation device, wherein the energy required to achieve the target energy of the motor vehicle is calculated after the detected destination input. For example, the calculation of this amount of energy can be based on previous consumption data of the motor vehicle and / or using physical models. If the motor vehicle is a pure electric vehicle, this determined amount of energy is compared with the current battery charge of the motor vehicle. If the motor vehicle should be a motor vehicle with a pure combustion drive, the determined amount of energy is compared with a remaining tank filling of the motor vehicle. If the motor vehicle is a hybrid vehicle, the calculated amount of energy can be compared both with an existing battery charge and with an existing remaining tank charge. On the basis of this comparison, it is now determined whether the entered destination will be only scarcely attainable or even unavailable according to the current calculations, the driver preferably being informed of this circumstance. It can be provided that the threshold value is fixed unalterably on the motor vehicle side. Alternatively, however, it may also be provided that the threshold value can be set manually, depending on the preferences of the driver. In the latter case, the driver can thus determine for himself which remaining range should still be present when he reaches the destination with his motor vehicle.

It is inventively provided, if the determined residual range should be less than the predetermined threshold - so the input target, for example, just barely reachable or not reachable - the vehicle is operated in a consumption optimization mode, in which the motor vehicle for the automatic implementation of measures operated to reduce the consumption of the motor vehicle until the achievement of the objective. Each of the measures is continuously evaluated with regard to their influence on the achievable reduction in consumption. In addition, each of the measures is also evaluated on an ongoing basis for their influence on a driver's restriction of the motor vehicle. During the consumption optimization mode, in other words, different measures for reducing the energy consumption of the motor vehicle are brought about, so that the driver can achieve his desired goal without refueling and / or recharging a battery. Depending on the driving mode preferably different measures are taken. The individual measures are activated and deactivated depending on their respective continuously determined influences on the reduction in consumption and on the restriction of the driver until the destination is reached, so that the motor vehicle reaches the destination with a remaining range which corresponds at least to the threshold value and the restriction of the Driver is minimized by the measures. The described method therefore does not mean that the driver has to take care of the most economical way of driving and / or further measures for achieving the destination that lower the consumption of the vehicle. He is taken to the fear of lying down and he is not limited beyond what is necessary in his driving style. The driver can thus reach the destination as dynamically as possible even with a relatively low fuel tank level or with a relatively low battery level. It can be provided that the consumption optimization mode is activated only after confirmation by the driver.

In an advantageous embodiment of the invention, it is provided that several of the following measures for reducing consumption are carried out until the achievement of the goal:

- issuing warnings regarding the driving style of the driver; - reducing the maximum retrievable power of the motor vehicle;

- Reduce the maximum retrievable torque of the motor vehicle;

Limiting the achievable maximum speed of the motor vehicle;

Reducing the power consumption of at least one electrical consumer of the motor vehicle, such as an air conditioning system, an infotainment system, displays, lighting units and the like;

- Disabling an all-wheel drive of the motor vehicle;

Outputting navigation instructions for targeting along a determined consumption-optimized route; - Uncoupling an engine of the motor vehicle from a transmission of the motor vehicle;

- Lowering a chassis of the motor vehicle;

- Setting a pressure point by means of an active accelerator pedal of the motor vehicle, which signals a not to be exceeded accelerator pedal position;

- Reduce the power consumption of an engine cooling system.

In a further advantageous embodiment of the invention, it is provided that the evaluation of the measures in terms of their influence on the achievable fuel consumption and / or the limitation of the driver in response to continuously provided ambient conditions of the motor vehicle takes place. Preferably, at least one of the following quantities are provided as the environmental conditions:

- the ambient temperature;

- humidity;

- the ambient brightness;

- the road condition;

- the street type;

- the curviness of the road;

- the slope of the road;

- Speed limits.

Depending on the ambient conditions, preferably those measures are taken which, given the prevailing ambient conditions, contribute to a particularly high fuel consumption optimization of the motor vehicle and at the same time represent the least possible intervention for the driver. For example, the reduction in power consumption of an air conditioning system of the motor vehicle at relatively low ambient temperatures and low humidities on the one hand achieve a high consumption optimization and on the other hand, this measure may not be perceived by the driver or only barely perceived. Or, should the traffic conditions be such that it is very unlikely that the driver will drive particularly dynamically, for example because the road is very winding, the traffic density is particularly high or the like, an intervention could result in a reduction in performance. and / or torque provision of the drive train of the motor vehicle on the one hand to a relatively high consumption savings On the other hand, the driver does not perceive it as negative.

In a further advantageous embodiment of the invention, it is provided that the evaluation of the measures in terms of their influence on the limitation of the driver in response to a provided, the driving behavior characterizing driver profile. For example, data can be continuously determined by means of which the driving style of the driver can be characterized and quantified. On the basis of the provided driver profile can thus be determined whether it is a particularly restrained or possibly a particularly dynamic driver. Depending on the driver profile can then be assessed which of the measures to reduce fuel consumption of the motor vehicle depending on the driver type are perceived by this driver as disturbing or less disturbing. Thus, the evaluation of the measures with regard to their influence on the limitations of the driver can be done individually and thus particularly well adapted to the respective driver.

In a further advantageous embodiment of the invention, it is provided that the greater the influence of the respective measures on the achievable reduction in fuel consumption and the driver's impairment is assessed, the greater reduction in consumption and the greater restriction value assigned to the respective measures and in the activation and deactivation measures are taken into account. In other words, a kind of performance indicator system is used, on the one hand, which evaluates the driver's restriction by the respective measures and, on the other hand, the respective potential for reducing consumption. On the basis of the respective consumption reduction values and the restriction values, it can be determined with particular precision which of the measures should ideally be taken in order to achieve the greatest possible reduction in fuel consumption and, on the other hand, to limit the driver as little as possible in his desired driving behavior. For example, respective quotients can be formed from the consumption reduction values and the restriction values for the respective measures, and corresponding measurement numbers can be determined which are comparable with one another in order to select the optimal measures which optimally achieve a relationship between the reduction in consumption achievable by the measure concerned Degree of restriction of the driver. A further advantageous embodiment of the invention provides that the activation and deactivation of at least one of the measures takes place depending on whether a driver assistance system controlling the longitudinal guidance of the motor vehicle is activated. This may be, for example, a conventional cruise control system or else a cruise control system which, in the cruise control of the motor vehicle, incorporates the distance to a vehicle in front as an additional feedback and manipulated variable. For example, it is conceivable that warnings to the driver with respect to his driving style are not output, if a cruise control or a cruise control should be activated. Alternatively or additionally, it is also possible that with activated cruise control or Abstandsregeltempomat no pressure point by means of an active accelerator pedal of the motor vehicle is set, which signals a not to be exceeded accelerator pedal position. Alternatively or additionally, it is also possible that when the cruise control or cruise control is activated no sailing operation of the motor vehicle is taken as a consumption reduction measure. Furthermore, it can alternatively or additionally also be provided that, at least when the conventional cruise control is activated, no predictive efficiency assistant is activated as a consumption reduction measure in which the driver is stopped in a particularly economical driving as a function of data which describe the routing, speed limits and the like becomes.

According to a further advantageous embodiment of the invention, it is provided that the consumption optimization mode is deactivated as soon as the motor vehicle has reached the destination. The previously activated measures for reducing the consumption of the motor vehicle therefore do not have to be manually reset or deactivated by the driver. The system for operating a motor vehicle according to the invention comprises a navigation device for detecting a destination input by a vehicle occupant. The system further comprises a control device, which is designed to determine which remaining range the motor vehicle will have at the destination, and to operate the motor vehicle in a consumption optimization mode, in which the motor vehicle automatically performs measures to reduce the consumption of the motor vehicle is operated to achieve the goal, if the determined residual range is less than a predetermined threshold, the controller is designed to each of the measures continuously their impact on the resulting reduction in consumption; evaluate each of the measures on an ongoing basis with regard to their influence on a driver's restriction of the motor vehicle; to activate and deactivate the individual measures as a function of their respective continuously determined influences on the reduction in consumption and on the restriction of the driver until the destination is reached, so that the motor vehicle reaches the destination with a residual range which corresponds at least to the threshold value and the driver's restriction is minimized by the measures. Advantageous embodiments of the inventive method are to be regarded as advantageous embodiments of the system according to the invention, wherein the system has in particular means for performing the method steps.

The motor vehicle according to the invention comprises the system according to the invention for operating a motor vehicle.

Further advantages, features and details of the invention will become apparent from the following description of preferred embodiments and from the drawing. The features and feature combinations mentioned above in the description as well as the features and feature combinations mentioned below in the description of the figures and / or in the figures alone can be used not only in the respectively specified combination but also in other combinations or in isolation, without the scope of To leave invention.

Embodiments of the invention are explained in more detail below with reference to schematic drawings. Show it:

Fig. 1 is a schematic representation of a motor vehicle with a

A system for operating the motor vehicle, which has a navigation device for detecting a destination input by a vehicle occupant and a control device for initiating consumption optimization measures of the motor vehicle; and

2 is a schematic representation in which the navigation device, the control device and other devices of the motor vehicle are shown, wherein the control device is adapted to the different devices of the Motor vehicle to initiate consumption reduction measures.

In the figures, identical or functionally identical elements are provided with the same reference numerals.

A motor vehicle 10 is shown in a schematic representation in Fig. 1. The motor vehicle 10 may be, for example, a pure electric vehicle, a motor vehicle with an internal combustion engine or a hybrid vehicle. The motor vehicle 10 comprises a system 12 for operating the motor vehicle 10, the system 12 having a navigation device 14 and a control device 16. The navigation device 14 is for detecting a destination input from a vehicle occupant. The control device 16 is designed to determine which remaining range the motor vehicle 10 will have at its destination. The remaining range can be determined, for example, on the basis of previous consumption data, the route to the destination, on the basis of a stored driver profile and on the basis of a wide variety of physical models.

The control device 16 is designed to operate the motor vehicle 10 in a consumption optimization mode, in which the motor vehicle 10 is operated to automatically implement measures to reduce the consumption of the motor vehicle 10 until the target is reached, if the determined residual range is less than a predefined threshold value. In other words, the motor vehicle 10 is thus operated in the said consumption optimization mode, if it is detected on the basis of the determined required amount of energy to achieve the goal that the required amount of energy with an existing battery charge and / or an existing tank filling the motor vehicle is only slightly or not reachable. Preferably, the driver is informed about this circumstance. He can now opt for activation of the consumption optimization mode.

The control device 16 is designed to continuously evaluate each of the measures for reducing consumption in terms of its influence on the resulting reduction in fuel consumption and to evaluate each of the measures continuously with regard to their influence on a restriction of the driver of the motor vehicle 10. The controller 16 is also adapted to the individual measures depending on their respective to continuously activate and deactivate influences on the reduction in consumption and the driver's restriction until the destination has been reached, so that the motor vehicle 10 reaches the destination with a remaining range which corresponds at least to the threshold value and the restriction of the driver by the measures is minimized.

In Fig. 2, the control device 16, the navigation device 14, a cruise control 20, an infotainment system 22, an air conditioner 24, a chassis 26 and an engine 28 of the motor vehicle 10 are shown schematically in a schematic representation. Hereinafter, a method for operating the motor vehicle 10 will be explained in more detail.

After destination input in the navigation device 14, the required amount of energy for target achievement is calculated by means of the control device 16 on the basis of previous consumption data and physical models. This calculated amount of energy is compared for example with a remaining battery charge and / or a current tank filling the motor vehicle 10. If the destination is barely or not at all attainable, the driver is informed about this circumstance. He can now confirm that the consumption optimization mode is to be activated by means of the control device 16. A variety of measures a lowering of the energy consumption of the motor vehicle 10 is now brought about by means of the control device 16, so that the driver can reach his desired goal. In particular, different measures are taken by the control device 16, depending on whether the cruise control 20 is activated or not. The driver does not have to worry about the most economical way of driving to reach the destination. He is taken to the fear of lying down and he is not limited beyond the bare essentials in his driving style.

When the consumption optimization mode is activated, numerous measures are taken to reduce the energy consumption of the motor vehicle 10. These include, for example: warnings regarding the driving style in order to achieve a reduction in fuel consumption; a reduction of the maximum retrievable power of the motor vehicle 10; a reduction of the maximum retrievable torque of the motor vehicle 10; a limit on the achievable maximum speed of the motor vehicle 10; a reduction of the power consumption of at least one electrical load of the motor vehicle 10, such as the air conditioning 24, the infotainment Systems 22, of displays or lighting devices for the interior lighting of the motor vehicle 10 or the headlights. In addition, for example, a deactivation of an all-wheel drive of the motor vehicle 10 take place. Furthermore, navigation instructions for goal achievement can also be made along a determined consumption-optimized route. In addition, it may also be provided that the motor vehicle 10 is partially operated in a so-called sailing mode, in which a decoupling of the engine 28 of the motor vehicle 10 is carried out by a transmission of the motor vehicle 10. If the motor vehicle 10 should have an adjustable chassis, a lowering of the chassis of the motor vehicle 10 to reduce the air resistance of the motor vehicle 10 can be made. If the motor vehicle 10 has an active accelerator pedal, it can also be provided that a pressure point is set by means of the active accelerator pedal, which signals a not to be exceeded accelerator pedal position. In addition, it may also be provided to reduce a power consumption of an engine cooling system of the motor vehicle 10. Furthermore, it can also be provided that a predictive efficiency assistant of the motor vehicle 10 is activated, by means of which the driver is stopped for a particularly economical driving style via correspondingly displayed information, wherein the predictive efficiency assistant contains information about a route, speed limits and the like analyzed in a forward-looking manner along a route determined to reach the target. The cruise control 20 may be a conventional cruise control which simply maintains a set speed of the motor vehicle 10. Alternatively, the cruise control 20 may also be a so-called adaptive cruise control. If the cruise control 20 should not be activated, the driver is signaled by a pressure point of the active accelerator pedal - if the motor vehicle 10 has such a pedal - a recommended accelerator pedal position. In the following table, the most varied measures for reducing the consumption of motor vehicle 10 are listed by way of example, whereby each measure is identified by an "x", which of the measures depends on whether the driver himself drives, whether it is in the cruise control 20 to a conventional cruise control or an adaptive cruise control, are activated.

Measure driver drives driver drives with driver drives with even conventional state control

Cruise control

Warnings X

Pressure point active X

accelerator

Sailing operation X

predictive efficiency asX X

Activate sistents

Reduction performance X X X

and / or torque

of the motor

Restriction of X X X

top speed

Reduction of the LeisX X X

of the

air conditioning

Reduction of the LeisX X X

of the

infotainment Systems

All-wheel drive deactivatedX X X

reindeer

Consumption-optimized X X X

Determine route

Lower landing gear X X X

Reduction of the LeisX X X

of the

Engine cooling system

The activation of the various measures to reduce fuel consumption of the motor vehicle 10 is staggered in several escalation stages. The influence of the individual measures on the reduction in consumption of the motor vehicle 10 is calculated continuously dynamically and evaluated taking into account the effects on the driver.

In other words, each of the measures is continuously assessed for its impact on the resulting reduction in consumption. Moreover, each of the measures is also continuously evaluated for its influence on a driver's restriction of the motor vehicle 10. The individual measures will depend on their respective gen continuously activated influences on the reduction in consumption and on the limitation of the driver until reaching the destination so activated and deactivated that the motor vehicle 10 reaches the target with a remaining range, which corresponds to at least a predetermined threshold and the driver's limitation is minimized by the measures ,

The evaluation of the measures with regard to their influence on the achievable reduction in fuel consumption of the motor vehicle 10 and / or the limitation of the driver takes place depending on continuously provided ambient conditions of the motor vehicle 10. As the ambient conditions, for example, the ambient temperature, the humidity, the ambient brightness, the Road surface, the curvature of the road, the gradient of the road or any speed limits along the route to reach the target. In addition, the evaluation of the measures can be carried out with regard to their influence on the driver's restriction as a function of a driver profile provided which characterizes the driving behavior of the driver. The different measures, the greater the influence of each measure on the resulting reduction in fuel consumption and the driver's restriction, are each assigned an even greater reduction in consumption and an even greater restriction value and taken into account when activating and deactivating the measures. Thus, along the route to the destination, the different measures are always activated and deactivated in such a way that on the one hand the destination can be reached with the current battery charge and / or the current tank filling of the motor vehicle 10, and on the other the driver in his usual Driving style is particularly limited by currently activated measures. The driver of the motor vehicle 10 can thus reach the destination as dynamically as possible even with a relatively low fuel tank level and / or battery level when the consumption optimization mode is activated. The consumption optimization mode is deactivated as soon as the motor vehicle 10 has reached the destination. The previously activated measures for reducing fuel consumption therefore do not have to be manually deactivated again by the driver if he wants to continue driving with motor vehicle 10.

Claims

CLAIMS:

1 . Method for operating a motor vehicle (10), comprising the steps:

Detecting a destination input by a vehicle occupant; Determining which remaining range the motor vehicle (10) will have at the destination;

- If the determined residual range is less than a predetermined threshold: operating the motor vehicle (10) in a consumption optimization mode in which the motor vehicle (10) for automatically performing measures to reduce consumption of the motor vehicle (10) is operated until the target, wherein

■ each measure is continuously assessed for its impact on the resulting reduction in consumption; ■ each measure is assessed on an ongoing basis for its impact on a driver's restriction on the motor vehicle (10);

■ the individual measures depending on their respective continuously determined influences on the reduction of consumption and on the limitation of the driver until the achievement of the

Target be activated and deactivated so that the motor vehicle (10) reaches the target with a residual range, which corresponds at least to the threshold and the driver's limitation is minimized by the measures.

2. The method according to claim 1,

characterized in that

several of the following measures to reduce consumption are made until the objective is achieved:

- issuing warnings regarding the driving style of the driver;

- reducing the maximum retrievable power of the motor vehicle (10);

- reducing the maximum retrievable torque of the motor vehicle (10);

- Limit the achievable maximum speed of the motor vehicle (10);

- Reducing the power consumption of at least one electrical load of the motor vehicle (10); - Disabling an all-wheel drive of the motor vehicle (10);

Outputting navigation instructions for targeting along a determined consumption-optimized route;

- decoupling an engine of the motor vehicle (10) from a gearbox of the motor vehicle (10);

- Lowering a chassis of the motor vehicle (10);

- Setting a pressure point by means of an active accelerator pedal of the motor vehicle (10), which signals a not to be exceeded accelerator pedal position;

- Reduce the power consumption of an engine cooling system.

Method according to claim 1 or 2,

characterized in that

the evaluation of the measures with regard to their influence on the achievable reduction in fuel consumption and / or the limitation of the driver as a function of continuously provided ambient conditions of the motor vehicle (10) takes place.

Method according to claim 3,

characterized in that

when the environmental conditions are provided at least one of the following sizes:

- the ambient temperature;

- humidity;

- the ambient brightness;

- the road condition;

- the street type;

- the curviness of the road;

- the slope of the road;

- Speed limits.

Method according to one of the preceding claims,

characterized in that

the evaluation of the measures with regard to their influence on the limitation of the driver in dependence on a provided, the driving behavior of the driver characterizing driver profile.

6. The method according to any one of the preceding claims, characterized in that

the greater the impact of each measure on the resulting reduction in fuel consumption and the driver's impairment, the greater the reduction in consumption and the more restrictive value assigned to each action and taken into account in the activation and deactivation of the measures.

7. The method according to any one of the preceding claims,

characterized in that

the activation and deactivation of at least one of the measures is effected as a function of whether a driver assistance system (20) controlling the longitudinal guidance of the motor vehicle (10) is activated. 8. The method according to any one of the preceding claims,

characterized in that

the consumption optimization mode is deactivated as soon as the motor vehicle (10) has reached the destination. 9. system (12) for operating a motor vehicle (10), with

a navigation device (14) for detecting a destination input by a vehicle occupant;

- A control device (16) which is designed to determine what remaining range the motor vehicle (10) will have at the target, and to operate the motor vehicle (10) in a consumption optimization mode in which the motor vehicle (10) for automatic implementation measures are taken to reduce the fuel consumption of the motor vehicle (10) until the target is reached, if the determined residual range is less than a predefined threshold value, the control device (16) being designed to:

■ to assess each of the measures on an ongoing basis for their impact on the resulting reduction in consumption;

■ to evaluate each of the measures on an ongoing basis with regard to their influence on a driver's restriction of the motor vehicle (10);

■ the individual measures depending on their respective continuously determined influences on the reduction of consumption and on the limitation of the driver until the achievement of the Activate and deactivate target such that the motor vehicle (10) reaches the target with a remaining range, which corresponds at least to the threshold and the driver's limitation is minimized by the measures.

10. Motor vehicle (10) with a system according to claim 9.