EP3510585A1 - System und verfahren zur übergabe eines nutzfahrzeuges - Google Patents
System und verfahren zur übergabe eines nutzfahrzeugesInfo
- Publication number
- EP3510585A1 EP3510585A1 EP17758455.4A EP17758455A EP3510585A1 EP 3510585 A1 EP3510585 A1 EP 3510585A1 EP 17758455 A EP17758455 A EP 17758455A EP 3510585 A1 EP3510585 A1 EP 3510585A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- vehicle
- driver
- interface
- management system
- transfer
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000012546 transfer Methods 0.000 title claims abstract description 34
- 238000000034 method Methods 0.000 title claims description 27
- 238000004891 communication Methods 0.000 claims description 10
- 230000009471 action Effects 0.000 claims description 8
- 238000012790 confirmation Methods 0.000 claims description 5
- 238000004590 computer program Methods 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 238000007726 management method Methods 0.000 claims 9
- 230000008569 process Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 5
- 230000008901 benefit Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000003032 molecular docking Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000010399 physical interaction Effects 0.000 description 1
- 238000004886 process control Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0055—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with safety arrangements
- G05D1/0061—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with safety arrangements for transition from automatic pilot to manual pilot and vice versa
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/005—Handover processes
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
Definitions
- the present invention relates to a system and a method for the transfer of a commercial vehicle
- DE 10 2015 201 209 discloses a control unit which implements a parking service (valet parking) for passenger cars.
- US 2016/200326 further describes an autonomous driving style wherein vehicle conditions are first checked and a driver executes a checklist to determine if the vehicle can be switched in an autonomous mode.
- US 2009/248231 discloses a system that can switch between a manual and an autonomous mode for vehicles. These are either specific systems that offer benefits for cars, but for
- the present invention relates to a system for transferring a
- the system includes a vehicle interface, a security module and a
- the vehicle interface is configured to allow the driver to request the handover of the utility vehicle.
- the security module is
- Control module is adapted to the vehicle between the driver and the
- the restricted area can comprise any area to which access / access is not freely possible, but one
- Access control for example, to enforce security policies in the field and secure autonomous actions with or on the
- a safe state of the commercial vehicle can be understood as meaning a state in which the commercial vehicle can remain for an indefinite period without presenting a risk to people or machines. Such a condition generally depends on the type of restricted area. Examples of a safe state are: a rest state, a parking position in a prescribed range, a particular orientation of the vehicle, a parked prime mover or a combination thereof.
- the management system may, for example, have a communication interface, and the vehicle interface may optionally be designed to connect to the communication interface in order to provide an infrastructure of the
- the security module can then optionally evaluate whether the infrastructure is capable of controlling an autonomous mode of operation. By querying the infrastructure, it can be ensured that the commercial vehicle can only be handed over if minimum standards of the restricted area are met. Such standards may for example provide sufficient communication between the commercial vehicle and the
- the security module can be configured to execute the transfer only when the secure state has been determined and / or the infrastructure has been rated as sufficient.
- the vehicle interface may include a physical interface and / or a software interface attachable or installable (in software interfaces) in or on the utility vehicle to be moved together with the vehicle.
- control module may be configured to transfer the vehicle only if the driver from both the physical
- the vehicle interface may include at least one of the following: a switch, a knob, a lever, a pedal, means for
- the vehicle interface may be further configured to make a request as to whether there is another actor (or more) in the restricted area.
- the control module may be further configured to take into account the presence or actions of the further actor when transferring the vehicle from the driver to the management system.
- the further actor can be, for example, another autonomously operated vehicle, a machine or even a person who is entitled to reside in the restricted area in order to carry out activities there.
- the control module can be further configured to at least temporarily connect the commercial vehicle to another subscriber of the restricted area using at least one interface of the further subscriber
- the further participant may be, for example, a person who is in the restricted area and carries out predetermined activities there (for example, maneuvering or loading work), such as, for example, temporarily taking over the
- the additional participant does not necessarily have to be human, but may also be a subsystem of the management system that implements specific functions to be performed as needed (e.g., to drive to a particular parking position).
- the vehicle interface may be further configured to request an acknowledgment from the driver or another subscriber, and the control module may be configured to execute the handover only when the acknowledgment has been made at the vehicle interface.
- a worker or another temporarily acting operator or the driver himself can confirm the desired transfer at a switch interface (virtual or real).
- the confirmation can be done for example via a special code.
- the submitter may present a code graphically, in Enter text form or barcode into an entry of the vehicle and confirm the transfer.
- a mobile device can generate the code to be read by a visual sensor of the vehicle as a confirmation.
- the intention to carry out the transfer can be reliably confirmed either automatically by the commercial vehicle itself and / or by the management system or an operator of the restricted area (automatically or manually).
- control module may also be configured to detect a presence of the driver in the cab of the commercial vehicle (e.g., via dedicated sensors or through interrogation via the vehicle interface). The system can then do that
- the present invention also relates to a commercial vehicle having a system as described above.
- the present invention also relates to said
- Management system comprising at least the following features: one
- the communication interface is designed to connect to the system described above, so that the commercial vehicle can be taken over by the driver or handed over to the driver.
- the control unit is designed to autonomously operate the commercial vehicle in a restricted area.
- the management system need not be a central control unit that coordinates the autonomous operation of a plurality of vehicles.
- the management system is initially only responsible for the one vehicle handed over, so that the driver has no responsibility to bear. It is a machine replacement for the driver of the commercial vehicle.
- the management system can communicate with other systems to coordinate a variety of autonomous vehicles. It is also possible - but not mandatory - that the management system is able to to serve several commercial vehicles at the same time and to take over the coordination of all autonomous actions.
- the present invention also relates to a method for transferring a utility vehicle between a driver and the management system to the
- the method comprises the following steps: requesting the handover of the utility vehicle between the driver and the management system; Determining a safe
- This method may also be implemented or stored in the form of instructions in software or on a computer program product, wherein stored instructions are capable of performing the steps of the method when the method is run on a processor (e.g., one of the vehicle control units). Therefore, the present invention also relates to computer program product having software code stored thereon (software instructions) configured to execute one of the above-described methods when the software code is executed by a processing unit.
- the processing unit may be any form of computer or control unit having a corresponding microprocessor capable of executing a software code.
- the present invention solves at least part of the problems mentioned at the outset in that an autonomous driving system
- Transfer process and appropriate interfaces are used so that the commercial vehicles can be operated autonomously within the restricted area.
- a physical and / or a virtual interface is used, which is a control of the
- embodiments offer a number of advantages.
- embodiments do not require a central control unit, but ensure at all times that the responsibility for the transfer and acceptance is always clearly regulated.
- Embodiments define a clear return process from the management system to the driver of the utility vehicle.
- An advantage of using the system in restricted areas is that restricted areas for the autonomous driving function can ensure adequate infrastructure and technical equipment for safe operation of the commercial vehicle.
- an autonomous mode is transparently detected using a method and interfaces that permanently ensure that responsibility over the vehicle is always uniquely assigned.
- Fig. 1 shows an embodiment of a system for transferring a
- FIG. 1 shows a system suitable for transferring a utility vehicle 10 between a driver and a management system 200, wherein the management system 200 is capable of autonomously operating the utility vehicle 10 in a restricted area.
- the system includes a vehicle interface 110, a security module 120 and a control module 130.
- the vehicle interface 110 allows the driver to request the handover of the utility vehicle 10.
- the safety module 120 is capable of determining a safe condition of the utility vehicle 10
- the control module 130 is configured to transfer the vehicle 10 between the driver and the management system when the driver requests handover and the safety module has determined the safe condition ,
- the system may be implemented in the commercial vehicle 10 either as a hardware component or as software within a control unit.
- the management system 200 may be coupled to other subscribers.
- a first participant may have an interface 210 that is in contact with the management system 200 and may be embodied as a physical or virtual interface.
- Other subscribers may include other physical or virtual interfaces 220 that are also connected to the management system 200. It is also possible that the management system 200 itself have an interface.
- a human operator / user can communicate with the management system 200 or with the other components and can give an explicit confirmation of the handover of a vehicle 10.
- the vehicle interface 110 is not only designed to contact the management system 200, but may also exchange information with the other interfaces 210, 220 from the other participants.
- the security module 120 may determine whether the utility vehicle 10 is in a safe state and handover may occur. For this, it is possible for the security module 120 to make direct contact with the further participants 210, 220 in order to obtain a security acknowledgment.
- FIG. 1 shows only a simplified schematic for a combined system for transferring commercial vehicles 10 to a management system 200.
- the dashed lines refer to connections that are optional, so that the corresponding information exchange along the dashed lines can be implemented in a concrete system. However, it depends on the concrete circumstances, to what extent the connections are formed. For example, in some applications, it may be useful to use virtual (computerized or display-based) control interfaces or not. Likewise, the control process can be taken over by a central control unit or not.
- FIG. 2 shows a flow chart for a method of transferring the utility vehicle 10 between a driver and a management system 200 to autonomously operate the utility vehicle 10 in the restricted area.
- the method comprises the steps: request S1 10 of the transfer of the commercial vehicle between the driver and the management system 200; Determining S120 a safe condition of the utility vehicle 10; and passing S130 of the utility vehicle 10 between the driver and the management system 200 when the driver has requested the transfer and the secure state has been determined.
- the method may also be computer implemented, i. it may be implemented by instructions stored on a storage medium and capable of performing the steps of the method as it runs on a processor.
- the instructions include
- controller typically one or more instructions that may be stored differently on different media in or peripherally to a controller (with a processor) that, when read and executed by the controller, cause the controller to perform functions, functionalities, and
- FIG. 3 shows a state diagram for implementing the system for autonomously operating a commercial vehicle 10 in a restricted area.
- one or more subscribers 21 may perform different operations on the vehicle 10 (a loading or unloading, a washing, a maintenance, a reminder, etc.).
- the state diagram describes the handover and acceptance between the driver 12 of the utility vehicle 10 and a (virtual or real) manager 20 of the restricted area, where interactions between the subscriber 12, 21 and the vehicle 10 are illustrated.
- the state diagram assumes that one physical interface (switch, button, lever, etc.) and one virtual interface (eg, mobile application) are present on the commercial vehicle 10, while the other participants 20, 21 (eg, the limited area manager or Workers) are able to influence the behavior of the system, eg via a virtual control interface such as a computer, a mobile device, a tablet, etc.
- a virtual control interface such as a computer, a mobile device, a tablet, etc.
- these interfaces are to be understood only as an example and need not necessarily be so designed.
- a worker 21 may perform actions on the utility vehicle 10, in which case the worker 21 may or should take responsibility for the utility vehicle 10.
- the restricted area infrastructure provides wireless communication (e.g., to the Internet) such that all actors 12, 20,
- the commercial vehicle 10 is set in a corresponding mode and remains in this mode remains.
- “Operations” performed by a worker 21 may in the context of the present invention refer to all possible commercial vehicles 10 (trucks, vehicle combinations, buses, agricultural vehicles, etc.) and to any corresponding operations performed in a restricted area can be.
- the utility vehicle 10, the driver 12, a restricted area manager 20, and another subscriber 21 are separated.
- the driver 12 may approach the restricted area make a connection request.
- both the vehicle 10 and the driver 12 may connect to the restricted area (state 31 1). It is also possible that the combination of driver and vehicle combine as a unit with the restricted area (state 312).
- a connection may be detected (state 320).
- an interface e.g., a button must be pressed
- a security check can take place and it can be determined whether autonomous operation is possible in the restricted area with the present infrastructure (state 332).
- a waiting state can follow (state 334) or a request for the transfer of the vehicle can take place (state 334). This is followed by the transfer of the vehicle (state 340).
- a wait position may be required as potential (docking) stations are busy (state 341). If this is not the case, the (docking) stations to be approached can be set (state 342). Again, an optional wait position may be taken in the restricted area (state 346). It is also possible to start the autonomous operation immediately (state 344). Following this, the commercial vehicle is autonomously moved in the restricted area (state 350) and docked at a desired station (state 352) which is completed at state 354.
- an acknowledgment may be made that the vehicle is ready for the action at the station (state 356) and the operation is performed (state 360).
- a start (state 370) of (autonomous) movement of the vehicle 10 through the restricted area (state 372) again occurs.
- the commercial vehicle arrives at the last destination position and waits for driver 12 (state 380). It may then be checked (state 382) whether the driver 12 has actuated the brake pedal and whether the driver 12 is present in the driver's cab (state 384).
- a handoff button can be pressed (state 386), whereupon the management system 200 releases a switch (state 390), whereupon the driver 12 can actuate a disconnect switch (state 392) and the vehicle is disconnected from the management system (state 395).
- the shown handover / handover process between a manual and an autonomous mode may be implemented by the management system 200 or a submodule verifying a safe condition for the vehicle.
- the restricted area manager (human or machine) may be used to monitor or actively participate in the handover and acceptance process.
- switching between the manual and autonomous modes may depend not only on a safe condition, but also on a suitably restricted range and / or decision of a human being
- the system ensures in each case that until the commercial vehicle 10 has reached a safe state, the driver 12 retains the responsibility for each vehicle-related action.
- the safe state can be any state in which the commercial vehicle can remain for a long period of time without posing a danger to man and machine.
- the driver 12 may be offered to hand over responsibility for the commercial vehicle 10 to the restricted area management system 200 or to an operator (who may also be human, for example). This offer at the Driver 12 may include a request to turn on a switch to confirm autonomous mode.
- the management system 200 is responsible for the vehicle 10 and also for all vehicle related activities.
- the driver 12 may return to the utility vehicle 10 (see states 380-395) and regain control of the utility vehicle 10.
- a physical interaction e.g., actuation of a switch
- the initial state (manual state) of the vehicle 10 can be reactivated.
- the commercial vehicle 10 can then be manually operated by the driver 12 again.
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102016116858.0A DE102016116858A1 (de) | 2016-09-08 | 2016-09-08 | System und Verfahren zur Übergabe eines Nutzfahrzeuges |
PCT/EP2017/070642 WO2018046253A1 (de) | 2016-09-08 | 2017-08-14 | System und verfahren zur übergabe eines nutzfahrzeuges |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3510585A1 true EP3510585A1 (de) | 2019-07-17 |
Family
ID=59738299
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP17758455.4A Pending EP3510585A1 (de) | 2016-09-08 | 2017-08-14 | System und verfahren zur übergabe eines nutzfahrzeuges |
Country Status (8)
Country | Link |
---|---|
US (1) | US11036224B2 (de) |
EP (1) | EP3510585A1 (de) |
JP (1) | JP6976314B2 (de) |
CN (1) | CN109923599B (de) |
BR (1) | BR112019004140A2 (de) |
DE (1) | DE102016116858A1 (de) |
RU (1) | RU2718822C1 (de) |
WO (1) | WO2018046253A1 (de) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6917827B2 (ja) * | 2017-08-14 | 2021-08-11 | 本田技研工業株式会社 | 車両制御装置、車両、車両制御方法およびプログラム |
US11402830B2 (en) * | 2018-09-28 | 2022-08-02 | Teradyne, Inc. | Collaborative automation logistics facility |
JP7293914B2 (ja) * | 2019-06-28 | 2023-06-20 | トヨタ自動車株式会社 | 自動運転車両、運行管理センタおよび車両運行システム |
DE102019213747A1 (de) * | 2019-09-10 | 2020-11-05 | Zf Friedrichshafen Ag | Verfahren und System zur autonomen Steuerung eines Fahrzeugs in einem Logistikterminal |
Family Cites Families (24)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3171119B2 (ja) * | 1995-12-04 | 2001-05-28 | トヨタ自動車株式会社 | 車両の自動運転制御装置 |
JP3495588B2 (ja) * | 1998-03-12 | 2004-02-09 | 三洋電機株式会社 | ゴルフカート |
DE10322765B4 (de) * | 2003-05-19 | 2008-06-05 | Daimler Ag | Automatisierter Speditionshof |
DE102004046589A1 (de) * | 2004-08-05 | 2006-02-23 | Volkswagen Ag | Vorrichtung für ein Kraftfahrzeug |
EP1967931A3 (de) | 2007-03-06 | 2013-10-30 | Yamaha Hatsudoki Kabushiki Kaisha | Fahrzeug |
US8126642B2 (en) * | 2008-10-24 | 2012-02-28 | Gray & Company, Inc. | Control and systems for autonomously driven vehicles |
DE102012016432B4 (de) | 2012-08-17 | 2014-03-06 | Audi Ag | Verfahren zum autonomen Fahren in einer Waschstraße und Kraftfahrzeug |
DE102012016868A1 (de) * | 2012-08-25 | 2014-02-27 | Audi Ag | Verfahren und System zum Betreiben eines Fahrzeugs unter Überwachung der Fortbewegung des Fahrzeugs mit Hilfe einer Kameraeinrichtung einer mobilen Bedieneinrichtung |
KR20140043536A (ko) * | 2012-09-24 | 2014-04-10 | 현대자동차주식회사 | 자율주행 차량의 차량 제어권 전환 방법 |
US8825258B2 (en) | 2012-11-30 | 2014-09-02 | Google Inc. | Engaging and disengaging for autonomous driving |
DE102013206212A1 (de) * | 2013-04-09 | 2014-10-09 | Ford Global Technologies, Llc | Verfahren zur Steuerung eines Fahrzeugs mit temporär autonomer Fahrzeugführung sowie Steuerungseinrichtung |
DE102013013867A1 (de) * | 2013-08-20 | 2015-03-12 | Audi Ag | Kraftfahrzeug und Verfahren zur Steuerung eines Kraftfahrzeugs |
JP2015056134A (ja) | 2013-09-13 | 2015-03-23 | 日立建機株式会社 | 自律走行制御システム |
JP6111179B2 (ja) | 2013-10-22 | 2017-04-05 | 日立建機株式会社 | ダンプトラックの自律走行システム |
JP6150258B2 (ja) * | 2014-01-15 | 2017-06-21 | みこらった株式会社 | 自動運転車 |
WO2015151291A1 (ja) | 2014-04-04 | 2015-10-08 | 日立建機株式会社 | 交通管制サーバ及びシステム |
EP2930081B1 (de) | 2014-04-08 | 2019-03-27 | Volvo Car Corporation | Verfahren für den Übergang zwischen Antriebsarten |
JP6314027B2 (ja) * | 2014-04-24 | 2018-04-18 | 日立建機株式会社 | 車両走行システム、運行管理サーバ |
JP6368574B2 (ja) * | 2014-07-29 | 2018-08-01 | クラリオン株式会社 | 車両制御装置 |
WO2016046979A1 (ja) * | 2014-09-26 | 2016-03-31 | 日立建機株式会社 | 自走式鉱山機械 |
DE102014224124A1 (de) * | 2014-11-26 | 2016-06-02 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Betreiben eines Fahrzeugs |
CN111016927B (zh) | 2014-12-12 | 2023-08-29 | 索尼公司 | 自动驾驶控制设备以及自动驾驶控制方法和程序 |
DE102015201209A1 (de) | 2015-01-26 | 2016-07-28 | Robert Bosch Gmbh | Valet Parking-Verfahren und Valet-Parking System |
DE102015209137A1 (de) | 2015-05-19 | 2016-11-24 | Robert Bosch Gmbh | Verfahren und System zur Steuerung einer Fahrfunktion eines Fahrzeuges |
-
2016
- 2016-09-08 DE DE102016116858.0A patent/DE102016116858A1/de active Pending
-
2017
- 2017-08-14 WO PCT/EP2017/070642 patent/WO2018046253A1/de unknown
- 2017-08-14 CN CN201780068701.0A patent/CN109923599B/zh active Active
- 2017-08-14 EP EP17758455.4A patent/EP3510585A1/de active Pending
- 2017-08-14 JP JP2019513051A patent/JP6976314B2/ja active Active
- 2017-08-14 RU RU2019107768A patent/RU2718822C1/ru active
- 2017-08-14 US US16/330,117 patent/US11036224B2/en active Active
- 2017-08-14 BR BR112019004140A patent/BR112019004140A2/pt not_active Application Discontinuation
Also Published As
Publication number | Publication date |
---|---|
CN109923599B (zh) | 2022-10-04 |
US20190250608A1 (en) | 2019-08-15 |
RU2718822C1 (ru) | 2020-04-14 |
DE102016116858A1 (de) | 2018-03-08 |
JP2019530078A (ja) | 2019-10-17 |
WO2018046253A1 (de) | 2018-03-15 |
US11036224B2 (en) | 2021-06-15 |
CN109923599A (zh) | 2019-06-21 |
BR112019004140A2 (pt) | 2019-05-28 |
JP6976314B2 (ja) | 2021-12-08 |
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