EP3899825A1 - Verfahren zur autonomen fahrzeugreinigung - Google Patents
Verfahren zur autonomen fahrzeugreinigungInfo
- Publication number
- EP3899825A1 EP3899825A1 EP19809830.3A EP19809830A EP3899825A1 EP 3899825 A1 EP3899825 A1 EP 3899825A1 EP 19809830 A EP19809830 A EP 19809830A EP 3899825 A1 EP3899825 A1 EP 3899825A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- vehicle
- cleaning
- information
- service station
- service
- 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
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S3/00—Vehicle cleaning apparatus not integral with vehicles
- B60S3/008—Vehicle cleaning apparatus not integral with vehicles for interiors of land vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S3/00—Vehicle cleaning apparatus not integral with vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S3/00—Vehicle cleaning apparatus not integral with vehicles
- B60S3/04—Vehicle cleaning apparatus not integral with vehicles for exteriors of land vehicles
- B60S3/06—Vehicle cleaning apparatus not integral with vehicles for exteriors of land vehicles with rotary bodies contacting the vehicle
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
- G06Q10/063—Operations research, analysis or management
- G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
- G06Q10/06315—Needs-based resource requirements planning or analysis
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
- G06Q50/10—Services
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
- G06Q50/40—Business processes related to the transportation industry
-
- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16Y—INFORMATION AND COMMUNICATION TECHNOLOGY SPECIALLY ADAPTED FOR THE INTERNET OF THINGS [IoT]
- G16Y10/00—Economic sectors
- G16Y10/40—Transportation
-
- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16Y—INFORMATION AND COMMUNICATION TECHNOLOGY SPECIALLY ADAPTED FOR THE INTERNET OF THINGS [IoT]
- G16Y40/00—IoT characterised by the purpose of the information processing
- G16Y40/40—Maintenance of things
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/008—Registering or indicating the working of vehicles communicating information to a remotely located station
Definitions
- the invention relates to a method for autonomous vehicle cleaning, in particular for cleaning a vehicle designed for autonomous driving.
- the invention further relates to a system for carrying out the method according to the invention with at least one autonomous vehicle, at least one autonomous service station for cleaning the vehicle and a server for communication with the vehicle (s) and service station (s).
- Driver assistance systems are, for example, lane keeping assistants, brake assistants for pedestrian detection and adaptive cruise control, especially for traffic jams.
- Vehicles that fleet vehicles will be available in a self-organized manner and with a sufficient density in the business area. As soon as a sufficient number of autonomously driving vehicles are available in a certain area, an increase in car sharing concepts and a decrease in exclusively privately used vehicles can be expected, since the provision of vehicles is guaranteed with sufficient security even in more remote or less frequented places can.
- the decentralized car sharing concepts in particular require a certain minimum number of ready-to-use vehicles at all times. This is the only way to ensure sufficient availability of vehicles for users.
- car sharing in the broader sense also means ride pooling and ride hailing.
- An autonomous vehicle fleet can thus also be a fleet of private vehicles that are only made available temporarily for driving services, in particular for autonomous driving services.
- a fleet operator is to be understood as the provider of an application, the application being used to connect users and providers of driving services.
- a first aspect of the invention relates to a method for autonomously cleaning an autonomous vehicle operating in an operating area. In other words, they can
- Vehicles within the operating area are used by users for autonomous driving services, regardless of whether they are vehicles from a car sharing provider or private vehicles. At least in the operating area, the infrastructure necessary for autonomous ferry operation of the vehicles is therefore available.
- the operating area has at least one service station equipped for cleaning the vehicle.
- at least one server is set up for communication with the at least one autonomous vehicle and the at least one service station.
- the method according to the invention is implemented in such an operating range.
- a degree of pollution of the vehicle is collected.
- information about a state property of a vehicle is determined, which indicates that an actual state of the pollution of the vehicle deviates from a target state of the vehicle.
- the target state can apply to all vehicles or can be set individually for a specific vehicle, for example by a user or owner of the vehicle.
- the information on a degree of pollution of the vehicle is collected.
- Vehicle automatically collected by the vehicle, collected based on user input, recorded using sensors from the service station or collected using external data.
- a cleaning describes in the most general form an action on the vehicle in order to convert it from the present actual state of the pollution to a desired target state.
- a type of cleaning is particularly preferably determined on the basis of the type of degree of contamination determined.
- a degree of cleaning is also preferably determined on the basis of the degree of soiling. For example, the degree of contamination determines whether external cleaning, possibly with or without rim cleaning or underbody cleaning, or whether internal cleaning,
- the vehicle is also driven autonomously to a selected service station.
- the journey takes place after information about a
- Degree of pollution of the vehicle has been collected and after at least a preliminary cleaning decision has been made on the basis of this information. Since, according to the invention, a cleaning that is appropriate for the degree of soiling can only be determined after arrival at the service station, the autonomous drive does not necessarily take place after the determination of an appropriate cleaning. However, if the autonomous journey takes place after a cleaning corresponding to the degree of contamination has been determined, the journey preferably takes place to a service station suitable for the determined cleaning.
- the vehicle is cleaned in the service station in a partially or fully autonomous manner.
- the service station has at least one device designed to carry out the cleaning, in particular a correspondingly configured cleaning module.
- This device is preferably designed as a robotics system that requires little or no action by a user. Cleaning is particularly preferably carried out in the
- Service station fully automatic. If the type of cleaning to be carried out has already been determined in the method according to the invention before the autonomous drive and on the basis of the information on the degree of soiling, the cleaning can be carried out immediately after the arrival of the vehicle at the service station. Otherwise, the cleaning to be carried out on the vehicle is determined after the arrival of the
- the degree or details of a cleaning which has already been determined in advance for the vehicle is likewise preferably determined in the service station.
- the method according to the invention advantageously enables automatic cleaning of an autonomously driving vehicle, in extreme cases without any action by a user.
- a clean appearance of the vehicles can always be guaranteed and with
- the autonomous cleaning also comprises checking the quality of the cleaning carried out autonomously.
- the service station can check again whether an actual state of the vehicle corresponds to the desired state after the cleaning has been carried out. If the check is unsuccessful, a further cleaning is preferably carried out, which is the same or different from the first cleaning. Alternatively or only after several negative checks, an error message is generated, saved and / or output. After performing the cleaning, information about a degree of pollution of the vehicle is preferably alternatively or additionally recorded by the vehicle.
- the autonomous vehicle preferably returns to a previous location of the vehicle by means of a further autonomous drive.
- the vehicle returns to a location where it is needed after cleaning, for example to a user's workplace or the like.
- locations can be determined using a schedule, for example.
- the autonomous vehicle returns to operation in the autonomous vehicle fleet after cleaning, that is to say to a variable location.
- the information on the degree of pollution of the vehicle has first information acquired by the vehicle itself.
- the vehicle preferably has at least one second sensor designed to record vehicle data.
- the sensor is preferably an interior camera for detecting a degree of contamination of an interior. It is also preferably a camera designed to record image signals of the body surface of the vehicle, for example an am
- Dashboard or rear view mirror arranged and directed at the hood or around a camera directed at the side mirror and at the fender or the door. These are also preferably sensors for detecting a degree of reflection of the
- Vehicle paint It is also preferably a sensor for detecting particles in the indoor air.
- the first information is preferably processed by the vehicle itself and / or transmitted to the server and / or to the at least one service station.
- the information points to the degree of contamination of the
- Vehicle interface and / or a mobile device has been detected.
- the second information characterizes the degree of contamination, for example on the basis of a predefined scale, and / or specifies the type and / or the Place of pollution, for example as a stain on the back seat.
- the second information likewise preferably contains image information recorded by the user,
- the second information likewise preferably characterizes a successful use of the vehicle, for example in that information on the transport of animals,
- the user input is also preferably carried out in response to a corresponding input prompt issued to the user.
- the information points to the degree of contamination of the
- Third information provided by the server which is preferably driver-non-specific and vehicle-non-specific information.
- the third information contains data on the weather, the season, seasonal allergens, the prevalence of a flu wave or the like.
- the third item of information is particularly suitable for initiating appropriate countermeasures, such as washing underbody to remove road salt in winter or disinfecting upholstery during a flu season.
- the information points to the degree of contamination of the
- the fourth information is particularly preferably information acquired by at least one sensor of the service station. It is advantageously easier to determine a degree of external pollution of a vehicle by means of external sensors, and a service station can advantageously have sensors that are much better equipped than a smartphone, for example.
- the fourth information is thus particularly preferably taken into account in addition to the information mentioned above, in order to clean the actual contamination
- the autonomous drive to the service station is preferably carried out after the provisional determination of the on the vehicle
- the cleaning to be carried out and the provisionally determined cleaning is modified on the basis of the fourth information recorded in the service station.
- the autonomous journey to the service station takes place before the cleaning to be carried out on the vehicle is ascertained, but after it has been determined on the basis of the information collected on the degree of soiling that the vehicle should be cleaned without specifying this cleaning.
- a determination of the cleaning actually to be carried out that is to say of the type and degree of cleaning, is advantageously also possible solely on the basis of the fourth information.
- the cleaning that is to say the type and degree of cleaning to be carried out on the basis of the degree of soiling, is preferably determined fully automatically on the basis of the information on the degree of soiling of the vehicle.
- the cleaning to be carried out is preferably determined by the autonomous vehicle itself.
- the cleaning is preferably determined by a server to which the vehicle has previously been
- the service action is likewise preferably determined by at least one service station to which the service agent previously sent
- the cleaning to be carried out is determined at least in part on the basis of a user input, for example by an employee of a service station.
- the suitable service station is preferably determined, taking into account the utilization of at least one service station. Information regarding the equipment of the at least one service station is also particularly preferably taken into account.
- a service station suitable for carrying out the determined cleaning is preferably selected or ascertained.
- a suitable service station is understood to mean a (trained) service station set up to carry out the determined type of cleaning.
- the suitable service station is particularly suitable for carrying out the service action fully or partially autonomously and / or with the determined degree of cleaning.
- Autonomous implementation is understood to mean implementation without human intervention (apart from programming, maintenance and servicing of the service station).
- the suitability of the service station results in particular from the equipment of the service station, that is to say from the service modules present in the service station.
- a service module is designed to carry out at least one type of cleaning, that is to say external or internal cleaning, with a certain degree of cleaning.
- the server in particular a server of a cleaning service provider, collects one Fleet operator or a vehicle manufacturer, the information on the
- the server also preferably takes into account information about the equipment and / or the utilization of the at least one service station, which information was transmitted to the server particularly preferably by the at least one service station. In a particularly preferred manner, the server determines a plurality of ones that are in principle more suitable for performing the determined cleaning
- the server finally selects one of the determined plurality of service stations on the basis of a position of the vehicle, the service station closest to the vehicle being selected in principle.
- the server also preferably takes into account the utilization of the service stations, that is to say the cleaning times or waiting times to be expected in the respective service stations. In this case, a distant one may become less
- the autonomous journey to the selected service station is carried out, preferably after the server has transmitted information to the vehicle to the selected service station.
- information about the determined cleaning to be carried out is transmitted to a user of the vehicle.
- the vehicle, the server or the service station informs the user by means of a message sent to the user, for example to a smartphone of the user, that one or more cleaning options have been determined which are recommended in view of the degree of pollution of the vehicle.
- a cost estimate and / or a time estimate can be transmitted for each cleaning option.
- the user can then make a selection as to whether cleaning and possibly which of the cleaning options is to be carried out on the vehicle. Based on this selection, information about the selection made by the user is transmitted to the vehicle, the server or the service station and thus ultimately through this
- the method steps of the method according to the invention can be implemented by electrical or electronic components or components (hardware), by firmware (ASIC) or by executing a suitable program (software).
- the method according to the invention is likewise preferably implemented or implemented by a combination of hardware, firmware and / or software.
- individual components for performing individual method steps are as formed separately integrated circuit or on a common integrated circuit
- Circuit arranged. Individual components set up to carry out individual method steps are also preferably on a (flexible) printed circuit board
- FPCB / PCB
- TCP tape carrier package
- the individual method steps of the method according to the invention are furthermore preferably designed as one or more processes which run on one or more processors in one or more electronic computing devices and are generated when one or more computer programs are executed.
- the computing devices are preferably designed to work with other components, for example a communication module and one or more sensors or cameras, in order to implement the functionalities described here.
- the instructions of the computer programs are preferably stored in a memory, such as a RAM element.
- the computer programs can also be stored in a non-volatile storage medium, such as a CD-ROM, a flash memory or the like.
- Another aspect of the invention relates to a computer program comprising instructions that are used when the program is executed by a computer, such as a second one
- the inventive method of the server comprising the steps: collecting information on a degree of pollution of the vehicle; Determining a cleaning to be carried out on the vehicle based on the information on the degree of pollution of the vehicle; Determining a service station suitable for performing the cleaning; and communicating cleaning and / or service station information to the vehicle.
- Another aspect of the invention relates to a computer readable storage medium comprising instructions that are executed by a computer, such as a second one
- the inventive method of the server comprising the steps: collecting information on a degree of pollution of the vehicle; Find one at that Vehicle to be cleaned based on information on the degree of pollution of the vehicle; Determining a service station suitable for performing the cleaning; and communicating cleaning and / or service station information to the vehicle.
- the system according to the invention has at least one autonomously driving vehicle which has at least one first sensor designed to record environmental data and at least one second sensor designed to record vehicle data.
- the at least one first sensor allows the detection of environmental or environmental information and the at least one second sensor allows the detection of vehicle-specific information.
- Each of the vehicles also has a driving system designed to perform autonomous driving maneuvers.
- the driving system is preferably designed for complete transverse and longitudinal guidance of the vehicle.
- each of the vehicles has a (first) communication module that is set up to establish at least one communication connection.
- the (first) communication module is, for example, a WLAN or mobile radio module and is preferably designed to carry out Car2Car or Car2X communication.
- each of the vehicles has at least one
- Energy storage for example a battery system and / or a fuel or
- the system according to the invention preferably also has at least one server set up for communication with the at least one autonomous vehicle and at least one service station.
- the server in particular has a correspondingly designed (fourth) communication module.
- the server is preferably a server of a data center of a provider of car sharing services (fleet operator), a provider of cleaning services or a vehicle manufacturer.
- the system according to the invention also has at least one service station arranged in an operating area.
- the at least one service station has a (second) communication module set up for communication with the at least one vehicle and the server.
- the service station has a first service module designed to perform interior cleaning of the vehicle and / or a second service module designed to perform exterior cleaning of the vehicle.
- the service station also preferably has a (second) control unit set up to determine a cleaning to be carried out on a vehicle.
- the control unit is designed, in particular, to perform cleaning on the basis of information
- the (second) communication module is preferably designed to provide information on this degree of pollution from a
- the service station is designed to determine the cleaning to be carried out on the basis of received or recorded information relating to a degree of pollution of the vehicle.
- the (second) control unit is particularly preferably set up to determine at least one cleaning to be carried out on the vehicle on the basis of information received from the vehicle or from the server by means of the (second) communication module.
- the (second) control unit is also preferably designed to determine a degree of soiling and / or cleaning for the vehicle on the basis of vehicle-specific variables that were recorded by a first control module.
- Information received from the vehicle and / or from the server is likewise preferably combined with information recorded in the first service station in order to determine the type and / or the degree of cleaning to be carried out on the vehicle. If the service station has already been determined as a suitable station for vehicle cleaning, the degree of soiling of the vehicle is preferably recorded when the vehicle arrives in order to determine the type and degree of cleaning, for example interior or exterior cleaning, upholstery cleaning, disinfection, etc.
- the first service module is preferably a robot arm that is used for
- the robot arm is preferably designed to be introduced into the vehicle interior through an open door or an open window of the vehicle.
- the tools are, for example, a vacuum cleaner nozzle, an upholstery brush, an applicator for applying
- the first service module has a mobile cleaning robot, which is designed to pass through an open door or window of the
- the mobile cleaning robot preferably has tools suitable for interior cleaning, such as a vacuum cleaner nozzle, an upholstery brush, an applicator for applying cleaning agents and / or agents for cleaning shelves and / or windows.
- the mobile cleaning robot is designed to perform interior cleaning autonomously and / or with the doors and windows closed.
- the second service module is preferably designed like an automatic washing line known from the prior art and preferably has nozzles for applying at least one cleaning liquid, brushes or rags for removing dirt from the vehicle and / or a hair dryer for drying the vehicle.
- the second service module also has further washing elements, such as, for example, specially Rim washing trained brushes and / or wax application agents.
- the second service module also preferably has means for transporting the vehicle in the module.
- the service station according to the invention also preferably has at least one third service module designed to fill the energy store of the vehicle.
- this additionally has a first control module upstream of the service modules.
- the first control module has at least one third sensor, which is designed to detect at least one variable that characterizes a degree of pollution of the vehicle.
- the first control module is designed (set up) to detect at least one degree of pollution of the vehicle.
- a previously determined degree of soiling or a cleaning determined therefrom can thus advantageously be verified and / or adapted.
- only one type of soiling or one type of cleaning corresponding thereto was preferably determined in advance. In this case, is recorded using the first control module
- the first control module is as one
- the first control module also preferably has at least one sensor, for example an optical sensor such as a camera
- the first control module is preferably designed to record a large amount of vehicle-specific information (regardless of the degree of soiling).
- the first control module is particularly preferably designed to determine a vehicle type, a vehicle size, the presence of
- the (second) control unit is preferably designed to adapt the cleaning on the basis of the additionally recorded vehicle-specific information. For example, cleaning of the vehicle can be adapted depending on the size of the vehicle or can be carried out in such a way that objects of a user in the vehicle are not removed.
- the first service station furthermore has a second control module downstream of the service modules.
- the second control module has at least one fourth sensor, at least for the detection a variable characterizing the degree of pollution of the vehicle.
- the second control module is also designed to detect at least one degree of pollution of the vehicle.
- this detection is now used to evaluate the quality of the cleaning carried out previously.
- the actual state detected with the second control module can be compared with the target state aimed for in cleaning.
- the second control module is preferably completely or partially identical to the first control module, for example as a scan bridge.
- the first and second and possibly further service modules are arranged in a common area of the service station. All service modules in the service station are particularly preferably arranged in such a way that they perform their functions on one in the first
- Service station located vehicle can carry out without the need to move the vehicle within the station.
- interior cleaning and exterior cleaning are advantageously carried out sequentially or in parallel on a vehicle located in the service station without the vehicle moving.
- the first service module and the second service module and possibly further service modules are arranged in different areas of the service station. According to this embodiment, at least one movement of the vehicle between the execution of the individual cleaning operations is therefore necessary.
- all the service modules are arranged separately from one another in the service station, and the service station is therefore constructed in a completely modular manner. The corresponding cleaning takes place in each of the service modules and then the vehicle moves to the next module.
- Another aspect of the present application relates to a service station for a
- a service station according to the invention has at least the features as described above in conjunction with the system according to the invention.
- a first service station according to the invention preferably has the second communication module, the second control unit and the first and second service modules.
- a first service station according to the invention may also have a third one
- Service module for filling at least one energy storage device of the vehicle.
- a second service station also according to the invention, preferably has a fourth service module designed to carry out maintenance and / or repair of the vehicle.
- the fourth service module is preferred for performing maintenance and / or repair of the vehicle.
- the fourth service module is particularly preferably designed to fill up operating fluids of the vehicle, such as, for example, coolant, brake fluid, washer fluid or the like.
- the fourth is alternatively or additionally
- Service module designed to replace wear parts of the vehicle, such as
- the fourth service module is particularly preferably designed to carry out the aforementioned service actions fully autonomously. Alternatively, the aforementioned service actions are carried out partially autonomously.
- the second service station also preferably has a for loading and / or unloading the
- the logistics module is preferably designed to load ordered goods or goods into a fleet vehicle. Orders of a user who has ordered an autonomous fleet vehicle can thus be loaded into this fleet vehicle before it starts the autonomous journey to the user. Alternatively or additionally, goods or goods can be removed from a vehicle returning from a trip with a specific user by means of the logistics module. These goods are for example intended for transport to distant places and are in the second
- the second service station also preferably has parking spaces for autonomous vehicles that are not in fleet operation. This means that they can be safely stored in the second service station. Furthermore, an effective control of the number of vehicles operating in the operating area is possible. The density of the vehicles in the operating area can thus be adapted to a demand and / or other traffic volume.
- Another aspect of the invention relates to an autonomous vehicle, in particular one
- Passenger car with internal combustion, electric or hybrid engine which has at least one first sensor set up to record environmental data, at least one second sensor set up to record vehicle data, and a (first)
- the communication module preferably has a radio, mobile radio, WLAN, and / or Bluetooth transceiver or alternative wireless communication devices.
- the at least one first sensor is designed to detect sensor signals relating to the surroundings of the vehicle.
- the at least one second sensor is designed to detect sensor signals relating to the vehicle itself.
- Communication module is designed to the vehicle and / or its surroundings receive potentially relevant information via a communication network.
- An ambient signal received by means of the at least one first sensor preferably enables the vehicle to obtain information about its environment and preferably displays a large amount of environmental information.
- a status signal received by means of the at least one second sensor preferably enables the vehicle to obtain information about its own status and, for this purpose, displays a large amount of status information.
- the driving system of the motor vehicle according to the invention is preferably set up to carry out at least one autonomous driving maneuver and / or an autonomous driving from the vehicle's own position to a target position of the vehicle.
- the driving system is particularly preferably designed for completely automatic (autonomous) guidance of the motor vehicle and can control the longitudinal guidance and the lateral guidance of the motor vehicle.
- the driving system can preferably access the at least one first sensor and / or the at least one second sensor for determining status information and / or environmental information of the motor vehicle. These first and second sensors can thus preferably be used by the driving system and by the first control unit.
- the vehicle has a (first) control unit designed to carry out the method according to the invention, as described above.
- the (first) control unit is in particular set up to carry out the steps assigned to the vehicle within the method according to the invention.
- Figure 1 is a schematic representation of a system for performing the
- Method according to the invention from an autonomous vehicle, a server of a fleet operator and service stations;
- FIG. 2 shows a schematic representation of an operating area for carrying out the method according to the invention by means of the system shown in FIG. 1;
- Figure 3 is a schematic representation of a first service module
- Figure 4 is a schematic representation of a second service module for
- Figure 5 is a schematic representation of a first according to the invention
- Figure 6 is a schematic representation of a first according to the invention
- Figure 1 shows a schematic representation of a system for performing the
- Method according to the invention comprising an autonomous vehicle 10, a server 70, a first service station 90 and a second service station 80.
- FIG. 1 shows a block diagram of a two-lane vehicle 10 with an electric motor 37.
- the vehicle 10 includes a large number of first sensors, in particular a first sensor 11, a second sensor 12, and a third sensor 13.
- the first sensors 11, 12, 13 are set up to record environmental information, respectively
- Ambient data of the vehicle 10 and include, for example, temperature sensors for detecting an ambient temperature, a camera for capturing an image of an environment immediately surrounding the vehicle 10, a microphone for capturing sounds of an environment immediately surrounding the vehicle 10, distance sensors such as
- ultrasonic sensors for detecting distances to the vehicle 10 surrounding objects.
- the first sensors 11, 12, 13 transmit the environmental signals they have detected to a first control unit 40 of the vehicle 10.
- the vehicle 10 also has a plurality of second sensors, in particular a fourth sensor 51, a fifth sensor 52, and a sixth sensor 53.
- the second sensors 51, 52, 53 are sensors for determining state data relating to the vehicle 10 itself, such as current position and movement information of the vehicle 10.
- the second sensors 51, 52, 53 are consequently, for example Speed sensors, acceleration sensors, inclination sensors,
- the second sensors 51, 52, 53 are designed to detect a degree of contamination of the vehicle 10.
- Sensors 51, 52, 53 include, for example, an interior camera for capturing image signals of the vehicle interior, a dashboard camera for capturing image signals of the hood, a camera in a side mirror for capturing image signals of a side door of the vehicle, and other sensors for capturing contamination, for example based on a degree of reflection of the vehicle paint or the like.
- the second sensors 51, 52, 53 transmit the status signals which they have detected to the first control unit 40 of the vehicle 10.
- at least some of the second sensors 51, 52, 53 transmit their measurement results directly to a driving system 30 of the vehicle 10.
- the vehicle 10 also has a first communication module 20 with a memory 21 and one or more transponders or transceivers 22.
- the transponders 22 are radio, WLAN, GPS or Bluetooth transceivers or the like.
- the transponder communicates with the internal one
- Memory 21 of the first communication module 20 for example via a suitable data bus.
- Vehicle 10 determined by communication with a GPS satellite 61 and these are stored in the internal memory 21. Likewise, authorization information stored in the memory 21 can be transmitted to an external communication module by means of the transponder 22.
- the first communication module 20 communicates with the first control unit 40.
- the first communication module 20 is set up to communicate with a server 70, in particular a fourth communication module 71 of the server 70, for example via a UMTS (Universal Mobile Telecommunication Service) or LTE (Long Term Evolution) cellular network.
- the first communication module 20 is also set up to communicate with a second communication module 92 of a first service station 90 and with a third communication module 81 of a second service station 80, for example via a UMTS or LTE mobile radio network. Communication about that
- Mobile radio network takes place in particular via one or more base stations 62 of the network.
- the vehicle 10 also has the driving system 30, which is completely autonomous
- the driving system 30 has a navigation module 32 which is set up to calculate routes between a starting point and a destination and to determine the maneuvers to be carried out by the vehicle 10 along this route. It also includes
- Driving system 30 an internal memory 31, for example for map materials, which communicates with the navigation module 32, for example via a suitable data bus.
- At least some of the second sensors 51, 52, 53 of the vehicle 10 transmit their measurement results directly to the driving system 30. These data, which are transmitted directly to the driving system, are, in particular, current position and
- Movement information of the vehicle 10. are preferably recorded by speed sensors, acceleration sensors, inclination sensors, etc.
- the vehicle 10 also has an electrical driving system 35 which provides the functionalities necessary for the electrical drive of the vehicle 10.
- the electric driving system 35 has an electrical energy store 36, which provides an electric motor 37 with the electrical energy required to drive the vehicle 10.
- the electric driving system 35 also has one, not shown
- the vehicle 10 can also be a hybrid vehicle which has a hydrogen tank for supplying a fuel cell system arranged in the vehicle 10.
- the vehicle 10 also has a first control unit 40 which is set up to carry out the method according to the invention.
- the first control unit 40 has an internal memory 41 and a CPU 42, which communicate with one another,
- Control unit 40 in communication with at least the first sensors 11, 12, 13, the second sensors 51, 52, 53, the first communication module 20 and the driving system 30, for example via one or more respective CAN connections, one or more respective SPI Connections, or other suitable data connections.
- the system according to the invention for performing the method according to the invention also preferably has a server 70.
- the server 70 is preferably operated by a fleet operator of an autonomous vehicle fleet, for example as part of a car sharing concept, by a service provider for vehicle cleaning and / or by a vehicle manufacturer.
- the server 70 has a fourth communication module 71 which is used for
- the server 70 also has a fourth control unit 72.
- the server 70 preferably has a memory (not shown).
- Control unit 72 is preferably designed to receive information on a degree of soiling of a vehicle 10 by means of the fourth communication module 71, and to use this information to determine a cleaning to be carried out on the vehicle 10. Furthermore, the fourth control unit 72 is preferably designed to use the fourth
- Communication module 71 to receive information on the utilization of service stations 80, 90 and to use this information to determine a service station 80, 90 suitable for carrying out cleaning.
- the system according to the invention for performing the method according to the invention has a plurality of first service stations 80 according to the invention and at least one
- FIG. 1 each represents one.
- the first service station 90 has a second communication module 91 which is used for
- Communication with the third communication module 81 of a second service station 80 is formed.
- the second communication module 91 is set up to communicate with the same protocol as the first communication module 20 of the vehicle 10, like the fourth communication module 71 of the server 70 and like the third communication module 81 of the second service station 80.
- the first service station 90 has a second control unit 92, which has a memory 93 and a CPU 94, which communicate with one another via a suitable data bus, for example a CAN bus or SPI bus.
- the first service station 90 also has a first service module 95 and a second service module 96, each as described above.
- the first service station 90 has a third service module 97, which is designed to fill an energy store 36 of the vehicle 10.
- Each of the service modules 95, 96, 97 is designed to communicate with the second control unit 92.
- the second control unit 92 is designed to carry out the steps of the method according to the invention carried out by the first service station 90 in communication with the second communication module 91 and the first and second service modules 95, 96.
- the second control unit 92 is in particular designed to carry out the steps of the first service station 90 in the method according to the invention.
- the system according to the invention has at least one second service station 80.
- the second service station 80 has a third communication module 81, which is used for communication with the first communication module 20 of the vehicle 10
- the third communication module 81 is for communication with the same protocol as the first communication module 20 of the vehicle 10, like the fourth communication module 71 of the server 70 and like the second
- Communication modules 91 of the first service stations 90 set up.
- the second service station 80 has a third one, which is not explicitly shown
- Control unit 82 ' which has, for example, a memory and a CPU which communicate with one another via a suitable data bus, for example a CAN bus or SPI bus.
- the second service station 80 also has a first service module 95 ', a second service module 96' and a third service module 97 ', which are shown in FIG. 1 together with the third control unit 82' as a modified first service station 90 '.
- the second service station 80 also has these components, which are further configured as described with reference to the first service stations 90.
- the second service station 80 has a fourth service module 83 and
- Logistics module 84 on.
- Service station 80 performed steps of the inventive method.
- FIG. 2 shows a schematic illustration of an operating area 100 for carrying out the method according to the invention by means of the system shown in FIG. 1.
- Operating area 100 preferably extends over an urban conurbation, for example a city or a city center.
- a large number of autonomous vehicles 10 are located within the operating area 100, each of which has a basic configuration, as explained with reference to FIG. 1.
- Each of the autonomous vehicles 10 can be called up by users of a car sharing service or else permanently assigned to a specific user.
- the operating area 100 has a large number of first service stations 90. Furthermore, a server 70 and a second service station 80 are arranged outside the operating area 100. The server 70 and / or the second service station 80 could, however, also in the
- Operating area 100 may be arranged.
- the autonomous vehicles 10 are for communication with one another, in particular by means of the first communication modules 20 and via
- Base stations 62 of a mobile radio network are also designed to communicate with the first service stations 90, with the second service station 80 and with the server 70. Communication takes place directly between the elements or via base stations 62 of a mobile radio network, as with the dashed lines
- Service stations 90 and the server 70 with the first service stations 90 as also shown by the dotted lines in FIG. 2.
- FIG. 3 shows a schematic representation of a first service module 95, 95 ′
- Service station 80 or the control unit 40 of the vehicle 10 causes. As soon as the
- FIG. 4 shows a schematic illustration of a second service module 96, 96 '
- the second service module 96, 96 ' largely corresponds to automatic washing lines for autonomous operation known from the prior art
- the third service module 96, 96 ' has, in particular, means (not shown) for applying a cleaning fluid, such as nozzles for applying a soap barrel.
- the second service module 96, 96 ' has a rotatable upper wash brush 961 and rotatable lateral wash brushes 962 for distributing the cleaning fluid and for loosening the dirt.
- the second one is a rotatable upper wash brush 961 and rotatable lateral wash brushes 962 for distributing the cleaning fluid and for loosening the dirt.
- Service module 96, 96 ' has a hair dryer 963 for drying the vehicle 10.
- FIG. 5 shows a schematic illustration of a first service station 90 according to the invention, comprising the first service module 95 of FIG. 3 and the second service module 96 of FIG. 4, according to a first embodiment.
- the first service station 90 comprising the first service module 95 of FIG. 3 and the second service module 96 of FIG. 4, according to a first embodiment.
- the first and second service modules 95, 96 are arranged in a common area of the first service station 90.
- the first service station 90 according to this first embodiment enables the exterior cleaning and interior cleaning to be carried out at least partially simultaneously on the vehicle 10.
- a sequence of the service action carried out autonomously in the first service station 90 according to the first embodiment begins with the autonomous entry of the vehicle 10 into the first service station 90.
- This entry is preferably mediated by the driving system 30 of the vehicle 10, the control unit 40 of the vehicle 10 mediating of the communication modules 20, 91 communicates with the control unit 92 of the first service station 90.
- the doors 18 of the vehicle 10 open automatically and a mobile cleaning robot drives autonomously into the interior or is introduced into the interior of the vehicle 10.
- the mobile cleaning robot starts the interior cleaning and starts an exterior cleaning of the vehicle 10 by means of the second service module 97, in particular by means of the washing brushes 961, 962 and the dryer 963.
- Doors 18 and the mobile cleaning robot moves out or is lifted out.
- FIG. 6 shows a schematic illustration of a first service station 90 according to the invention, comprising the first service module 95 of FIG. 3 and the second service module 96 of FIG. 4, according to a second embodiment.
- the first service station 90 according to the invention, comprising the first service module 95 of FIG. 3 and the second service module 96 of FIG. 4, according to a second embodiment.
- the first service module 95 of FIG. 3 and the second service module 96 of FIG. 4
- Service station 90, the first service module 95 and the second service module 96 are arranged in different areas of the first service station 90.
- a sequence of the autonomously performed service action in the first service station 90 according to the second embodiment begins with the autonomous entry of the vehicle 10 into a first area of the service station 90.
- This entry is preferably mediated by the driving system 30 of the vehicle 10, the control unit 40 of the vehicle 10 by means of
- the exterior cleaning of the vehicle 10 begins by means of the second service module 96 arranged in the first area, in particular by means of the washing brushes 961, 962 and the dryer 963. As soon as the exterior cleaning has been completed If necessary, the exterior cleaning of the vehicle 10 is checked by means of cameras or sensors (not shown). As soon as the exterior cleaning and / or the inspection is complete, the vehicle 10 drives autonomously to a first area
- Conveyor belts of the first service station 90 transported from the first to the second area.
- the doors of the vehicle 10 open automatically and robot arms 951, 952 move autonomously into the interior.
- the interior of the vehicle 10 is cleaned by means of tools located on the robot arms 951, 952.
- an electrical energy store 36 of the vehicle 10 is filled by means of the charging connection 971 and the hydrogen tank of the vehicle 10 is filled by means of hydrogen refueling 972.
- the robot arms 951, 952 are moved out of the vehicle 10.
- the interior cleaning of the vehicle 10 is optionally checked via cameras (not shown) or other sensors of a second control module.
- the filling elements of the charging connection 971 and hydrogen refueling 972 are removed and the vehicle 10 drives out of the first service station 90 autonomously.
- the dryer 963 is arranged in the second area and the vehicle 10 is dried parallel to the
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Applications Claiming Priority (2)
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DE102018222645.8A DE102018222645A1 (de) | 2018-12-20 | 2018-12-20 | Verfahren zur autonomen Fahrzeugreinigung |
PCT/EP2019/082752 WO2020126371A1 (de) | 2018-12-20 | 2019-11-27 | Verfahren zur autonomen fahrzeugreinigung |
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DE (1) | DE102018222645A1 (de) |
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CN111830984B (zh) * | 2020-07-23 | 2021-03-05 | 浙江驿公里智能科技有限公司 | 基于无人洗车设备的多机器协同洗车系统及方法 |
GB202312965D0 (en) * | 2020-07-27 | 2023-10-11 | Motional Ad Llc | Autonomous vehicle stations |
Family Cites Families (20)
Publication number | Priority date | Publication date | Assignee | Title |
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DE10110373C2 (de) * | 2001-03-03 | 2003-03-06 | Wolfgang Daum | Verfahren und Vorrichtung zur Reinigung von Innenräumen von Automobilen |
DE102014112123A1 (de) * | 2014-08-25 | 2016-02-25 | Leif Arriens | Waschanlage für Fahrzeuge und Verfahren zum Waschen von Fahrzeugen |
DE102015200478A1 (de) * | 2015-01-14 | 2016-07-14 | Bayerische Motoren Werke Aktiengesellschaft | Automatische Fahrzeugtrocknung beim Einfahren in eine Garage |
JP6598510B2 (ja) * | 2015-05-20 | 2019-10-30 | シャープ株式会社 | 自律走行装置の車輪清掃システム、自律走行装置の制御方法及び制御プログラム |
US9805519B2 (en) * | 2015-08-12 | 2017-10-31 | Madhusoodhan Ramanujam | Performing services on autonomous vehicles |
DE102015220568A1 (de) * | 2015-10-21 | 2017-04-27 | Bombardier Transportation Gmbh | Reinigungseinrichtung für ein Schienenfahrzeug |
DE102016101481A1 (de) * | 2016-01-28 | 2017-08-03 | Washtec Holding Gmbh | Sensorgesteuerte Waschmitteleinsparung bei Autowaschanlagen |
US10319157B2 (en) * | 2016-03-22 | 2019-06-11 | GM Global Technology Operations LLC | System and method for automatic maintenance |
US20170329346A1 (en) * | 2016-05-12 | 2017-11-16 | Magna Electronics Inc. | Vehicle autonomous parking system |
CN205812183U (zh) * | 2016-07-02 | 2016-12-14 | 北京快先生信息技术有限责任公司 | 一种洗车系统 |
WO2018007846A1 (en) * | 2016-07-04 | 2018-01-11 | Montaseri Poorya | Green automated robotic personal car wash |
WO2018024336A1 (de) * | 2016-08-04 | 2018-02-08 | Alfred Kärcher Gmbh & Co. Kg | System und verfahren zur fahrzeugpflege sowie verwendung eines derartigen systems |
DE102016009585A1 (de) * | 2016-08-06 | 2017-02-16 | Daimler Ag | Automatisches Reinigungsgerät für einen Innenraum eines Kraftwagens |
DE102016218012A1 (de) * | 2016-09-20 | 2018-03-22 | Volkswagen Aktiengesellschaft | Verfahren für eine Datenverarbeitungsanlage zur Erhaltung eines Betriebszustands eines ersten autonomen Fahrzeugs sowie Verfahren für eine Datenverarbeitungsanlage zum Verwalten einer Mehrzahl autonomer Fahrzeuge |
US10479328B2 (en) * | 2016-11-04 | 2019-11-19 | Ford Global Technologies, Llc | System and methods for assessing the interior of an autonomous vehicle |
US9817400B1 (en) * | 2016-12-14 | 2017-11-14 | Uber Technologies, Inc. | Vehicle servicing system |
US10663308B2 (en) * | 2017-05-08 | 2020-05-26 | Arnold Chase | Vehicle equipment for autonomous vehicle enhancement system |
US10889196B2 (en) * | 2017-06-02 | 2021-01-12 | CarFlex Corporation | Autonomous vehicle servicing and energy management |
US10112585B1 (en) * | 2017-06-20 | 2018-10-30 | Ford Global Technologies, Llc | Vehicle cleanliness detection systems and methods |
DE102018004919A1 (de) * | 2018-06-20 | 2018-11-29 | Daimler Ag | Fahrzeugladestation |
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2019
- 2019-11-27 EP EP19809830.3A patent/EP3899825A1/de active Pending
- 2019-11-27 WO PCT/EP2019/082752 patent/WO2020126371A1/de unknown
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WO2020126371A1 (de) | 2020-06-25 |
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