EP4035138A1 - Procédé d'incorporation au moins assistée d'un véhicule automobile à une voie de circulation - Google Patents

Procédé d'incorporation au moins assistée d'un véhicule automobile à une voie de circulation

Info

Publication number
EP4035138A1
EP4035138A1 EP20751084.3A EP20751084A EP4035138A1 EP 4035138 A1 EP4035138 A1 EP 4035138A1 EP 20751084 A EP20751084 A EP 20751084A EP 4035138 A1 EP4035138 A1 EP 4035138A1
Authority
EP
European Patent Office
Prior art keywords
motor vehicle
remote control
lane
signals
control signals
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
Application number
EP20751084.3A
Other languages
German (de)
English (en)
Inventor
Wolfgang Niem
Kurt ECKERT
Di Zhang
Carolin Noack
Rolf Nicodemus
Ulrich Schulmeister
Ruediger-Walter Henn
Stefan Nordbruch
Michael Kram
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP4035138A1 publication Critical patent/EP4035138A1/fr
Pending legal-status Critical Current

Links

Classifications

    • 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
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/04—Traffic conditions
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/04—Monitoring the functioning of the control system
    • 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
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0022—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the communication link
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/164—Centralised systems, e.g. external to vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/043—Identity of occupants
    • 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
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle

Definitions

  • the invention relates to a method for at least assisted threading of a motor vehicle into a lane.
  • the invention further relates to a device, a computer program and a machine-readable storage medium.
  • the laid-open specification DE 102018003609 A1 discloses a method for supporting a vehicle.
  • the laid-open specification DE 102018007298 A1 discloses a method for route planning.
  • the laid-open specification EP 3 339 124 A1 discloses a system for autonomous driving.
  • a method for at least assisted threading of a motor vehicle into a lane comprising the following steps:
  • a device which is set up to carry out all steps of the method according to the first aspect.
  • a computer program which comprises instructions which, when the computer program is executed by a computer, for example by the device according to the second aspect, cause the computer to execute a method according to the first aspect.
  • a machine-readable storage medium is provided on which the computer program according to the third aspect is stored.
  • the invention is based on and includes the knowledge that the above object can be achieved in that the motor vehicle is supported when it merges into a lane in such a way that the transverse and / or longitudinal guidance of the motor vehicle is remotely controlled.
  • This has the technical advantage, for example, that the motor vehicle can be efficiently supported when it is merging into a lane.
  • the technical advantage is brought about that a concept is provided for the efficient, at least assisted, threading of a motor vehicle into a lane.
  • Assisted threading includes in particular the case that only the transverse guidance or only the longitudinal guidance of the motor vehicle is remote-controlled.
  • the wording assisted threading encompasses in particular the case that both the transverse guidance and the longitudinal guidance of the motor vehicle are controlled remotely.
  • the corresponding other guidance i.e. the longitudinal guidance or the lateral guidance
  • the corresponding other guidance is either controlled manually by the driver or is at least partially automated in order to to guide the motor vehicle at least partially automatically in order to thread the motor vehicle with assistance.
  • the phrase "at least partially automated leadership” includes one or more of the following cases: partially automated leadership, highly automated leadership, fully automated leadership.
  • Partially automated guidance means that in a specific situation (for example: driving on a motorway, driving within a parking lot, overtaking an object, driving within a lane that is defined by lane markings) and / or for a certain period of time, a longitudinal and a Lateral guidance of the motor vehicle can be automatically controlled remotely.
  • a driver of the motor vehicle does not have to manually control the longitudinal and lateral guidance of the motor vehicle himself.
  • the driver must permanently monitor the automatic remote control of the longitudinal and lateral guidance in order to be able to intervene manually if necessary. The driver must be ready to take full control of the vehicle at all times.
  • Highly automated driving means that for a certain period of time in a specific situation (for example: driving on a motorway, driving within a parking lot, overtaking an object, driving within a Lane, which is determined by lane markings) a longitudinal and a lateral guidance of the motor vehicle can be controlled remotely automatically.
  • a driver of the motor vehicle does not have to manually control the longitudinal and lateral guidance of the motor vehicle himself.
  • the driver does not have to constantly monitor the automatic remote control of the longitudinal and lateral guidance in order to be able to intervene manually if necessary.
  • a takeover request is automatically issued to the driver to take over the control of the longitudinal and lateral guidance, in particular issued with a sufficient reserve of time.
  • the driver must therefore potentially be able to take control of the longitudinal and lateral guidance.
  • Limits of the automatic remote control of the lateral and longitudinal guidance are automatically recognized. In the case of highly automated leadership, it is not possible to automatically bring about a low-risk state in every initial situation.
  • Fully automated guidance means that in a specific situation (for example: driving on a motorway, driving within a parking lot, overtaking an object, driving within a lane that is defined by lane markings), longitudinal and lateral guidance of the motor vehicle are automatically remotely controlled .
  • a driver of the motor vehicle does not have to manually control the longitudinal and lateral guidance of the motor vehicle himself.
  • the driver does not have to monitor the automatic remote control of the longitudinal and lateral guidance in order to be able to intervene manually if necessary.
  • the driver is automatically requested to take over the driving task (controlling the transverse and longitudinal guidance of the motor vehicle), in particular with sufficient time reserve. If the driver does not take over the driving task, the system automatically returns to a low-risk state.
  • the limits of the automatic control of the lateral and longitudinal guidance are automatically recognized. In all situations it is possible to automatically return to a low-risk system state.
  • safety condition signals are received which contain at least one Represent safety condition which must be fulfilled so that the motor vehicle may be remote controlled, it being checked whether the at least one safety condition is fulfilled, wherein the remote control signals are generated based on a result of the checking as to whether the at least one safety condition is fulfilled.
  • the technical advantage is brought about that, if the safety condition is met, then remote control of the motor vehicle is safely possible.
  • the at least one safety condition is in each case an element selected from the following groups of safety conditions: Presence of a predetermined safety integrity level (in English: “Safety Integrity Level” SIL or “Automotive Safety Integrity Level” ASIL) of at least that Motor vehicle and an infrastructure, in particular including a communication link and / or communication components (for example communication interface), for remote control of a motor vehicle (in particular with regard to the overall system in the motor vehicle and infrastructure as well as in particular parts; e.g.
  • a communication link is, for example, a communication link between the device according to the second aspect and the motor vehicle.
  • a communication link comprises, for example, one or more communication channels.
  • a component which is used to carry out the method according to the first aspect is an element selected from the following group of components: environment sensor, motor vehicle, infrastructure, remote control device, device according to the second aspect, motor vehicle system, in particular drive system, clutch system, Brake system, driver assistance system, communication interface of the motor vehicle or the infrastructure, processor, input, output of the device according to the second aspect.
  • a function that is used to carry out the method according to the first aspect is an element selected from the following group of functions: remote control function, communication function between the motor vehicle and the infrastructure or the remote control device, evaluation function of Environment sensor data of an environment sensor, planning function, in particular timetable function, traffic analysis function.
  • a computer protection level defines in particular the following: activated firewall and / or valid encryption certificate for encrypting communication between the motor vehicle and the infrastructure or the remote control device and / or activated virus program with current virus signatures and / or the presence of protection, in particular mechanical protection, in particular burglary protection, of the computer, in particular the device according to the second aspect, or the remote control device and / or the presence of a possibility to check that signals, in particular remote control signals or ambient signals, were transmitted correctly, that is to say without errors.
  • An algorithm includes, for example, the computer program according to the third aspect.
  • results can be calculated several times, for example, and corresponding results can be compared with one another. For example, it is only when the results match that it is determined that the results are correct. If there is an odd number more than once, it can be provided, for example, that it is determined that the result is correct in accordance with the highest number of identical results.
  • Remote control signals are only generated when it can be determined that the result is correct. In one embodiment it is provided that the remote control signals are only generated when the at least one safety condition is met.
  • the checking of whether the at least one safety condition is met is carried out before and / or after and / or during one or more predetermined method steps.
  • the technical advantage is brought about that, if the safety condition is met, then remote control of the motor vehicle is safely possible.
  • remote control of the motor vehicle is checked based on the output remote control signals in order to detect an error, with the remote control being aborted when an error is detected or emergency remote control signals for remote control of the transverse and / or longitudinal guidance of the Motor vehicle are generated and output in an emergency.
  • the emergency remote control signals are, for example, such that when the transverse and / or longitudinal guidance of the motor vehicle is remotely controlled based on the emergency remote control signals, the motor vehicle is brought into a safe state, in particular stopped.
  • remote control of the motor vehicle is checked based on the output remote control signals in order to detect an error, with the remote control being aborted when an error is detected or internal vehicle emergency control signals for controlling the lateral and / or longitudinal guidance of the motor vehicle can be generated and output in an emergency.
  • the motor vehicle-internal emergency control signals are, for example, such that when the transverse and / or longitudinal guidance of the motor vehicle is controlled based on the motor vehicle-internal emergency control signals, the motor vehicle is brought into a safe state, in particular is stopped.
  • Motor vehicle-internal emergency control signals are therefore emergency control signals which the motor vehicle itself generates or which are generated in the motor vehicle.
  • Threading request signals are received which represent a request for at least an assisted threading of a motor vehicle into the lane, wherein it is determined based on the request that a motor vehicle is to be threaded into the lane.
  • lane surroundings signals are received which represent a lane surroundings of the lane, wherein the Lane surroundings signals are processed in order to detect a motor vehicle to be threaded into the lane, wherein it is determined based on the processing of the lane surroundings signals that a motor vehicle is to be threaded into the lane.
  • identification signals are received which contain a respective identification of at least one of the motor vehicle, an owner of the motor vehicle and a driver of the motor vehicle (i.e. a respective identification of the motor vehicle and / or an owner of the motor vehicle and / or a driver ,), the remote control signals being generated based on the respective identification.
  • the remote control signals can be generated efficiently. That means in particular that the remote control of the transverse and / or longitudinal guidance of the motor vehicle can depend on the respective identification.
  • drivers who have not paid any fees for assisted threading in the past can be efficiently excluded from current assisted threading.
  • drivers can be identified in this way who have abused the assisted threading in the past, so that the corresponding drivers can also be excluded.
  • At least one motor vehicle parameter is received, the remote control signals being generated based on the at least one motor vehicle parameter.
  • the remote control signals can be generated efficiently.
  • the remote control signals can be generated efficiently for the specific motor vehicle. For example, a maximum possible motor vehicle speed, a maximum possible
  • Motor vehicle acceleration, a current vehicle load and / or a current vehicle weight can be taken into account efficiently.
  • the remote control signals are generated based on a motor vehicle standard parameter corresponding to the at least one motor vehicle parameter.
  • the at least one motor vehicle parameter is in each case an element selected from the following group of motor vehicle parameters: maximum possible motor vehicle speed, maximum possible motor vehicle acceleration, current vehicle load, current vehicle weight, length, width and height.
  • driving maneuver signals are received which represent a current and / or a planned driving maneuver by at least one road user, in particular another motor vehicle, in the vicinity of the motor vehicle, the remote control signals being generated based on the driving maneuver signals.
  • a road user is one of the following road users: another motor vehicle, cyclist, truck, motorcycle and pedestrian.
  • one or more method steps except for the steps of generating and outputting the remote control signals are carried out inside the vehicle and / or with one or more method steps being carried out outside the vehicle, in particular in an infrastructure, preferably in a cloud infrastructure.
  • one or more method steps are documented, in particular documented in a blockchain.
  • Documenting in a blockchain has the particular technical advantage that the documentation is tamper-proof and forgery-proof.
  • a blockchain is, in particular, a continuously expandable list of data records, called “blocks”, which are linked to one another by means of one or more cryptographic processes.
  • Each block contains in particular a cryptographically secure hash (scatter value) of the previous block, in particular a time stamp and in particular transaction data.
  • the method according to the first aspect is a computer-implemented method.
  • the method according to the first aspect is carried out or carried out by means of the device according to the second aspect.
  • Device features result analogously from corresponding process features and vice versa. That means in particular that technical functions of the device according to the second aspect result analogously from corresponding technical functionalities of the method according to the first aspect and vice versa.
  • lane and lane can be used synonymously.
  • FIG. 1 shows a flow chart of a method for at least assisted threading of a motor vehicle into a lane
  • Fig. 2 shows a device
  • FIG. 4 shows a first motorway entrance
  • Fig. 5 shows a second motorway entrance
  • FIG. 1 shows a flow chart of a method for at least assisted threading of a motor vehicle into a lane.
  • the procedure consists of the following steps:
  • Receiving 103 ambient signals which represent an environment of the motor vehicle at least partially encompassing the lane, generating 105 remote control signals for remote control of a transverse and / or longitudinal guidance of the motor vehicle based on the ambient signals in order to move the motor vehicle into the lane during remote control based on the remote control signals to thread at least with assistance,
  • the method according to the first aspect comprises remote control of the motor vehicle based on the generated remote control signals.
  • FIG. 2 shows a device 201.
  • the device 201 is set up to carry out all steps of the method according to the first aspect.
  • the device 201 comprises an input 203 which is set up to receive the ambient signals.
  • the device 201 further comprises a processor 205 which is set up to carry out the step of determining.
  • the processor is 205 set up to determine based on the ambient signals that a motor vehicle is to be threaded into the lane.
  • the processor 205 is further configured to generate the remote control signals.
  • the device 201 further comprises an output 207 which is set up to output the generated remote control signals.
  • the outputting of the generated remote control signals comprises sending the remote control signals to the motor vehicle via a communication network, in particular via a wireless communication network.
  • signals that are received are received via input 203.
  • the input 203 is therefore set up in particular to receive the corresponding signals.
  • signals that are output are output by means of the output 207.
  • the output 207 is therefore set up in particular to output the corresponding signals.
  • a plurality of processors are provided instead of the one processor 205.
  • the processor 205 is set up to carry out the steps of generating and / or checking and / or determining which are described above and / or below.
  • the device 201 is, for example, part of an infrastructure, in particular a cloud infrastructure.
  • FIG. 3 shows a machine-readable storage medium 301.
  • a computer program 303 is stored on the machine-readable storage medium 301, which comprises commands that are used when the Computer program 303 causing a computer to execute a method according to the first aspect.
  • the device 201 comprises a remote control device which is set up to remotely control the motor vehicle based on the remote control signals generated.
  • an infrastructure or an infrastructure system which, for example, comprises the device according to the second aspect.
  • the infrastructure includes, for example, a motorway access.
  • FIG. 4 shows a first motorway slip road 401.
  • the freeway ramp 401 includes an acceleration lane or merging lane 403.
  • the acceleration lane 403 opens into a lane 405 of a motorway 406.
  • a first motor vehicle 407 drives on the merging lane or acceleration lane 403.
  • the first motor vehicle 407 wants to merge into the lane 405.
  • a second motor vehicle 409 is driving on the lane 405.
  • a traffic light system 411 is provided above the lane 405.
  • These environment sensors 413 detect their respective environment and provide environment sensor data corresponding to the recorded environment.
  • the environment signals are based, for example, on the environment sensor data or comprise the environment sensor data.
  • the motor vehicle 407 to be threaded that is to say the first motor vehicle 407, for example, can be detected based on the respective detection.
  • the second motor vehicle 409 for example, can be detected based on the respective detection.
  • the light signal system 411 is controlled in such a way that it optically blocks the lane 405 for the second motor vehicle 409.
  • the second motor vehicle 409 then has to change to an adjacent lane 415.
  • the first motor vehicle 407 can then efficiently merge into the lane 405.
  • An environment sensor in the sense of the description is, for example, one of the following environment sensors: video sensor, infrared sensor, magnetic field sensor, lidar sensor, ultrasonic sensor and radar sensor.
  • the remote control signals are then generated and output so that the first motor vehicle 407 can be threaded into the lane 405 at least with assistance.
  • FIG. 5 shows a second motorway entrance 501.
  • the second freeway entrance 501 is formed essentially analogously to the first freeway entrance 401.
  • an electronic sign 503 is provided instead of the light signal system 411, which is controlled when a motor vehicle to be threaded is detected, in particular, in such a way that the electronic sign 503 optically signals to the second motor vehicle 409 by means of a display device (not shown) that it is changing lane 405 got to. Then, in a manner analogous to the traffic signal system 411, the lane 405 into which the first motor vehicle 407 wants to merge is free of traffic. As a result, the threading can then be carried out remotely in an efficient manner.
  • the traffic light system 411 and the electronic sign 503 are in the lane 405, it should be clarified at this point that this is not the case. Rather, the light signal system 411 and the electronic sign 503 are arranged above the lane 405.
  • FIG. 6 shows a third freeway entrance 601.
  • the third freeway entrance 601 is formed essentially analogously to the first freeway entrance 401 or second freeway entrance 501. As a difference, neither a light signal system 411 nor an electronic sign 503 are provided.
  • a third motor vehicle 603 and a fourth motor vehicle 605, which are traveling in lane 405, are shown by way of example.
  • a gap between the third motor vehicle 603 and the fourth motor vehicle 605 is identified by a curly bracket with the reference symbol 607.
  • the remote control signals generated are in particular such that when the transverse and / or longitudinal guidance of the motor vehicle 407 is remotely controlled based on the remote control signals, the motor vehicle 407 is threaded into the gap 607.
  • a current traffic situation permits an intervention, that is to say in particular remote control, in order, for example, to prevent other road users in the vicinity of the motor vehicle from being injured.
  • the process that is to say the process, in other words the process steps, are documented in a forgery-proof and traceable manner, for example in a blockchain.
  • a driver of the motor vehicle is informed that an intervention in the ferry operation of the motor vehicle has taken place or is taking place, that is to say that the motor vehicle has been or is being remotely controlled.
  • notification signals are generated and output which represent a corresponding notification.
  • the notification signals are output to a man-machine interface of the motor vehicle, so that the driver is informed of the intervention or remote control by means of the man-machine interface based on the notification signals.
  • the intervention or the remote control of the motor vehicle is communicated to an authority so that it can, for example, initiate further steps.
  • a prerequisite for the remote control or for the intervention is that the remote control is safe.
  • “secure” means in particular “safe” and “secure”. These two English terms are usually translated into German as “safe”. Nevertheless, these have a partially different meaning in English.
  • safe is particularly aimed at the topic of accidents and accident prevention.
  • Remote control which is “safe”, has the effect in particular that a probability of an accident or a collision is less than or less than or equal to a predetermined probability threshold value.
  • secure is aimed in particular at the subject of computer protection or hacker protection, i.e. in particular how secure is a (computer) - Infrastructure and / or a communication infrastructure, in particular a communication link between the motor vehicle and a remote control device for remote control of a motor vehicle, secured against unauthorized access or data manipulation by third parties (“hackers”).
  • Remote control which is "secure" is based on appropriate and sufficient computer protection or hacker protection.
  • the remote control signals are generated in particular based on a result of the checking.
  • Important or dependent criteria are, for example, one or more of the safety conditions described above.
  • the overall system (motor vehicle, infrastructure, communication path, cloud %) is checked with regard to the safety condition.
  • the individual parts are also checked with regard to compliance with the safety condition. This in particular before remote control of the motor vehicle.
  • the checking step or steps are carried out inside the vehicle and / or outside the vehicle, in particular in an infrastructure.
  • the step or steps of checking are checked subsequently, that is to say at a later point in time, for example regularly.
  • the step or steps of checking are subsequently checked at a predetermined frequency, for example every 100 ms.
  • this checking that is to say checking whether the at least one safety condition is met, takes place according to an embodiment before and / or after and / or during one or more predetermined method steps.
  • the checking is carried out or carried out in the event of problems.
  • a communication link is set up between the motor vehicle and the infrastructure, which in particular comprises the device according to the second aspect.
  • the infrastructure comprises a local infrastructure, for example on the lane to be threaded, for example on the motorway.
  • the infrastructure comprises a global infrastructure; preferably a cloud infrastructure.
  • the service or the “assisted threading” functionality is enabled for the motor vehicle (or driver or owner) requesting the functionality. This is particularly true at the vehicle level, infrastructure level and service level. For example, it is provided that a provider of the “assisted threading” functionality will no longer allow the requesting motor vehicle or its owner or driver due to fees not paid in the past or misuse.
  • determination and / or reception (and in particular transmission) of motor vehicle options are provided.
  • motor vehicle parameters are provided by the motor vehicle sent. This means that, for example, motor vehicle parameters sent by the motor vehicle are received.
  • motor vehicle parameters are sent from the cloud, in particular from a cloud server.
  • vehicle parameters sent from the cloud in particular from a cloud server, are received.
  • a defined standard configuration preferably an emergency configuration
  • One embodiment provides for checking whether the traffic situation allows the motor vehicle to be threaded through with assistance. This checking preferably runs continuously, that is to say permanently - that is, even before a corresponding request, that is, independently of a request. In a further embodiment, other road users preferably - if possible - send their current and planned driving maneuvers additionally to the motor vehicle and / or to the cloud server via V2X.
  • a calculation or determination is provided as to whether it is possible to merge into a gap in the traffic in the lane in which it is intended to merge.
  • the calculation or determination is carried out, for example, in the motor vehicle and / or in the infrastructure. If this is carried out both in the motor vehicle and in the infrastructure, this can advantageously bring about redundancy, which can increase safety.
  • the motor vehicle for example, is remotely controlled.
  • the management of the vehicle is therefore carried out by the infrastructure.
  • Intelligence, decision-making and control lie with the infrastructure
  • the motor vehicle drives away from the entrance onto the freeway.
  • the threading process is preferably also checked.
  • the check is carried out according to one or more of the following options:
  • the latter advantageously being able to bring about redundancy, which can increase security.
  • the entire process preferably starts very early so that the motor vehicle does not have to stop on the driveway. That is, the speed does not have to be reduced.
  • the motor vehicle preferably does not stop on the driveway, but instead begins to accelerate immediately.
  • the traffic is stopped and / or diverted to another lane.
  • traffic systems such as traffic lights (including, for example
  • Arrow signal generator and / or electronic sign, which can optically signal the diversion by means of a display device by means of optical arrows.
  • the lane into which the vehicle is to be threaded is automatically cleared for threading, ie already when a motor vehicle or driver requests the "assisted threading" functionality and / or when the vehicle is approaching automatically detected by the infrastructure becomes.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Mathematical Physics (AREA)
  • Signal Processing (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

L'invention concerne un procédé pour l'incorporation au moins assistée d'un véhicule automobile à une voie de circulation, comprenant les étapes suivantes consistant à : déterminer l'incorporation d'un véhicule automobile à la voie de circulation ; recevoir des signaux de l'environnement, lesdits signaux représentant la zone entourant le véhicule automobile et comprenant au moins en partie la voie de circulation ; générer des signaux de commande à distance pour commander à distance la commande latérale et/ou longitudinale du véhicule à moteur sur la base des signaux provenant de l'environnement, pour au moins assister le véhicule pendant la commande à distance sur la base des signaux de commande à distance, en vue de s'incorporer à la voie de circulation ; délivrer en sortie les signaux de commande à distance générés. L'invention concerne en outre un dispositif, un programme informatique et un support d'informations lisible par ordinateur.
EP20751084.3A 2019-09-23 2020-07-27 Procédé d'incorporation au moins assistée d'un véhicule automobile à une voie de circulation Pending EP4035138A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102019214415.2A DE102019214415A1 (de) 2019-09-23 2019-09-23 Verfahren zum zumindest assistierten Einfädeln eines Kraftfahrzeugs in einen Fahrstreifen
PCT/EP2020/071086 WO2021058174A1 (fr) 2019-09-23 2020-07-27 Procédé d'incorporation au moins assistée d'un véhicule automobile à une voie de circulation

Publications (1)

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EP4035138A1 true EP4035138A1 (fr) 2022-08-03

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EP20751084.3A Pending EP4035138A1 (fr) 2019-09-23 2020-07-27 Procédé d'incorporation au moins assistée d'un véhicule automobile à une voie de circulation

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US (1) US20220289201A1 (fr)
EP (1) EP4035138A1 (fr)
CN (1) CN114423658A (fr)
DE (1) DE102019214415A1 (fr)
WO (1) WO2021058174A1 (fr)

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DE102020002993B4 (de) * 2020-05-19 2022-11-10 Mercedes-Benz Group AG Verfahren zur Unterstützung eines Fahrzeuges
DE102020211485A1 (de) 2020-09-14 2022-03-17 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Führen eines Kraftfahrzeugs
DE102020211484A1 (de) 2020-09-14 2022-03-17 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Führen eines Kraftfahrzeugs

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CN114423658A (zh) 2022-04-29
DE102019214415A1 (de) 2021-03-25
US20220289201A1 (en) 2022-09-15
WO2021058174A1 (fr) 2021-04-01

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