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
  • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
  • B60W60/005—Handover processes
  • B60W60/0059—Estimation of the risk associated with autonomous or manual driving, e.g. situation too complex, sensor failure or driver incapacity
• • G—PHYSICS
  • G08—SIGNALLING
  • G08G—TRAFFIC CONTROL SYSTEMS
  • G08G1/00—Traffic control systems for road vehicles
  • G08G1/01—Detecting movement of traffic to be counted or controlled
  • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
  • G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
  • G08G1/0116—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from roadside infrastructure, e.g. beacons
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
  • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
  • B60W60/005—Handover processes
  • B60W60/0057—Estimation of the time available or required for the handover
• • G—PHYSICS
  • G08—SIGNALLING
  • G08G—TRAFFIC CONTROL SYSTEMS
  • G08G1/00—Traffic control systems for road vehicles
  • G08G1/01—Detecting movement of traffic to be counted or controlled
  • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
  • G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
  • G08G1/0141—Measuring and analyzing of parameters relative to traffic conditions for specific applications for traffic information dissemination
• • G—PHYSICS
  • G08—SIGNALLING
  • G08G—TRAFFIC CONTROL SYSTEMS
  • G08G1/00—Traffic control systems for road vehicles
  • G08G1/01—Detecting movement of traffic to be counted or controlled
  • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
  • G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
  • G08G1/0145—Measuring and analyzing of parameters relative to traffic conditions for specific applications for active traffic flow control
• • G—PHYSICS
  • G08—SIGNALLING
  • G08G—TRAFFIC CONTROL SYSTEMS
  • G08G1/00—Traffic control systems for road vehicles
  • G08G1/09—Arrangements for giving variable traffic instructions
  • G08G1/091—Traffic information broadcasting
  • G08G1/094—Hardware aspects; Signal processing or signal properties, e.g. frequency bands
• • G—PHYSICS
  • G08—SIGNALLING
  • G08G—TRAFFIC CONTROL SYSTEMS
  • G08G1/00—Traffic control systems for road vehicles
  • G08G1/09—Arrangements for giving variable traffic instructions
  • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
  • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
  • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
  • G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
• • G—PHYSICS
  • G08—SIGNALLING
  • G08G—TRAFFIC CONTROL SYSTEMS
  • G08G1/00—Traffic control systems for road vehicles
  • G08G1/09—Arrangements for giving variable traffic instructions
  • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
  • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
  • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
  • G08G1/096783—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a roadside individual element
• • G—PHYSICS
  • G08—SIGNALLING
  • G08G—TRAFFIC CONTROL SYSTEMS
  • G08G1/00—Traffic control systems for road vehicles
  • G08G1/07—Controlling traffic signals

Definitions

• Patent specification DE 10 2017220420 B3 discloses a method for generating a collection of traffic information.
• the published application DE 10 2019206 847 A1 discloses a method and a device for operating an automated vehicle.
• a device for infrastructure-supported assistance of a motor vehicle, comprising: a communication device that is set up to receive environment signals that represent the environment of the motor vehicle, a processor device that is set up based on the environment signals infrastructure assistance data for infrastructure-based assistance of the motor vehicle, the communication device being set up to send infrastructure assistance data signals which represent the ascertained infrastructure assistance data, the communication device and the processor device each being set up to continue working in the event of an error in such a way that the communication device continues to receive environment signals, the processor device continues determined based on the environment signals infrastructure assistance data for assisting the motor vehicle and the community cation device continues to send the infrastructure assistance data signals.
• a machine-readable storage medium on which the computer program according to the third aspect is stored.
• the invention is based on and includes the finding that the above object is achieved in that the device, which assists the motor vehicle with infrastructure support, continues to work even in the event of a fault and thus continues to support the motor vehicle with infrastructure support or assists the motor vehicle with infrastructure support in the event of a fault .
• the device is therefore set up to continue working in the event of an error.
• the communication device it is therefore also possible in the event of an error for the communication device to continue to receive environment signals, for the processor device to continue to determine infrastructure assistance data for assisting the motor vehicle based on the environment signals, and for the communication device to continue to
• the assistance provided by the device according to the first aspect is a reliable assistance.
• the technical advantage is thus brought about that the motor vehicle can be efficiently supported by the infrastructure or that the motor vehicle can be efficiently assisted by the infrastructure.
• Infrastructure-supported assistance of the motor vehicle means in particular that infrastructure assistance data are made available to the motor vehicle. Based on the infrastructure assistance data, the motor vehicle can, for example, derive instructions for action. That For example, based on the infrastructure assistance data, the motor vehicle can itself decide what to do.
• the communication device and/or the processor device are designed to be redundant and/or diverse.
• the communication device and the processor device are each set up to end further processing after a predetermined time has elapsed in the event of an error.
• one embodiment can provide that a respective distance between the motor vehicles and/or a respective speed of the motor vehicles and/or an existing topography, which can include a tunnel entrance, for example, as a respective parameter or a respective condition can be used to determine whether the motor vehicle can handle the specific traffic situation without the support of the infrastructure itself.
• the processor device is set up, for example, to determine based on one or more of the aforementioned parameters when or whether the motor vehicle can handle the specific traffic situation without the support of the infrastructure itself.
• the processor device is used to determine, for example, that the motor vehicle can handle the specific traffic situation without the support of the infrastructure itself.
• the predetermined distance threshold depends on the respective speed of the motor vehicles.
• both a corresponding communication message must have been received and the above number must be less than or equal to the predetermined number threshold so that the processor device determines that the motor vehicle can handle the specific traffic situation without the support of the infrastructure itself.
• the communication device and the processor device are each set up to continue working for a predetermined time in the event of an error and to stop working after the predetermined time has elapsed. For example:
• the infrastructure assistance data includes a control command for controlling an infrastructure component that is located in the vicinity of the motor vehicle, with the communication device being set up to send the control command to the infrastructure component.
• the infrastructure component can be controlled efficiently.
• such an infrastructure component can support the motor vehicle in different ways, so that the motor vehicle can be supported efficiently by the infrastructure.
• the infrastructure component is a lighting device that illuminates a current traffic situation so that, for example, surroundings sensors of the motor vehicle can efficiently record the current traffic situation.
• the infrastructure component is an electronic display that can display an indication according to the control command, so that, for example, a driver of the motor vehicle can efficiently drive the motor vehicle based on the indication.
• the infrastructure support is performed, for example, in the above situations.
• the method according to the second aspect is carried out in such a situation, for example.
• the processor device is set up to carry out a prediction of a traffic situation including the motor vehicle based on the environment signals in order to determine a future traffic situation, the processor device being set up to determine the infrastructure assistance data based on the future traffic situation.
• the infrastructure assistance data can be determined efficiently.
• the future traffic situation is additionally taken into account for determining the infrastructure assistance data. This is predicted based on the environmental signals, i.e. predicted.
• a comfort trajectory is characterized, for example, by the fact that there is no rapid/abrupt braking and/or no jerking.
• An emergency trajectory is characterized, for example, in that jerking and/or rapid/abrupt braking and/or emergency braking are permitted.
• the processor device is set up to determine a configuration parameter and/or an update program for an infrastructure component, for example to read it from a memory, with the communication device being set up to send the configuration parameter and/or the update program to the infrastructure component.
• the infrastructure component can be efficiently maintained remotely, so that it can be ensured in an efficient manner, for example, that the infrastructure component functions correctly or that software and/or firmware is up to date.
• the processor device is set up to monitor an infrastructure component, in particular to monitor an operating state of the infrastructure component.
• the infrastructure component is an environment sensor
• the monitoring includes, for example, monitoring an analysis result of an environment analysis, which is carried out on the basis of environment sensor signals from the environment sensor, for plausibility and/or correctness.
• monitoring the analysis result includes comparing the Analysis result with several further analysis results from several further surroundings analyses, which are carried out based on surroundings sensor signals from several further surroundings sensors, wherein the several further analysis results correspond at least partially, for example completely, with a deviation which is greater than or greater than or equal to a predetermined deviation threshold value, an implausible and/or incorrect analysis result is assumed, so that it is determined that the surroundings sensor has an error.
• Monitoring the infrastructure component includes, for example, initiating a self-diagnostic test of the infrastructure component.
• the processor device is set up to determine a communication message in the event of an error, which indicates how long infrastructure assistance will still be available through the infrastructure assistance data and/or which motor vehicle(s) will still receive infrastructure assistance through the infrastructure assistance data, wherein the Communication device is set up to send the communication message to the motor vehicle or vehicles.
• the method is a computer-implemented method.
• the motor vehicle is a motor vehicle that is at least partially automated.
• the phrase "at least partially automated driving” includes one or more of the following cases: assisted driving, partially automated driving, highly automated driving, fully automated driving.
• Assisted driving means that a driver of the motor vehicle continuously carries out either the lateral or the longitudinal guidance of the motor vehicle.
• the respective other driving task that is, controlling the longitudinal or lateral guidance of the motor vehicle
• Partially automated driving means that in a specific situation (for example: driving on a motorway, driving within a parking lot, overtaking an object, driving within a lane defined by lane markings) and/or for a certain period of time, a longitudinal and a Lateral guidance of the motor vehicle are controlled automatically.
• a driver of the motor vehicle does not have to manually control the longitudinal and lateral guidance of the motor vehicle. However, the driver must constantly monitor the automatic 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 any time.
• Highly automated driving means that for a certain period of time in a specific situation (for example: driving on a freeway, driving in a parking lot, overtaking an object, driving in a lane defined by lane markings), longitudinal and lateral guidance of the motor vehicle be controlled automatically.
• a driver of the motor vehicle does not have to manually control the longitudinal and lateral guidance of the motor vehicle.
• the driver does not have to constantly monitor the automatic 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 control of the longitudinal and lateral guidance, in particular with a sufficient time reserve.
• the driver must therefore potentially be able to take over control of the longitudinal and lateral guidance.
• Limits of the automatic control of the lateral and longitudinal guidance are recognized automatically. With highly automated guidance, it is not possible to automatically bring about a risk-minimum state in every initial situation.
• Fully automated driving means that in a specific situation (for example: driving on a freeway, driving within a parking lot, overtaking an object, driving within a lane defined by lane markings), longitudinal and lateral guidance of the motor vehicle are automatically controlled.
• a driver of the motor vehicle does not have to manually control the longitudinal and lateral guidance of the motor vehicle Taxes.
• the driver does not have to monitor the automatic control of the longitudinal and lateral guidance in order to be able to intervene manually if necessary.
• the driver is automatically prompted to take over the driving task (controlling the lateral and longitudinal guidance of the motor vehicle), in particular with a sufficient time reserve. If the driver does not take over the task of driving, the system automatically returns to a risk-minimum state. Limits of the automatic control of the lateral and longitudinal guidance are recognized automatically. In all situations it is possible to automatically return to a risk-minimum system state.
• One embodiment of the method provides for the motor vehicle to be guided manually by a driver.
• the surroundings signals include surroundings sensor signals from one or more surroundings sensors.
• An environment sensor within the meaning of the description is, for example, one of the following environment sensors: radar sensor, lidar sensor, ultrasonic sensor, video sensor, magnetic field sensor and infrared sensor.
• the environment sensor is, for example, an environment sensor of the motor vehicle, ie an environment sensor of the motor vehicle.
• the environment sensor is, for example, an environment sensor of the infrastructure, ie an infrastructure environment sensor.
• at least one environment sensor is a motor vehicle Environment sensor and/or at least one environment sensor is an infrastructure environment sensor, for example.
• Infrastructural environment sensors are arranged in a spatially distributed manner, for example.
• Infrastructure environment sensors are, for example, designed to be diverse and/or redundant.
• Motor vehicle surroundings sensors that is to say motor vehicle surroundings sensors, are designed to be diverse and/or redundant, for example.
• An environment sensor is, for example, a safe environment sensor, i.e. it is classified according to ASIL.
• ASIL Automotive Safety Integrity Level
• the communication device is set up to receive data signals which represent data affecting traffic.
• the processor device is set up, for example, to determine the infrastructure assistance data based on the data signals.
• data include, for example, weather data and/or data from a database, for example a cloud database.
• Data includes, for example, historical traffic data.
• the device analyzes the surroundings of the motor vehicle on the basis of sensor signals from sensors, in particular surroundings sensors, which are located in the surroundings of the motor vehicle, ie within an infrastructure, in order to determine a current traffic situation.
• the sensors are, for example, infrastructure (surroundings) sensors.
• the sensors are automotive environment sensors.
• data influencing traffic in the environment is optionally additionally used.
• data include, for example, weather data, preferably weather data from a weather sensor and/or weather data from another source, for example from a database, in particular a cloud database.
• the data for example the environmental data describing the environment, includes raw data and/or pre-processed data (e.g.
• the sensors are designed to be redundant and/or diverse.
• a radar sensor and a lidar sensor as well as a video sensor are provided as sensors for detecting the surroundings of the motor vehicle.
• the sensors are classified or certified according to an ASIL level.
• additional data is used in the analysis, e.g. weather data, environmental data (which e.g. represent a scene illuminated by lamps).
• infrastructure components in the infrastructure are controlled in order to optimize the analysis using the device.
• a lighting device is controlled in such a way that it illuminates or specifically illuminates a scene in the infrastructure.
• the motor vehicles use this data, for example, for their driving function.
• the communication between the device and the motor vehicle is secure, for example.
• both the motor vehicle and the device check whether the data is correct, in the right time (that is, still usable), from the right sender, etc.
• the communication device is set up to send and/or receive via redundant communication connections, for example mobile radio and WLAN.
• data from other sources that can influence the predictions are added / used.
• these predictions are sent to the motor vehicle or vehicles by means of the communication device. This allows them to use the prediction, for example to plan and implement a driving function.
• a criticality of the current and/or future traffic situation is also determined using the processor device.
• the criticality indicates, for example, a potential accident location and/or which motor vehicle will have an accident and when.
• the processor device determines, for example, whether there could be accident avoidance measures, and if so, these are initiated accordingly using the processor device.
• the processor device determines corresponding infrastructure assistance data in order to initiate an accident avoidance measure.
• the infrastructure assistance data includes remote control commands for remote control of a respective lateral and/or longitudinal guidance of the motor vehicle or vehicles such that the accident can be avoided or the severity of the accident can be reduced with appropriate remote control.
• trajectories are calculated using the processor device and sent using the communication device.
• the remote control commands are used to intervene directly in the operation of the motor vehicle.
• Such an intervention includes, for example, the following actions: steering action and/or braking action and/or driving action.
• the device drives the motor vehicle using the remote control commands.
• the device checks the infrastructure components for error-free function.
• the RSU configures and/or updates one or more infrastructure components.
• the RSU is located on-site, for example before the tunnel.
• the RSU is partitioned, e.g.
• the device or parts are designed to be diverse and/or redundant.
• the infrastructure data can still be calculated for at least a short time and made available to the motor vehicles.
• one or more method steps are documented, in particular documented in a blockchain.
• the documentation in a blockchain has the technical advantage that the documentation is tamper-proof and forgery-proof.
• a blockchain is in particular a continuously expandable list of data sets, called “blocks”, which are linked together using 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 error case includes, for example, a faulty function and/or a functional restriction in or failure of at least one component, for example the communication device, for example the first communication interface (see below) and/or the Processor means, for example the first processor (see below), and/or the energy unit, the device.
• the communication device for example the first communication interface (see below)
• the Processor means for example the first processor (see below), and/or the energy unit, the device.
• the processor device has a first processor and a second processor.
• the first processor is set up, for example, to determine the infrastructure assistance data based on the environment signals.
• the second processor serves as a backup processor, for example. This means, for example, that the second processor is set up to determine the infrastructure assistance data based on the environment signals in the event of an error.
• the second processor is set up to monitor the first processor in order to detect a failure and/or a functional restriction and/or a faulty function of the first processor. For example, the monitoring is performed regularly, e.g. periodically.
• Continuing to work in the event of an error includes, for example, only providing limited infrastructure assistance. For example, a comfort trajectory is no longer determined, but only an emergency trajectory with regard to a trajectory.
• the background is that in this case the first processor has already failed, so that there is no backup processor for the second processor should it fail or have a functional limitation.
• the communication device which comprises, for example, a first communication interface and a second communication interface.
• the first communication interface is set up, for example, to receive the environment signals and to send the infrastructure assistance data signals.
• the second communication interface serves as a backup communication interface, for example. This means, for example, that the second communication interface is set up to receive the environment signals and to send the infrastructure assistance data signals in the event of an error.
• FIG. 4 shows a motor vehicle which is driving within an infrastructure.
• 1 shows a device 101 for infrastructure-based assistance in a motor vehicle.
• Device 101 comprises: a communication device 103, which is set up to receive environmental signals which represent the area surrounding the motor vehicle, a processor device 105, which is set up to determine infrastructure assistance data for infrastructure-supported assistance of the motor vehicle based on the environmental signals, communication device 103 being set up is to send infrastructure assistance data signals that represent the determined infrastructure assistance data, with communication device 103 and processor device 105 each being set up to continue working in the event of an error in such a way that communication device 103 continues to receive environment signals, processor device 105 continues to send infrastructure assistance data based on the environment signals for assisting the Motor vehicle determined and the communication device 103 further sends the infrastructure assistance data signals.
• the communication device 103 receives motor vehicle data signals which represent motor vehicle data.
• the processor device 105 ascertains the infrastructure assistance data based on the motor vehicle data.
• Motor vehicle data include or describe, for example, a current and/or a future trajectory of the motor vehicle and/or a current position of the motor vehicle and/or a current speed of the motor vehicle.
• the device 101 additionally has further components, such as, for example: air conditioning unit.
• the further processing 207 is terminated after a predetermined time has elapsed.
• the further processing 207 is continued and only ended when all motor vehicles that receive infrastructure assistance from the infrastructure assistance data do not receive this infrastructure assistance need more to cope with a current and/or future traffic situation.
• FIG. 4 Four double arrows are also shown in FIG. 4 : a first double arrow 421 , a second double arrow 423 , a third double arrow 425 and a fourth double arrow 426 . These symbolize a respective communication link between individual elements shown in FIG. 4
• the first double arrow 421 symbolizes a communication connection between the motor vehicle 401 and the cloud database 417.
• the motor vehicle 401 can, for example, upload the surroundings signals from the video camera 419 to the cloud database 417, where they are further processed and, for example, are merged with surroundings signals from other surroundings sensors of other motor vehicles to determine a fused environment model, which is sent to the RSU 413.
• the second double-headed arrow 423 symbolizes a communication link between motor vehicle 401 and traffic signal system 415.
• traffic signal system 415 can send a remaining green time to motor vehicle 401, so that based on this the motor vehicle is guided at least partially automatically, for example by adjusting a speed of the remaining green time .
• the third double arrow 425 symbolizes a communication connection between the RSU 413 and the cloud database 417.
• the fourth double arrow 426 symbolizes a communication connection between the motor vehicle 401 and the RSU 413.
• Lock symbols with the reference number 427 are also drawn in in FIG. 4 in order to make it clear that the individual communication connections or the transmitted information or data are, for example, optionally encrypted. This therefore means that an encrypted communication connection is optionally set up between the individual communication participants or partners. This means that the individual information or data is optionally stored in encrypted form.

Applications Claiming Priority (2)

Publications (1)

Family

ID=80684881

Family Applications (1)

Country Status (5)

Families Citing this family (1)

Family Cites Families (12)

• 2021
  • 2021-02-08 DE DE102021201129.2A patent/DE102021201129A1/de active Pending
• 2022
  • 2022-01-21 WO PCT/EP2022/051359 patent/WO2022167232A1/de active Application Filing
  • 2022-01-21 CN CN202280013968.0A patent/CN116964652A/zh active Pending
  • 2022-01-21 US US18/254,583 patent/US20240010243A1/en active Pending
  • 2022-01-21 EP EP22709181.6A patent/EP4288953A1/de active Pending

Also Published As

Similar Documents

Legal Events