WO2013068176A1

WO2013068176A1 - Device, method and system for operating a vehicle, and computer program for carrying out the method on a signal management module

Info

Publication number: WO2013068176A1
Application number: PCT/EP2012/069311
Authority: WO
Inventors: Stefan Nordbruch; Wolfgang Stolz; Wolfgang Schroeder; Michael Knoop; Tino Sommer
Original assignee: Robert Bosch Gmbh
Priority date: 2011-11-09
Filing date: 2012-10-01
Publication date: 2013-05-16
Also published as: DE102011085976A1

Abstract

The invention relates to a device (303) for operating a vehicle, comprising a signal management module (305) with a plurality of sensor interfaces (307) for surroundings sensors (311) for sensing vehicle surroundings by means of sensors and a plurality of actuator interfaces (309) for control units (313) of actuator systems of the vehicle, wherein the signal management module (305) is designed to transmit control signals to the control units (313) as a function of sensor signals of the surroundings sensors (311). The invention also relates to a method and a system (301) for operating a vehicle. The invention also relates to a computer program.

Description

description

DEVICE, METHOD AND SYSTEM FOR OPERATING A VEHICLE, AND

COMPUTER PROGRAM FOR CARRYING OUT THE PROCESS ON A SIGNAL MANAGEMENT MODULE

The invention relates to a device and a method for operating a

Vehicle. The invention further relates to a system for operating a vehicle and to a computer program.

State of the art

Driver assistance systems as such are known. They usually include an environment sensor, which can sensory detect a vehicle environment. Based on the corresponding surroundings sensor data, the driver assistance systems form control signals which are sent directly to a control unit for a control system of the

Vehicle to be sent. If the vehicle has several driver assistance systems, then each of the driver assistance systems is by means of its own

Signal line connected to the control unit of the control system.

Disclosure of the invention

The object underlying the invention can be seen therein, a

To provide apparatus and method for operating a vehicle,

which enable a simpler networking of environmental sensors of driver assistance systems with control units of parking systems of the vehicle.

The object underlying the invention can also be seen to provide a corresponding system for operating a vehicle and a corresponding computer program. These objects are achieved by means of the subject matter of the independent claims. Advantageous embodiments are the subject of each dependent subclaims. In one aspect, an apparatus for operating a vehicle is provided. The device comprises a signal management module which has a plurality of sensor interfaces. In particular environment sensors can be connected or coupled to the sensor interfaces. These environmental sensors are preferably designed for sensory detection of a vehicle environment. Furthermore, the signal management module comprises a plurality of actuator interfaces to which control devices of parking systems of the vehicle can be connected or coupled. The signal management module is in particular designed to send control signals to the control units as a function of sensor signals from the environment sensors.

In another aspect, a method of operating a vehicle is provided. In this case, sensor signals from environment sensors for sensory detection of a vehicle environment are received by means of a signal management module. Depending on the sensor signals, the signal management module sends control signals to control devices of control systems of the vehicle.

In yet another aspect, a system for operating a vehicle is provided. The system comprises the device for operating a vehicle, wherein in each case one sensor, in particular a plurality of sensors, are coupled to the sensor interfaces, and in each case one control device, in particular a plurality of control devices, of an actuating system are connected or connected to the actuator interfaces.

In yet another aspect, there is provided a computer program comprising program code for executing the method of operating a vehicle when the computer program is executed on a computer, preferably a signal management module.

The invention thus encompasses the idea of interposing a signal management module between the environmental sensors of driver assistance systems of a vehicle and control devices of the vehicle's control systems. so that means in particular, that the environmental sensors are no longer directly connected to the control units of the control systems, but instead with the signal management module. This then receives as a central instance the sensor signals of the environment sensors. Depending on the sensor signals, control signals are sent to the control units. In this respect, the signal management module advantageously manages the sensor signals provided to it and can forward or send them, for example, according to predetermined rules to the control devices of the positioning systems analogously to a router. Thus, that the environment sensors no longer each individually with the

Control devices are connected, an appropriate networking is advantageously simplified and less complex, insofar as now only a data line or signal line between the signal management module and the control unit is required compared to several signal lines according to the prior art between the environment sensors of the various driver assistance systems and respectively a control unit of the control system.

An actuating system in the sense of the present invention designates in particular a system which can intervene in a vehicle operation and / or a vehicle guidance. An adjusting system can be, for example, a steering system, in particular an electric power steering system. An actuating system can for example also be a drive train system. A control system may preferably be a vehicle dynamics control system, also known as an Electronic Stability Program (ESP). An adjusting system may, for example, also be an anti-lock braking system or a traction control system. An adjustment system may be, for example, a brake system or a drive system of the vehicle. A positioning system thus particularly designates a system which implements directed requirements for a vehicle movement such as acceleration, braking and / or steering in order to guide the vehicle accordingly.

A control device according to the present invention may also be referred to as a controller and may be embodied in particular in hardware and / or in software. Such controls in particular control the parking systems of the vehicle which are connected to them, this control in particular in response to the control signals of the signal management module.

Sensor signals of the environmental sensors in the sense of the present invention include, in particular, environmental sensor data which corresponds to the sensory vehicle environment. Such environment sensor data can also be referred to as vehicle environment data in particular and in particular include information about the vehicle environment. Such information may, for example, relate to physical objects. A physical object may be, for example, another vehicle, a pedestrian, a traffic sign, a signal system or

Be the boundary post of the road. In particular, the vehicle surroundings data include physical characteristics of the road such as a road width, a road width, curve radii and / or departures. In particular, in the case of stationary physical objects, the respective position and dimensions are also stored in the vehicle environment data. Vehicle environment data may in particular also include information about current conditions, such as, for example, that there is a construction site with changed road characteristics at the corresponding position. In particular, vehicle surroundings data may also include lane data which includes, for example, the information about a lane line color. Vehicle environment data in the sense of the present invention include in particular images and / or videos. In particular, a corresponding position is assigned to the vehicle environment data, which can be determined, in particular, by means of a global positioning system (GPS) sensor.

Environment sensors in the sense of the present invention may include, for example, radar sensors, video sensors, in particular video sensors of a stereo camera or an environment camera system for image capturing a 360 ° environment of the vehicle, or ultrasound sensors. Environmental sensors may include, for example, lidar sensors, time-of-flight sensors and / or a photo-mixing detector, also known as photonic mixing device (PMD) sensors. In particular, a PMD sensor may be used as an image sensor in TOF cameras, where TOF stands for "time of flight", and is based on the light-time-of-flight method. According to one embodiment, a communication interface for a communication system is provided. In particular, the communication system is adapted to receive environmental sensor data corresponding to a vehicle environment and transmitted externally from the vehicle. Such environmental sensor data may be referred to in particular as external environmental sensor data. In this respect, the environmental sensor data, which are formed by means of the environmental sensors of the vehicle itself, can be referred to as internal environmental sensor data. The statements made in connection with the internal environment sensor data apply analogously to the external environment sensor data.

The signal management module is in particular designed to form the control signals as a function of the external environment sensor data and to send them to the control devices. The provision of such a communication interface thus advantageously makes it possible to connect or couple a communication system to the signal management module, so that further external environmental sensor data can be used for the formation and calculation of the control signals. Such external environment sensor data can be formed for example by means of external environment sensors of other vehicles. A communication between the vehicle and the other vehicles can be carried out in particular by means of the Car2Car communication method. In particular, it can be provided that the external surroundings sensor data are formed by means of environmental sensors which are arranged on a fixed infrastructure such as a building or a traffic sign or a bridge. A corresponding communication can then be carried out, for example, by means of the Car2l communication method. Here, the "I" stands for the English term "infrastructure".

In an embodiment, it may be provided that the communication system receives, in addition to or in addition to the external environment sensor data, other data relevant to a calculation of a vehicle guidance strategy. Such data may include, for example, navigation data or traffic data, such as traffic data. In another embodiment, an energy management interface is provided, to which a power management module can be connected or coupled. Such an energy management module is in particular designed to manage an energy available for vehicle operation. The energy management module is preferably set up to form further control signals for the control devices as a function of the available energy. The signal management module is preferably designed to form the control signals as a function of the further control signals and to send them to the control units. By providing the power management interface, it is thus advantageously possible to connect an energy management module to the signal management module, so that the energy available for vehicle operation can be taken into account in the calculation and formation of the control signals for the control systems. By energy is meant in particular an electrical energy. Preferably, an available energy may correspond to a quantity of fuel.

As a result, that the available energy for operation of the adjusting systems is taken into account in an advantageous manner, they can be operated more efficiently and effectively. Preferably, it may be provided that certain control systems are operated only limited or not at all, if the energy available for vehicle operation, so for example if a charge state of a battery is too low and / or if, for example, a fuel quantity is insufficient, for example, at the same time still to reach a predetermined vehicle target is less than a predetermined value. Thus, for example, at a low charge state of a traction battery, a power for a propulsion system or for other control systems with a high energy requirement can be limited.

According to one embodiment, it can be provided that the signal management module is designed to override or override the restrictions imposed by the energy management module on operating the control systems in a critical driving situation. Such a critical driving situation can be, for example, emergency braking for accident prevention or accident severity reduction. An accident avoidance, an accident severity reduction and a stabilization of the vehicle may preferably have a higher priority than a power management. This means in particular that the other control signals of the power management module with be given a lower priority compared to the control signals of the signal management module. The control signals of the signal management module are thus preferably sent to the control units. In particular, the control signals of the signal management module are preferably sent to the control units in an emergency.

According to a further embodiment, the signal management module comprises a vehicle environment module for providing a vehicle environment model. The signal management module in particular comprises a vehicle movement module for providing the control signals as a function of the vehicle environment model. That means in particular that an architectural separation between a vehicle environment module, which calculates a vehicle environment model and correspondingly provides, and a vehicle motion module, which calculates and provides the control signals based on the vehicle environment model, may be provided. This separation has the particular advantage that such a signal management module can be checked and maintained particularly easily. Furthermore, in particular, such a signal management module can also be used in a plurality of different vehicles insofar as the vehicle surroundings module can provide a universal, vehicle-independent, vehicle environment model, whereas the vehicle and position-dependent properties are implemented or encapsulated in the vehicle-dependent vehicle movement module. Such a separation has in particular the advantage that an integration in each case a control device or a controller is possible. For example, the vehicle surroundings module can be integrated in an environment sensor control unit. For example, the vehicle movement module can be integrated in an ESP control unit.

According to one embodiment, it can be provided that the signal management module is integrated in a control unit or a control of the vehicle. Such a control unit may be, for example, an environment sensor control unit. For example, the controller may be a radar controller, a video controller, or an ESP controller.

In another embodiment, the vehicle environment model is assigned the several sensor interfaces. For example, the vehicle motion module is assigned the multiple actuator interfaces. That means that special, that the vehicle environment module receives the sensor signals of the environment sensors. Based on the received sensor signals, the vehicle surroundings module calculates a vehicle environment and provides it to the vehicle motion module. For this purpose, the vehicle surroundings module and the vehicle movement module in particular have suitable interfaces, by means of which the corresponding data can be transmitted in accordance with the vehicle environment model. The control units of the parking systems are connected to the vehicle movement module by means of the controller interfaces. This therefore means in particular that the vehicle movement module forms control signals based on the provided vehicle environment model and specific requirements for a vehicle movement or a vehicle guidance and sends them to the control devices of the positioning systems.

According to another embodiment, the controllers return a status message to the signal management module after the controllers have received the control signals. This means in particular that the control units send the status message to the signal management module. Such a status message may include, for example, an actuator availability and / or a parking reserve. The signal management module can thus advantageously form the control signals based on the status of the positioning systems and, in this case, take into account, in particular, an actuator availability and / or a parking reserve.

The invention will be explained in more detail below with reference to preferred embodiments. Show here

1 shows a device for operating a vehicle,

2 is a flowchart of a method for operating a vehicle,

3 shows a system for operating a vehicle,

Fig. 4 shows another system for operating a vehicle and

Fig. 5 shows another system for operating a vehicle. Hereinafter, like reference numerals are used for like features.

Fig. 1 shows an apparatus 101 for operating a vehicle (not shown). The device 101 comprises a signal management module 103, which comprises a plurality of sensor interfaces 105. At the sensor interfaces 105 environmental sensors for sensory detection of a vehicle environment can be connected or coupled. This means, in particular, that it is possible by means of the sensor interfaces 105 to make the sensor signals provided by the environmental sensors available to the signal management module 103.

The signal management module 103 further includes a plurality of controller interfaces 107 for controllers (not shown) of parking systems (not shown) of the vehicle. This means, in particular, that the control devices or controls of the parking systems of the vehicle can be connected or coupled to the actuator interfaces 107. Thus, in particular control signals, which are formed by means of the signal management module 103, can be sent to the individual control devices of the positioning systems in an advantageous manner. In this case, the signal management module 103 is designed in particular to form the control signals in particular depending on the sensor signals and to send them to the control devices.

In the exemplary embodiment shown in FIG. 1, the signal management module 103 has four sensor interfaces 105 and four controller interfaces 107. In an exemplary embodiment that is not shown, more or less than four sensor interfaces 105 or four actuator interfaces 107 may also be provided.

The fact that between the environment sensors and the control units of the Stellsysteme a signal management module is interposed as a parent instance, eliminating the need between each environment sensor to form a separate data or signal line to the control units of the control systems. As a result, in particular a networking of environmental sensors and control devices of actuating systems is simplified in an advantageous manner, and thus in particular less prone to error. 2 shows a flowchart of a method for operating a vehicle. In a step 201, sensor signals are received from environmental sensors for sensory detection of a vehicle environment by means of a signal management module. In accordance with a step 203, the signal management module sends control signals to control devices of control systems of the vehicle as a function of the sensor signals. This means in particular that the sensor signals of the environmental sensors are not routed directly to the control devices of the control systems, but are first sent to a signal management module. This signal management module is connected between the environmental sensors and the control units. Depending on the sensor signals then sends the signal management module according to control signals to the individual control units. It can preferably be provided that the sensor signals are forwarded directly to the control units. In particular, it can be provided that, in the case of a plurality of sensor signals, these signals are forwarded or sent to the control devices analogously to a router in accordance with predetermined rules.

FIG. 3 shows a system 301 for operating a vehicle (not shown). The system 301 includes a device 303 for operating a vehicle. The device 303 has a signal management module 305 comprising a plurality of sensor interfaces 307 and a plurality of actuator interfaces 309. An environmental sensor 31 1 is coupled or connected to the sensor interfaces 307. At the actuator interfaces 309 in each case a control unit 313 of an actuating system of the vehicle is coupled or connected.

The environmental sensors 31 1 detect a vehicle environment and send corresponding sensor signals or environment sensor data via the sensor interface 307 to the signal management module 305.

Depending on these sensor signals, the signal management module 305 forms corresponding control signals for the control units 313. These control signals are sent to the control units 313 via the control interfaces 309. In accordance with the control signals, the control units 313 then control the corresponding positioning systems. 4 shows another system 401 for operating a vehicle (not shown). The system 401 includes a device 403 for operating a vehicle having a signal management module 405. The signal management module 405 is similar to the management module 103 in FIG

FIG. 1 and the signal management module 305 according to FIG. 3. In addition, the signal management module 405 includes a communication interface 407 to which a communication system 409 is coupled. By means of the communication system 409, it is possible in particular to receive external environment sensor data or generally external data from other vehicles and / or from an infrastructure.

The signal management module 405 further has a navigation interface 411, to which a navigation system 413 is coupled, which in particular comprises a digital map. The corresponding navigation data of the navigation system 413 can thus also advantageously be made available to the signal management module 405.

The signal management module 405 further includes a power management interface 415 to which a power management module 417 is coupled. The energy management module 417 in particular receives navigation data of the navigation system 413 and can form further control signals for the control devices 313 of the positioning systems based on energy available for driving the vehicle and the navigation data. These further control signals are provided to the signal management module 405 via the power management interface 415 and are not directly provided to the controllers 313.

The signal management module 305 thus receives surrounding sensor data or sensor signals of the environment sensors 311, external environment sensor data from others

Vehicles and / or infrastructure, navigation data of the navigation system 413 and other control signals of the power management module 417. Based on these data or signals then the signal management module 405 forms and calculates corresponding control signals, which are sent to the control units 313 by means of the Stellerer interfaces 309. These then control the individual parking systems of the vehicle in accordance with the control signals. This means, in particular, that all data that may be relevant for a vehicle guidance, first collected by the signal management module 405 as the central instance. This then outputs corresponding control signals to the individual control units 313 of the control systems in order to operate the individual control systems over this.

Fig. 5 shows another system 501 for operating a vehicle. The system 501 includes a device 503 for operating a vehicle. The device 503 includes a signal management module 505.

The signal management module 505 comprises a vehicle movement module 507 and a vehicle surroundings module 509. The vehicle surroundings module 509 receives sensor signals or surroundings sensor data from environment sensors 511. For the sake of clarity, these surroundings sensor data are indicated symbolically in FIG. 5 by a rectangle with the reference symbol 511.

Furthermore, an energy management module 513 is formed, which is coupled or connected to the vehicle movement module 507 via a corresponding energy management interface (not shown here). The power management module 513 receives data from a vehicle surroundings calculator 515, which in turn receives data from a navigation system 517 comprising a digital map. In particular, the vehicle surroundings calculation unit 515 calculates a vehicle environment based on the navigation data provided by the navigation system 517. In an embodiment, not shown, it may be provided that the vehicle surroundings calculation device 515 still receives data from other environment sensors of other vehicles or an infrastructure. This data is provided to the power management module 513, which accordingly forms further control signals and makes them available to the vehicle movement module 507 by means of the power management interface (not shown here). The vehicle surroundings calculation device 515 can also be referred to as an electronic horizon, since in particular it calculates a far field, for example from about 300 m in relation to the vehicle, of the vehicle surroundings. The vehicle surroundings calculation device 515 is in particular configured to calculate a vehicle route based on the data provided to it. The vehicle surroundings calculation unit 515 also makes the correspondingly calculated vehicle environment available to the vehicle surroundings module 509. Based on the sensor signals and the calculated vehicle environment, the vehicle surroundings module 509 then calculates a vehicle environment model, which may also be referred to herein as an enhanced vehicle environment model. This advanced model is made available via suitable interfaces to the vehicle movement module 507, which forms corresponding control signals and outputs to control devices of parking systems of the vehicle. The multiple control devices are here symbolically marked by a rectangle with the reference numeral 519.

Furthermore, it can be provided, in particular, that the energy management module 513 transmits information about an energy balance, in particular about available energy, of the vehicle to the vehicle surroundings calculation device 515, so that it advantageously displays an instantaneous vehicle route or navigation route of the vehicle. fits and / or optimizes. The vehicle surroundings calculation device 515 preferably transmits digital maps, for example topology data, GPS data, data from external vehicles and / or external infrastructures, to the energy management module 513, so that the latter can advantageously take this information into account in a coverage calculation.

It can preferably be provided that the energy management module 513 transmits limitations and / or parking reserves to the vehicle movement module 507 via the power management interface. Such parking reserves may include, for example, parking reserves when recuperating and / or limiting a vehicle speed. Preferably, it can be provided that the energy management module 513 outputs information about an energy budget and / or driving instructions and / or driving recommendations for a vehicle control or vehicle guidance to a driver via a human-machine interface, for example by means of a screen. In an embodiment which is not shown, the interfaces to the environment sensors can be formed either at the feature level, for example detected edges in the case of video, or object plane, for example the detected vehicle in the case of radar or video.

For the interfaces to the control systems, the following influencing variables can preferably be provided for a vehicle movement.

In particular, a longitudinal force F _{x can be provided} for orders or requests for accelerating or decelerating as an influencing variable. In an order or request for acceleration, a motor drive system and / or transmission system is controlled as a control system. In an order for a delay, in particular an ESP and / or a motor drive system and / or transmission system is controlled as a control system via a corresponding engine drag torque and / or a Rekuperationsbremsung in electric vehicles.

In particular, a yaw moment M _z for orders or requests for changing the direction of travel can also be provided as influencing variable as influencing variable. In this case, one-sided braking interventions can be carried out via the ESP. Called EPS via an electronic power steering system, the required yaw moment can be converted into a steering torque request via a downstream steering torque controller.

It can preferably be provided that the corresponding calculations in the individual components of the system 501 are carried out internally in the respective component itself. In particular, it can be provided that the corresponding calculations are carried out externally by the vehicle, for example by means of an external server. Preferably, a combination of internal and external calculation, ie both in the system 501 and in the external server, may be provided. A corresponding communication between the vehicle and the external server can be carried out, for example, by means of the WLAN communication method and / or the long term evolution (Ite) communication method. In summary, it is possible by means of the signal management module according to the invention to provide a standardized structure adapted to different system configurations (environmental sensors, actuators) in which the variant diversity of an increasing number of driver assistance functions can be controlled in an advantageous manner.

Claims

claims

A device (101, 303, 403, 503) for operating a vehicle, comprising a signal management module (103, 305, 405, 505) with a plurality of sensor interfaces (105, 307) for environmental sensors (31 1, 511) for sensory detection of a vehicle environment and a plurality of actuator interfaces (107, 309) for control devices (313) of control systems of the vehicle, wherein the signal management module (103, 305, 405, 505) is designed to transmit control signals to the control devices (313, 311) as a function of sensor signals from the environmental sensors (31 1, 511) ) to send.

2. Device (101, 303, 403, 503) according to claim 1, wherein a communication interface (407) for a communication system (409) for receiving from a vehicle environment corresponding externally emitted by the vehicle external environment sensor data is provided and the signal management module (103, 305 , 405, 505) is adapted to send the control signals to the control devices (313) depending on the external environment sensor data.

The apparatus (101, 303, 403, 503) according to claim 1 or 2, wherein a power management interface (415) is provided for a power management module (417, 513) for managing a power available for vehicle operation that is set up Control signals for the control units (313) in dependence on the available energy, and wherein the signal management module (103, 305, 405, 505) is adapted to send the control signals depending on the further control signals to the control units (313).

4. Device (101, 303, 403, 503) according to one of the preceding claims, wherein the signal management module (103, 305, 405, 505) a vehicle environment module (509) for providing a vehicle environment model and a driving environment vehicle movement module (507) for providing the control signals in dependence on the vehicle environment model includes.

Device (101, 303, 403, 503) according to claim 4, wherein the vehicle environment module (509), the plurality of sensor interfaces (105, 307) and the vehicle movement module (507) are associated with the plurality of actuator interfaces (107, 309).

A method for operating a vehicle, wherein sensor signals from environment sensors (311, 511) for sensory detection of a vehicle environment by means of a signal management module (103, 305, 405, 505) receive (201), which depending on the sensor signals control signals to control devices (313) of Parking systems of the vehicle sends (203).

The method of claim 6, wherein a vehicle environment corresponding external environment sensor data emitted externally by the vehicle is received by the signal management module (103, 305, 405, 505) which sends control signals to the controllers (313) depending on the external environment sensor data.

The method of claim 6 or 7, wherein further control signals of a power management module (417, 513) for managing an available for a vehicle operation energy by the signal management module (103, 305, 405, 505) are received, which depending on the other control signals to control signals the control units (313) sends.

Method according to one of claims 6 to 8, wherein the signal management module (103, 305, 405, 505) forms a vehicle environment model and based on the vehicle environment model sends control signals to the control units (313).

A method according to any one of claims 6 to 9, wherein the controllers (313), upon receiving the control signals, send a status message to the signal management module (103, 305, 405, 505).

1 1. A system (301, 401, 501) for operating a vehicle, comprising a device (101, 303, 403, 503) according to one of claims 1 to 5, wherein at the sensor interfaces (105, 307) each have a sensor and The control interfaces (107, 309) are each coupled to a control device (313) of an actuating system.

12. Computer program comprising program code for carrying out the method according to one of claims 6 to 10, when the computer program is executed on a signal management module (103, 305, 405, 505).