WO2016119984A1 - Dispositif et procédé permettant de faire fonctionner un véhicule - Google Patents

Dispositif et procédé permettant de faire fonctionner un véhicule Download PDF

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Publication number
WO2016119984A1
WO2016119984A1 PCT/EP2015/081272 EP2015081272W WO2016119984A1 WO 2016119984 A1 WO2016119984 A1 WO 2016119984A1 EP 2015081272 W EP2015081272 W EP 2015081272W WO 2016119984 A1 WO2016119984 A1 WO 2016119984A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
processing device
communication interface
communication
data
Prior art date
Application number
PCT/EP2015/081272
Other languages
German (de)
English (en)
Inventor
Michael Scherl
Ruediger Jordan
Claudius Glaeser
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 WO2016119984A1 publication Critical patent/WO2016119984A1/fr

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • B60K35/28—
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/0285—Parking performed automatically
    • 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
    • G08G1/096733—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place
    • G08G1/096741—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place where the source of the transmitted information selects which information to transmit to each vehicle
    • 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
    • G08G1/096733—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place
    • G08G1/09675—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place where a selection from the received information takes place in the vehicle
    • 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
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
    • G08G1/146—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas where the parking area is a limited parking space, e.g. parking garage, restricted space
    • B60K2360/175—
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9316—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles combined with communication equipment with other vehicles or with base stations

Definitions

  • the invention relates to an apparatus and a method for operating a vehicle.
  • the invention further relates to an off-vehicle system, a communication interface and a vehicle and a method for retrofitting a vehicle.
  • Highly automated systems are designed to assist a driver in difficult or unpopular driving tasks, or even to carry them out fully automatically (for example, when looking for a parking space).
  • Highly automated driving places particularly high demands on the hardware and software used in the vehicle.
  • the entire vehicle environment must be detected with sensors.
  • algorithms for evaluating the sensor data as well as for deriving suitable drive commands are typically computationally expensive. The costs associated with the high resource requirements of the algorithms and the large number of sensors required can make it difficult for the future market introduction of highly automated systems.
  • an apparatus for operating a vehicle comprising an off-vehicle system for assisting the vehicle in an at least partially automated execution of a predetermined driving task and a communication interface for connecting the off-vehicle system to an in-vehicle processing device, so that a communication link between the vehicle-external system and the in-vehicle processing device may be formed, by means of which the vehicle external system can provide for the support relevant data of the in-vehicle processing device.
  • a method for operating a vehicle comprising the device according to the invention and an in-vehicle processing device which is connected to the communication interface, so that a communication connection between the in-vehicle processing device and the vehicle-external system is formed, wherein the vehicle-external system, the vehicle the at least partially automated execution of a predetermined driving task supported by it for the implementation of relevant data determined and provided by the communication interface of the in-vehicle processing device, so that the in-vehicle processing device based on the provided data a vehicle actuator of the vehicle drives to perform the predetermined driving task.
  • an on-vehicle system configured to assist a vehicle in performing at least partially automated a predetermined driving task.
  • a communication interface is provided, which is set up to connect the vehicle-external system to an in-vehicle processing device, so that a communication connection between the vehicle-external system and the vehicle-internal processing unit is provided.
  • a vehicle including an in-vehicle processing device and the communication interface.
  • the invention therefore includes, in particular and among other things, the idea of connecting an external vehicle system to the communication interface of the vehicle, by means of which the vehicle can be assisted in an at least partially automated execution of a predetermined driving task.
  • the vehicle-external system is not firmly installed in the vehicle itself, in particular the technical advantage causes it at a time when the vehicle-external system is no longer needed, can be dismantled or removed from the vehicle and, for example, other vehicles can be made available for performing a predetermined driving task.
  • an off-board system can be used for a variety of vehicles. This advantageously means efficient use of the vehicle-external system. Furthermore, thereby manufacturing costs for the individual vehicles reduced, insofar as not each vehicle itself must include a system for supporting the vehicle in an at least partially automated execution of a predetermined driving task.
  • the term "at least partially automated” comprises in particular the term “automated” or “fully automated.”
  • the vehicle drives autonomously, ie without intervention by a driver. here a driver intervention is necessary.
  • (Part) Automated” and “(Part) autonomous” can be used interchangeably.
  • the vehicle-external system comprises an environment sensor system for detecting a vehicle environment, so that the data relevant for the assistance comprise environment sensor data corresponding to the detected vehicle environment.
  • the technical advantage is brought about that the vehicle is provided with an environmental sensor that it may not have itself.
  • environmental sensors of the environmental sensor system can supplement vehicle-internal environment sensors, so that an improved environment detection can be made possible.
  • the vehicle includes an in-vehicle environment sensor system.
  • the (vehicle-external and / or vehicle-internal) environment sensor system comprises one or more environmental sensors.
  • An environmental sensor is, for example, one of the following environmental sensors: ultrasound sensor, radar sensor, lidar sensor, laser sensor and video sensor.
  • the vehicle-external system comprises a processing device for determining one or more drive commands, so that the data relevant for the assistance is assigned to the one or more drive commands. NEN or the plurality of determined driving commands corresponding Fahrbetationschal.
  • the vehicle can be provided with an improved processing device (for example with a higher computing power than the vehicle-internal processing device), determines the corresponding travel commands and transmits them to the in-vehicle processing device.
  • an improved processing device for example with a higher computing power than the vehicle-internal processing device
  • certain algorithms which are necessary in order to determine a desired trajectory based on a detected vehicle environment, which the vehicle is to drive, are determined outside the vehicle by means of the vehicle-external system comprising the processing device and subsequently in the form of drive commands, ie travel command data.
  • the in-vehicle processing device are provided.
  • the latter only has to translate these travel command data into internal control data for a vehicle actuator.
  • the internal processing device controls a vehicle actuator based on the travel command data in order to implement the determined travel commands.
  • the corresponding algorithms no longer have to be available in-vehicle.
  • a vehicle actuator comprises actuators or actuators of a drive system and / or a clutch system and / or a transmission system and / or a steering system of the vehicle.
  • a guidance of the vehicle in particular a transverse and / or longitudinal guidance of the vehicle, is regulated or controlled.
  • the vehicle is guided based on the driving commands by driving the vehicle actuator according to the driving commands.
  • the System comprises a communication device, which is set up to communicate with a subscriber of a communication network, so that the data relevant for the support comprise communication data of the subscriber that has been received by the vehicle-external system via the communication network via the communication device.
  • a subscriber of the communication network is, for example, another vehicle.
  • a participant of the communication network is for example a fixed infrastructure, in particular in the environment of the vehicle. In particular, several participants are provided with whom the vehicle by means of
  • Communication device of the vehicle external system communicates.
  • Communication data includes, for example, map data of a digital map.
  • the vehicle receives map data from the subscriber of the communication network.
  • the vehicle can be provided with an updated map of its surroundings.
  • a digital map is for example a digital map of a parking lot, in particular a parking garage or a parking garage.
  • the communication interface is designed for unilateral or reciprocal or bilateral data transmission between the in-vehicle processing device and the vehicle-external system.
  • the vehicle can also send data to the subscriber of the communication network.
  • the predetermined driving task comprises at least one of the following driving tasks: parking, parking, automated driving in a parking lot, parking space search, automated driving on a highway.
  • the vehicle-external system is connected to the communication interface or connected to the communication interface.
  • the vehicle comprises an in-vehicle processing device.
  • the vehicle is configured or configured to carry out or execute the method for operating a vehicle.
  • FIG. 1 shows a device for operating a vehicle
  • FIG. 2 shows a method for operating a vehicle
  • FIG. 3 shows an off-vehicle system
  • FIG. 4 shows a communication interface
  • FIG. 5 shows a vehicle
  • Fig. 7 shows another device for operating a vehicle
  • Fig. 8 shows another vehicle.
  • like reference numerals may be used for like features.
  • Fig. 1 shows an apparatus 101 for operating a vehicle.
  • the device 101 comprises an off-vehicle system 103 for assisting the vehicle in an at least partially automated, in particular fully automated, execution of a predetermined driving task.
  • the device 101 further comprises a communication interface 105 for connecting the vehicle-external system to an in-vehicle processing device.
  • the technical advantage is brought about that a communication connection between the vehicle-external system and the in-vehicle processing device can be formed by means of which the vehicle-external system can advantageously provide relevant data for the support of the processing device.
  • FIG. 2 shows a method for operating a vehicle comprising the device 101 of FIG. 1.
  • the vehicle-internal processing device of the vehicle is connected to the communication interface 105 of the device 101, so that a communication link between the in-vehicle processing device and the vehicle-external system is formed.
  • the vehicle-external system 103 supports the vehicle during the at least partially automated execution of a predetermined driving task, in which it determines relevant data for the execution according to a step 203 and provides it to the in-vehicle processing device according to a step 205 by means of the communication interface 105 ,
  • the processing device of the vehicle controls vehicle actuation of the vehicle based on the provided data to perform the predetermined driving task according to a step 209.
  • FIG. 3 shows an off-vehicle system 301, which is set up to support a vehicle in an at least partially automated execution of a predetermined driving task.
  • FIG. 4 shows a communication interface 401, which is set up to connect the vehicle-external system in 301 of FIG. 3 to an in-vehicle processing device, so that a communication connection between the off-board system 301 and the in-vehicle processing device can be formed, respectively, by means of which the off-board system 301 can provide data for the support relevant to the processing device or is.
  • the communication interface 401 is encompassed by a vehicle, that is, for example, installed in the vehicle and / or arranged on the vehicle.
  • the vehicle 501 comprises an in-vehicle processing device 503 and the communication interface 401 of FIG. 4.
  • the vehicle 501 also comprises the vehicle-external system 301 of FIG. 3, which is connected to the communication interface 401.
  • FIG. 6 shows a flowchart of a method for retrofitting a vehicle.
  • the vehicle includes the communication interface 401 of FIG. 4 and an in-vehicle processing device 503, wherein the vehicle-external system 301 of FIG. 3 is connected to the communication interface 401 according to a step 601.
  • a communication connection is formed between the in-vehicle processing device 503 and the off-vehicle system 301, by means of which the off-board system 301 can provide support-relevant data to the in-vehicle processing device 503.
  • FIG. 7 shows a device 701 for operating a vehicle.
  • the device 701 comprises a communication interface 105 and an off-vehicle system 103, which are designed according to the statements made above.
  • FIG. 7 further shows a vehicle 703, which includes the communication interface 105, wherein the off-vehicle system 103 is connected to the communication interface 105.
  • the vehicle 703 further comprises a vehicle sensor system 707, which is designed in particular as an environment sensor system.
  • the vehicle 703 further includes an in-vehicle processor 705, which may be referred to, for example, as an in-vehicle processing unit.
  • the vehicle 703 further includes a vehicle actuator 709.
  • the line with the reference numeral 71 1 is intended to symbolically mark an interface or a boundary between the vehicle-external system 103 and the in-vehicle processor 705, the in-vehicle actuator 709 and the in-vehicle sensor system 707, wherein a communication link between these in-vehicle components, in particular the in-vehicle processor 705, and the off-vehicle system 103 is formed by the communication interface 105 is respectively.
  • FIG. 8 shows another vehicle 801 comprising the system 301 of FIG. 3.
  • the system 301 is connected to an in-vehicle processor via a communication interface, which is not shown for clarity.
  • off-vehicle system 301 includes an antenna 803 as a communication device configured to communicate with one or more subscribers of a communication network.
  • the communication network is a WLAN network.
  • the communication network is a mobile radio network.
  • the communication network comprises a WLAN and / or a mobile radio network.
  • the system 301 further includes a video camera 805 that may be configured to include a 360 degree environment of the vehicle 801, for example.
  • the system 301 comprises a front-side radar sensor 807 and a rear-side radar sensor 809. That is to say, the front-side radar sensor 807 can detect a front region of the vehicle 801 by means of sensors.
  • the rear-side radar sensor 809 comprises in particular a rear-side environment of the vehicle 801.
  • the core of the invention is in particular an external vehicle system, with which a driver can upgrade his vehicle if necessary with additional sensors (vehicle external environment sensor) and / or computing (vehicle external processing device).
  • additional sensors vehicle external environment sensor
  • computing vehicle external processing device
  • a particularly interesting scenario is represented by correspondingly equipped DropOff or PickUp zones (for example at car park entrances). These zones are stations that a vehicle driver can drive to leave his vehicle and take it back at a later time.
  • the vehicle can independently search for a parking space and, if necessary, return to the PickUp zone.
  • a significant advantage of the invention is, in particular, that the hardware / software required for fully automatic driving tasks are not installed in the vehicle got to. Rather, it is provided according to one embodiment that drivers borrow them when needed to stations (similar to car sharing), bike stations, etc.).
  • the invention thus represents, in particular, an interesting scenario for the market introduction of fully automatic systems, which enables fully automatic driving despite the potentially high costs of a broad user layer.
  • the stations are commercially operated by providers according to one embodiment.
  • Exemplary locations for such stations are, for example, places where unpopular (and fully automatically controllable) driving tasks are pending.
  • Examples are the search for parking spaces in multi-storey car parks, supermarket parking lots or residential areas. It is preferably provided that stations will operate on motorway access roads or rest areas, so that long motorway journeys can be completed fully automatically.
  • vehicle-external system Another advantage of the vehicle-external system is, for example, that it only has to offer one or more fully automatic driving functions only in a locally limited area (parking lot, residential area, motorway, ). As a result, on the one hand the number of situations that need to be manageable by the vehicle, be very limited. For another, too
  • the off-board system for example a hardware / software extension set
  • the extension set can contain, in addition to conventional sensors (such as cameras, radar, lidar, etc.) also communication devices that allow the vehicle to exchange data (for example, map data) with an infrastructure.
  • external hardware and / or software ie in general the vehicle-external system
  • the acquisition and evaluation of sensor data and the derivation of suitable travel commands are then carried out exclusively by means of the external hardware / software.
  • the communication interfaces and the processing unit installed in the vehicle serve in this case only for the translation of the driving commands, so that the longitudinal and transverse control of the vehicle can be done using the vehicle actuators.
  • both the external hardware / software serve in this case only for the translation of the driving commands, so that the longitudinal and transverse control of the vehicle can be done using the vehicle actuators.
  • both the external hardware / software serve in this case only for the translation of the driving commands, so that the longitudinal and transverse control of the vehicle can be done using the vehicle actuators.
  • vehicle-external system As well as already installed in the vehicle sensors and computing technology (generally the environment sensor and the in-vehicle processing device) used to accomplish the semi-automated, especially fully automatic or fully automated, driving task or perform.
  • computing technology generally the environment sensor and the in-vehicle processing device
  • Communication interface allows a bidirectional exchange of data between internal and external hardware / software.

Abstract

La présente invention concerne un dispositif pour faire fonctionner un véhicule, comprenant un système externe au véhicule destiné à assister le véhicule lors de l'exécution au moins semi-automatique d'une manœuvre prédéterminée, et une interface de communication destinée à connecter le système externe au véhicule à un dispositif de traitement interne au véhicule de sorte qu'une liaison de communication peut être établie entre le système externe au véhicule et le dispositif de traitement interne au véhicule, laquelle liaison de communication permet au système externe au véhicule de fournir des données utiles pour l'assistance au dispositif de traitement interne au véhicule. L'invention concerne également un procédé pour faire fonctionner un véhicule, un système externe au véhicule, une interface de communication, un véhicule et un procédé pour compléter l'équipement d'un véhicule.
PCT/EP2015/081272 2015-01-26 2015-12-28 Dispositif et procédé permettant de faire fonctionner un véhicule WO2016119984A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015201247.6 2015-01-26
DE102015201247.6A DE102015201247A1 (de) 2015-01-26 2015-01-26 Vorrichtung und Verfahren zum Betreiben eines Fahrzeugs

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Publication Number Publication Date
WO2016119984A1 true WO2016119984A1 (fr) 2016-08-04

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WO (1) WO2016119984A1 (fr)

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WO2023103712A1 (fr) * 2021-12-06 2023-06-15 比亚迪股份有限公司 Procédé et dispositif de mise à niveau d'ecu et support de stockage lisible

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DE102017217720B4 (de) 2017-10-05 2023-03-23 Audi Ag Verfahren zum automatisierten Bereitstellen eines Kraftfahrzeugs
IT201900001647A1 (it) * 2019-02-05 2020-08-05 Rb Poland Sp Z O O Kit per l'aggiornamento di un veicolo a guida umana ad una modalita' di guida automatica e metodo di controllo di un veicolo a guida mista umana/automatica
DE102019209042B4 (de) 2019-06-21 2024-02-22 Volkswagen Aktiengesellschaft Kommunikationsvorrichtung für nicht-autonome Kraftfahrzeuge

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WO2023103712A1 (fr) * 2021-12-06 2023-06-15 比亚迪股份有限公司 Procédé et dispositif de mise à niveau d'ecu et support de stockage lisible

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