WO2019215017A1 - Procédé, dispositif et support d'informations lisible par un ordinateur pourvu d'instructions destinées à contrôler et à valider des données de fonctionnement dans l'actionneur d'un véhicule automobile autonome - Google Patents

Procédé, dispositif et support d'informations lisible par un ordinateur pourvu d'instructions destinées à contrôler et à valider des données de fonctionnement dans l'actionneur d'un véhicule automobile autonome Download PDF

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Publication number
WO2019215017A1
WO2019215017A1 PCT/EP2019/061287 EP2019061287W WO2019215017A1 WO 2019215017 A1 WO2019215017 A1 WO 2019215017A1 EP 2019061287 W EP2019061287 W EP 2019061287W WO 2019215017 A1 WO2019215017 A1 WO 2019215017A1
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WO
WIPO (PCT)
Prior art keywords
data
motor vehicle
operating parameters
autonomous
control system
Prior art date
Application number
PCT/EP2019/061287
Other languages
German (de)
English (en)
Inventor
Ebru Gömek
Original Assignee
Volkswagen Aktiengesellschaft
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 Volkswagen Aktiengesellschaft filed Critical Volkswagen Aktiengesellschaft
Publication of WO2019215017A1 publication Critical patent/WO2019215017A1/fr

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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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/04—Monitoring the functioning of the control system
    • B60W50/045—Monitoring control system parameters
    • 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
    • B60W60/0053—Handover processes from vehicle to occupant
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00—Registering or indicating the working of vehicles
    • G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
    • G07C5/0841—Registering performance data
    • G07C5/085—Registering performance data using electronic data carriers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
    • B60W2050/0095—Automatic control mode change
    • B60W2050/0096—Control during transition between modes

Definitions

  • the present invention relates to a method, a device and a computer-readable storage medium with instructions for monitoring and validating operating data in the actuator system of an autonomous motor vehicle.
  • the invention further relates to a
  • DE 10 2014 008 578 A1 describes a method for determining position data for use in the operation of a vehicle system of a motor vehicle.
  • a surveillance camera provided externally to the motor vehicle, an environment of the motor vehicle or the motor vehicle itself is detected. The of the
  • Surveillance camera recorded image data are evaluated to determine position data of a detected object.
  • the detected object may be the motor vehicle or another road user.
  • the position data are at least partially made available to the vehicle system.
  • DE 10 2016 1020 65 A1 describes a method for supporting an autonomous drive of a motor vehicle on a parking area.
  • An infrastructure map is provided which describes the parking area in a parking area reference system, wherein a
  • Reference position is specified on the parking area as a reference point for the parking area reference system.
  • a position of a motor vehicle side is specified on the parking area as a reference point for the parking area reference system.
  • Vehicle-side reference object is detected by at least one detection device.
  • the infrastructure map is transformed from the parking area reference system into a motor vehicle reference system by setting the position of the motor vehicle side reference object as a reference point for the motor vehicle reference system.
  • autonomous motor vehicles create numerous new business models. It is thus foreseeable that autonomous motor vehicles will be used to operate comprehensive vehicle fleets, which will carry out short-distance passenger transport, especially in the urban environment.
  • data loggers An important technical device for this purpose are so-called data loggers. With them operating data of a motor vehicle can be collected while driving. These data are then evaluated, often a decentralized evaluation
  • the data is either transmitted via a radio data interface (wireless / digital / over the air) or analyzed after removal of the recording medium in a central evaluation station.
  • EP 3 208 775 a method and a system for recording of
  • EP 3 057 839 discloses a method for developing and validating
  • Vehicle safety functions of a vehicle safety system having at least one computer-implemented safety function, a vehicle control unit and one or more vehicle actuators.
  • Datalogger is used to capture relevant vehicle data and the
  • DE 10 2015 003 21 1 describes an arrangement for diagnosing a motor vehicle, in particular during the production process.
  • the arrangement has several diagnostic interfaces that communicate with each other.
  • DE 10 2013 203 501 describes a measured-value acquisition device for recording acquired measured values in a motor vehicle.
  • This detection device has a plurality of data loggers that can communicate with each other.
  • the collected information can be analyzed and condensed with the help of the filters.
  • the object remains to describe a solution for monitoring and validating operating data in the actuators of an autonomous motor vehicle that reliably
  • a method for monitoring and validating operating data in the actuator system of an autonomous motor vehicle comprises the steps:
  • a computer-readable storage medium includes instructions that, when executed by a computer, cause the computer to perform the following steps to monitor and validate operational data in the actuator system of an autonomous motor vehicle:
  • an apparatus for monitoring and validating operating data in the actuator system of an autonomous motor vehicle comprises: a data processing unit for acquiring operating parameters of a control system for an autonomous ferry operation and for comparing the
  • a memory for storing at least a part of the operating parameters in a memory if the operating parameters deviate from the desired values.
  • the operating parameters of the control system for the autonomous ferry operation are continuously compared with setpoints in order to identify potentially dangerous situations and to take appropriate measures.
  • at least one algorithm for data collection is used, which is set up in particular to document the nature and extent of the autonomously executed driving functions.
  • the storage takes place in a ring memory. It can be used for the storage of data, a data store, the
  • Radio data interface for wireless transmission of the detected operating parameters or other data to an evaluation device outside of the motor vehicle has. This has the advantage that a timely evaluation of the data with high computing power is possible.
  • the operating parameters include control data for acceleration, deceleration or steering operation.
  • the setpoints define permissible value ranges for the control data in this case.
  • the algorithm programmed for the validation can document operating parameters in the datalogger, for example, steering forces / steering torques / steering radii, braking forces / braking torques or acceleration forces / acceleration torques. Furthermore, he can also directly generated by the control system for the autonomous ferry operation
  • Control software for The autonomous ferry service is not regularly developed by the manufacturer of a motor vehicle, but the development is commissioned. In this case, specifications are usually made as to which ranges of values the control data have to adhere to
  • the operating parameters include information that the autonomous ferry control system is deactivated due to extraneous circumstances.
  • Setpoint in this case is the active state of the control system.
  • Control software is overwhelmed, for example, due to deficiencies in the
  • a position of the motor vehicle or surroundings data captured by a sensor system are stored for a certain time before and after a deactivation of the autonomous ferry control system.
  • the at least one sensor is suitable for documenting traffic situations or the existing road infrastructure. This can be done in particular by cameras or Lidarsensoren, with the help of which the environment is monitored by the autonomous motor vehicle.
  • a data interface configured to receive data and / or information from external data sources.
  • Such a data source may in particular be a data source within the surrounding Infrastructure. For example, information from traffic lights can be transmitted to the data processing unit in this way.
  • Control software at least not satisfactory mastered.
  • the data thus obtained can then be used, for example, for a revision of the control software.
  • defects and their exact position in the road infrastructure are determined by means of an accumulation of the stored data. If the autonomous ferry control system is deactivated due to external circumstances, this is often due to deficiencies in the road infrastructure. Examples of such defects are potholes, missing lane markings or traffic lights obscured by branches or damaged by vandalism. By accumulating the collected data such deficiencies can be identified and transmitted to the competent authorities.
  • the removal of the shortcomings not only increases the safety of autonomous vehicles, but also benefits all road users.
  • the driver Before disabling the autonomous ferry control system, the driver should be prompted to undertake manual control of the vehicle. On the one hand this is necessary in order to give the driver sufficient time to take over, but on the other hand this also concerns questions of liability. With the takeover, the driver also assumes responsibility for driving. If the request is not made at all or too late, the security driver can not be held responsible.
  • the latency time ie the time between the request to the safety driver and the reaction of the safety driver, as well as the type of reaction of the safety driver, can determine the performance or suitability of the safety driver become.
  • a delayed or inappropriate response such as a groundless braking maneuver, is an indication that the safety driver must be trained.
  • the reaction of the safety driver can be, for example, that a
  • Safety driver reactions can also be detected by image-processing sensors. These may in particular be camera systems for monitoring the interior of the motor vehicle.
  • interventions of a safety driver in the autonomous ferry operation are detected and stored.
  • the at least one sensor is set up to document manual activities of the safety driver.
  • the nature and extent of the manual intervention should be documented.
  • intervention by the safety driver such as steering operations, braking or acceleration processes, the operation of emergency equipment or switching to manual ferry operation.
  • This solution has the advantage that even manual operations of the safety driver, which may occur in the form of a driver intervention, can be stored in evaluable form.
  • interventions allow conclusions to be drawn that irregularities or unusual situations have occurred in autonomous ferry operations, which may require further analysis.
  • an evaluation of the stored information can also be used to evaluate the safety driver and the autonomous ferry operation. For example, if the analysis indicates that the safety driver repeatedly intervenes manually in the autonomous ferry operation without necessity, training for the safety driver may be advisable. If the analysis shows that the autonomous ferry control system does not prompt the security driver in time to take over
  • Fig. 1 shows schematically a method for monitoring and validating
  • FIG. 2 shows a first embodiment of a device for monitoring
  • Fig. 3 shows a second embodiment of a device for monitoring
  • Fig. 4 schematically illustrates a motor vehicle in which a solution according to the invention is realized.
  • FIG. 1 schematically shows a method for monitoring and validating operating data in the actuator system of an autonomous motor vehicle. In a first step will be
  • Operating parameters of a control system for autonomous ferry operation recorded 10. These are compared with setpoints 1 1.
  • the operating parameters include, for example, control data for acceleration, deceleration or steering operation.
  • the setpoints define permissible value ranges for the control data in this case.
  • the operating parameters may include information that the autonomous ferry control system is deactivated due to extraneous circumstances.
  • Setpoint in this case is the active state of the control system. If the operating parameters deviate from the desired values, at least some of the operating parameters are stored in a memory 12. In this case, if necessary, a request 13 is made to a
  • a position of the motor vehicle or surroundings data sensed by a sensor system are preferably stored. By means of an accumulation of this stored data, later defects in the road infrastructure and their exact position can be determined.
  • interventions of the safety driver in the autonomous ferry operation recorded 17 and saved.
  • the control system for autonomous ferry operation is deactivated 15.
  • the position of the motor vehicle or environment data captured by the sensor system are stored 16.
  • the device 20 has an input 21, via which sensor data and data of a control system for an autonomous ferry operation can be received.
  • the apparatus 20 also has a data processing unit 22 for detecting operating parameters of a control system for autonomous ferry operation and for comparing the operating parameters with target values.
  • the operating parameters may include, for example, control data for acceleration, deceleration or steering.
  • the setpoints define permissible value ranges for the control data.
  • the operating parameters may include information that the autonomous ferry control system is deactivated due to extraneous circumstances. Setpoint in this case is the active state of the control system. If the comparison reveals that the operating parameters deviate from the desired values, at least a part of the operating parameters is stored in a memory 23 of the device 20. In this case, optionally by an output module 24 a
  • the control system for the autonomous ferry operation can be deactivated.
  • a position of the motor vehicle or environment data captured by a sensor system are stored in the memory 23. By accumulating this stored data later deficiencies in the road infrastructure can be determined.
  • 25 interventions by the safety driver in the autonomous ferry operation are detected by the detection module and noted in the memory 23.
  • the autonomous ferry control system is deactivated.
  • the position of the motor vehicle or detected by the sensor is deactivated.
  • the Environment data are stored. Via an output 27 of the device 20, the data generated by the components of the device 20 can be output for further processing.
  • the storage of the various data is carried out in a memory 23 of the device.
  • the data can also be stored in an external memory or wirelessly transmitted via a wireless data interface to an evaluation device outside the motor vehicle.
  • the data processing unit 22, the output module 24 and the detection module 25 can be controlled by a control unit 26. If necessary, settings of the data processing unit 22, the
  • Output module 24, the detection module 25 or the control unit 26 are changed.
  • the data processing unit 22, the output module 24, the detection module 25 and the control unit 26 can be implemented as dedicated hardware, for example as integrated circuits. Of course, they can also be partially or fully combined or implemented as software running on a suitable processor, such as a GPU or a CPU.
  • the input 21 and the output 27 may be as separate interfaces or as a combined bidirectional interface
  • FIG. 3 shows a simplified schematic representation of a second embodiment of a device 30 for monitoring and validating operating data in the actuator system of an autonomous motor vehicle.
  • the device 30 has a processor 32 and a memory 31.
  • device 30 is a computer or controller. In the memory 31 instructions are stored, the device 30 at
  • the instructions stored in the memory 31 thus embody a program which can be executed by the processor 32 and implements the method according to the invention.
  • the device 30 has an input 33 for receiving information, in particular sensor data and data
  • Control system for an autonomous ferry operation Data generated by the processor 32 is provided via an output 34. In addition, they can be stored in the memory 31. The input 33 and the output 34 can be combined to form a bidirectional interface.
  • the processor 32 may include one or more processing units, such as microprocessors, digital signal processors, or combinations thereof.
  • the memories 23, 31 of the described embodiments can have both volatile and non-volatile memory areas and a wide variety of memory devices and
  • Storage media include, for example, hard disks, optical storage media or semiconductor memory.
  • Fig. 4 schematically illustrates a motor vehicle 40 in which a solution according to the invention is realized.
  • the motor vehicle 40 has a control system 41 for an autonomous ferry operation as well as a camera 42, a radar sensor 43, a lidar sensor 44 and a near field sensor system 45 for acquiring environmental data.
  • An information system 46 can be used to interact with a security driver.
  • the motor vehicle 40 has a device 20 for monitoring and validating operating data in the actuator system of the motor vehicle 40.
  • Further components are a data transmission unit 47 and a memory 48 for storing data.
  • a connection to a service provider can be established, for example for transmitting the acquired operating parameters or environment data.
  • the data exchange between the various components of the motor vehicle 40 takes place via a network 49.

Abstract

L'invention concerne un procédé, un dispositif et un support d'informations lisible par un ordinateur pourvu d'instructions destinées à contrôler et à valider des données de fonctionnement dans l'actionneur d'un véhicule automobile autonome. Lors d'une première étape, des paramètres de fonctionnement d'un système de commande pour un fonctionnement de conduite autonome sont détectés (10). Ceux-ci sont comparés à des valeurs de consigne (11). Dans le cas où des paramètres de fonctionnement s'écartent des valeurs de consigne, au moins les paramètres de fonctionnement se trouvant hors des valeurs de consigne sont sauvegardés dans une mémoire (12).
PCT/EP2019/061287 2018-05-09 2019-05-02 Procédé, dispositif et support d'informations lisible par un ordinateur pourvu d'instructions destinées à contrôler et à valider des données de fonctionnement dans l'actionneur d'un véhicule automobile autonome WO2019215017A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102018207339.2A DE102018207339A1 (de) 2018-05-09 2018-05-09 Verfahren, Vorrichtung und computerlesbares Speichermedium mit Instruktionen zum Überwachen und Validieren von Betriebsdaten in der Aktuatorik eines autonomen Kraftfahrzeugs
DE102018207339.2 2018-05-09

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Publication Number Publication Date
WO2019215017A1 true WO2019215017A1 (fr) 2019-11-14

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WO (1) WO2019215017A1 (fr)

Cited By (1)

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US11531338B2 (en) * 2020-03-06 2022-12-20 Caterpillar Paving Products Inc. Automatic control mode system for heavy machinery

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DE102020112899A1 (de) 2020-05-13 2021-11-18 Audi Aktiengesellschaft Verfahren und System zur vollständig automatischen Führung eines Kraftfahrzeugs und Kraftfahrzeug
DE102020128390A1 (de) * 2020-10-28 2022-04-28 Bayerische Motoren Werke Aktiengesellschaft Vorrichtung und Verfahren zur Steuerung einer Fahrfunktion zur automatisierten Längs- und/oder Querführung eines Fahrzeugs
DE102021200848A1 (de) 2021-01-29 2022-08-04 Volkswagen Aktiengesellschaft Verfahren zum Bereitstellen von Daten eines Fahrzeuges, Computerprogrammprodukt sowie Kommunikationssystem

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