WO2020001890A1 - Procédé et système pour débloquer un mode autonome d'un véhicule à moteur - Google Patents

Procédé et système pour débloquer un mode autonome d'un véhicule à moteur Download PDF

Info

Publication number
WO2020001890A1
WO2020001890A1 PCT/EP2019/063588 EP2019063588W WO2020001890A1 WO 2020001890 A1 WO2020001890 A1 WO 2020001890A1 EP 2019063588 W EP2019063588 W EP 2019063588W WO 2020001890 A1 WO2020001890 A1 WO 2020001890A1
Authority
WO
WIPO (PCT)
Prior art keywords
driving mode
autonomous driving
vehicle
motor vehicle
monitored
Prior art date
Application number
PCT/EP2019/063588
Other languages
German (de)
English (en)
Inventor
Patrick KNIESS
Alexander Banerjee
Velimir BEBEK
Sebastian BIEHL
Maximilian FREIDL
Alexander Häfele
Sven Gohl
Klaus Müller
Christoph Schall
Thomas Boss
Sascha RÖSCH
Peter Engel
Original Assignee
Zf Friedrichshafen Ag
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 Zf Friedrichshafen Ag filed Critical Zf Friedrichshafen Ag
Publication of WO2020001890A1 publication Critical patent/WO2020001890A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/06—Automatic manoeuvring for parking
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • 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
    • B60W50/082—Selecting or switching between different modes of propelling
    • 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
    • B60W60/0051—Handover processes from occupants to vehicle
    • 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
    • B60W2050/007—Switching between manual and automatic parameter input, and vice versa
    • B60W2050/0074—Driver shifts control to the controller, e.g. by pressing a button
    • 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
    • B60W2300/00—Indexing codes relating to the type of vehicle
    • B60W2300/14—Tractor-trailers, i.e. combinations of a towing vehicle and one or more towed vehicles, e.g. caravans; Road trains
    • B60W2300/145—Semi-trailers
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/04—Vehicle stop
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/12—Brake pedal position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/215—Selection or confirmation of options
    • 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
    • B60W2554/00—Input parameters relating to objects
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/402—Type
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/402—Type
    • B60W2554/4029—Pedestrians

Definitions

  • the present invention relates to a method for releasing an autonomous driving mode of a motor vehicle according to claim 1 and a system for releasing an autonomous driving mode of a motor vehicle according to claim 8.
  • the invention further relates to a motor vehicle and a computer program product.
  • Driver assistance systems on board a motor vehicle support a driver in the task of driving the motor vehicle.
  • longitudinal and lateral control of the motor vehicle can be affected.
  • In order to further automate the control of the motor vehicle so that at least partial aspects of the driving behavior of the motor vehicle can be controlled without driver intervention and without driver monitoring, it is necessary to scan as much information as possible from the surroundings of the motor vehicle and to evaluate it automatically.
  • Systems are already known which, in addition to manual driving, permit autonomous driving of a motor vehicle, the driver of the motor vehicle being able to independently activate the autonomous driving mode on the basis of a manual driving mode.
  • An operating system for a motor vehicle is known from DE 10 2015 212 449 A1, which can be operated either in a manual driving mode or in an autonomous driving mode.
  • a gear selector lever In addition to shift stages for the manual driving mode, a gear selector lever also has a shift position for the autonomous driving mode, so that the driver of the motor vehicle can switch between the manual driving mode and the autonomous driving mode by correspondingly actuating the gear selector lever.
  • the invention is based on the object of providing a method and a system with which a release of an autonomous driving mode of a motor vehicle can be implemented in a safe manner.
  • the present invention relates to a method for releasing an autonomous driving mode of a motor vehicle, which can be operated both in a manual driving mode and in an autonomous driving mode.
  • An autonomous driving mode is to be understood to mean a driving mode of the motor vehicle in which the motor vehicle is operated without driver with automatic longitudinal and lateral guidance.
  • a manual driving mode is to be understood to mean a driving mode of the motor vehicle in which a driver present in the motor vehicle controls the motor vehicle or can intervene at least in the operation of the motor vehicle in an automated operation of the motor vehicle.
  • the motor vehicle can be designed as a commercial vehicle, for example as a truck or as a truck, or as a passenger car.
  • the motor vehicle is to be operated in an autonomous driving mode starting from a manual driving mode, then at least one actuating device for activating the autonomous driving mode, a current vehicle state, a vehicle interior and a vehicle environment are monitored as part of the method for enabling the autonomous driving mode. So that the autonomous driving mode can be released, it must first be activated by means of the actuating device. This can be done, for example, by manual actuation of the actuating device by the driver of the motor vehicle.
  • the motor vehicle For the release of the autonomous driving mode it is further provided that the motor vehicle must be in a safe vehicle state for the release of the autonomous driving mode.
  • a vehicle state in which the motor vehicle is at a standstill is to be understood as a vehicle state that is safe for the release of the autonomous driving mode.
  • a brake device of the motor vehicle can thus be actuated to set the safe vehicle state, as a result of which the motor vehicle is kept in a vehicle standstill.
  • the braking device of the motor vehicle can be controlled automatically if the autonomous driving mode has been activated by means of the actuating device for activating the autonomous driving mode.
  • the process for releasing the autonomous driving mode also checks whether a person is inside the vehicle.
  • the vehicle interior can be monitored by means of a first detection device.
  • the vehicle interior can be optically captured, for example, with an image capturing device.
  • sensors for checking the vehicle interior can also be arranged in the vehicle interior, by means of which vital functions of vehicle occupants can be detected. Additionally or alternatively, taking into account further signals from vehicle sensors, it can be concluded whether the occupants have left the motor vehicle. For example, signals from seat sensors, door sensors and sensors of a hands-on detection steering wheel can be evaluated.
  • Radio signal of a radio key or a key card are evaluated to determine whether the person in whose possession the radio key or the key card has left the motor vehicle. If the radio signal of the radio key or the key card is no longer received, then it is recognized that the driver has left the motor vehicle.
  • a signal of the vehicle ignition can be monitored, a signal ignition-ON indicating that the motor vehicle is to be operated in the autonomous driving mode after leaving the motor vehicle, while a signal ignition-OFF indicates that the motor vehicle has been parked.
  • the motor vehicle comprises a second detection device which is designed to detect objects and living beings in the vehicle environment.
  • the autonomous driving mode is released when no people are detected in the monitored vehicle environment.
  • the radio signal of the radio key or the key card can also be evaluated when monitoring the vehicle surroundings. If the radio signal of the radio key or the key card is no longer received, then it is recognized that the person in whose possession the radio key or the key card has a sufficient safety distance from the motor vehicle.
  • the vehicle is in a safe state for enabling the autonomous driving mode and there is no person in the vehicle interior or in the monitored vehicle environment, then the autonomous driving mode is released and the motor vehicle can then be operated without a driver in the autonomous driving mode.
  • the autonomous driving mode is deactivated.
  • Activating the autonomous driving mode should be understood to mean that it is either temporarily interrupted or completely ended.
  • the autonomous driving mode can be interrupted as long as a person is in the monitored vehicle environment.
  • a system for enabling the autonomous driving mode comprises at least one actuating device by means of which the autonomous driving mode is activated.
  • the actuating device for activating the autonomous driving mode can be arranged in the interior of the motor vehicle, for example in a dashboard or in a center console of the motor vehicle.
  • the actuating device for activating the autonomous driving mode can be designed as a separate switch or can be integrated into an already existing driving switch of the motor vehicle.
  • the driving switch then also has a position for activating the autonomous driving mode.
  • the actuating device for activating the autonomous driving mode can also be designed as an additional switch or button which is arranged on the outside of the motor vehicle.
  • the actuation device for activating the autonomous driving mode can be formed by means of an application on a mobile terminal, such as a smartphone or a tablet.
  • the actuating device for activating the autonomous driving mode can be designed as a manually actuated actuating device.
  • the system for enabling the autonomous driving mode has a device for setting a safe vehicle state.
  • This device can be designed as a vehicle brake device, for example as a service brake or as a parking brake, by means of which the motor vehicle can be held in a vehicle standstill when braked.
  • the system for enabling the autonomous driving mode comprises a first detection device for detecting a vehicle interior and a second detection device for detecting a vehicle environment.
  • the first detection device can be designed as an image detection device for monitoring a vehicle interior, for example as a camera.
  • the first detection device can comprise sensors for detecting one or more vital functions, such as pulse or blood pressure, of vehicle occupants.
  • the first detection device can include further vehicle sensors, by means of which it can be determined whether the occupants have left the motor vehicle, such as seat sensors, door sensors, sensors of a hands-on detection steering wheel, and a radio key or a key card.
  • the second detection device can be designed as an environment sensor system of the motor vehicle, by means of which objects and living beings in the vehicle environment can be detected.
  • the environment sensor system can have at least one camera, a radar, a LIDAR, an ultrasound sensor and / or another device for detecting objects or living beings in the surroundings of the motor vehicle.
  • the radio key or the key card can also belong to the second detection device, since a corresponding radio signal can be used to determine whether there is a safety distance from the motor vehicle.
  • the system for enabling the autonomous driving mode further comprises a control unit which decides on the enabling of the autonomous driving mode on the basis of the detected signals of the actuating device, the device for setting the safe vehicle state and the first and second detection devices.
  • the control unit comprises means which are used to carry out the method according to the invention. These resources are hardware resources and software resources.
  • the hardware means of the control unit are data interfaces in order to exchange data with the assemblies of the motor vehicle involved in the implementation of the method according to the invention.
  • control unit is also equipped with the necessary sensors and as far as necessary also connected to control units to record the decision-relevant data or to forward control commands.
  • the hardware means of the control unit are also a processor for data processing and possibly a memory for data storage.
  • the software-side means are program modules for carrying out the method according to the invention.
  • the solution according to the invention can also be embodied as a computer program product which, when running on a processor of a control unit, software-wise guides the processor to carry out the associated method steps according to the invention.
  • the subject of the invention also includes a computer-readable medium on which a computer program product described above is stored and can be called up.
  • FIG. 1 shows method steps of a method for enabling an autonomous driving mode of a motor vehicle according to an embodiment of the present invention
  • FIG. 2 shows an illustration in plan view to explain the individual method steps of the method from FIGS. 1 and
  • FIG. 3 shows a possible embodiment of an actuating device for activating the autonomous driving mode.
  • the utility vehicle 2 is designed as a truck or as a truck for receiving a swap body 1 and comprises a driver's cab 6 and a receiving device 7 for receiving the swap body 1.
  • a truck is the combination of a truck and at least one trailer for picking up a swap body 1 Roger that.
  • the swap body 1 is an exchangeable load carrier, for example a container, which can be used in intermodal transport. Swap bodies are also known as swap bodies, swap bodies, swap bodies and swap bodies.
  • the swap body 1 can have a tarpaulin cover, tautliner, case or other structure.
  • the receiving device 7 is arranged behind the driver's cab 6 when viewed in the forward direction of travel and can be designed, for example, as a lifting table.
  • the receiving device 7 comprises four centering rollers 8.1, 8.2, 8.3, 8.4 for engaging in a centering tunnel of the swap body 1.
  • the centering tunnel consists, for example, of two guide rails, which are arranged on a sub-floor of the swap body 1 parallel to a central plane of the swap body 1 ,
  • the commercial vehicle 2 further comprises a GPS sensor 9 for determining the position of the commercial vehicle 2 and an environment sensor system 10.1, 10.2, 10.3, 16.1, 16.2, 16.3 for detecting object features and people in the detected vehicle environment 18.
  • the environment sensor system has three cameras 10.1, 10.2, 10.3 and three radar sensors 16.1, 16.2, 16.3.
  • Two cameras 10.1, 10.2 are attached to the rear of the cab 6 above the recording device 7, a camera being provided on each side of the vehicle.
  • a camera 10.3 is provided in the transverse direction in the center of the vehicle rear.
  • a radar sensor 16.1 16.2, 16.3 is also provided on each side of the vehicle and in the transverse direction at the center of the vehicle front.
  • the swap body comprises four support legs 5.1, 5.2, 5.3, 5.4, which carry a container 3 of the swap body 1 in the unfolded state.
  • the extended support legs 5.1, 5.2, 5.3, 5.4 laterally delimit a receiving space 4 of the swap body 1.
  • the receiving space 4 of the swap body 1 is delimited at the top by the container 3.
  • the four support legs 5.1, 5.2, 5.3, 5.4 are arranged in a plan view of the swap body 1 in a rectangular pattern.
  • the utility vehicle 2 is reversed into the receiving space 4 between the supports 5.1, 5.2 retracted.
  • the centering rollers 8.1, 8.2, 8.3, 8.4 of the receiving device 7 engage in the centering tunnel of the swap body 1.
  • Picking up a swap body 1 is one of the most difficult maneuvers in the commercial vehicle sector.
  • a manually performed maneuvering process for receiving a swap body 1 requires a high degree of concentration and experience. Nevertheless, maneuvering errors occur which lead to property damage and increase the time required for the maneuvering process. In order to avoid such maneuvering errors, the maneuvering process to be carried out for receiving the swap body 1 should be carried out autonomously, that is to say without a driver.
  • the commercial vehicle 2 can thus be driven into a predetermined area by a driver, in the present case, for example, to a depot. If the vehicle is in the predetermined area, an autonomous driving mode AD of the utility vehicle 2 must first be released in order to pick up the swap body 1 autonomously.
  • the utility vehicle 2 further comprises an actuation device 15 for activating the autonomous driving mode AD.
  • the actuating device 15 can be designed, for example, as a travel switch in the form of a rotary switch. 3 shows a schematic illustration of such a rotary switch 15. In addition to the positions for selecting the operating modes parking, reverse, neutral and driving P, R, N, D, the rotary switch 15 also has a position for selecting the autonomous driving mode AD.
  • the utility vehicle 2 also includes a device for setting a safe vehicle state during a change from the manual driving mode to the automatic driving mode AD.
  • This device can be designed as a braking device (not shown here) of the utility vehicle 2, such as a service brake or a parking brake.
  • a braking device not shown here
  • the environmental sensors 10.1, 10.2, 10.3, 16.1
  • a control unit 11 of the commercial vehicle 2 comprises a reception interface, which is designed to receive signals from the actuation device 15, the vehicle brake device and the environment sensors 10.1, 10.2, 10.3, 16.1, 16.2, 16.3 and the driver's cab camera 17.
  • a data processing device of the control unit 11 is designed to process and evaluate the received input signals or the information of the received input signals. On the basis of the evaluated input signals or the information of the evaluated input signals, the data processing device generates a signal which indicates whether operation of the commercial vehicle 2 in the autonomous driving mode AD is enabled or not.
  • This signal can be output via a transmission interface of the control unit 11 to other control units of the commercial vehicle 2.
  • the control unit 11 is also designed to output control signals to drive train components or to further control devices of the commercial vehicle when the commercial vehicle 2 is operated autonomously.
  • the signals can be transmitted, for example, via data-transmitting connections or wirelessly.
  • a first step I of the method after the utility vehicle 2 has been moved backwards manually by a driver, to a suitable starting position 13 for driving under the swap body 1, the utility vehicle is arranged in front of the entrance to the receiving space 4 and at least the supports 5.1, 5.2 can be detected with the environment sensors 10.1, 10.2, 10.3, checks whether the rotary switch 15 arranged in the driver's cab 6 has been moved to the position AD for activating the autonomous driving mode AD.
  • a second step II the current driving state of the commercial vehicle 2 is checked, in particular it is checked whether the commercial vehicle 2 is at a standstill. If the utility vehicle 2 is at a standstill, then the image of the vehicle interior recorded by the camera 17 mounted in the driver's cab 6 is evaluated in a further method step III, whereby information is generated as to whether there is still a person 19 in the driver's cab 6 of the utility vehicle 2 is located.
  • a fourth method step IV monitors whether a person 19 is in the monitored vehicle environment 18. As long as, for example, the driver of the commercial vehicle 2 has not moved sufficiently far from the commercial vehicle 2, the autonomous driving mode AD is not released. If, on the other hand, it has been determined that there is no longer a person 19 within the monitored vehicle environment 18, then the autonomous driving mode AD is released and the utility vehicle 2 is operated to accommodate the swap body 1 in the autonomous driving mode AD, with automatic longitudinal and lateral guidance of the utility vehicle 2 is done.
  • the monitored vehicle environment 18 thus represents a safety distance from the commercial vehicle 2, within which no person 19 may be present to enable the autonomous driving mode AD. If it is detected during autonomous ferry operation that a person 19 is within the monitored vehicle environment 18, the autonomous driving mode AD can be temporarily interrupted until it has been recognized that the person 19 has left the monitored vehicle environment 18 again.
  • a relative pose between the swap body 1 to be driven under and the utility vehicle 2 can be determined, for example, on the basis of the known pose of the swap body 1 and the known pose of the utility vehicle 2.
  • a target trajectory 12 can finally be created for driving into the receiving space 4 with the commercial vehicle 2.
  • the target trajectory 12 is determined in such a way that the utility vehicle 2 drives under the swap body 1 in reverse with the receiving device 7.
  • the receiving device device 7 moved into the receiving space 4 between the supports 5.1, 5.2 and 5.3, 5.4.
  • the target trajectory 12 begins at the starting position 13 and ends at a target position 14.
  • the receiving device 7 of the commercial vehicle 2 is located under the container 3 of the swap body 1 in such a way that the swap body 1 can be received on the receiving device 7.
  • the receiving device 7 for picking up the swap body 1 is raised. This can be done, for example, by means of air suspension of the commercial vehicle 2.
  • the four supports 5.1, 5.2, 5.3, 5.4 of the swap body 1 are then folded in.
  • the commercial vehicle 2 can drive in the autonomous driving mode AD to a transfer position on the depot, at which the autonomous driving mode AD is ended and the driver of the commercial vehicle 2 continues in the manual driving mode.

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)

Abstract

La présente invention concerne un procédé pour débloquer un mode autonome (AD) d'un véhicule à moteur (2) pouvant être utilisé aussi bien en mode manuel qu'en mode autonome (AD). Aux fins de déblocage du mode autonome (AD), au moins un dispositif d'actionnement (15) destiné à activer le mode autonome (AD) surveille un état instantané du véhicule, un habitacle du véhicule et un environnement (18) dudit véhicule. Selon l'invention, le mode autonome (AD) est débloqué si celui-ci a été activé au moyen du dispositif d'actionnement (18), si le véhicule se trouve dans un état de sécurité permettant le déblocage du mode autonome (AD) et si aucune personne (19) ne se trouve ni dans l'habitacle du véhicule ni dans l'environnement (18) surveillé du véhicule.
PCT/EP2019/063588 2018-06-26 2019-05-27 Procédé et système pour débloquer un mode autonome d'un véhicule à moteur WO2020001890A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102018210354.2 2018-06-26
DE102018210354.2A DE102018210354A1 (de) 2018-06-26 2018-06-26 Verfahren und System zur Freigabe eines autonomen Fahrmodus eines Kraftfahrzeugs

Publications (1)

Publication Number Publication Date
WO2020001890A1 true WO2020001890A1 (fr) 2020-01-02

Family

ID=66690335

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2019/063588 WO2020001890A1 (fr) 2018-06-26 2019-05-27 Procédé et système pour débloquer un mode autonome d'un véhicule à moteur

Country Status (2)

Country Link
DE (1) DE102018210354A1 (fr)
WO (1) WO2020001890A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102022132249A1 (de) 2022-12-05 2024-06-06 Weidemann GmbH Mobile Baumaschine mit einem Steuerstand

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012200625A1 (de) * 2012-01-17 2013-07-18 Robert Bosch Gmbh Verfahren und Fahrerassistenzsystem zur Ausführung eines Parkvorgangs mittels einer Fernsteuerung
DE102015212449A1 (de) 2015-07-02 2017-01-05 Bayerische Motoren Werke Aktiengesellschaft Aktivierung eines autonomen Fahrmodus über einen Gangwahlhebel
DE202016106965U1 (de) * 2016-01-05 2017-02-16 Zf Friedrichshafen Ag Betätigungsvorrichtung für ein Schalten durch eine Drahtbaugruppe
EP3251922A1 (fr) * 2016-05-30 2017-12-06 Valeo Schalter und Sensoren GmbH Procédé destiné au stationnement automatique d'un véhicule automobile sur une place de stationnement avec émission d'un signal de descente à un conducteur, système d'assistance au conducteur et véhicule automobile

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017001597A (ja) * 2015-06-15 2017-01-05 トヨタ自動車株式会社 自動運転装置
JP6497353B2 (ja) * 2016-04-28 2019-04-10 トヨタ自動車株式会社 自動運転制御装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012200625A1 (de) * 2012-01-17 2013-07-18 Robert Bosch Gmbh Verfahren und Fahrerassistenzsystem zur Ausführung eines Parkvorgangs mittels einer Fernsteuerung
DE102015212449A1 (de) 2015-07-02 2017-01-05 Bayerische Motoren Werke Aktiengesellschaft Aktivierung eines autonomen Fahrmodus über einen Gangwahlhebel
DE202016106965U1 (de) * 2016-01-05 2017-02-16 Zf Friedrichshafen Ag Betätigungsvorrichtung für ein Schalten durch eine Drahtbaugruppe
EP3251922A1 (fr) * 2016-05-30 2017-12-06 Valeo Schalter und Sensoren GmbH Procédé destiné au stationnement automatique d'un véhicule automobile sur une place de stationnement avec émission d'un signal de descente à un conducteur, système d'assistance au conducteur et véhicule automobile

Also Published As

Publication number Publication date
DE102018210354A1 (de) 2020-01-02

Similar Documents

Publication Publication Date Title
EP1658211B1 (fr) Systeme facilitant les manoeuvres d'un vehicule automobile
DE10322828B4 (de) Steuerungssystem für ein Fahrzeug
EP2489531B1 (fr) Procédé d'assistance au conducteur lors d'un événement de liaison d'un véhicule utilitaire sur une rampe
DE102007027438A1 (de) Verfahren zur Steuerung eines Parkassistenzsystems für Fahrzeuge
DE102015121113A1 (de) Verfahren zum autonomen Einparken eines Kraftfahrzeugs mit Innenraumsüberwachung, Fahrerassistenzsystem sowie Kraftfahrzeug
DE102012008858A1 (de) Verfahren zum autonomen Parken eines Kraftfahrzeugs, Fahrerassistenzvorrichtung zur Durchführung des Verfahrens, sowie Kraftfahrzeug mit der Fahrerassistenzvorrichtung
DE102016116861A1 (de) System zum fahrerlosen Operieren von Nutzfahrzeugen
DE102012003992A1 (de) Zielführungssystem für Kraftfahrzeuge
DE102012014991A1 (de) Verfahren zum Betreiben eines Parkassistenzsystems für einen Kraftwagen
EP3915831B1 (fr) Attelage et véhicule tracté doté d'un dispositif de traitement du signal
DE102017113663A1 (de) Automatisches Einparken nach einem abgebrochenen manuellen Einparkvorgang
DE102017111054A1 (de) Verfahren zum Betreiben eines Federungssystems eines Kraftfahrzeugs, Steuergerät, Federungssystem sowie Kraftfahrzeug
DE102014224092A1 (de) Verfahren zum Verladen eines Fahrzeugs
DE102015003964A1 (de) Verfahren zum autonomen Befahren einer Trajektorie durch ein Kraftfahrzeug
DE102016115132A1 (de) Unterstützung eines Fahrers eines Kraftfahrzeugs mit einem angehängten Anhänger beim Einparken durch virtuelle Sensoren
DE102018201270A1 (de) Verfahren und System zum Zustellen eines Objekts in einen Fahrgastraum eines Kraftfahrzeugs
DE102020215882A1 (de) Steuereinrichtung für ein Kraftfahrzeug, Kraftfahrzeug, sowie Verfahren zum Betreiben eines solchen Kraftfahrzeugs auf einem Parkplatz
WO2020001890A1 (fr) Procédé et système pour débloquer un mode autonome d'un véhicule à moteur
DE102014220263A1 (de) Verfahren und System zum Unterstützen eines Einparkvorganges eines Kraftfahrzeuges
DE102019002989A1 (de) Verfahren zum Betrieb eines Fahrzeuges zur Personenbeförderung
DE102015118578A1 (de) Verfahren zum Manövrieren eines Kraftfahrzeugs mit Bewegen des Kraftfahrzeugs in eine Erfassungsposition, Fahrerassistenzsystem sowie Kraftfahrzeug
WO2019137864A1 (fr) Procédé pour la prévention d'une situation critique pour un véhicule à moteur, dans lequel une distance entre un contour de véhicule à moteur et un contour d'objet est déterminée, système d'assistance au conducteur ainsi que véhicule
DE102021116068A1 (de) Verfahren zum Inspizieren eines Fahrzeuges und Inspektions-System
DE102020134145A1 (de) Verfahren und Vorrichtung zur automatisierten Ver- und/oder Entriegelung eines auf einer Ladefläche eines Fahrzeugs abgestellten austauschbaren Ladungsträgers
DE102008029488A1 (de) Elektrische Ansteuereinheit für ein Bremssystem

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19727985

Country of ref document: EP

Kind code of ref document: A1

122 Ep: pct application non-entry in european phase

Ref document number: 19727985

Country of ref document: EP

Kind code of ref document: A1