WO2021058177A1 - Procédé de conduite au moins assistée d'un véhicule automobile pour le passage d'un rond-point - Google Patents

Procédé de conduite au moins assistée d'un véhicule automobile pour le passage d'un rond-point Download PDF

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Publication number
WO2021058177A1
WO2021058177A1 PCT/EP2020/071100 EP2020071100W WO2021058177A1 WO 2021058177 A1 WO2021058177 A1 WO 2021058177A1 EP 2020071100 W EP2020071100 W EP 2020071100W WO 2021058177 A1 WO2021058177 A1 WO 2021058177A1
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WO
WIPO (PCT)
Prior art keywords
motor vehicle
remote control
control signals
roundabout
signals
Prior art date
Application number
PCT/EP2020/071100
Other languages
German (de)
English (en)
Inventor
Stefan Nordbruch
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
Priority to EP20751481.1A priority Critical patent/EP4035140A1/fr
Priority to CN202080066847.3A priority patent/CN114430723A/zh
Publication of WO2021058177A1 publication Critical patent/WO2021058177A1/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
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/07—Controlling traffic signals
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/164—Centralised systems, e.g. external to vehicles
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • 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
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle

Definitions

  • the invention relates to a method for at least assisted driving through a roundabout by a motor vehicle.
  • the invention further relates to a device, a computer program and a machine-readable storage medium.
  • the laid-open specification DE 102018 117 916 A1 discloses a method for fully and semi-automated control of a vehicle.
  • the patent application WO 2019/028464 A1 discloses a method for automatically controlling the activation and deactivation of the autonomous operation of vehicles.
  • a method for at least assisted driving through a roundabout by a motor vehicle comprising the following steps:
  • a device which is set up to carry out all steps of the method according to the first aspect.
  • a computer program which comprises instructions which, when the computer program is executed by a computer, for example by the device according to the second aspect, cause the computer to execute a method according to the first aspect.
  • a machine-readable storage medium is provided on which the computer program according to the third aspect is stored.
  • the invention is based on and includes the knowledge that the above object can be achieved in that the motor vehicle is supported when driving through a roundabout in such a way that the transverse and / or longitudinal guidance of the motor vehicle is remotely controlled.
  • This has the technical advantage, for example, that the motor vehicle can be efficiently supported when driving through a roundabout.
  • the technical advantage is brought about that a concept is provided for efficiently at least assisted driving through a roundabout by a motor vehicle.
  • a step of determining is provided that a motor vehicle should drive through a roundabout.
  • Assisted driving through includes in particular the case that only the transverse guidance or only the longitudinal guidance of the motor vehicle is remote-controlled.
  • the wording assisted driving encompasses in particular the case in which both the transverse guidance and the longitudinal guidance of the motor vehicle are controlled remotely.
  • the corresponding other guidance i.e. the longitudinal guidance or the lateral guidance
  • the corresponding other guidance is either controlled manually by the driver or is at least partially automated in order to to drive the motor vehicle at least partially automatically, so that the motor vehicle can drive through the roundabout at least with assistance or is driving through it.
  • the phrase "at least partially automated leadership” includes one or more of the following cases: partially automated leadership, highly automated leadership, fully automated leadership.
  • Partially automated guidance means that in a specific situation (for example: driving on a motorway, driving within a parking lot, overtaking an object, driving within a lane that is defined by lane markings) and / or for a certain period of time, a longitudinal and a Lateral guidance of the motor vehicle can be automatically controlled remotely.
  • a driver of the motor vehicle does not have to manually control the longitudinal and lateral guidance of the motor vehicle himself.
  • the driver must permanently monitor the automatic remote control of the longitudinal and lateral guidance in order to be able to intervene manually if necessary. The driver must be ready to take full control of the vehicle at all times.
  • Highly automated guidance means that for a certain period of time in a specific situation (for example: driving on a freeway, driving within a parking lot, overtaking an object, driving within a lane that is defined by lane markings), longitudinal and lateral guidance of the motor vehicle automatically controlled remotely.
  • a driver of the motor vehicle does not have to manually control the longitudinal and lateral guidance of the motor vehicle himself.
  • the driver does not have to constantly monitor the automatic remote control of the longitudinal and lateral guidance in order to be able to intervene manually if necessary.
  • a takeover request is automatically issued to the driver to take over the control of the longitudinal and lateral guidance, in particular issued with a sufficient reserve of time.
  • the driver must therefore potentially be able to take control of the longitudinal and lateral guidance.
  • Limits of the automatic remote control of the lateral and longitudinal guidance are automatically recognized. In the case of highly automated leadership, it is not possible to automatically bring about a low-risk state in every initial situation.
  • Fully automated guidance means that in a specific situation (for example: driving on a freeway, driving within a parking lot, overtaking an object, driving within a lane that is defined by lane markings), longitudinal and lateral guidance of the motor vehicle are automatically remotely controlled .
  • a driver of the motor vehicle does not have to manually control the longitudinal and lateral guidance of the motor vehicle himself.
  • the driver does not have to monitor the automatic remote control of the longitudinal and lateral guidance in order to be able to intervene manually if necessary.
  • the driver is automatically requested to take over the driving task (controlling the transverse and longitudinal guidance of the motor vehicle), in particular with sufficient time reserve. If the driver does not take over the driving task, the system automatically returns to a low-risk state.
  • the limits of the automatic control of the lateral and longitudinal guidance are automatically recognized. In all situations it is it is possible to automatically return to a risk-minimizing system state.
  • safety condition signals are received which represent at least one safety condition that must be met so that the motor vehicle may be remote controlled, a check being made as to whether the at least one safety condition is met, the remote control signals based on a result of the checking whether the at least one safety condition is met can be generated.
  • the technical advantage is brought about that, if the safety condition is met, then remote control of the motor vehicle is safely possible.
  • the at least one safety condition is in each case an element selected from the following groups of safety conditions: Presence of a predetermined safety integrity level (in English: “Safety Integrity Level” SIL or “Automotive Safety Integrity Level” ASIL) of at least that Motor vehicle and an infrastructure, in particular including a communication path and / or communication components (for example communication interface), for remote control of a motor vehicle, in particular with regard to the overall systems in the motor vehicle and infrastructure and in particular parts; e.g.
  • a communication link is, for example, a communication link between the device according to the second aspect and the motor vehicle.
  • a communication link comprises, for example, one or more communication channels.
  • a component which is used to carry out the method according to the first aspect is an element selected from the following group of components: environment sensor, motor vehicle, infrastructure, remote control device, device according to the second aspect, motor vehicle system, in particular drive system, clutch system, Brake system, driver assistance system, communication interface of the motor vehicle or the infrastructure, processor, input, output of the device according to the second aspect.
  • a function that is used to carry out the method according to the first aspect is an element selected from the following group of functions: remote control function, communication function between the motor vehicle and the infrastructure or the remote control device, evaluation function of environment sensor data from an environment sensor, planning function, in particular the scheduling function, traffic analysis function.
  • a computer protection level defines in particular the following: activated firewall and / or valid encryption certificate for encrypting communication between the motor vehicle and the infrastructure or the remote control device and / or activated virus program with current virus signatures and / or the presence of protection, in particular mechanical protection, in particular burglary protection, of the computer, in particular the device according to the second aspect, or the remote control device and / or the presence of a possibility to check that signals, in particular remote control signals or ambient signals, were transmitted correctly, that is to say without errors.
  • An algorithm includes, for example, the computer program according to the third aspect.
  • results can be calculated several times, for example, and corresponding results can be compared with one another. For example, it is only when the results match that it is determined that the results are correct. If there is an odd number several times, it can be provided, for example, that it is determined that the result is correct according to the highest number of equal results.
  • Remote control signals are only generated when it can be determined that the result is correct.
  • the remote control signals are only generated when the at least one safety condition is met.
  • the checking of whether the at least one safety condition is met is carried out before and / or after and / or during one or more predetermined method steps.
  • the technical advantage is brought about that, if the safety condition is met, then remote control of the motor vehicle is safely possible.
  • remote control of the transverse and / or longitudinal guidance of the motor vehicle based on the output remote control signals is checked in order to detect an error, with the remote control being aborted or emergency remote control signals for remote control of the remote control if an error is detected Transverse and / or longitudinal guidance of the motor vehicle are generated and output in an emergency.
  • the emergency remote control signals are, for example, such that when the transverse and / or longitudinal guidance of the motor vehicle is remotely controlled based on the emergency remote control signals, the motor vehicle is brought into a safe state, in particular stopped.
  • remote control of the transverse and / or longitudinal guidance of the motor vehicle is checked based on the output remote control signals in order to detect an error, the remote control being aborted or vehicle-internal emergency control signals for controlling if an error is detected the transverse and / or longitudinal guidance of the motor vehicle can be generated and output in an emergency.
  • the motor vehicle-internal emergency control signals are, for example, such that when the transverse and / or longitudinal guidance of the motor vehicle is controlled based on the motor vehicle-internal emergency control signals, the motor vehicle is brought into a safe state, in particular is stopped.
  • Motor vehicle-internal emergency control signals are therefore emergency control signals which the motor vehicle itself generates or which are generated in the motor vehicle.
  • identification signals are received which contain a respective identification of at least one of the motor vehicle, an owner of the motor vehicle and a driver of the motor vehicle (i.e. a respective identification of the motor vehicle and / or an owner of the motor vehicle and / or a driver ,), the remote control signals being generated based on the respective identification.
  • the remote control signals can be generated efficiently. That means in particular, that the remote control of the transverse and / or longitudinal guidance of the motor vehicle can depend on the respective identification.
  • drivers who have not paid any fees for assisted driving through a roundabout in the past can be efficiently excluded from current assisted driving.
  • drivers can be identified in this way who have abused the assisted drive-through in the past, so that the corresponding drivers can also be excluded.
  • At least one motor vehicle parameter of the motor vehicle is received, the remote control signals being generated based on the at least one motor vehicle parameter.
  • the remote control signals can be generated efficiently.
  • the remote control signals can thereby be generated efficiently for the specific motor vehicle.
  • a maximum possible vehicle speed, a maximum possible vehicle acceleration, a current vehicle load, a current vehicle weight, a length, a width, a height, a maximum possible steering angle, a wheelbase, a turning radius and / or a turning circle diameter can be efficiently taken into account.
  • the remote control signals are generated based on a motor vehicle standard parameter corresponding to the at least one motor vehicle parameter.
  • the at least one motor vehicle parameter is in each case one element selected from the following group of motor vehicle parameters: maximum possible motor vehicle speed, maximum possible motor vehicle acceleration, current vehicle load, current vehicle weight, length, width, height, maximum possible steering angle, wheelbase, turning radius , Turning circle diameter.
  • driving maneuver signals are received which represent a current and / or a planned driving maneuver by at least one road user, in particular another motor vehicle, in the vicinity of the motor vehicle, the remote control signals being generated based on the driving maneuver signals.
  • a road user is one of the following road users: another motor vehicle, cyclist, truck, motorcycle and pedestrian.
  • one or more method steps except for the steps of generating and outputting the remote control signals are carried out inside the vehicle and / or with one or more method steps being carried out outside the vehicle, in particular in an infrastructure, preferably in a cloud infrastructure.
  • one or more method steps are documented, in particular documented in a blockchain.
  • Documenting in a blockchain has the particular technical advantage that the documentation is tamper-proof and forgery-proof.
  • a blockchain is in particular a continuously expandable list of data records, called “blocks”, which are linked to one another by means of one or more cryptographic processes.
  • Each block contains in particular a cryptographically secure hash (scatter value) of the previous block, in particular a time stamp and in particular transaction data.
  • control signals for controlling a traffic management system are generated and output in order to direct traffic in the vicinity of the motor vehicle by means of the traffic management system in order to support the motor vehicle driving through the roundabout.
  • a traffic control system refers in particular to a system for directing road traffic, in particular by means of static traffic signs and / or variable message signs.
  • a traffic control system comprises in particular at least one variable message sign and / or at least one light signal system.
  • a variable message sign is a traffic sign that can be shown, changed or canceled if necessary. So this is a dynamic traffic sign.
  • a variable message sign includes an electronic sign or display device.
  • a traffic control system therefore includes, in particular, one or more variable message signs and / or one or more light signal systems.
  • a check is made as to whether the entirety of the motor vehicle and the infrastructure involved in the method according to the first aspect, including communication between the infrastructure and the motor vehicle, is currently safe for the "intervention in the motor vehicle for critical actions" concept described here. That means in particular that the motor vehicle and / or a local and / or a global infrastructure and / or a communication are checked accordingly.
  • the remote control signals are generated in particular based on a result of the checking.
  • Important or dependent criteria are, for example, one or more of the safety conditions described above.
  • an entry time is determined at which the motor vehicle is to drive into the roundabout, at least with assistance, the remote control signals being generated based on the determined entry time, the entry time being determined in such a way that at the entry time there is a gap between two Roundabout passing through further motor vehicles has a predetermined length into which the motor vehicle can thread.
  • the method according to the first aspect is a computer-implemented method.
  • the method according to the first aspect is carried out or carried out by means of the device according to the second aspect.
  • Device features result analogously from corresponding process features and vice versa. That means in particular that technical functions of the device according to the second aspect result analogously from corresponding technical functionalities of the method according to the first aspect and vice versa.
  • FIG. 1 shows a flow chart of a method for at least assisted driving through a roundabout by a motor vehicle
  • Fig. 2 shows a device
  • 3 shows a machine-readable storage medium and 4 shows a roundabout.
  • FIG. 1 shows a flow chart of a method for at least assisted driving through a roundabout by a motor vehicle.
  • the procedure consists of the following steps:
  • Receiving 101 of ambient signals which represent the surroundings of the motor vehicle at least partially encompassing a roundabout generating 103 of remote control signals for remote control of a transverse and / or longitudinal guidance of the motor vehicle based on the environmental signals in such a way that when remote control of the transverse and / or longitudinal guidance of the Motor vehicle based on the remote control signals the motor vehicle drives through the roundabout at least assisted,
  • safety condition signals are received which represent at least one safety condition that must be met so that the motor vehicle may be remote controlled, it being checked whether the at least one safety condition is met, the remote control signals based on a result of the Checking whether the at least one safety condition is met, can be generated.
  • the result of checking whether the at least one safety condition is met indicates, for example, that the at least one safety condition is met.
  • the result of checking whether the at least one safety condition is met indicates, for example, that the at least one safety condition is not met.
  • the remote control signals are only generated and output when the result of the checking as to whether the at least one safety condition is met indicates that the at least one safety condition is met. According to one embodiment it is provided that generating and outputting remote control signals is dispensed with if the result of checking whether the at least one safety condition is met indicates that the at least one safety condition is not met.
  • the method according to the first aspect comprises remote control of the transverse and / or longitudinal guidance of the motor vehicle based on the output remote control signals.
  • FIG. 2 shows a device 201.
  • the device 201 is set up to carry out all steps of the method according to the first aspect.
  • the device 201 comprises an input 203 which is set up to receive the ambient signals.
  • the device 201 comprises a processor which is set up to generate the remote control signals based on the ambient signals.
  • the device 201 further comprises an output 207 which is set up to output the generated remote control signals.
  • the outputting of the generated remote control signals comprises sending the remote control signals to the motor vehicle via a communication network, in particular via a wireless communication network.
  • signals that are received are received via input 203.
  • the input 203 is therefore set up in particular to receive the corresponding signals.
  • signals that are output are output by means of the output 207.
  • the output 207 is therefore set up in particular to output the corresponding signals.
  • a plurality of processors are provided instead of the one processor 205.
  • the processor 205 is set up to carry out the steps of generating and / or checking and / or determining which are described above and / or below.
  • the device 201 is, for example, part of an infrastructure, in particular a cloud infrastructure.
  • FIG. 3 shows a machine-readable storage medium 301.
  • a computer program 303 is stored on the machine-readable storage medium 301, which comprises instructions which, when the computer program 303 is executed by a computer, cause the computer to carry out a method according to the first aspect.
  • the device 201 comprises a remote control device which is set up to remotely control the motor vehicle based on the remote control signals generated.
  • an infrastructure or an infrastructure system which, for example, comprises the device according to the second aspect.
  • the infrastructure includes, for example, a roundabout.
  • environment sensors 403 are arranged spatially distributed in the roundabout area, which detect their respective environment.
  • the respective environment sensors 403 make available environment sensor data corresponding to the respective detection. For example, transmit the Environment sensors 403 their environment sensor data as environment signals to the device according to the second aspect. This means that, according to one embodiment, the device according to the second aspect receives the environment sensor data as environment signals.
  • the surroundings sensor data are processed, for example, in order to detect a motor vehicle which is approaching the roundabout 401.
  • FIG. 4 Such a motor vehicle is shown in FIG. 4 with the reference number 405.
  • An arrow with the reference number 407 identifies a direction of travel of the motor vehicle, which runs from left to right in relation to the plane of the paper.
  • one embodiment provides that upon detection of a motor vehicle approaching the roundabout 401, it is determined that a motor vehicle should drive through the roundabout 401.
  • the remote control signals generated by the device for remote control of a transverse and / or longitudinal guidance of the motor vehicle 405, as described above and / or below, can then be transmitted to the motor vehicle 405 via this communication connection.
  • the motor vehicle 405 sends a request to the device according to the second aspect that it would like to be assisted when driving through the roundabout 401.
  • a motor vehicle In response to receipt of such a request, it is then determined according to one embodiment that a motor vehicle should drive through the roundabout 401.
  • the remote control signals are then correspondingly transmitted to the motor vehicle 405 via the communication link.
  • a traffic light system 409 is provided essentially in the middle above the roundabout 401, which guides or regulates traffic that wants to pass through the roundabout 401.
  • control signals for controlling the light signal system 409 are generated and output, these control signals being such that when the light signal system 409 is controlled based on the control signals, the light signal system 409 optically signals to the motor vehicle 405 using a green signal that the traffic is clear and the traffic light system 409 visually signals to traffic in the roundabout 401, using a red signal, that the cross traffic must stop.
  • the assisted driving through a roundabout by a motor vehicle can thus be efficiently supported by the use of a traffic signal system.
  • the roundabout 401 comprises a first, second, third, fourth, fifth combined exit / entrance 411, 413, 415, 417, 419, respectively.
  • the motor vehicle 405 drives the roundabout 401 through the fifth combined exit / entrance 419.
  • a route of the motor vehicle 405 indicates, for example, that the motor vehicle 405 should leave the roundabout 401 at the second combined exit / entrance 413.
  • the remote control signals are generated, for example, in such a way that when the lateral and / or longitudinal guidance of the motor vehicle 405 is controlled based on the generated remote control signals, the motor vehicle leaves the roundabout 401 at the second combined exit / entry 413.
  • the route becomes the Example sent from the motor vehicle 405 to the device according to the second aspect via a wireless communication network.
  • a current traffic situation permits an intervention, that is to say in particular remote control, in order, for example, to prevent other road users in the vicinity of the motor vehicle from being injured.
  • the process that is to say the process, in other words the process steps, are documented in a forgery-proof and traceable manner, for example in a blockchain.
  • a driver of the motor vehicle is informed that an intervention in the ferry operation of the motor vehicle has taken place or is taking place, that is to say that the motor vehicle has been or is being remotely controlled.
  • notification signals are generated and output which represent a corresponding notification.
  • the notification signals are output to a man-machine interface of the motor vehicle, so that the driver is informed of the intervention or remote control by means of the man-machine interface based on the notification signals.
  • a prerequisite for the remote control or for the intervention is that the remote control is safe.
  • “secure” means in particular “safe” and “secure”. These two English terms are usually translated into German as “safe”. Nevertheless, these have a partially different meaning in English.
  • safe is particularly aimed at the topic of accidents and accident prevention.
  • Remote control which is "safe” has the particular effect that a Probability for an accident or a collision is less than or less than or equal to a predetermined probability threshold value.
  • secure is aimed in particular at the subject of computer protection or hacker protection, i.e. in particular how secure is a (computer infrastructure and / or a communication infrastructure, in particular a communication link between a motor vehicle and a remote control device for remote control of a motor vehicle, against unauthorized access or . secured against data manipulation by third parties ("hackers").
  • Remote control which is "secure" is based on appropriate and sufficient computer protection or hacker protection.
  • the remote control signals are generated in particular based on a result of the checking.
  • Important or dependent criteria are, for example, one or more of the safety conditions described above. According to one embodiment, it is provided that, on the one hand, the overall system (motor vehicle, infrastructure, communication path, cloud %) is checked with regard to the safety condition.
  • the individual parts are also checked with regard to compliance with the safety condition. This in particular before remote control of the motor vehicle.
  • the checking step or steps are carried out inside the vehicle and / or outside the vehicle, in particular in an infrastructure.
  • the step or steps of checking are checked subsequently, that is to say at a later point in time, for example regularly.
  • the step or steps of checking are subsequently checked at a predetermined frequency, for example every 100 ms.
  • this checking that is to say checking whether the at least one safety condition is met, takes place according to an embodiment before and / or after and / or during one or more predetermined method steps.
  • the checking is carried out or carried out in the event of problems.
  • registration signals are received which represent a registration for at least assisted driving through a roundabout by means of a motor vehicle.
  • request signals are received which represent a request for an at least assisted driving through a roundabout by means of a motor vehicle.
  • the request signals or registration signals are sent, for example, from the motor vehicle via a wireless communication network.
  • the request or the request relate to a special roundabout.
  • the request or the request relate to roundabouts in general.
  • the motor vehicle transmits corresponding request signals or registration signals permanently, that is to say continuously, in particular repetitively at a predetermined frequency, via a wireless communication network.
  • the remote control signals are generated automatically when the motor vehicle approaches the special roundabout or a roundabout, that is to say is at a predetermined distance from the roundabout.
  • a communication link is set up between the motor vehicle and the infrastructure, which in particular comprises the device according to the second aspect.
  • the infrastructure comprises a local infrastructure, for example the roundabout.
  • the infrastructure comprises a global infrastructure; preferably a cloud infrastructure.
  • determination and / or reception (and in particular transmission) of motor vehicle options are provided.
  • motor vehicle parameters are provided by the motor vehicle sent. This means that, for example, motor vehicle parameters sent by the motor vehicle are received.
  • motor vehicle parameters are sent from the cloud, in particular from a cloud server.
  • vehicle parameters sent from the cloud in particular from a cloud server, are received.
  • a defined standard configuration preferably an emergency configuration
  • data signals are received which represent respective data of the motor vehicle or of at least one other road user, in particular another motor vehicle.
  • the data include, for example Traffic environment information or traffic environment functions.
  • the data are used, for example, to support or improve an evaluation or processing of the environment sensor data of the environment sensors 403. This means in particular that an evaluation or processing of the environment sensor data is carried out based on the data.
  • the data are sent, for example, from the motor vehicle or from the at least one other road user via a, in particular wireless, communication network.
  • One embodiment provides for checking whether the traffic situation allows the motor vehicle to drive through the roundabout with assistance. This checking preferably runs continuously, i.e. permanently - i.e. even before a corresponding request, i.e. independently of a request.
  • other road users preferably also send their current and planned driving maneuvers via V2X to the motor vehicle and / or to the cloud server, if possible.
  • a calculation or determination is provided as to whether an at least assisted driving through the roundabout by the motor vehicle is possible.
  • the calculation or determination is carried out, for example, in the motor vehicle and / or in the infrastructure. If this is carried out both in the motor vehicle and in the infrastructure, redundancy can thereby advantageously be brought about, which can increase safety.
  • the infrastructure sends the data, in particular the ambient signals and / or safety condition signals, to the motor vehicle and the motor vehicle itself analyzes / determines the necessary driving instructions.
  • the motor vehicle is remote-controlled, for example.
  • the assumption of driving a vehicle is done through the infrastructure.
  • Intelligence, decision-making and control lie with the infrastructure.
  • the motor vehicle drives over the roundabout in a remote-controlled manner, that is to say drives through it.
  • the process of passing through is preferably still checked.
  • the check is carried out according to one or more of the following options:
  • the latter advantageously being able to bring about redundancy, which can increase security.
  • the entire process preferably starts very early so that the motor vehicle does not have to stop in front of the roundabout. This means that the speed does not have to be reduced, for example because not all login / analysis processes (verification steps) have been completed.
  • the entire traffic in the vicinity of the motor vehicle is automatically controlled or organized by the infrastructure by a traffic control system including, in particular, traffic system (s), in particular light signal system (s), so that an optimal process (optimal, at least assisted driving through the roundabout) for the motor vehicle and for other vehicles that can be at least partially automated, in particular remotely controlled, and / or for other vehicles that cannot be at least partially automated, in particular that cannot be remotely controlled.
  • a traffic control system including, in particular, traffic system (s), in particular light signal system (s), so that an optimal process (optimal, at least assisted driving through the roundabout) for the motor vehicle and for other vehicles that can be at least partially automated, in particular remotely controlled, and / or for other vehicles that cannot be at least partially automated, in particular that cannot be remotely controlled.
  • the infrastructure controls in addition to the motor vehicle, other motor vehicles which can be at least partially automated, in particular remotely controlled takes over, the entire traffic is regulated in such a way that an optimal traffic flow is achieved.
  • the step or steps of checking are checked subsequently, that is to say at a later point in time, for example regularly.
  • the step or steps of testing are subsequently checked at a predetermined frequency, for example every 100 ms.
  • this checking that is to say checking whether the at least one safety condition is met, takes place according to an embodiment before and / or after and / or during one or more predetermined method steps.
  • the checking is carried out or carried out in the event of problems.
  • An exemplary use case can include, for example, one or more of the following embodiments or features or examples:
  • the motor vehicle drives to / on a roundabout that is monitored (by means of environment sensors).
  • the motor vehicle is connected in terms of communication technology to an infrastructure system or is (automatically) connected in terms of communication technology to the infrastructure system in front of the roundabout (in particular automatically).
  • the infrastructure system comprises, for example, the device according to the second aspect.
  • the motor vehicle sends out a signal and is thereby detected. That means in particular that the motor vehicle can send out a signal, for example a position signal. For example, it is provided that, in response to such a signal, it is determined that a motor vehicle is detected.
  • the environment sensor data are processed in order to detect a motor vehicle.
  • the motor vehicle can be detected, for example, via its license plate.
  • the processing of the environment sensor data includes, in particular, license plate recognition.
  • the motor vehicle can be a “VRU”, for example.
  • VRU stands for “Vulnerable Road User” and describes an unprotected road user, for example a motorcycle.
  • the motor vehicle is located.
  • Data is sent from the motor vehicle, for example automatically / for example on request.
  • Data includes, for example, GPS data.
  • the infrastructure detects the motor vehicle, for example, by means of visual infrastructure sensors, that is to say environment sensors, for example video sensors.
  • the motor vehicle sends its route to the device according to the second aspect.
  • the route includes, in particular, which exit of the roundabout the motor vehicle intends to take, that is to say which exit the motor vehicle intends to take to leave the roundabout again.
  • travel route signals are received which represent a travel route of the motor vehicle, the travel route including in particular an indication of which exit of the roundabout the motor vehicle wants to take, i.e. which exit the motor vehicle wants to take to leave the roundabout again.
  • a traffic situation is analyzed, in particular by means of the infrastructure, in particular by means of the device according to the second aspect.
  • the analysis of the traffic situation includes, for example, processing of data sent by other motor vehicles and / or processing, for example visual evaluation, of the environment sensor data of the environment sensors of the infrastructure. For example, an entry point in time at which the motor vehicle is to enter the roundabout, at least with assistance, is determined.
  • the remote control signals are generated, for example, based on the determined entry time.
  • the entry time is determined in particular such that at the entry time a gap between two further motor vehicles driving through the roundabout has a predetermined length into which the motor vehicle can merge.
  • a sufficiently long gap is not determined at a defined entry time (e.g. 1 or 2 minutes)
  • a defined entry time e.g. 1 or 2 minutes
  • remote control command signals which represent remote control commands for remote control of a respective transverse and / or longitudinal guidance of one or more further motor vehicles in the vicinity of the motor vehicle, are generated and output in such a way that when the transverse and longitudinal guidance of the one or more further motor vehicles is controlled a gap for threading the motor vehicle can be generated or is generated.
  • a traffic control system comprising, for example, traffic systems, in particular light signal systems and / or display systems within the roundabout, is used, that is to say controlled, in order to create a gap for the motor vehicle to merge.
  • the procedural steps are preferably documented in a forgery-proof and traceable manner, in particular in a blockchain.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Signal Processing (AREA)
  • Health & Medical Sciences (AREA)
  • Medical Informatics (AREA)
  • General Health & Medical Sciences (AREA)
  • Computing Systems (AREA)
  • Traffic Control Systems (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

L'invention concerne un procédé de conduite au moins assistée d'un véhicule automobile pour le passage d'un rond-point, ledit procédé comprenant les étapes suivantes consistant à : recevoir des signaux provenant de l'environnement, lesquels signaux représentent la zone qui entoure le véhicule automobile et comprend au moins partiellement un rond-point ; générer des signaux de commande à distance pour commander à distance la commande latérale et/ou longitudinale du véhicule automobile sur la base des signaux provenant de l'environnement, de telle sorte que, lors de la commande à distance de la commande latérale et/ou longitudinale du véhicule automobile sur la base des signaux de commande à distance, le véhicule automobile est au moins assisté pour le passage du rond-point ; délivrer en sortie les signaux de commande à distance générés. L'invention concerne également un dispositif, un programme informatique et un support de stockage lisible par machine.
PCT/EP2020/071100 2019-09-23 2020-07-27 Procédé de conduite au moins assistée d'un véhicule automobile pour le passage d'un rond-point WO2021058177A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP20751481.1A EP4035140A1 (fr) 2019-09-23 2020-07-27 Procédé de conduite au moins assistée d'un véhicule automobile pour le passage d'un rond-point
CN202080066847.3A CN114430723A (zh) 2019-09-23 2020-07-27 用于由机动车至少受辅助地驶过环形交通的方法

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102019214443.8A DE102019214443A1 (de) 2019-09-23 2019-09-23 Verfahren zum zumindest assistierten Durchfahren eines Kreisverkehrs durch ein Kraftfahrzeug
DE102019214443.8 2019-09-23

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WO2021058177A1 true WO2021058177A1 (fr) 2021-04-01

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CN (1) CN114430723A (fr)
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DE102020211484A1 (de) 2020-09-14 2022-03-17 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Führen eines Kraftfahrzeugs
DE102020211485A1 (de) 2020-09-14 2022-03-17 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Führen eines Kraftfahrzeugs

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CN114430723A (zh) 2022-05-03
DE102019214443A1 (de) 2021-03-25

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