System and method for teleoperated control of a ground-based passenger motor vehicle

Abstract

The invention relates to a system for teleoperated control of a ground-based passenger motor vehicle (1), comprising the ground-based passenger motor vehicle (1) and a control unit (2) which is spatially separate from the passenger motor vehicle (1), wherein: the passenger motor vehicle (1) can be controlled by an operator by means of control signals which are generated by the operator and transmitted by the control unit (2) to the passenger motor vehicle (1); the passenger motor vehicle (1) has at least one camera (3); the control unit (2) has a display device (4); image data acquired by means of the camera (3) can be transmitted to the control unit (2) and can be displayed to the operator by means of the display device (4) for the purpose of controlling the passenger motor vehicle (1); the control signals and the image data can be transmitted between a vehicle antenna system (AFS) of the passenger motor vehicle (1) and a transmission antenna system (AUS) wirelessly; and the control signals and the image data can be transmitted between the transmission antenna system (AUS) and the control unit (2) wirelessly or by wire. The invention also relates to a method for teleoperated control of a ground-based passenger motor vehicle (1). Interruption-free or interference-free transmission of control signals and image data between the passenger motor vehicle (1) and the control unit (2) is ensured, inter alia, by the vehicle antenna system (AFS) having a directional antenna (AF) with an adjustable viewing direction.

Description

[0001] System and method for teleoperated control of a ground-based passenger vehicle

[0002] The invention relates to a system for the teleoperated control of a ground-based passenger vehicle having the features of the preamble of patent claim 1, 6 or 9 and to a method for the teleoperated control of a ground-based passenger vehicle having the features of the preamble of patent claim 12, 17 or 19.

[0003] Such systems for the teleoperated control of a ground-based passenger vehicle comprise, in addition to the ground-based passenger vehicle, a control unit arranged spatially separate from the passenger vehicle. The passenger vehicle is also referred to in this document as a vehicle or car. The passenger vehicle can be controlled by an operator using control signals generated by the operator and transmitted from the control unit to the passenger vehicle. In teleoperated control, the operator is physically decoupled from the vehicle. The driving tasks to be performed are performed remotely. The passenger vehicle has at least one camera. The control unit has a display device. Image data acquired by the camera can be transmitted to the control unit and displayed on the display device for the operator to control the passenger vehicle.The operator can thus detect obstacles, road conditions, or traffic signs and steer the passenger vehicle accordingly. The control signals and image data are transmitted wirelessly between a vehicle antenna system and a transmission antenna system. The control signals and image data are transmitted wirelessly and / or wired between the transmission antenna system and the control unit.

[0004] In particular, such a system can be used to implement a method for the teleoperated control of a ground-based passenger vehicle, in which the passenger vehicle is controlled by an operator using control signals generated by the operator and transmitted to the passenger vehicle by a control unit arranged spatially separate from the passenger vehicle. Image data acquired by at least one camera of the passenger vehicle is transmitted to the control unit and displayed for the operator to control the passenger vehicle by means of a display device of the control unit. The control signals and the image data are transmitted wirelessly between a vehicle antenna system of the passenger vehicle and a transmission antenna system.The wireless transmission between the vehicle antenna system and the transmission antenna takes place via a communications network provided by a provider. Such a communications network has a certain network coverage. The wireless transmission between the vehicle antenna system and the transmission antenna enables the passenger vehicle to move freely. The control signals and image data are transmitted wirelessly and / or wired between the transmission antenna system and the control unit. This wired transmission preferably takes place via the internet, in particular via fiber optic cable.

[0005] If an interruption or disruption in the transmission of the control signals means that the control signals are not transmitted or are transmitted with interference, this can lead to uncontrolled driving conditions in the passenger vehicle. If an interruption or disruption in the transmission of the image data means that no image data or the image data is displayed to the operator, safe control of the passenger vehicle is at least more difficult for the operator. The system and method for teleoperated control of the ground-based passenger vehicle is then only used in areas of uninterrupted or interference-free data transmission, whereby these areas are correspondingly limited due to the existing network coverage. The system and method for teleoperated control of the ground-based passenger vehicle therefore only has limited availability due to the existing network coverage.

[0006] The invention is therefore based on the object of designing and / or developing the system and method for the teleoperated control of a ground-based passenger vehicle in such a way that uninterrupted and interference-free transmission of control signals and image data between the passenger vehicle and the control unit is ensured. Furthermore, the areas of uninterrupted and interference-free data transmission are to be expanded while maintaining consistent network coverage, thus increasing the availability of the system and method for the teleoperated control of a ground-based passenger vehicle.

[0007] This problem underlying the invention is now initially solved by a system for the teleoperated control of a ground-based passenger vehicle having the features of patent claim 1.

[0008] One aspect of the invention essentially lies in the fact that the vehicle antenna system has a directional antenna with an adjustable line of sight. A directional antenna is an antenna with a pronounced directivity, i.e. electromagnetic waves are radiated by the antenna into a specific area, or electromagnetic waves coming from this area can be received particularly well by the antenna. The line of sight represents an imaginary straight line leading away from the directional antenna, which lies centrally in the said specific area. As a transmitting antenna, the directional antenna concentrates the energy of the transmitted electromagnetic waves in the line of sight and thereby generates directional radiation. As a receiving antenna, the maximum sensitivity of the directional antenna lies in the line of sight. The antenna pattern of the directional antenna has a pronounced, so-called main lobe, in which the line of sight lies.By adjusting the viewing direction, the transmission bandwidth between the directional antenna and a specific transmission antenna of the transmission antenna system can be optimized, with the transmission of control signals and image data taking place between this specific transmission antenna and the directional antenna. For this purpose, the viewing direction is preferably aligned towards this specific transmission antenna. In particular, the viewing direction is trackable so that the directional antenna is always aligned towards this specific transmission antenna, regardless of the position / alignment of the passenger vehicle to this specific transmission antenna. This ensures uninterrupted and interference-free transmission of control signals and image data between the passenger vehicle and the control unit. The risk of transmission interference is minimized. Furthermore, the areas with which interference is possible areInterference-free data transmission with consistent network coverage is increased by the directional antenna with adjustable viewing direction and the associated improved data transmission. This increases the availability of the system and method for remotely controlling the ground-based passenger vehicle.

[0009] The viewing direction can preferably be adjusted by means of several individual antennas of the directional antenna designed as a group antenna by means of a phase shift of the individual antennas relative to one another, which can be generated by an antenna control unit of the directional antenna. The individual antennas are preferably arranged next to one another, one behind the other, in an array and / or in a circle. The individual antennas are preferably arranged at a specific distance from one another. By specifically adjusting the phase on each individual antenna, the viewing direction can be adjusted, in particular also pivoted. Advantageously, the viewing direction can be adjusted without the directional antenna having to be moved mechanically, so that the viewing direction can be adjusted with little equipment complexity. Furthermore, the viewing direction can be moved particularly quickly.Further preferably, the viewing direction of the directional antenna can be pivoted in a single plane using the antenna control unit. This is possible with minimal control effort. So-called vector modulations are preferably used to adjust the phases.

[0010] According to another embodiment of the system, the viewing direction of the directional antenna can be pivoted in two planes using the antenna control unit. Array modulation is preferably used to adjust the phases. This allows the directional antenna to be aligned with particular precision to the specific transmission antenna.

[0011] Advantageously, the viewing direction of the directional antenna can be adjusted mechanically by moving, preferably rotating, the directional antenna. A combination of the above-described electrical adjustment of the viewing direction with the mechanical adjustment by moving the directional antenna is also conceivable.

[0012] The object underlying the invention is also achieved by a system for the teleoperated control of a ground-based passenger vehicle having the features of patent claim 6.

[0013] One aspect of the invention then essentially lies in the fact that the vehicle antenna system has at least three, preferably four, directional antennas whose viewing directions are aligned such that essentially mutually delimited sectors can be covered by the directional antennas. The viewing directions are each formed centrally in the respective sectors. By essentially mutually delimited sectors, we mean that a small overlap of the sectors, in particular an overlap of 3 dB, is conceivable in order to avoid a reception / transmission gap between two directional antennas. The directional antennas are preferably arranged on a circle, wherein the viewing directions are aligned essentially perpendicular to this circle and away from the circle center.

[0014] According to a preferred embodiment of the system, the vehicle antenna system has exactly three directional antennas, each positioned at an angle of essentially 120° to one another. Thus, with just three directional antennas, the entire surroundings of the vehicle can be covered, i.e., within an angular range of 360°. Each of the three directional antennas can then advantageously cover a sector of essentially 120° in a horizontal plane. Control signals and image data can then be exchanged between one of the directional antennas and a transmission antenna arranged in any direction relative to the passenger vehicle, without having to adjust the viewing direction of one of the antennas. Selecting one of the directional antennas for data transmission is then sufficient.

[0015] According to a particularly preferred embodiment of the system, the vehicle antenna system has exactly four directional antennas, each positioned at an angle of essentially 90° to one another. Thus, with just four directional antennas, the entire surroundings of the vehicle can be covered, i.e., within an angular range of 360° in a horizontal plane. Each of the four directional antennas can then advantageously cover a sector of essentially 90°. In contrast to the case with the three directional antennas, each with a transmission / reception sector of essentially 120°, directional antennas with a simpler design can then be used. However, it would also be conceivable to use a higher number than four directional antennas to realize even smaller sectors.

[0016] The object underlying the invention is also achieved by a system for the teleoperated control of a ground-based passenger vehicle having the features of patent claim 9.

[0017] One aspect of the invention then essentially lies in the fact that the vehicle antenna system has at least two directional antennas, wherein a separate transmission path can be formed between each directional antenna and a specific transmission antenna of the transmission antenna system. The two transmission paths can be formed, for example, between the two directional antennas and the same transmission antenna. However, it is also conceivable to form the two transmission paths between the two directional antennas and two different transmission antennas. Thus, the system has redundancy with regard to the transmission paths, so that the reliability of achieving uninterrupted and interference-free transmission of the control signals and image data between the passenger vehicle and the control unit is further increased. The risk of transmission interference is further reduced.

[0018] Advantageously, a mobile radio communication system, particularly according to the 4G or 5G standard, can be implemented using the transmission antenna system. The image data and control signals can be transmitted via the mobile radio communication system, preferably in real time, which is ensured in particular by the 4G or 5G standard.

[0019] Further preferably, a satellite communications system can be formed using the transmission antenna system. In particular, at least one transmission antenna is designed as a satellite or connected to a satellite. One of the directional antennas is then preferably designed for data transmission with such a satellite. If both the mobile radio communications system and the satellite communications system can be formed using the transmission antenna system, further redundancy is achieved at this system level. Thus, should the mobile radio communications system fail, the satellite communications system is still available, and vice versa. This further redundancy leads to a further increase in the reliability of achieving uninterrupted or fault-free transmission of the control signals and image data between the passenger vehicle and the control unit.The risk of transmission interference is also further reduced. In particular, the two systems can be used simultaneously, e.g., by establishing or developing one transmission path using the mobile radio communication system and another transmission path using the satellite communication system.

[0020] The object underlying the invention is also achieved by a method for the teleoperated control of a ground-based passenger vehicle having the features of patent claim 12.

[0021] One aspect of the invention then essentially lies in the fact that a viewing direction of a directional antenna of the vehicle antenna system is adjusted. By adjusting the viewing direction, the transmission bandwidth between the directional antenna and a specific transmission antenna of the transmission antenna system used for transmitting the control signals and image data is optimized by aligning the viewing direction as precisely as possible to this transmission antenna. In particular, the viewing direction is tracked so that the directional antenna is always aligned to this specific transmission antenna, regardless of the position / alignment of the passenger vehicle relative to this specific transmission antenna. This ensures uninterrupted and interference-free transmission of the control signals and image data between the passenger vehicle and the control unit, and the risk of transmission interference is minimized.Preferably, a specific transmission antenna of the transmission antenna system is selected by adjusting the viewing direction of the directional antenna using the antenna control unit and / or an overall control unit coupled to the control unit such that a maximum possible, or at least a sufficiently high, transmission bandwidth is achieved between the specific transmission antenna and the directional antenna. Instead of transmission bandwidth, the term "data throughput" or "data transmission rate" is also used.Preferably, the specific transmission antenna of the transmission antenna system is selected by adjusting the viewing direction of the directional antenna using the antenna control unit and / or with the overall control unit in such a way that a maximum possible, or at least a sufficiently high, data transmission rate or a sufficiently high data throughput is achieved between the specific transmission antenna and the directional antenna. In particular, a low latency is also achieved during data transmission between the specific transmission antenna and the directional antenna. The latency is so small that data transmission is referred to as real-time. A specific transmission antenna of the transmission antenna system is specifically selected for data transmission by adjusting the viewing direction of the directional antenna.In addition to measuring the transmission bandwidth, the data transmission rate and / or the data throughput, the criteria described below can help to achieve the maximum possible, or at least the sufficiently high, transmission bandwidth, data transmission rate or the sufficiently high data throughput between the specific transmission antenna and the directional antenna.

[0022] Preferably, the passenger vehicle has a position determination sensor, in particular a GPS sensor. Based on the position of the passenger vehicle determined by the position determination sensor, a specific transmission antenna of the transmission antenna system is selected for transmitting the control signals and the image data to this transmission antenna by means of the antenna control unit and / or the overall control unit. In this case, the antenna control unit and / or the overall control unit knows at which locations which of the transmission antennas is optimal for stable communication with regard to a sufficiently high data transmission rate and / or the lowest possible latency. In particular, a learning process can also be carried out by means of the antenna control unit and / or the overall control unit, which learning process is carried out using currently measured values, e.g.the data transmission rate and the associated location, and by means of which an independent optimization for the future is then carried out. Further preferably, a specific transmission antenna of the transmission antenna system for transmitting the control signals and the image data is selected by means of the overall control unit and / or the overall control unit based on a specific time with regard to achieving a maximum possible, or at least a sufficiently high, transmission bandwidth. In this case, the antenna control unit and / or the overall control unit knows at which times which of the transmission antennas is optimal for stable communication with regard to a sufficiently high data transmission rate and / or the lowest possible latency. By means of the antenna control unit and / or the overall control unit, in particular a learning process can also be carried out, which is carried out with currently measured values, e.g.the data transfer rate and the associated time and by means of which an independent optimization for the future is carried out.

[0023] According to a particularly preferred embodiment of the method, based on the positions of several passenger vehicles determined with the aid of position-determining sensors, a specific transmission antenna of the transmission antenna system is selected for transmitting the control signals and the image data by means of the respective antenna control unit and / or the overall control unit with a view to achieving a maximum possible, or at least a sufficiently high, transmission bandwidth for each passenger vehicle. In particular, the overall control unit is connected to several control units of several passenger vehicles via data technology. More preferably, the antenna control units of several passenger vehicles are connected to one another via data technology. This enables the transmission bandwidths of several vehicles to be coordinated with the transmission antenna system.Overall, this coordination allows for better utilization of the transmission antenna system's capacity. Forward-looking planning is also conceivable. For example, the transmission antenna used for data transmission in one of the vehicles could be replaced, even if this does not improve data transmission for that vehicle, in order to relieve the load on this transmission antenna for possible future data transmission with other vehicles.

[0024] The object underlying the invention is also achieved by a method for the teleoperated control of a ground-based passenger vehicle having the features of patent claim 17.

[0025] One aspect of the invention then essentially lies in the fact that the vehicle antenna system has at least three, preferably four, directional antennas whose viewing directions are aligned such that the directional antennas cover essentially mutually distinct sectors. The control signals and image data are exchanged between one of the directional antennas and a transmission antenna arranged in any direction toward the passenger vehicle by selecting one of the directional antennas for data transmission, without the need to adjust the viewing direction of one of the antennas.

[0026] Preferably, a specific transmission antenna of the transmission antenna system is selected by means of the antenna control unit and / or with an overall control unit coupled to the control unit by selecting one of the directional antennas in such a way that a maximum possible, or at least a sufficiently high, transmission bandwidth is achieved between the specific transmission antenna and the selected directional antenna. Preferably, one of the directional antennas is selected based on the position of the passenger vehicle determined by the position-determining sensor and / or based on a specific time. The selection of one of the directional antennas could also be made based on transmission rates measured by the directional antennas, possibly with different transmission antennas.

[0027] The object underlying the invention is also achieved by a method for the teleoperated control of a ground-based passenger vehicle having the features of patent claim 19.

[0028] One aspect of the invention then essentially lies in the fact that the vehicle antenna system has at least two directional antennas, with a separate transmission path being formed between each directional antenna and a specific transmission antenna of the transmission antenna system. By means of the redundancy thus created with respect to the transmission paths, the reliability of achieving the uninterrupted or interference-free transmission of the control signals and image data between the passenger vehicle and the control unit is maximized or at least increased, and the risk of transmission interference is minimized or at least reduced.

[0029] Advantageously, the control signals and image data are transmitted on one of the two transmission paths, which is selected in particular by an antenna control unit of the vehicle antenna system and / or an overall control unit coupled to the control unit. The other transmission path is then preferably available for other tasks or as a backup.

[0030] According to a further embodiment of the method, the control signals and the image data are transmitted on both transmission paths, in particular in parallel, in particular by previously dividing the control signals and the image data into corresponding data packets and subsequently merging the data packets by means of the antenna control unit and / or the overall control unit. The parallel data transmission to two different transmission antennas allows the associated data transmission rate to be further increased. The two transmission paths can be assigned to one or two network operators simultaneously, whereby the system does not have to be limited to two network operators. Using the two transmission paths, the switching of data transmission to different, neighboring transmission antennas is improved in the sense that stable data transmission is achieved with a high degree of reliability even during the switch.This is particularly important when the vehicle moves from one so-called radio cell of the mobile network to a neighboring radio cell. This involves a smooth transition between the two transmission paths, with the data transmission rate of one transmission path decreasing and the data transmission rate of the other transmission path increasing until the entire data transmission takes place via this transmission path. It should be noted, however, that data transmission does not always have to be directed to the nearest transmission antenna; a more distant transmission antenna can also be used for data transmission.

[0031] According to a particularly preferred embodiment of the method, one of the directional antennas is used to scan the surroundings of the passenger vehicle for transmission antennas of the transmission antenna system that are not currently being used to transmit the control signals and / or image data. One of the directional antennas is thus used to scan the "neighborhood" in order to allow data transmission to take place partially or entirely with a neighboring transmission antenna as the load on the currently used transmission antenna increases. This further increases the reliability of achieving uninterrupted and interference-free transmission of the control signals and image data between the passenger vehicle and the control unit. It should be noted at this point that the systems and methods described above can be combined with one another as desired to create the most powerful overall system or system possible.overall process.

[0032] The respective unit, for example, the antenna control unit or the overall control unit, can be implemented in hardware and / or software. In a hardware implementation, the respective unit can be embodied as a device or as part of a device, for example, as a computer, a microprocessor, or an FPGA. In a software implementation, the respective unit can be embodied as a computer program product, as a function, as a routine, as part of a program code, or as an executable object.

[0033] There are now numerous possibilities for advantageously designing and developing the system and method according to the invention. Reference is made to the claims subordinate to claims 1, 6, 9, 12, 17, and 19. Preferred embodiments of the system and method according to the invention are explained and described in more detail below with reference to the drawings and the associated description. The drawing shows:

[0034] Fig.1 shows a schematic representation of a first embodiment of a system for teleoperated control of the ground-based passenger vehicle in combination with a schematic signal flow diagram of an associated method for teleoperated control of the ground-based passenger vehicle,

[0035] Fig.2 shows a schematic representation of a second embodiment of a system for teleoperated control of the ground-based passenger vehicle in combination with a schematic signal flow diagram of an associated method for teleoperated control of the ground-based passenger vehicle, and

[0036] Fig.3 shows a highly schematic representation of another embodiment of a vehicle

[0037] Antenna system of the system for teleoperated control of the ground-based passenger vehicle.

[0038] Fig. 1 and Fig. 2 each show an embodiment of a system for the teleoperated control of a ground-based passenger vehicle 1 with the ground-based passenger vehicle 1 and with a control unit 2 arranged spatially separate from the passenger vehicle 1, including a schematic signal flow plan for the associated method for the teleoperated control of the ground-based passenger vehicle 1. The passenger vehicle 1 can be controlled by an operator using control signals generated by the operator and transmitted from the control unit 2 to the passenger vehicle 1. The passenger vehicle 1 has at least one camera 3. The control unit 2 has a display device 4. Image data acquired by means of the camera 3 can be transmitted to the control unit 2 and displayed by means of the display device 4 for the operator to control the passenger vehicle 1.The control signals and image data are transmitted wirelessly between a vehicle antenna system (AFS) of passenger vehicle 1 and a transmission antenna system (AU). The control signals and image data are transmitted wirelessly and / or wired between the transmission antenna system (AU) and the control unit 2. Wired transmission is preferred to achieve the lowest possible latency.

[0039] The passenger vehicle 1 is, in particular, a road vehicle. In the passenger vehicle 1, all vehicle functions can be controlled via a built-in, so-called drive-by-wire system (DbW). The vehicle functions can therefore be controlled electrically. The vehicle functions are controlled via a central vehicle processing unit (F) and with the aid of CAN bus data connections. The drive-by-wire system (DbW) has servomotors and / or actuators with which, for example, braking and acceleration impulses, as well as steering movements, can be implemented. The control signals sent from the control unit 2 to the passenger vehicle 1 via the transmission antenna system (AUS) are converted into control signals for the servomotors and / or actuators in the vehicle processing unit (F) while the vehicle is driving.

[0040] The image data and control signals can be transmitted via cable between the transmission antenna system AUS and a data interface DE of the control unit 2. This cable transmission takes place, for example, via a cabled Internet connection GL, in particular via a fiber optic cable, which is shown as an example in Fig. 1 and 2 between one of the transmission antennas AU of the transmission antenna system AUS and the data interface DE. It is also conceivable to use a line that is logically decoupled from the Internet for cabled transmission in order to be able to transmit data with lower latency, although access to the Internet for the passenger vehicle 1 and the control unit 2 is still conceivable in principle. In particular, at least large parts of the cabled transmission are realized via a fiber optic cable.The image data and control signals can also be transmitted wirelessly between the transmission antenna system AUS and the data interface DE using a control unit antenna AK of control unit 2. The control unit antenna AK and the adjacent double arrow are therefore shown with dashed lines as optional. The control unit antenna AK is then part of the data interface DE of control unit 2.

[0041] The passenger vehicle 1 has at least 3 cameras 3, preferably 3 to 12 cameras 3, particularly preferably 4 to 9 cameras 3, in particular 5 cameras 3. The display device 4 preferably has a screen per camera 3. On each screen, preferably only the image data acquired by means of one of the cameras 3 is displayed. Thus, there is preferably a so-called 1:1 assignment between the screens and the cameras 3. The number of cameras 3 depends in particular on the type of passenger vehicle 1. For example, in the case of a so-called truck, more than the aforementioned 12 cameras 3 may be used due to blind spots, etc. It is important that a 360° view around the passenger vehicle 1 is achieved.Secondary views, which are accessible from a driver's seat using side mirrors and / or blind spot views, can be embedded into an X° primary view of the path to be traveled in front of the passenger vehicle 1 using the display device 4. Display devices 4 with 3 or 5 screens are used in particular, although the aforementioned 1:1 relationship between the screens and the cameras 3 can also be deviated from.

[0042] The vehicle antenna system AFS has a directional antenna AF with an adjustable viewing direction, which is symbolized in Fig. 1 by the curved double file. The viewing direction is symbolized by the electromagnetic waves adjacent to the directional antenna AF represented by curved lines. By adjusting the viewing direction, data transmission of the control signals and the image data between the directional antenna AF and a specific transmission antenna AU of the transmission antenna system AUS is possible. This specific transmission antenna AU can be the one closest to the passenger vehicle 1 or a transmission antenna AU further away. The directional antenna AF is an antenna with a pronounced directional effect, i.e. electromagnetic waves are radiated from the directional antenna AF into a specific area, orElectromagnetic waves coming from this area can be received particularly well by the directional antenna AF. The viewing direction represents an imaginary straight line leading away from the directional antenna, which is centered in the specified area. As a transmitting antenna, the directional antenna AF concentrates the energy of the transmitted electromagnetic waves in the viewing direction, thereby generating directional radiation. As a receiving antenna, the maximum sensitivity of the directional antenna AF lies in the viewing direction. By adjusting the viewing direction, this viewing direction can be aligned toward the specific transmitting antenna AU, enabling data transmission with high data rates and low latency.

[0043] The viewing direction can be adjusted using several individual antennas of the directional antenna AF, which is designed as an array antenna, by means of a phase shift between the individual antennas, which can be generated using an antenna control unit 5 of the directional antenna AF. The individual antennas are arranged vertically one above the other, for example, and do not themselves have a pronounced directional effect. The individual antennas can also be arranged horizontally next to one another, horizontally in an array, or horizontally in a circular manner. Several vertically stacked layers of such arrangements can be used for increased directional effect. The phase shift of the individual antennas relative to one another can then be used to focus the beams through interference, thus achieving a pronounced directional effect. The energy of the electromagnetic waves is amplified in the desired direction, while the unwanted directions are canceled out by destructive interference.In addition to the use of a group antenna with several individual antennas as a directional antenna AF, it would also be conceivable to use other types of directional antennas with a pronounced directional effect.

[0044] The viewing direction of the directional antenna AF can be pivoted in a single plane, for example, using the antenna control unit 5. Preferably, all individual antennas of the directional antenna AF can be controlled via a separate phase shifter. A group phase shifter, by means of which several phase shifters can be controlled simultaneously, is conceivable and preferable.

[0045] It is also conceivable, however, for the viewing direction of the directional antenna AF to be pivotable in two planes using the antenna control unit 5. In this case, a separate phase shifter is preferably assigned to each individual antenna for adjusting the respective phase shift. Here, too, a group phase shifter, which can then be used to control multiple phase shifters, is conceivable and preferable.

[0046] The viewing direction of the directional antenna AF could also be adjusted mechanically by a movement, preferably a rotation, of the directional antenna AF. Furthermore, combinations of this mechanical and the electronic adjustment of the viewing direction described above are conceivable. In the mechanical variant, the directional antenna AF is, for example, rotatably connected to the passenger vehicle 1 and can be rotated about its axis of rotation by means of a drive such as a servo motor. Other movement mechanisms for the mechanical variant are also conceivable.

[0047] According to Fig. 2, the vehicle antenna system AFS has at least three, preferably four, directional antennas AF, whose viewing directions are aligned such that essentially distinct sectors can be covered by the directional antennas AF. The individual sectors overlap at 3 dB to prevent any reception or transmission gaps between the sectors. Preferably, all directional antennas AF are penetrated by a horizontally aligned plane.

[0048] According to Fig. 2, the vehicle antenna system AFS has exactly three directional antennas AF, each positioned at an angle of essentially 120° to each other. These angles are formed particularly in a horizontal plane. Typically, one viewing direction of the transmission antennas AU is tilted slightly downward, since the transmission antennas AU are positioned higher than the directional antennas AF. Consequently, the viewing directions of the directional antennas AF are correspondingly tilted slightly upward to achieve optimal data transmission.

[0049] It would also be conceivable for the vehicle antenna system (AFS) to have exactly four directional antennas (AF), each positioned at an angle of essentially 90° to each other. These angles are particularly important in a horizontal plane.

[0050] According to Fig. 3, the vehicle antenna system AFS comprises several directional antennas AF, each of which is arranged in several, preferably two, planes along a common circular path. According to Fig. 3, eight directional antennas AF are arranged along a common circular path at equal distances from one another. The common circular paths are each formed, in particular, in a horizontal plane.

[0051] Preferably, all sectors of the at least three directional antennas AF together enclose the vehicle antenna system AFS in the azimuth range. This achieves 360° coverage of the area surrounding the vehicle antenna system AFS in the azimuth range.

[0052] The vehicle antenna system AFS, as shown in Fig. 2, has at least two directional antennas AF. A separate transmission path can be formed between each directional antenna AF and a specific transmission antenna AU of the transmission antenna system AUS. The separate transmission paths can be formed to the same or to two different transmission antennas AU. If the separate transmission paths are formed to two different transmission antennas AU, different technologies can be used for each transmission path.

[0053] Using the AUS transmission antenna system, a 5G mobile communications system can be implemented, particularly according to the 4G or 5G standard. The transmission paths can thus be implemented, particularly via the mobile network. The 5G standard is preferred to ensure real-time data transmission. Suitable technologies are then selected for the AF directional antennas.

[0054] A satellite communication system S can also be formed by means of the transmission antenna system AUS. In particular, at least one transmission antenna AU is then designed as a satellite 6 or connected to a satellite 6. The transmission paths can then be formed in particular by means of the satellite communication system. Suitable technologies are then also selected for the directional antennas AF. In particular, a modem designed as a satellite modem is then used in combination with the directional antenna AF for communication with the satellite 6. The viewing direction of a directional antenna AF for satellite communication is in particular inclined much more upwards than the viewing direction of a directional antenna AF for mobile radio communication. It is also conceivable thatto simultaneously establish one of the transmission paths with the 5G mobile radio communication system and one of the transmission paths with the satellite communication system S. Typically, the 5G mobile radio communication system is used preferentially, with the satellite communication system S being used if there are problems with the 5G mobile radio communication system.

[0055] In the method for teleoperated control of the ground-based passenger vehicle 1, the passenger vehicle 1 is controlled by the operator using control signals generated by the operator and transmitted to the passenger vehicle 1 by a control unit 2 arranged spatially separate from the passenger vehicle 1. Image data is acquired by at least one camera 3 of the passenger vehicle 1, transmitted to the control unit 2, and displayed for the operator to control the passenger vehicle 1 by means of a display device 4 of the control unit 2. The control signals and the image data are transmitted wirelessly between a vehicle antenna system AFS of the passenger vehicle 1 and a transmission antenna system AUS. The control signals and the image data are transmitted wirelessly and / or by wire between the transmission antenna system AUS and the control unit 2.The viewing direction of the directional antenna AF of the vehicle antenna system AFS is set.

[0056] A specific transmission antenna AU of the transmission antenna system AUS is selected by adjusting the viewing direction of the directional antenna AF using the antenna control unit 5 and / or an overall control unit 7 coupled to the control unit 2 such that a maximum possible, or at least a sufficiently high, transmission bandwidth is achieved between the specific transmission antenna AU and the directional antenna AF. Instead of the transmission bandwidth, reference is also made to a data throughput or a data transmission rate. Furthermore, the viewing direction of the directional antenna AF is precisely aligned with the specific transmission antenna AU in order to maximize the possible data transmission rate. In particular, the viewing direction of the directional antenna AF is tracked according to the movement of the passenger vehicle 1.

[0057] The passenger vehicle 1 has a positioning sensor 8, in particular a GPS sensor. Based on the position of the passenger vehicle 1 determined by the positioning sensor 8, a specific transmission antenna AU of the transmission antenna system AFS is selected for transmitting the control signals and the image data to this transmission antenna AU by means of the antenna control unit 5 and / or with the overall control unit 7. If the location of the passenger vehicle 1 is known via the positioning sensor 8 and if it is also known, e.g., via appropriate map material, where the transmission antennas AU are located, then, based on this information, the nearest transmission antenna AU can be selected. However, a more distant transmission antenna AU can also be selected if, for example,It is known from past information that a better transmission rate can be achieved with this transmission antenna AU.

[0058] Time also plays a particularly important role in selecting the transmission antenna AU based on past information. Using the overall control unit 7, a specific transmission antenna AU of the transmission antenna system AU is selected based on a specific time for transmitting the control signals and the image data by means of the antenna control unit 5 and / or the overall control unit 7 with a view to achieving a maximum possible, or at least a sufficiently high, transmission bandwidth. In particular, the specific transmission antenna AU is selected based on both the specific time and the specific position of the passenger vehicle 1.Based on the positions of several passenger vehicles 1 determined with the aid of position determination sensors 8, a specific transmission antenna AU of the transmission antenna system AUS is selected for transmitting the control signals and the image data by means of the respective antenna control unit 5 and / or the overall control unit 7 with a view to achieving the maximum possible, or at least a sufficiently high, transmission bandwidth for each passenger vehicle 1. In particular, the overall control unit 7 is connected to several control units 2 of several passenger vehicles 1 via data technology. It would also be conceivable for the antenna control units 5 of several passenger vehicles 1 to be connected to one another via data technology. In both cases, this enables the transmission bandwidths of several passenger vehicles 1 to be coordinated with one another.By coordinating the transmission bandwidths, overloading of individual transmission antennas AU is avoided. Without this coordination, at least a short-term overload of a transmission antenna AU could occur if data transmission from a plurality of directional antennas AF is carried out simultaneously with this transmission antenna AU, in particular if it is initiated simultaneously. It is also conceivable for the overall control unit 7 to optimize the routes of several passenger vehicles 1 in order to avoid overloading the transmission antennas AU. The overall control unit 7 can be connected to the Internet, making such tasks easier to perform.

[0059] The vehicle antenna system AFS according to Fig.2 has at least three, preferably four, directional antennas AF, whose viewing directions are aligned such that essentially mutually delimited sectors are covered by means of the directional antennas AF.

[0060] A specific transmission antenna AU of the transmission antenna system AUS is selected by means of the antenna control unit 5 and / or with an overall control unit 7 coupled to the control unit 2 by selecting one of the directional antennas AF in such a way that a maximum possible, or at least a sufficiently high, transmission bandwidth is achieved between the specific transmission antenna AU and the selected directional antenna AF. Adjusting the viewing direction of the individual directional antennas AF is then not absolutely necessary, but can be advantageous with regard to achieving the maximum possible data transmission rate. In particular, the directional antenna AF whose viewing direction exhibits the smallest deviation from the specific transmission antenna AU is selected. The vehicle antenna system AFS according to Fig. 2 has at least two directional antennas AF.A separate transmission path is established between each directional antenna AF and a specific transmission antenna AU of the transmission antenna system AUS. The transmission paths are implemented using corresponding protocols. The exact nature of the protocols depends, in particular, on the technology of the communications network.

[0061] The control signals and the image data are transmitted along one of the two transmission paths, which is selected in particular by an antenna control unit 5 of the vehicle antenna system AFS and / or an overall control unit 7 coupled to the control unit 2. Data transmission then occurs via this one transmission path, particularly bidirectionally, since the directions of transmission of the control signals and the image data are opposite to each other.

[0062] The control signals and the image data are transmitted alternatively on both transmission paths, in particular in parallel, in particular by previously dividing the control signals and the image data into corresponding data packets and subsequently merging the data packets by means of the antenna control unit 5 and / or the overall control unit 7. "Parallel" here means "simultaneously." For example, part of the image data is transmitted on one of the transmission paths and the other part of the image data is transmitted simultaneously on the other of the transmission paths, with the image data being displayed in its entirety in real time on the display device 4. The antenna control unit 5 has, in particular, a router and / or a modem. The control unit 2 also has, in particular, a router and / or a modem. The merging of the data packets preferably takes place by means of such a respective router of the antenna control unit 5 or the control unit 2.

[0063] Using one of the directional antennas AF, the surroundings of passenger vehicle 1 are scanned for transmission antennas AU of the transmission antenna system AUS that are not currently being used to transmit control signals and / or image data. For example, the electromagnetic waves received by this directional antenna AF are evaluated. The electromagnetic waves emitted by the transmission antennas AU are detected. If the possible data transmission rate is sufficiently good, the transmission antenna AU can then be changed for transmitting the control signals and / or image data. The viewing direction of the directional antenna AF is preferably changed during the scan. List of Reference Symbols

[0064] 1 passenger car

[0065] 2 Control unit

[0066] 3 Camera

[0067] 4 Display device

[0068] 5 Antenna control unit

[0069] 6 Satellite

[0070] 7 Total control unit

[0071] 8 Positioning sensor

[0072] AFS vehicle antenna system

[0073] AF directional antenna

[0074] F Vehicle computing unit

[0075] DbW Drive-by-Wire System

[0076] OFF transmission antenna system

[0077] AU transmission antenna

[0078] AK control unit antenna

[0079] DE data interface of the control unit 2

[0080] 5G (5G) mobile communications system

[0081] S Satellite Communication System

[0082] GL wired internet connection (fiber optic cable)

Claims

Patent claims 1. A system for the teleoperated control of a ground-based passenger vehicle (1) comprising the ground-based passenger vehicle (1) and a control unit (2) arranged spatially separate from the passenger vehicle (1), wherein the passenger vehicle (1) is controllable by an operator by means of control signals generated by the operator and transmitted from the control unit (2) to the passenger vehicle (1), wherein the passenger vehicle (1) has at least one camera (3), wherein the control unit (2) has a display device (4), wherein image data acquired by means of the camera (3) can be transmitted to the control unit (2) and displayed by means of the display device (4) for the operator to control the passenger vehicle (1), wherein the control signals and the image data can be wirelessly transmitted between a vehicle antenna system (AFS) of the passenger vehicle (1) and a transmission antenna system (AUS),wherein the control signals and the image data can be transmitted wirelessly and / or by wire between the transmission antenna system (AUS) and the control unit (2), characterized in that the vehicle antenna system (AFS) has a directional antenna (AF) with an adjustable viewing direction.

2. System according to claim 1, characterized in that the viewing direction can be adjusted by means of several individual antennas of the directional antenna (AF) designed as a group antenna by means of a phase shift of the individual antennas relative to one another which can be generated by means of an antenna control unit (5) of the directional antenna (AF).

3. System according to claim 1 or 2, characterized in that the viewing direction of the directional antenna (AF) can be pivoted in a single plane by means of the antenna control unit (5).

4. System according to claim 1 or 2, characterized in that the viewing direction of the directional antenna (AF) can be pivoted in two planes by means of the antenna control unit (5).

5. System according to one of the preceding claims, characterized in that the viewing direction of the directional antenna (AF) can be mechanically adjusted by a movement, preferably a rotation, of the directional antenna (AF).

6. A system for the teleoperated control of a ground-based passenger vehicle (1), in particular according to one of the preceding claims, comprising the ground-based passenger vehicle (1) and a control unit (2) arranged spatially separate from the passenger vehicle (1), wherein the passenger vehicle (1) can be controlled by an operator by means of control signals generated by the operator and transmitted from the control unit (2) to the passenger vehicle (1), wherein the passenger vehicle (1) has at least one camera (3), wherein the control unit (2) has a display device (4), wherein image data acquired by means of the camera (3) can be transmitted to the control unit (2) and displayed by means of the display device (4) for the operator to control the passenger vehicle (1),wherein the control signals and the image data are wirelessly transmittable between a vehicle antenna system (AFS) of the passenger vehicle (1) and a transmission antenna system (AUS), wherein the control signals and the image data are wirelessly and / or wiredly transmittable between the transmission antenna system (AUS) and the control unit (2), characterized in that the vehicle antenna system (AFS) has at least three, preferably four, directional antennas (AF), whose viewing directions are aligned such that essentially mutually delimited sectors can be covered by means of the directional antennas (AF).

7. System according to the preceding claim, characterized in that the vehicle antenna system (AFS) has exactly three directional antennas (AF), which are positioned at an angle of substantially 120° to one another.

8. System according to claim 6, characterized in that the vehicle antenna system (AFS) has exactly four directional antennas (AF), which are positioned at an angle of substantially 90° to one another.

9. System for the teleoperated control of a ground-based passenger vehicle (1), in particular according to one of the preceding claims, with the ground-based passenger vehicle (1) and with a control unit (2) arranged spatially separate from the passenger vehicle (1), wherein the passenger vehicle (1) can be controlled by an operator by means of control signals generated by the operator and transmitted from the control unit (2) to the passenger vehicle (1), wherein the passenger vehicle (1) has at least one camera (3), wherein the control unit (2) has a display device (4), wherein image data acquired by means of the camera (3) can be transmitted to the control unit (2) and can be displayed by means of the display device (4) for the operator to control the passenger vehicle (1), wherein the control signals and the Image data can be transmitted wirelessly between a vehicle antenna system (AFS) of the passenger vehicle (1) and a transmission antenna system (AUS), wherein the control signals and the image data can be transmitted wirelessly and / or by wire between the transmission antenna system (AUS) and the control unit (2), characterized in that the vehicle antenna system (AFS) has at least two directional antennas (AF), wherein a separate transmission path can be formed between each directional antenna (AF) and a specific transmission antenna (AU) of the transmission antenna system (AUS).

10. System according to claim 9, characterized in that a mobile radio communication system (5G), in particular according to the 4G or 5G standard, can be formed by means of the transmission antenna system (AUS).

11. System according to claim 9 or 10, characterized in that a satellite communication system (S) can be formed by means of the transmission antenna system (AUS), in particular wherein at least one transmission antenna (AU) is designed as a satellite (6) or is connected to a satellite (6).

12. A method for the teleoperated control of a ground-based passenger vehicle (1), in particular by means of a system according to one of claims 1 to 11, wherein the passenger vehicle (1) is controlled by an operator by means of control signals generated by the operator and transmitted to the passenger vehicle (1) by a control unit (2) arranged spatially separate from the passenger vehicle (1), wherein image data is acquired by means of at least one camera (3) of the passenger vehicle (1), transmitted to the control unit (2) and displayed for the operator to control the passenger vehicle (1) by means of a display device (4) of the control unit (2), wherein the control signals and the image data are transmitted wirelessly between a vehicle antenna system (AFS) of the passenger vehicle (1) and a transmission antenna system (AUS),wherein the control signals and the image data are transmitted wirelessly and / or by wire between the transmission antenna system (AUS) and the control unit (2), characterized in that a viewing direction of a directional antenna (AF) of the vehicle antenna system (AFS) is set.

13. Method according to the preceding claim, characterized in that a specific transmission antenna (AU) of the transmission antenna system (AUS) is controlled by adjusting the viewing direction of the directional antenna (AF) by means of the antenna control unit (5) and / or with an overall control unit (7) coupled to the control unit (2) in such a way that a maximum possible, but at least a sufficiently high, transmission bandwidth is achieved between the specific transmission antenna (AU) and the directional antenna (AF).

14. The method according to claim 12 or 13, characterized in that the passenger car (1) has a position determination sensor (8), in particular a GPS sensor, wherein on the basis of the position of the passenger car (1) determined by means of the position determination sensor (8), a specific transmission antenna (AU) of the transmission antenna system (AFS) for transmitting the control signals and the image data to this transmission antenna (AU) is selected by means of the antenna control unit (5) and / or with the overall control unit (7).

15. Method according to the preceding claim, characterized in that by means of the overall control unit (7) on the basis of a specific time, a specific transmission antenna (AU) of the transmission antenna system (AUS) for transmitting the control signals and the image data by means of the antenna control unit (5) and / or the overall control unit (7) is selected with regard to achieving a maximum possible, but at least a sufficiently high, transmission bandwidth.

16. The method according to claim 14 or 15, characterized in that on the basis of positions of several passenger vehicles (1) determined with the aid of position determination sensors (8), a specific transmission antenna (AU) of the transmission antenna system (AUS) for transmitting the control signals and the image data by means of the respective antenna control unit (5) and / or the overall control unit (7) is selected with regard to achieving a maximum possible, but at least a sufficiently high, transmission bandwidth for each passenger vehicle (1).

17. Method for the teleoperated control of a ground-based passenger vehicle (1), in particular according to one of claims 12 to 16, in particular by means of a system according to one of claims 1 to 11, wherein the passenger vehicle (1) is controlled by an operator by means of control signals generated by the operator and transmitted to the passenger vehicle (1) by a control unit (2) arranged spatially separately from the passenger vehicle (1), wherein image data is determined by means of at least one camera (3) of the passenger vehicle (1), transmitted to the control unit (2) and displayed by means of a display device (6) the control unit (2) for the operator to control the passenger vehicle (1), wherein the control signals and the image data are transmitted wirelessly between a vehicle antenna system (AFS) of the passenger vehicle (1) and a transmission antenna system (AUS), wherein the control signals and the image data are transmitted wirelessly and / or by wire between the transmission antenna system (AUS) and the control unit (2), characterized in that the vehicle antenna system (AFS) has at least three, preferably four, directional antennas (AF), the viewing directions of which are aligned such that sectors which are essentially delimited from one another are covered by means of the directional antennas (AF).

18. Method according to the preceding claim, characterized in that a specific transmission antenna (AU) of the transmission antenna system (AUS) is selected by means of the antenna control unit (5) and / or with an overall control unit (7) coupled to the control unit (2) by selecting one of the directional antennas (AF) in such a way that a maximum possible, but at least a sufficiently high, transmission bandwidth is achieved between the specific transmission antenna (AU) and the selected directional antenna (AF).

19. A method for the teleoperated control of a ground-based passenger vehicle (1), in particular according to one of claims 12 to 18, in particular by means of a system according to one of claims 1 to 11, wherein the passenger vehicle (1) is controlled by an operator by means of control signals generated by the operator and transmitted to the passenger vehicle (1) by a control unit (2) arranged spatially separate from the passenger vehicle (1), wherein image data is acquired by means of at least one camera (3) of the passenger vehicle (1), transmitted to the control unit (2) and displayed for the operator to control the passenger vehicle (1) by means of a display device (6) of the control unit (2), wherein the control signals and the image data are transmitted wirelessly between a vehicle antenna system (AFS) of the passenger vehicle (1) and a transmission antenna system (AUS),wherein the control signals and the image data are transmitted wirelessly and / or by wire between the transmission antenna system (AUS) and the control unit (2), characterized in that the vehicle antenna system (AFS) has at least two directional antennas (AF), wherein a separate transmission path is formed between each directional antenna (AF) and a specific transmission antenna (AU) of the transmission antenna system (AUS).

20. Method according to the preceding claim, characterized in that the control signals and the image data are transmitted on one of the two transmission paths, which is selected in particular by means of an antenna control unit (5) of the vehicle antenna system (AFS) and / or an overall control unit (7) coupled to the control unit (2).

21. Method according to claim 19, characterized in that the control signals and the image data are transmitted on both transmission paths, in particular in parallel, in particular by previously dividing the control signals and the image data into corresponding data packets and subsequently merging the data packets by means of the antenna control unit (5) and / or the overall control unit (7).

22. Method according to one of claims 19 to 21, characterized in that with the aid of one of the directional antennas (AF) the surroundings of the passenger vehicle (1) are searched for transmission antennas (AU) of the transmission antenna system (AUS) which are not currently being used for transmitting the control signals and / or the image data.

Images