Method for controlling at least one vehicle-external service unit by means of a control device of a vehicle

Abstract

The invention discloses a method for controlling at least one service unit outside the vehicle by means of a control device of the vehicle, wherein the control device receives position data and service data of the service unit via a communication connection; a target position on the vehicle is determined based on the service data; a trajectory is calculated based on the position data relative to the determined target position; and the calculated trajectory is transmitted from the control device on the vehicle side to the service unit via the communication connection. Also disclosed is a method for performing at least one service on a vehicle by means of a control element of the service unit, a control device, a control element, a vehicle device, a computer program, and a machine-readable storage medium.

Description

Technical Field

[0001] The present invention relates to a method for controlling at least one service unit outside a vehicle by means of a control device of the vehicle, a method for performing at least one service on a vehicle by means of a control element of the service unit, a control device, a control element, a vehicle apparatus, a computer program and a machine-readable storage medium. Background Art

[0002] Vehicles with automated driving functions are known, which operate autonomously and without a driver starting from a certain degree of automation. Such vehicles can, for example, automatically follow the course of a road, independently identify other traffic members or obstacles, calculate corresponding control commands in the vehicle, and forward these control commands to actuators in the vehicle, thereby correctly influencing the driving course of the vehicle. The recognition of obstacles is achieved by surrounding sensors that scan the surroundings of the vehicle.

[0003] Also known in the automotive field are different services. Such services are usually performed by professional technicians and may include refueling processes, tire changes, repairs and charging processes for battery packs.

[0004] These services can also be performed automatically by the machine or the service unit. However, for this purpose, a service unit is required which has an environment sensor and a control element for analyzing the measurement data of the environment sensor and for controlling the corresponding actuators.

[0005] Due to the required surroundings sensors and corresponding evaluation units or control elements, such service units are complex to produce. Summary of the invention

[0006] The object of the present invention may be to specify, in particular, a method and a control device for reducing costs in the area of ​​automated services in the vehicle sector.

[0007] This object is achieved by means of the respective subject matter of the independent claims. Advantageous embodiments of the invention are respectively the subject matter of the dependent claims.

[0008] According to one aspect of the present invention, a method for controlling at least one vehicle-external service unit by means of a control device of the vehicle is provided.

[0009] In one step, the control device receives position data and service data of the service unit via a communication connection.

[0010] Subsequently, the target position on the vehicle is determined based on these service data. In this case, it is checked which service the service unit can perform in order to select the corresponding position on the vehicle. For example, in the case of a refueling process as a service, the fuel tank cap can be specified as the target position, and in the case of a tire change, the corresponding tire can be specified as the target position.

[0011] The trajectory is calculated based on the position data relative to the determined target position. The calculated trajectory is transmitted from the vehicle-side control device to the service unit via a communication connection. In particular, the trajectory can be calculated outside the vehicle by the vehicle-side control device or, in an alternative embodiment, by a vehicle-external control element of the service unit based on measurement data transmitted by at least one vehicle-side surroundings sensor.

[0012] According to a further aspect of the invention, a method is provided for performing at least one service on a vehicle by means of a control element of a service unit.

[0013] In one step, position data and service data of the service unit are transmitted via a communication connection to a control device of the vehicle.

[0014] The trajectory calculated by the vehicle-side control device is received by the control element.

[0015] The control element outputs a control command for traveling along the trajectory. For a target position on the vehicle, the control element outputs a control command for executing a service.

[0016] Based on these control instructions, the control element can control actuators of the service unit, whereby the service unit moves along the trajectory and can perform predefined actions in order to perform the service.

[0017] Actions for performing the service can also be components of the trajectory. In particular, the service unit can perform service-specific automation steps when reaching the target location.

[0018] According to a further aspect of the present invention, a control device is provided, wherein the control device is configured to carry out a method for controlling at least one vehicle-external service unit by means of the control device.

[0019] According to a further aspect of the invention, a control element is provided, wherein the control element is configured to carry out a method for performing at least one service on a vehicle by means of a control element of a service unit.

[0020] According to another aspect of the present invention, a vehicle device is provided. The vehicle device has at least one vehicle, the vehicle has a control device and a vehicle sensor device. The vehicle device also has at least one service unit, the service unit has a control element. A communication connection can be established between the vehicle and the service unit.

[0021] Furthermore, according to one aspect of the present invention, a computer program is provided, which includes instructions which, when executed by a computer or a control device, cause the computer or the control device to implement the method according to the present invention.

[0022] According to another aspect of the present invention, there is provided a machine-readable storage medium having stored thereon a computer program according to the present invention.

[0023] By this method, it is possible to determine or locate a machine or service unit that can be automatically operated around the vehicle. The service can be determined with reference to the service unit. This can be achieved, for example, by identifying the nameplate or shape of the service unit. Alternatively, the service unit can transmit the service that can be implemented to the control device in the form of data.

[0024] Here, the service unit can use the surrounding environment sensor device of the vehicle to provide value-added services or services.Through this, the onboard sensor device of the service unit can be omitted or at least reduced in use.

[0025] Thus, automation of tools or service units in the vicinity of the vehicle can be achieved, wherein the vehicle's sensors are at the disposal of the service units to perform services or are shared with these service units.

[0026] These methods can achieve the following advantages:

[0027] The vehicle's expensive surroundings sensors can be used multiple times or for extended services.

[0028] - Services near the vehicle can be automated at lower costs, since surrounding sensor devices are no longer required.

[0029] The vehicle can be implemented as a vehicle capable of automated and / or partially automated operation. In particular, the vehicle can be operated in an assisted, partially automated, highly automated and / or fully automated or driverless manner according to SAE J3016.

[0030] In particular, the vehicle may be designed as a shuttle, a robotaxi, a commercial vehicle, a passenger vehicle, a truck, a transport vehicle, a construction vehicle, a bus, an aircraft, a ship, a rail vehicle, and the like.

[0031] The service unit may be, for example, a refueling robot, a robot for charging vehicle batteries, a forklift or loading truck, a tractor, a maintenance unit, a repair unit and the like.

[0032] For example, the service unit can load or unload a vehicle designed as a transporter with the aid of a vehicle sensor system. Furthermore, the service unit can use the surrounding sensors, for example, to transport an aircraft to a parking space or, in the shipping sector, to maneuver a ship in a port in conjunction with at least one other service unit designed as a tug. Thus, by using "other" or external sensors, automation of at least one service unit can be achieved.

[0033] According to one embodiment, measurement data of at least one surroundings sensor are received, wherein the service unit is localized based on these measurement data. As an alternative to transmitting position data, the initial position of the service unit can be determined by the sensor device of the vehicle. In this case, the position corresponds to the relative position of the service unit with respect to the sensor. With this localization of the service unit, an identification or reference of the service unit can also be performed, wherein the service of the service unit is determined.

[0034] According to another exemplary embodiment, the position data of the service unit determined on the basis of the measurement data are transmitted by the control device to the control element of the service unit via a communication connection. In this way, the measurement data of the surroundings sensor or the use of the surroundings sensor can be provided to the service unit. In this case, the vehicle can also send relevant information such as the vehicle contour, relevant vehicle components, such as the position of the tank connection, to the service unit.

[0035] In particular, environmental information about the vehicle's surroundings can be determined in a sensor-based manner by vehicle sensors and made available to the at least one service unit immediately or in real time.

[0036] As an alternative to the control device, the control element can itself calculate the trajectory to the vehicle required for the service based on the transmitted data.

[0037] According to another embodiment, the service is performed at a target position designed as a three-dimensional position of a vehicle component and / or at a target position implemented as a position of the vehicle surroundings. Here, the surroundings can be defined as an operating range or a range of action of a manipulator of the service unit.

[0038] Depending on the task of the service unit, a trajectory can be calculated which ends at a three-dimensional target position on the vehicle. The service unit can travel along the trajectory and then perform the corresponding work or service.

[0039] In this case, the target position may depend on the type of service. For example, in the case of a refueling robot, the position of the tank nozzle may be used as the target position. In the case of a tire changing robot, the position of the tires of the vehicle may be considered as the target position. If the service unit is designed as a cleaning robot, the vehicle contour may be used as a plurality of target positions.

[0040] According to another embodiment, the trajectory to the target position is calculated by the control element based on the received vehicle position data. This design can be an alternative or additional implementation. Here, the required trajectory to the previously transmitted target position on the vehicle is calculated by the service unit, thereby realizing the required service. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] A preferred embodiment of the present invention is explained in more detail below based on a greatly simplified schematic diagram.

[0042] in this case, Figure 1 A schematic top view of a vehicle device 1 according to an exemplary embodiment is shown. In this context, a method according to an exemplary embodiment is explained. DETAILED DESCRIPTION

[0043] The vehicle arrangement 1 has a vehicle 2 and a service unit 4. The vehicle 2 has a control device 6 which is connected to an environment sensor 8 in a data-conducting manner.

[0044] In this case, the surroundings sensor 8 is designed as a LIDAR sensor. The surroundings sensor 8 has a scanning area 10 that is scanned with infrared light. Here, the surroundings sensor 8 can determine the position of the service unit 4 based on a transit time analysis. The service unit 4 can be determined and referenced relative to the vehicle 2's own coordinate system.

[0045] The measurement data of the surroundings sensor 8 are received and evaluated by the control device 6 .

[0046] The service unit 4 is designed as a refueling robot or an automated machine which can move around the vehicle 2 and refuel the vehicle 2 in the form of a service.

[0047] For this purpose, the service unit 4 has a control element 12 . The control element 12 of the service unit 4 can be connected in a data-conducting manner to the vehicle-side control device 6 . In this case, a wireless communication connection 14 can be established between the control device 6 and the control element 12 .

[0048] According to this exemplary embodiment, the wireless communication connection 14 is implemented as a so-called car-to-X communication connection based on the WLAN transmission standard.

[0049] Data can be exchanged between control device 6 and control element 12 via wireless communication connection 14. In particular, position data and service data of service unit 4 can be transmitted via communication connection 14. Alternatively, position data of service unit 4 can be determined on the vehicle side by analyzing measurement data of surroundings sensor 8.

[0050] According to this exemplary embodiment, the refueling possibility of the vehicle 2 can be transmitted as service data to the control device 6. The control device 6 can therefore determine a vehicle component 16 designed as a tank connection as a target position.

[0051] The control device 6 calculates a trajectory 18 from the initial position of the service unit to the tank connection 16. The trajectory 16 is transmitted via the communication connection 14 to the control element 12 of the service unit 4.

[0052] The control unit 12 can carry out all relevant control steps based on the transmitted trajectory 18 in order to move the service unit 4 to the tank connection 16 and carry out a service in the form of refueling the vehicle 2. The service unit 4 can then be moved back to the starting position.

[0053] For the sake of simplicity, the actuators and manipulators of the service unit 4 are not shown. However, these actuators and manipulators can be controlled and checked by the control unit 12 .

Claims

1. A method for controlling at least one vehicle-external service unit (4) by means of a control device (6) of a vehicle (2), wherein - receiving position data and service data of the service unit (4) by the control device (6) via a communication connection (14); - determining a target position on the vehicle (2) based on the service data; - calculating a trajectory (18) based on said position data relative to the determined target position; and The calculated trajectory (18) is transmitted from the vehicle-side control device (6) to the service unit (4) via the communication connection (14). 2 . The method according to claim 1 , wherein measurement data of at least one surroundings sensor ( 8 ) are received, wherein the service unit ( 4 ) is positioned as a function of the measurement data.

3. The method according to claim 2, wherein the position data of the service unit (4) determined based on the measurement data are transmitted by the control device (6) via the communication connection (14) to the control element (12) of the service unit (4).

4. A method for performing at least one service on a vehicle (2) by means of a control element (12) of a service unit (4), wherein - the position data and the service data of the service unit (4) are transmitted to the control device (6) of the vehicle (2) via a communication connection (14); - receiving, via the control element (12), a trajectory (18) calculated by a vehicle-side control device (6); - outputting control instructions for traveling along the trajectory (18) by the control element (12); - For a target location on the vehicle (2), the control element (12) outputs a control instruction for executing the service.

5. The method according to claim 4, wherein the service is performed at a target position designed as a three-dimensional position of a vehicle component (16) and / or at a target position implemented as a position around the vehicle (2).

6. The method according to claim 4 or 5, wherein the trajectory (18) to the target position is calculated by the control element (12) based on the received position data of the vehicle (2).

7. A control device (6), wherein the control device (6) is configured to carry out the method according to one of claims 1 to 3.

8. A control element (12), wherein the control element (12) is configured to carry out the method according to one of claims 4 to 6.

9. A vehicle device (1), comprising at least one vehicle (2) with a control device (6) and a vehicle sensor device according to claim 7 and at least one service unit (4) with a control element (12) according to claim 8, wherein a communication connection (14) can be established between the vehicle (2) and the service unit (4).

10. A computer program product, comprising a computer program, the computer program comprising instructions which, when executed by a computer, a control element (12) or a control device (6), cause the computer, the control element or the control device to execute a method according to one of claims 1 to 6.

11. A machine-readable storage medium having a computer program stored thereon, the computer program comprising instructions which, when the computer program is implemented by a computer, a control element (12) or a control device (6), prompt the computer, the control element or the control device to implement a method according to one of claims 1 to 6.

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