Method, device and storage medium for assisting a motor vehicle

Abstract

The invention relates to a method for assisting an at least partially automated guided vehicle through a tunnel, the method comprising the following steps: receiving an environment signal, the environment signal representing the environment of the vehicle at least partially containing the tunnel; receiving a safety condition signal, the safety condition signal representing at least one safety condition, the safety condition having to be met in order to allow the vehicle to be assisted from outside the vehicle when traversing the tunnel; checking whether the at least one safety condition is met; generating a data signal based on the environment signal and based on the result of whether the at least one safety condition is met; the data signal representing data suitable for enabling the vehicle to traverse the tunnel in an assisted manner; outputting the generated data signal. The invention further relates to a device, a computer program and a machine-readable storage medium.

Description

Technical Field

[0001] The invention relates to a method for assisting at least partially automatically guided movement of a motor vehicle through a tunnel. The invention also relates to a device, a computer program and a machine-readable storage medium. Background Art

[0002] Publication DE 11 2014 001 058 T5 of the international application with publication number WO 2014 / 148975 discloses a method and a system for controlling an autonomous vehicle.

[0003] Publication WO 2019 / 028464 A1 discloses a method for automatically controlling the activation and deactivation of autonomous operation of a vehicle. Summary of the invention

[0004] The object on which the present invention is based should be seen as providing an efficient concept for effectively assisting at least partially automatically guided motor vehicles through a tunnel.

[0005] This object is achieved by means of the content of the present invention. Advantageous embodiments of the present invention are respectively the content of preferred embodiments.

[0006] According to a first aspect, a method for assisting at least partially automatically guided movement of a motor vehicle through a tunnel is provided, the method comprising the following steps:

[0007] receiving an environment signal representing an environment of the motor vehicle at least partially including a tunnel,

[0008] receiving a safety condition signal, the safety condition signal representing at least one safety condition that must be satisfied before the vehicle is allowed to be assisted by an external part of the vehicle while passing through the tunnel,

[0009] checking whether the at least one safety condition is satisfied,

[0010] generating a data signal based on the surroundings signal and on the result of whether the at least one safety condition is satisfied, the data signal representing data suitable for enabling the motor vehicle to traverse the tunnel in an assisted manner,

[0011] Output the generated data signal.

[0012] According to a second aspect, a device is provided, which is configured to carry out all steps of the method according to the first aspect.

[0013] According to a third aspect, there is provided a computer program comprising instructions which, when said computer program is executed by a computer, for example by an apparatus according to the second aspect, arrange the computer to carry out the method according to the first aspect.

[0014] According to a fourth aspect, there is provided a machine-readable storage medium on which is stored the computer program according to the third aspect.

[0015] The present invention is based on and includes the following recognition that the above-mentioned object can be achieved by assisting a motor vehicle when passing through a tunnel. For this purpose, it is particularly provided that data suitable for assistance are generated and output to the motor vehicle or sent to the motor vehicle. As a result, for example, the following technical advantage is achieved: the motor vehicle can be effectively assisted when passing through a tunnel.

[0016] By generating these data in dependence on the result of a check whether at least one safety condition is satisfied, it can be ensured in an advantageous manner that the data can be generated in a safe manner. For example, it can be ensured in an effective manner that the data cannot be tampered with or has not been tampered with. This can advantageously ensure, for example, that the data can be transmitted to the motor vehicle in a tamper-proof and secure manner.

[0017] This means in particular that the motor vehicle can rely on these data if it is guided at least partially automatically through a tunnel, for example, based on these data.

[0018] This achieves, for example, the technical advantage that the risk of accidents for the motor vehicle or for road users in the vicinity of the motor vehicle can be reduced.

[0019] In particular, the following technical advantage is achieved as a result: an efficient concept is provided for efficient, at least assisted, navigation of a motor vehicle that is guided at least partially automatically through a tunnel.

[0020] Assistance in the sense of the present description is assistance external to the motor vehicle, for example assistance when using tunnel infrastructure, and includes in particular the generation of data signals and the output of data signals.

[0021] According to one specific embodiment, a step is provided in which it is determined that the at least partially automated guided motor vehicle is to travel through a tunnel.

[0022] For example, it is provided that the surroundings signals are processed in order to detect a motor vehicle which is being guided at least partially automatically and which wishes to travel through a tunnel.

[0023] When a motor vehicle that is being guided at least partially automatically is detected and that wants to drive through a tunnel, it is determined, for example, that the motor vehicle that is being guided at least partially automatically wants to drive through the tunnel or to pass through it.

[0024] According to one specific embodiment, it is provided that the data include a driving specification according to which the motor vehicle is to be driven.

[0025] Thereby, for example, the following technical advantages are achieved and assistance can be effectively performed.

[0026] According to one specific embodiment, the driving specification is directed to a driver of the motor vehicle.

[0027] According to one specific embodiment, the driving specification is directed to the motor vehicle itself. This means in particular that the driving specification is to be implemented or fulfilled by the motor vehicle itself, ie in particular autonomously.

[0028] According to one specific embodiment, it is provided that the driving specification includes remote control commands for remotely controlling the transverse guidance and / or longitudinal guidance of the motor vehicle.

[0029] This achieves the following technical advantages, for example: the travel specification can be implemented efficiently. This means in particular that, according to this embodiment, the motor vehicle is remotely controlled based on the travel specification. Remote control means in particular remotely controlling the transverse guidance and / or longitudinal guidance of the motor vehicle. Thus, the remote control is carried out in particular based on remote control commands.

[0030] The assistance of the motor vehicle from outside the motor vehicle when traveling through a tunnel includes in particular the case in which only the transverse guidance or only the longitudinal guidance of the motor vehicle or both the transverse guidance and the longitudinal guidance of the motor vehicle are remotely controlled.

[0031] In the case where the remote control signal is configured to control a lateral guidance or a longitudinal guidance of a motor vehicle, according to one embodiment, it is provided that the corresponding other guidance, i.e. the longitudinal guidance or the lateral guidance, is either manually controlled by the driver of the motor vehicle or at least partially automatically controlled in order to at least partially automatically guide the motor vehicle so that the motor vehicle can pass through with assistance.

[0032] The expression “at least partially automatically guided” includes one or more of the following situations: partially automatically guided, highly automatically guided, fully automatically guided.

[0033] Partially automated guidance means that the longitudinal and transverse guidance of the motor vehicle is automatically remotely controlled in certain situations (e.g. driving on the motorway, driving in a parking lot, overtaking a collision object, driving in a lane defined by lane markings) and / or for a certain period of time. The driver of the motor vehicle does not have to manually control the longitudinal and transverse guidance of the motor vehicle himself. However, the driver must constantly monitor the automatic remote control of the longitudinal and transverse guidance in order to be able to intervene manually if necessary. The driver must be ready to take over the complete guidance of the motor vehicle at any time.

[0034] Highly automated guidance means that the longitudinal and lateral guidance of the motor vehicle is automatically remotely controlled for a certain period of time under certain circumstances (e.g. driving on a motorway, driving in a parking lot, overtaking a collision object, driving in a lane defined by lane markings). The 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 when necessary. When necessary, a takeover request is automatically output to the driver in order for him to take over control of the longitudinal and lateral guidance, in particular with sufficient time margin. That is, the driver must potentially be able to take over control of the longitudinal and lateral guidance. The limits of the automatic remote control of the lateral and longitudinal guidance are automatically identified. In highly automated guidance, it is not possible to automatically achieve the state of minimum risk in every initial situation.

[0035] Fully automated guidance means that the longitudinal and lateral guidance of the motor vehicle is automatically remotely controlled in certain situations (e.g. driving on a motorway, driving in a parking lot, overtaking a collision object, driving in a lane defined by lane markings). The 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. Before the automatic remote control of the lateral and longitudinal guidance ends, a request is automatically made to the driver to take over the driving task (control of the lateral and longitudinal guidance of the motor vehicle), in particular with sufficient time margin. If the driver does not take over the driving task, the system automatically returns to the state with the lowest risk. The limits of the automatic control of the lateral and longitudinal guidance are automatically detected. In all situations, the system can automatically return to the state with the lowest risk.

[0036] According to one embodiment, the at least one safety condition is an element selected from the following group of safety conditions: at least a safety integrity level (English: "Safety Integrity Level" SIL or "Automotive Safety Integrity Level" ASIL) of the motor vehicle and a predetermined safety integrity level of an infrastructure for remotely controlling the motor vehicle, in particular including communication lines and / or communication components (such as communication interfaces), in particular with respect to a predetermined safety integrity level of the overall system in the motor vehicle and in the infrastructure and in particular predetermined safety integrity levels of individual parts such as components, algorithms, interfaces, etc.; a maximum waiting time for communication between the motor vehicle and a remote control device for remotely controlling the motor vehicle based on remote control signals; a predetermined computer protection level of a device for implementing the steps of the method according to the first aspect; predetermined components and / or algorithms and / or communication possibilities for implementing the steps of the method according to the first aspect; predetermined components and / or algorithms and / or communication possibilities for implementing the steps of the method according to the first aspect There is redundancy and / or diversity in terms of aspects; there is a predetermined availability statement which states the availability of predetermined components and / or algorithms and / or communication possibilities; there are predetermined quality standards for predetermined components and / or algorithms and / or communication possibilities; there is a plan, which includes measures for reducing faults and / or measures in the event of failure of predetermined components and / or algorithms and / or communication possibilities and / or measures for fault analysis and / or measures in the event of misinterpretation; there is one or more fallback scenarios; there are predetermined functions; there are predetermined traffic conditions; there is predetermined weather; the maximum possible time for executing or implementing one or more steps of the method according to the first aspect respectively; there is a check result that the elements or functions used to implement the method according to the first aspect are currently functioning without faults.

[0037] The communication line is, for example, a communication line between the device according to the second aspect and a motor vehicle. The communication line comprises, for example, one or more communication channels.

[0038] In one embodiment, the component for implementing the method according to the first aspect is an element selected from the following component group: an environmental sensor, a motor vehicle, an infrastructure, a remote control device, a device according to the second aspect, a motor vehicle system, in particular a drive system, a clutch system, a brake system, a driver assistance system, a communication interface of the motor vehicle or the infrastructure, a processor of the device according to the second aspect, an input end, and an output end.

[0039] In one embodiment, the functions for implementing the method according to the first aspect are elements selected from the following functional group: remote control functions, communication functions between a motor vehicle and an infrastructure or a remote control device, analysis and evaluation functions of environmental sensor data of environmental sensors, planning functions, in particular driving planning functions, and traffic analysis functions.

[0040] The computer protection level defines, in particular, the following: an activated firewall and / or a valid encryption certificate for encrypting communications between the motor vehicle and the infrastructure or the remote control and / or an activated anti-virus program with current virus signatures and / or the presence of protection for the computer, in particular a device according to the second aspect or the remote control, in particular mechanical protection, in particular anti-intrusion protection and / or the presence of the possibility to check whether signals, in particular remote control signals or ambient signals, have been transmitted correctly, i.e. without error.

[0041] The algorithm for example comprises a computer program according to the third aspect.

[0042] By checking, in particular, whether redundancy and / or diversity exists with respect to predetermined components and / or algorithms and / or communication options, the following technical advantage is achieved, for example: in the event of a failure of a corresponding component, such as a computer or a corresponding algorithm or a corresponding communication option, the safety function can nevertheless still be implemented.

[0043] In order to ensure that the result is correct, according to one embodiment, for example, the results can be calculated multiple times and the corresponding results can be compared with each other. For example, only when the results are consistent, it is determined that the result is correct. If the number of times is an odd number, it can be provided, for example, that the result that meets the same result the most times is determined to be correct.

[0044] Only when it can be determined that the result is correct is a data signal generated, for example.

[0045] In one specific embodiment, it is provided that the data signal is generated only when at least one safety condition is met.

[0046] According to one specific embodiment, it is provided that the surroundings signal is processed in order to detect a collision object, in particular another motor vehicle, which is located within a predetermined distance behind a tunnel entrance or tunnel exit with respect to the direction of travel of the motor vehicle.

[0047] This achieves, for example, the technical advantage that corresponding collision objects can be detected efficiently.

[0048] In one specific embodiment, it is provided that the data, in connection with the detection of the respective collision object, in particular the other motor vehicle, include information about whether the respective collision object, in particular the other motor vehicle, has been detected or has not been detected.

[0049] This achieves the following technical advantage, for example: the motor vehicle can be effectively informed whether there is a collision object, in particular another motor vehicle, behind the tunnel entrance or tunnel exit. This means in particular that the motor vehicle can be informed whether the tunnel entrance or tunnel exit is free. Thus, the information can in particular include a release for entering the tunnel or for exiting the tunnel if no corresponding collision object is detected.

[0050] Often, the surroundings sensors of a motor vehicle may have the problem of detecting a collision object, in particular another motor vehicle, directly behind a tunnel entrance or tunnel exit. This is caused in particular by, for example, sudden changes in light conditions from light to dark and vice versa. In such situations, the motor vehicle can therefore be effectively assisted by being informed accordingly whether the tunnel entrance or tunnel exit is free or not free.

[0051] In one specific embodiment, it is provided that, when a corresponding collision object is detected, the travel specification includes a stop, in particular an emergency stop, in particular emergency braking.

[0052] As a result, for example, the following technical advantages are achieved: the risk of a collision can be effectively reduced, or even if a collision should have occurred, the severity of an accident can be effectively reduced.

[0053] In one embodiment, it is provided that, after a data signal is output, wherein the data includes a driving preset according to which the motor vehicle should travel, wherein the driving preset includes a remote control instruction for remotely controlling a lateral guidance and / or a longitudinal guidance of the motor vehicle, the remote control of the motor vehicle is checked based on the remote control instruction in order to detect a fault, wherein, if a fault is detected, the remote control is interrupted or an emergency remote control signal is generated and output for remotely controlling the lateral guidance and / or longitudinal guidance of the motor vehicle in an emergency.

[0054] The emergency remote control signal is, for example, such that, when the transverse and / or longitudinal guidance of the motor vehicle is remotely controlled based on the emergency remote control signal, the motor vehicle is transferred into a safe state, in particular is brought to a standstill.

[0055] In one embodiment, it is provided that, after a data signal is output, wherein the data includes a driving preset according to which the motor vehicle should travel, wherein the driving preset includes a remote control instruction for remotely controlling a lateral guidance and / or a longitudinal guidance of the motor vehicle, the remote control of the motor vehicle is checked based on the remote control instruction in order to detect a fault, wherein, if a fault is detected, the remote control is interrupted or an emergency control signal inside the motor vehicle is generated and output for controlling the lateral guidance and / or longitudinal guidance of the motor vehicle in an emergency.

[0056] The emergency control signal inside the motor vehicle is, for example, such that the motor vehicle is transferred into a safe state, in particular brought to a standstill, when the transverse and / or longitudinal guidance of the motor vehicle is controlled based on the emergency control signal inside the motor vehicle.

[0057] Therefore, a motor vehicle-internal emergency control signal is an emergency control signal generated by the motor vehicle itself or an emergency control signal generated in the motor vehicle.

[0058] This achieves the technical advantage that, for example, even in the event of a failure of communication between the motor vehicle and the device according to the second aspect or a remote control for remotely controlling the motor vehicle, which corresponds to an emergency situation, the motor vehicle can be automatically transferred to a safe state.

[0059] The statements made in connection with remote control commands or emergency control signals within the motor vehicle apply analogously to emergency remote control signals and vice versa.

[0060] According to one specific embodiment, it is provided that, in addition to the step of generating the data signal and the step of outputting the data signal, one or more method steps are carried out inside the motor vehicle and / or that one or more method steps are carried out outside the motor vehicle, in particular in an infrastructure, preferably in a cloud infrastructure and / or in a tunnel infrastructure.

[0061] This achieves, for example, the technical advantage that the corresponding method steps can be carried out in an effectively redundant manner. This can, in particular, further increase safety in an advantageous manner.

[0062] According to one specific embodiment, it is provided that one or more method steps are documented, in particular in a blockchain.

[0063] This achieves, for example, the following technical advantage: After the method has been executed or carried out, the method can also be subsequently analyzed based on the record. The record in the blockchain has the following technical advantage in particular: the record is tamper-proof and forgery-proof.

[0064] A blockchain (English: Block Chain, German: Blockkette) is in particular a list of continuously expandable data sets (called "blocks"), which are linked to one another by means of one or more cryptographic methods. In this case, each block contains in particular a cryptographically secure hash value (distributed value), in particular a timestamp and in particular a transaction date.

[0065] Exemplary application scenarios may include, for example, one or more of the following embodiments, features, or examples:

[0066] In one specific embodiment, it is determined that the motor vehicle is driving into a tunnel.

[0067] For example, an information signal is received, which represents information that the motor vehicle is approaching a tunnel. For example, the information signal is sent by the motor vehicle. Based on the information signal, for example, it is determined that the motor vehicle is approaching a tunnel. For example, the motor vehicle sends a signal and is detected thereby. This means in particular that the motor vehicle can send a signal, for example a position signal. For example, it is provided that, in response to such a signal, it is determined that the motor vehicle is approaching a tunnel.

[0068] For example, the surroundings signal is processed, in particular with the aid of the tunnel infrastructure, in order to detect a motor vehicle approaching the tunnel. The motor vehicle can be detected, for example, by its number plate. The processing of the surroundings signal includes, in particular, sign recognition.

[0069] For example, the motor vehicle is connected to the tunnel infrastructure by means of communication technology or is (automatically) connected to the tunnel infrastructure ahead of the tunnel (particularly automatically) by means of communication technology.

[0070] The tunnel infrastructure comprises, for example, the device according to the second aspect. The tunnel infrastructure comprises, for example, one or more spatially distributed environmental sensors for monitoring the tunnel and / or the tunnel entrance and / or the tunnel exit and / or the surroundings of the tunnel.

[0071] For example, tunnel conditions and / or motor vehicles and / or the position of motor vehicles are analyzed, in particular with the aid of the tunnel infrastructure.

[0072] For example, positioning a motor vehicle.

[0073] The motor vehicle data are transmitted by the motor vehicle, for example automatically / for example based on a query. The motor vehicle data include, for example, position data, in particular GPS data and / or motor vehicle speed data.

[0074] The tunnel infrastructure detects motor vehicles, for example, by means of visual infrastructure sensors, ie, environment sensors, such as video sensors.

[0075] For example, a motor vehicle sends its travel route to the device according to the second aspect.

[0076] For example, a driving route signal is received, which represents a driving route of the motor vehicle. The driving route includes, for example, the speed of the motor vehicle along the driving route.

[0077] For example, the traffic situation is analyzed, in particular with the aid of the tunnel infrastructure, in particular with the aid of the device according to the second aspect.

[0078] The analysis of the traffic situation includes, for example, processing vehicle data transmitted by other vehicles and / or processing, for example visually evaluating, environmental sensor data from environmental sensors of the tunnel infrastructure.

[0079] In one specific embodiment, data suitable for assisted navigation of a motor vehicle through a tunnel are ascertained.

[0080] In one specific embodiment, the data include a driving specification. In particular, the driving specification includes remote control instructions for remotely controlling a transverse guidance and / or a longitudinal guidance of the motor vehicle.

[0081] The travel presetting includes a tunnel travel route through the tunnel. In particular, the travel presetting includes a speed variation curve along the tunnel travel route.

[0082] The data are transmitted to the motor vehicle, for example, via a wireless communication network.

[0083] The method according to the first aspect is carried out, for example, during driving of the motor vehicle, ie, without the motor vehicle coming to a stop, for example, the guidance of the motor vehicle is handed over from the motor vehicle or from the driver to the tunnel infrastructure.

[0084] According to one embodiment, if a hazard is ascertained, for example, during the execution of the method according to the first aspect, at least one of the following actions is triggered or at least one of the following steps is executed:

[0085] The motor vehicle is stopped for safety reasons and a solution is sought in particular immediately afterwards.

[0086] For example, other traffic participants in the vehicle environment, in particular vehicles, are informed of the danger. Such notification is implemented, for example, via a vehicle-to-infrastructure (V2I) communication system. The notification is implemented, for example, by an information system external to the vehicle, such as a sign and / or an audio system.

[0087] For example, a traffic guidance system comprising, for example, traffic devices, in particular light signaling devices and / or display systems, is used, ie controlled, in order to assist a motor vehicle when it is traveling through a tunnel.

[0088] The method steps are preferably documented in a forgery-proof and traceable manner, in particular in a blockchain.

[0089] In one specific embodiment, the movement of the motor vehicle through the tunnel is assisted by persons contained within the tunnel infrastructure.

[0090] According to one embodiment, it is provided that the method according to the first aspect is a computer-implemented method.

[0091] According to one specific embodiment, it is provided that the method according to the first aspect is carried out or executed by means of a device according to the second aspect.

[0092] Device features are derived analogously from corresponding method features and vice versa. This means in particular that the technical functions of the device according to the second aspect are derived analogously from the corresponding technical functionality of the method according to the first aspect and vice versa.

[0093] The expression "at least one" particularly means "one or more".

[0094] The expression "also" means in particular "and / or".

[0095] The terms “lane” and “driving lane” may be used synonymously. BRIEF DESCRIPTION OF THE DRAWINGS

[0096] Exemplary embodiments of the invention are shown in the drawings and explained in detail in the following description. The drawings show:

[0097] Figure 1 According to the flowchart of the method of the first aspect,

[0098] Figure 2 According to the device of the second aspect,

[0099] Figure 3 a machine-readable storage medium, and

[0100] Figure 4 tunnel. DETAILED DESCRIPTION

[0101] Figure 1 A flow chart of a method for assisting an at least partially automatically guided motor vehicle in passing through a tunnel or in passing through a tunnel is shown, the method comprising the following steps:

[0102] receiving 101 a surroundings signal representing a surrounding of the motor vehicle, which at least partially contains a tunnel,

[0103] receiving 103 a safety condition signal representing at least one safety condition which must be met in order to allow assistance to be provided from outside the motor vehicle when traversing the tunnel,

[0104] Check 105 whether at least one safety condition is met,

[0105] Based on the surroundings signal and on the result of whether the at least one safety condition is satisfied, a data signal is generated 107 , which represents data suitable for the motor vehicle to navigate the tunnel in an assisted manner,

[0106] The data signal generated by the output 109 is output.

[0107] According to one specific embodiment, the data include a driving specification according to which the motor vehicle is to be driven.

[0108] According to one specific embodiment, the driving specification includes remote control commands for remotely controlling the transverse guidance and / or longitudinal guidance of the motor vehicle.

[0109] According to one specific embodiment, the method according to the first aspect comprises remotely controlling the transverse guidance and / or longitudinal guidance of the motor vehicle based on the remote control commands.

[0110] According to one specific embodiment, the result of whether the at least one safety condition is met indicates whether the at least one safety condition is met or not met.

[0111] An embodiment is provided in which the data signal is generated only when the result of the determination of whether at least one safety condition is met indicates that the at least one safety condition is met.

[0112] If at least one safety condition, such as a setting, is not met, the generation of the data signal is aborted.

[0113] For example, it is provided that the travel presetting includes remote control instructions for remotely controlling the transverse guidance and / or longitudinal guidance of the motor vehicle only if the result of whether at least one safety condition is satisfied indicates that the at least one safety condition is satisfied. Otherwise, it is provided, for example, that the travel presetting does not include remote control instructions for remotely controlling the transverse guidance and / or longitudinal guidance of the motor vehicle.

[0114] This means, in particular, that remote control of the transverse and / or longitudinal guidance of the motor vehicle is abandoned if at least one safety condition is not met.

[0115] In one specific embodiment (not shown), it is provided that the tunnel infrastructure sends data signals and / or in particular surrounding signals and / or in particular safety condition signals to the motor vehicle. The motor vehicle, for example, automatically evaluates the data or surrounding signals or safety condition signals and, for example, automatically determines the necessary or required driving instructions for traversing the tunnel and, for example, continues driving in an at least partially automated manner (in particular temporarily) based on the necessary driving instructions.

[0116] Figure 2 Device 201 is shown.

[0117] The device 201 is configured to carry out all steps of the method according to the first aspect.

[0118] The device 201 comprises an input terminal 203, which is configured to receive an ambient environment signal and a safety condition signal.

[0119] The device 201 further comprises a processor 205 which is configured to carry out the step of checking and the step of generating.

[0120] For example, the processor 205 is configured to determine, based on the surroundings signal, that the motor vehicle wants to travel through a tunnel.

[0121] The device 201 further comprises an output terminal 207, which is configured to output the generated data signal.

[0122] For example, according to one specific embodiment, outputting the generated data signal comprises sending the data signal to the motor vehicle via a communication network, in particular via a wireless communication network.

[0123] Processor 205 is configured, for example, to process the surroundings signal in order to detect a motor vehicle in the surroundings of a tunnel. Processor 205 is configured, for example, to determine, upon detecting a motor vehicle in the surroundings of a tunnel, that the motor vehicle wants to travel through the tunnel.

[0124] In general, those signals which are received are received by means of the input 203. That is, the input 203 is provided in particular for receiving the corresponding signals.

[0125] In general, those signals that are output are output by means of the output 207. That is, the output 207 is provided in particular for outputting the corresponding signals.

[0126] According to one specific embodiment, a plurality of processors are provided instead of the one processor 205 .

[0127] According to one specific embodiment, it is provided that processor 205 is configured to carry out the generating step and / or the checking step and / or the determining step described above and / or below.

[0128] According to one specific embodiment, the device 201 is part of an infrastructure, in particular a cloud infrastructure, for example a part of a tunnel infrastructure.

[0129] Figure 3 A machine-readable storage medium 301 is shown.

[0130] On a machine-readable storage medium 301 there is stored a computer program 303 , which comprises instructions which, when executed by a computer, arrange the computer to carry out the method according to the first aspect.

[0131] According to one embodiment, the device 201 comprises a remote control device, which is configured to remotely control the transverse guidance and / or longitudinal guidance of the motor vehicle based on the remote control command. This means in particular that the remote control device is configured to remotely control the motor vehicle based on the remote control command, i.e. to remotely control the transverse guidance and / or longitudinal guidance of the motor vehicle based on the remote control command.

[0132] Figure 4 Tunnel 401 is shown.

[0133] A first motor vehicle 403 and a second motor vehicle 405 want to drive through tunnel 401 in an at least partially automated and guided manner.

[0134] In an embodiment (not shown), it may be provided that, for example, one of motor vehicles 403 , 405 drives through tunnel 401 while being manually guided by the driver.

[0135] The direction of travel of first motor vehicle 403 is symbolically indicated by means of an arrow with reference numeral 407 .

[0136] The direction of travel of second motor vehicle 405 is symbolically indicated by means of an arrow with reference numeral 409 .

[0137] With respect to driving directions 407 , 409 , tunnel 401 comprises a tunnel entrance or tunnel entrance 411 and a tunnel exit or tunnel exit 413 .

[0138] Tunnel 401 includes tunnel infrastructure 415 .

[0139] Tunnel infrastructure 415 includes a plurality of video cameras 417 , each of which includes a video sensor (not shown), which monitor the interior of tunnel 401 , tunnel exit 413 , and tunnel entrance 411 .

[0140] In one specific embodiment (not shown), for example, further surroundings sensors are provided instead of or in addition to the video sensor of video camera 417 .

[0141] Generally, the environment sensor in the sense of the present description is one of the following environment sensors: a radar sensor, a lidar sensor, an ultrasonic sensor, a magnetic field sensor, an infrared sensor and a video sensor, in particular a video sensor of a video camera.

[0142] Tunnel infrastructure 415 includes two light signal systems 419 which regulate traffic at tunnel entrance 411 .

[0143] The tunnel infrastructure 415 further includes Figure 2 Device 201.

[0144] Tunnel infrastructure 415 further includes a wireless first communication interface 421 , which is arranged in front of tunnel entrance 411 in driving directions 407 , 409 .

[0145] The tunnel infrastructure 415 further comprises a wireless second communication interface 423 which is arranged within the tunnel 401 , ie in the interior of the tunnel 401 .

[0146] Tunnel infrastructure 415 includes a wireless third communication interface 425 which is arranged behind tunnel exit 413 in driving directions 407 , 409 .

[0147] Furthermore, the tunnel infrastructure 415 comprises a cloud infrastructure 429. In an embodiment not shown, it is provided that the device 201 is part of the cloud infrastructure 429.

[0148] The method steps of the method according to the first aspect may be implemented in a cloud infrastructure 429 , for example.

[0149] For example, a video signal from a video camera 417 is provided to the device 201 .

[0150] These video signals are, for example, examples for ambient signals.

[0151] Alternatively, these video signals may be contained within the context of the present description by ambient signals.

[0152] For example, it is provided that, for motor vehicles 403 , 405 , remote control commands are generated based on the video signals for remotely controlling the corresponding transverse and / or longitudinal guidance of these motor vehicles.

[0153] These remote control commands are sent to motor vehicles 403 , 405 , for example, by means of wireless communication interfaces 421 , 423 , 425 via a wireless communication network.

[0154] For example, in one specific embodiment, it is provided that the data determined by means of processor 205 include signal image data which represent a signal image of optical signal device 419 .

[0155] This means in particular that the signal image of light signal device 419 can be transmitted to both motor vehicles 403 , 405 via a wireless communication network.

[0156] In this case, for example, the following technical advantage is achieved: motor vehicles 403 , 405 can efficiently gain knowledge of the signal image of light signal device 419 .

[0157] For example, it is provided that, if a collision object is detected in tunnel 401 , light signaling device 419 is controlled based on the processing of the video signal in such a way that it outputs an optically red signal in order to optically signal to both motor vehicles 403 , 405 that they must stop.

[0158] As a result, for example, a collision with a collision object can be effectively prevented in an advantageous manner.

[0159] A prerequisite for generating a data signal according to the method according to the first aspect is, in particular, that at least one safety condition is met.

[0160] For example, for remote control of motor vehicles 403 , 405 , provision must be made that the waiting time for transmitting remote control commands via the wireless communication network by means of wireless communication interfaces 421 , 423 , 425 is less than or equal to a predetermined waiting time threshold.

[0161] For example, a motor vehicle that is allowed to be remotely controlled based on a remote control command must have a predetermined safety integrity level.

[0162] According to one embodiment, a prerequisite for remotely controlling the lateral guidance and / or longitudinal guidance of a motor vehicle, i.e., in particular, a prerequisite for remotely controlling the lateral guidance and / or longitudinal guidance of motor vehicles 403, 405, is that the remote control is safe. In the sense of this description, "safe" means in particular safe and secure. Although these two English concepts are usually translated as safe, they have partially different meanings in English.

[0163] The term “safe” refers in particular to the subject of accidents and accident avoidance. “Safe” remote control makes it possible in particular that the probability of an accident or a collision is less than or equal to a predetermined probability threshold value.

[0164] The term “secure” relates in particular to the subject of computer protection or protection against hackers, i.e. how securely a (computer) infrastructure and / or a communication infrastructure, in particular a communication line between a motor vehicle and a remote control device for remotely controlling the motor vehicle, is protected against unauthorized access by third parties (“hackers”) or against data manipulation.

[0165] This means that a “secure” remote control is based in particular on appropriate and adequate computer protection or protection against hackers.

[0166] For example, according to one specific embodiment, it is checked whether the entirety of the motor vehicle and the infrastructure involved in the method according to the first aspect, including the communication between the infrastructure and the motor vehicle, is currently safe for the scenario described here "for critical action: application case tunnel intervention motor vehicle". This means, in particular, that the motor vehicle and / or the local infrastructure and / or the global infrastructure and / or the communication are checked accordingly. In particular, a data signal, in particular a remote control signal, is generated based on the result of this check.

[0167] This means in particular that before an intervention in the driving operation is carried out, ie before the motor vehicle is remotely controlled, the components used when carrying out the method according to the first aspect are tested for safety, ie whether they meet certain safety conditions.

[0168] Important or relevant criteria are, for example, one or more of the safety conditions described above.

[0169] According to one specific embodiment, it is provided that, on the one hand, the entire system (motor vehicle, infrastructure, communication line, cloud . . . ) is checked with respect to safety conditions.

[0170] According to one specific embodiment, it is provided that the individual components are also checked with respect to whether safety conditions are met. This is done in particular before the remote control of the motor vehicle.

[0171] In this context, in one specific embodiment, one or more testing steps are carried out inside the motor vehicle and / or outside the motor vehicle, in particular in an infrastructure, for example a tunnel infrastructure.

[0172] According to one embodiment, it is provided that the one or more test steps are checked subsequently, ie at a later time, for example regularly. For example, the one or more test steps are checked subsequently at a predetermined frequency, for example every 100 ms.

[0173] According to one embodiment, for example, such a check, ie a check whether at least one safety condition is satisfied, is performed before and / or after and / or during one or more predetermined method steps. According to one embodiment, the check is performed or carried out in the event of a problem.

Claims

1. A method for assisting at least partially automated guided vehicle (403, 405) through a tunnel, the method comprising the following steps: receiving an environment signal representing an environment of the motor vehicle (403, 405) at least partially including a tunnel (401), receiving a safety condition signal, the safety condition signal representing at least one safety condition that must be satisfied to allow the vehicle (403, 405) to be assisted from outside the vehicle while traversing the tunnel, checking whether the at least one safety condition is satisfied, generating a data signal based on the surroundings signal and on the result of whether the at least one safety condition is satisfied, the data signal representing data suitable for enabling the motor vehicle (403, 405) to navigate the tunnel (401) in an assisted manner, Output the generated data signal, The data include driving specifications according to which the motor vehicle (403, 405) is to travel, wherein the driving specifications include remote control instructions for remotely controlling transverse guidance and / or longitudinal guidance of the motor vehicle (403, 405).

2. The method according to claim 1, wherein: The at least one safety condition is respectively an element selected from the following group of safety conditions: the existence of a predetermined safety integrity level of the motor vehicle (403, 405) and a predetermined safety integrity level of an infrastructure for remotely controlling the motor vehicle (403, 405); There is a maximum latency for communication between the motor vehicle (403, 405) and a remote control device for remotely controlling the motor vehicle (403, 405) based on the remote control signal; The existence of a predetermined computer protection level for a device for carrying out the steps of the method; the existence of predetermined components and / or algorithms and / or communication possibilities for carrying out the steps of the method; the existence of redundancy and / or diversity in the predetermined components and / or algorithms and / or communication possibilities for carrying out the steps of the method; the existence of a predetermined availability statement which states the availability of the predetermined components and / or algorithms and / or communication possibilities; There are predetermined quality standards for predetermined components and / or algorithms and / or communication options; there is a plan which includes measures for reducing errors and / or measures in the event of failure of predetermined components and / or algorithms and / or communication options and / or measures for error analysis and / or measures in the event of misinterpretation; One or more fallback scenarios exist; a predetermined function exists; a predetermined traffic condition exists; There is predetermined weather; the maximum possible time for executing or carrying out, respectively, one or more steps of the method; The result of the check is that an element or a function for carrying out the method is currently functioning without error.

3. The method according to claim 1 or 2, wherein: The surroundings signal is processed in order to detect a collision object which is located within a predetermined distance behind a tunnel entrance (411) or behind a tunnel exit (413) with respect to a direction of travel (407, 409) of the motor vehicle (403, 405), wherein the data related to the detection of the respective collision object include information about whether the respective collision object has been detected or has not been detected.

4. The method according to claim 1 or 2, wherein: The surroundings signal is processed in order to detect a collision object which is located within a predetermined distance behind a tunnel entrance (411) or behind a tunnel exit (413) with respect to a driving direction (407, 409) of the motor vehicle (403, 405), wherein the driving specification includes stopping when a corresponding collision object is detected.

5. The method according to claim 2, wherein: The infrastructure includes communication lines and / or communication components.

6. The method according to claim 2, wherein: The safety integrity level is a predetermined safety integrity level of the entire system and individual parts in the motor vehicle (403, 405) and in the infrastructure.

7. The method according to claim 6, wherein: The various parts include components, algorithms, and interfaces.

8. The method according to claim 3, wherein: The collision object is another motor vehicle.

9. The method according to claim 4, wherein: The collision object is another motor vehicle.

10. The method according to claim 4, wherein: The stop is an emergency stop.

11. The method according to claim 10, wherein: The emergency stop is emergency braking.

12. A device (201) configured to carry out all steps of the method according to any one of claims 1 to 11.

13. A machine-readable storage medium (301) on which a computer program (303) is stored, the computer program comprising instructions which, when the computer program (303) is executed by a computer, arrange the computer to implement the method according to any one of claims 1 to 11.

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