Method for at least partially automated guidance of a motor vehicle

Abstract

The invention relates to a method for at least partially automatically guiding a motor vehicle, the method comprising the following steps: - receiving an inquiry signal, the inquiry signal representing an inquiry of the motor vehicle: the motor vehicle should be remotely controlled in order to at least partially automatically guide the motor vehicle remotely; - checking in response to the receipt of the inquiry signal whether the inquiry can be met; - if so, generating a remote control signal for at least partially automatically controlling the lateral guidance and the longitudinal guidance of the motor vehicle remotely; and - outputting the generated remote control signal in order to at least partially automatically guide the motor vehicle remotely based on the generated remote control signal.

Description

Technical Field

[0001] The invention relates to two methods for at least partially automated guidance of a motor vehicle. The invention further relates to a device, a computer program and a machine-readable storage medium. Background Art

[0002] Publication DE 10 2013 016 436 A1 discloses a method for operating a safety system of a motor vehicle.

[0003] Publication DE 10 2016 218 382 A1 discloses a method and a device for autonomous driving operation of a vehicle in an emergency mode.

[0004] Publication DE 10 2017 200 871 A1 discloses a cooperative vehicle control.

[0005] Publication EP 2 216 197 A1 discloses a method for controlling a driver assistance system and a driver assistance system. Summary of the invention

[0006] The object underlying the present invention is to provide a concept for the efficient, at least partially automated guidance of a motor vehicle.

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

[0008] According to a first aspect, a method for at least partially automated guidance of a motor vehicle is proposed, the method comprising the following steps:

[0009] - receiving a request signal, which represents a request from the motor vehicle that the motor vehicle is to be remotely controlled in order to remotely guide the motor vehicle at least partially automatically;

[0010] - checking, in response to receipt of the interrogation signal, whether the interrogation can be complied with,

[0011] If yes, a remote control signal is generated for at least partially automated remote control of the transverse and longitudinal guidance of the motor vehicle and the generated remote control signal is output in order to at least partially automatically remotely guide the motor vehicle based on the generated remote control signal.

[0012] According to a second aspect, a method for at least partially automated guidance of a motor vehicle is proposed, the method comprising the following steps:

[0013] - during the at least partially automated remote-controlled transverse and longitudinal guidance of the motor vehicle, for the at least partially automated remote guidance of the motor vehicle, receiving a query signal representing a query to the remote-controlled motor vehicle and / or to a person who is guiding the remote-controlled motor vehicle, that the at least partially automated remote guidance is to be handed back to the motor vehicle or to the person who is guiding;

[0014] - checking, in response to receipt of the interrogation signal, whether the interrogation can be complied with;

[0015] If yes, a control signal is generated for at least partially automatically controlling the transverse and longitudinal guidance of the motor vehicle and the generated control signal is output in order to at least partially automatically guide the motor vehicle based on the generated control signal.

[0016] According to a third aspect, a device is proposed, which is configured to carry out all steps of the method according to the first aspect and / or the method according to the second aspect.

[0017] According to a fourth aspect, a computer program is proposed, which comprises instructions which, when executed by a computer, for example by a device according to the third aspect, arrange the computer to implement the method according to the first aspect and / or the method according to the second aspect.

[0018] According to a fifth aspect, there is provided a machine-readable storage medium on which is stored the computer program according to the fourth aspect.

[0019] The invention is based on the recognition that the aforementioned object can be achieved by checking before remotely controlling the motor vehicle whether the motor vehicle can be completely remotely controlled or, in the case of remote control, before handing over at least partially automated guidance to the motor vehicle, checking whether the motor vehicle is ready to take over the guidance or whether the driver is ready to monitor the handover, for example.

[0020] This results in, for example, the technical advantage that the motor vehicle can be guided efficiently and at least partially automatically.

[0021] In particular, the solution described here leads to the following technical advantages, namely the following scenarios can be efficiently handled:

[0022] There are situations that are difficult or even impossible to guide a motor vehicle at least partially automatically. Such situations may be, for example, intersection situations, which are generally complex situations, for example because the course of the intersecting roads at the intersection cannot be seen by the surrounding sensor system of the motor vehicle.

[0023] Such conditions include, for example, hills, since here too the course of the road behind the hill can hardly or not be detected by sensors.

[0024] Such situations include, for example, where people gather, such as at a bus stop.

[0025] If the motor vehicle continues to be guided at least partially automatically in this situation, the risk of a malfunction and thus also the danger of an accident may increase.

[0026] The solution described here now enables situations in which a motor vehicle is remotely controlled, making it possible to effectively accomplish situations that are difficult or even impossible for the motor vehicle itself to accomplish.

[0027] This results in the technical advantage that the risk of malfunctions and thus the danger of accidents can be effectively reduced.

[0028] In summary, the technical advantage thus results, inter alia, in that a concept for efficient, at least partially automated guidance of a motor vehicle is provided.

[0029] The expression “at least partially automatically controlled or guided” includes the following situations: partially automated control or guidance, highly automated control or guidance, fully automated control or guidance, control or guidance without a driver, and remote control of the motor vehicle.

[0030] "Partially automated control or guidance" means that the longitudinal and lateral guidance of the motor vehicle is automatically controlled in certain application situations (e.g. driving on a motorway, driving in a parking lot, overtaking an 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. However, the driver must constantly monitor the automatic control of the longitudinal and lateral guidance in order to be able to intervene manually if necessary.

[0031] “Highly automated control or guidance” means that the longitudinal guidance and lateral guidance of the motor vehicle is automatically controlled in certain application situations (e.g. driving on a motorway, driving in a parking lot, overtaking an object, driving in a lane defined by lane markings). The driver of the motor vehicle does not have to manually control the longitudinal guidance and lateral guidance of the motor vehicle himself. The driver does not have to constantly monitor the automatic control of the longitudinal guidance and lateral guidance in order to be able to intervene manually if necessary. If necessary, a takeover request is automatically output to the driver to take over the control of the longitudinal guidance and lateral guidance. The driver must therefore potentially be able to take over the control of the longitudinal guidance and lateral guidance.

[0032] "Fully automated control or guidance" means that in certain application cases (e.g. driving on a motorway, driving in a parking lot, overtaking an object, driving in a lane defined by lane markings), the longitudinal and lateral guidance of the motor vehicle is automatically controlled. 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 control of the longitudinal and lateral guidance in order to be able to intervene manually if necessary. A driver is not required in certain application cases.

[0033] "Driverless control or guidance" means that the longitudinal and lateral guidance of the motor vehicle is automatically controlled independently of the specific application (e.g. driving on the motorway, driving in a parking lot, overtaking an 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 control of the longitudinal and lateral guidance in order to be able to intervene manually if necessary. Thus, for example, the longitudinal and lateral guidance of the vehicle is automatically controlled under all road types, speed ranges and environmental conditions. Thus, all driving tasks of the driver are automatically taken over. Therefore, a driver is no longer required. Thus, the motor vehicle can also be driven from any starting position to any target position without a driver. Potential problems are solved automatically, i.e. without the help of the driver.

[0034] “Remote control of a motor vehicle” means remotely controlling the transverse and longitudinal guidance of the motor vehicle. This means, for example, that remote control signals for remotely controlling the transverse and longitudinal guidance are sent to the motor vehicle. The remote control is carried out, for example, by means of a remote control device.

[0035] In one specific embodiment, it is provided that the remote control of the motor vehicle is initiated while the motor vehicle is in motion or while the motor vehicle is stationary.

[0036] In one specific embodiment, it is provided that the remote control of the motor vehicle is terminated while the motor vehicle is in motion or while the motor vehicle is stationary.

[0037] In one specific embodiment, it is provided that a warning signal is output which represents a warning that a remote, at least partially automated control of the motor vehicle is possible or is predetermined, for example, by the legislator or on the basis of legal regulations.

[0038] This results in the technical advantage that the motor vehicle can receive valid knowledge that at least partially automated remote guidance of the motor vehicle is possible or predefined.

[0039] According to one embodiment, the query includes a starting position or a starting area, at which the remote control of the motor vehicle is to be started when the motor vehicle is at the starting position or in the starting area, wherein, if the query can be met, the remote control signal is generated and output in such a way that the remote control can be started when the motor vehicle is at the starting position or in the starting area.

[0040] This results in, for example, the technical advantage that remote control of a motor vehicle can be started efficiently. In particular, this results in the technical advantage that it is already known in advance where remote control of a motor vehicle is to be started. This makes it possible, for example, to carry out the planning required for this efficiently.

[0041] According to one embodiment, the inquiry includes an end position or an end area, at which the remote control of the motor vehicle is to be terminated, when the motor vehicle is located at the end position or in the end area, wherein, if the inquiry can be met, a remote control signal is generated and output in such a way that the remote control can be terminated when the motor vehicle is located at the end position or in the end area.

[0042] This results in, for example, the technical advantage that it is already known in advance where the remote control of the motor vehicle is to be stopped. This makes it possible, for example, to carry out corresponding planning efficiently in an advantageous manner.

[0043] According to one specific embodiment, it is provided that the query includes a start time at which remote control of the motor vehicle is to begin, wherein if the query can be met, the remote control signal is generated and output in such a way that remote control can begin at the start time.

[0044] This results in, for example, the technical advantage that remote control can be carried out efficiently.

[0045] According to one specific embodiment, it is provided that the query includes an end time at which the remote control is to be terminated, wherein if the query can be met, the remote control signal is generated and output in such a way that the remote control can be terminated at the end time.

[0046] This results in, for example, the following technical advantages: remote control can be effectively performed.

[0047] The starting position or starting area and the end position or end area are, for example, two adjacent positions or two adjacent areas along the route of the motor vehicle.

[0048] The route is provided, for example, by means of a navigation system.

[0049] This means, for example, that the inquiry includes that the motor vehicle is to be remotely controlled over a predetermined section of the route of the motor vehicle. The predetermined section is defined by a starting position or starting area and an end position or end area.

[0050] The above-mentioned start time or end time may be, for example, a predicted start time or a predicted end time.

[0051] The predicted start time indicates the time at which the motor vehicle will arrive at the start position or the start area with a predetermined probability.

[0052] This also applies to the predicted end time, which indicates the time at which the motor vehicle will reach the end position or the destination area with a predetermined probability.

[0053] This means, for example, that the movement of the motor vehicle is predicted in order to predict a start time or an end time.

[0054] According to one embodiment, it is provided that before the remote control of the motor vehicle is terminated, a further inquiry signal is generated and output, which represents a further inquiry to the motor vehicle and / or the guide of the motor vehicle, that is, at least partially automated remote guidance is to be returned to the motor vehicle or to the guide, wherein the remote control of the motor vehicle is terminated depending on a response to the further inquiry.

[0055] This, for example, results in the following technical advantage, namely the remote control can be effectively terminated. In particular, this results in the following technical advantage, namely the motor vehicle or the driver of the motor vehicle can effectively know that the remote control has been terminated in a timely manner.

[0056] According to one embodiment, in the absence of a response from the motor vehicle and / or the guide to further inquiries, the generation of the remote control signal includes generating a remote control signal for remotely controlling the transition of the motor vehicle to a safe state, so as to remotely control the transition of the motor vehicle to a safe state based on the generated remote control signal.

[0057] This results in, for example, the technical advantage that a lack of response by the motor vehicle and / or the driver of the motor vehicle can be effectively responded to.

[0058] According to another embodiment, it is provided that in the absence of a response by the motor vehicle and / or the guide to a further inquiry, a light signal device control signal for controlling one or more light signal devices located in the surroundings of the motor vehicle is generated and output in such a way that when one or more light signal devices are controlled based on the light signal control signal, these light signal devices can block traffic of the motor vehicle while using their signal images.

[0059] This results in, for example, the technical advantage that a lack of response by the motor vehicle and / or the driver of the motor vehicle can be effectively responded to.

[0060] According to one specific embodiment, it is provided that checking whether the query can be met includes checking whether one or more conditions are fulfilled, wherein the query is only fulfilled if one or more or all of the one or more conditions are met.

[0061] This results in, for example, the technical advantage that the check can be carried out efficiently. In particular, it is thus possible to efficiently determine under which conditions remote control of the motor vehicle is permitted.

[0062] According to one embodiment, one or more conditions are elements selected from the following group of conditions: the device for at least partially automatically guiding the motor vehicle and implementing the steps of the method for at least partially automatically guiding the motor vehicle is in operation and fully functional, the actual weather is equivalent to the expected weather, the actual traffic conditions in the surroundings of the motor vehicle are equivalent to the expected traffic conditions, the actual traffic infrastructure in the surroundings of the motor vehicle is equivalent to the expected traffic infrastructure, the computing power of the device for at least partially automatically guiding the motor vehicle is equal to or greater than a predetermined computing power threshold, the device for at least partially automatically guiding the motor vehicle can remotely control the inquiring motor vehicle, the inquiring motor vehicle can be remotely controlled, the necessary conditions for the remote control to function in accordance with the regulations are met, and the paid remote control is implemented.

[0063] This results in, for example, the following technical advantages: it is possible to respond effectively to different situations.

[0064] According to one embodiment, it is provided that the interrogation signal in the method according to the second aspect is a further interrogation signal which can be provided in an embodiment of the method according to the first aspect.

[0065] The technical functions of the device follow analogously from the corresponding functions of the method and vice versa.

[0066] In one embodiment of the method according to the second aspect, it is provided that a check is made as to whether the query can be met, a check comprising whether one or more conditions are met, wherein the query is met only if one or more or all of the one or more conditions are met.

[0067] In one embodiment of the method according to the second aspect, it is provided that one or more conditions are respectively elements selected from the following group of conditions: equipment inside the motor vehicle for at least partially automatically guiding the motor vehicle, capable of implementing the steps of the method for at least partially automatically guiding the motor vehicle, is in operation and fully functional, the actual weather corresponds to the expected weather, the actual traffic conditions in the surroundings of the motor vehicle correspond to the expected traffic conditions, the actual traffic infrastructure in the surroundings of the motor vehicle corresponds to the expected traffic infrastructure, the computing power of the equipment inside the motor vehicle for at least partially automatically guiding the motor vehicle is equal to or greater than a predetermined computing power threshold, and the equipment inside the motor vehicle for at least partially automatically guiding the motor vehicle is capable of taking over the at least partially automated guidance.

[0068] According to one specific embodiment, the motor vehicle is comprised by a robot or is designed as a robot, which can be used, for example, in a logistics plant.

[0069] According to one embodiment, the motor vehicle is a shuttle vehicle.

[0070] The expression "or" means "either".

[0071] The expression "or" means "and / or".

[0072] In one embodiment, the method according to the first aspect and / or the method according to the second aspect is a computer-implemented method.

[0073] In one specific embodiment, it is provided that the motor vehicle issuing the inquiry is stationary or is being driven manually by a driver. BRIEF DESCRIPTION OF THE DRAWINGS

[0074] Exemplary embodiments of the invention are shown in the drawings and explained in more detail in the following description. The drawings show:

[0075] Figure 1 A flow chart according to a first specific embodiment of the method for at least partially automatically guiding a motor vehicle according to the first aspect;

[0076] Figure 2 Flow chart of a method for at least partially automated control of a motor vehicle according to the second aspect according to a first specific embodiment.

[0077] Figure 3 A device, wherein the device is configured to implement all steps of the method according to the first aspect and / or the method according to the second aspect.

[0078] Figure 4 a machine-readable storage medium, and

[0079] Figure 5Exemplary applications of the protocols described herein. DETAILED DESCRIPTION

[0080] Figure 1 A flow chart of a method for at least partially automated guidance of a motor vehicle is shown, the method comprising the following steps:

[0081] A request signal is received 101 , which represents a request by the motor vehicle that the motor vehicle is to be remotely controlled in order to guide it remotely in an at least partially automated manner.

[0082] - In response to receipt of an interrogation signal, checking 103 whether the interrogation can be complied with.

[0083] - if yes, generating 105 a remote control signal for at least partially automatically remotely controlling the lateral and longitudinal guidance of the motor vehicle; and

[0084] - outputting 107 the generated remote control signal in order to remotely guide the motor vehicle at least partially automatically based on the generated remote control signal.

[0085] Figure 2 A flow chart of a method for at least partially automated guidance of a motor vehicle is shown, the method comprising the following steps:

[0086] - during the at least partially automated remote-controlled transverse and longitudinal guidance of the motor vehicle, for the at least partially automated remote guidance of the motor vehicle, receiving 201 a query signal representing a query to the remote-controlled motor vehicle and / or to a person guiding the remote-controlled motor vehicle whether the at least partially automated remote guidance is to be handed back to the motor vehicle or to the person guiding the remote-controlled motor vehicle;

[0087] - in response to receiving the interrogation signal, checking 203 whether the interrogation can be complied with;

[0088] If yes, a control signal is generated 205 for at least partially automatically controlling the transverse and longitudinal guidance of the motor vehicle and the generated control signal is output 207 in order to at least partially automatically guide the motor vehicle based on the generated control signal.

[0089] In a specific embodiment not shown, it is provided that if the check according to step 103 or 203 has shown that the query cannot be met, a response signal is generated and output, which represents the response “the query cannot be met”.

[0090] Figure 3 Device 301 is shown.

[0091] The device 301 is configured to implement all steps of the method according to the first and / or second aspect.

[0092] The device 301 comprises an input 303 arranged to receive an interrogation signal as described above and / or below.

[0093] The device 301 further comprises a processor 305, which is arranged to implement the checking step described above and / or below. The processor 305 is also arranged to implement the generating step described above and / or below.

[0094] The device 301 further comprises an output terminal 307 which is arranged to output the generated control signal.

[0095] The signal received by means of the device 301 is in particular generally received by means of the input 303. In particular, the input 303 is configured accordingly for this purpose.

[0096] The signal output by means of device 301 is output in particular by means of output 307. Output 307 is in particular configured accordingly for this purpose.

[0097] Therefore, the input terminal 303 or the output terminal 307 is configured to receive or output a corresponding signal.

[0098] In one specific embodiment, a plurality of processors are provided instead of one processor 305 .

[0099] Figure 4 A machine-readable storage medium 401 is shown.

[0100] A computer program 403 is stored on a machine-readable storage medium 401. The computer program 403 comprises instructions which, when executed by a computer, arrange the computer to carry out the method according to the first and / or according to the second aspect.

[0101] Figure 5 An application scenario 500 of the approach described here is shown.

[0102] In application scenario 500 , a motor vehicle 501 is provided by way of example, which comprises a video camera 503 and comprises a device 505 , which is configured to carry out all steps of the method according to the second aspect, wherein the motor vehicle 501 is on a road 507 .

[0103] According to the specific embodiment shown here, device 505 is provided for at least partially automated guidance of motor vehicle 501. This means that device 505 is provided for at least partially automated control of the transverse and longitudinal guidance of motor vehicle 501.

[0104] In particular, this control is carried out based on the detection of the surroundings of motor vehicle 501 by means of video camera 503 .

[0105] Video camera 503 represents here an environmental sensor system (not shown in any more detail) of motor vehicle 501. Such an environmental sensor system includes one or more environmental sensors.

[0106] An environmental sensor in the sense of this description is, for example, one of the following environmental sensors: radar sensor, lidar sensor, video sensor, infrared sensor, magnetic field sensor, ultrasonic sensor, magnetic field sensor.

[0107] This means, in particular, that motor vehicle 501 may include an ambient sensor system including one or more ambient sensors.

[0108] Two locations or positions that follow one another on road 507 with respect to the driving direction of motor vehicle 501 are denoted by reference numerals 509 , 511 .

[0109] The two locations 509 , 511 therefore determine a section 513 of the route of motor vehicle 501 .

[0110] In section 513 , it is not possible for motor vehicle 501 to drive itself at least partially automatically.

[0111] This means that device 505 is not able to guide motor vehicle 501 at least partially automatically within section 513 .

[0112] Thus, for example, this may be due to the presence of a hill in section 513, so that the environmental sensors of motor vehicle 501 cannot "see" behind the hill. This means that the environmental sensors of motor vehicle 501 cannot sense the road behind the hill with respect to the driving direction of motor vehicle 501 in a sensory manner.

[0113] According to the concept arrangement described here, motor vehicle 501 is guided remotely in an at least partially automated manner within section 513. This means that motor vehicle 501 is remotely controlled within section 513.

[0114] For this purpose, a further device 515 is provided which is configured to carry out all steps of the method according to the first aspect.

[0115] Arranged within section 513 is a further video camera 517 which can detect the surroundings of motor vehicle 501. In particular, such a video camera 517 can detect areas within section 513 which cannot be detected by the surroundings sensor system of motor vehicle 501.

[0116] Similar to video camera 503 of motor vehicle 501 , further camera 517 represents a further surroundings sensor system including one or more surroundings sensors which are arranged in a spatially distributed manner within section 513 .

[0117] Device 515 uses environmental sensor data of the further environmental sensor system corresponding to the sensing of each of these environmental sensors in order to remotely control motor vehicle 501 .

[0118] The communication between motor vehicle 501 and device 515 is symbolically indicated by means of wavy element 519 .

[0119] Even before vehicle 501 reaches position 509 corresponding to the above-mentioned starting position, device 505 sends query signals to further device 515 , wherein these query signals represent a query by vehicle 501 that vehicle 501 should be remotely controlled within section 513 .

[0120] In response to receiving the query signal, device 515 checks whether the query can be met. If so, device 515 generates corresponding remote control signals and outputs them in order to remotely guide the motor vehicle at least partially automatically within section 513 based on the generated remote control signals.

[0121] For example, device 515 sends these remote control signals to motor vehicle 501 , more precisely to device 505 .

[0122] This generally means that the output of the generated remote control signal may, for example, include sending the generated remote control signal to the motor vehicle 501 via a wireless communication network.

[0123] The same generally applies analogously to the reception of an interrogation signal, which may be received via a wireless communication network.

[0124] In particular, for the communication arrangement between the device 505 and the further device 515 , each of the devices 505 , 515 comprises a communication interface, which is arranged to send or receive corresponding signals.

[0125] This means that before starting position 509 , responsibility for vehicle guidance remains with motor vehicle 501 : within section 513 , responsibility for vehicle guidance rests with further device 515 .

[0126] This means that responsibility for motor vehicle guidance has been transferred from motor vehicle 501 to further device 515 .

[0127] The query of motor vehicle 501 also includes a second position 511 at which the remote control is to be stopped. Position 511 corresponds to the above-mentioned end position.

[0128] Further device 515 therefore knows to which point along the route of motor vehicle 501 remote-controlled motor vehicle 501 is to go.

[0129] When motor vehicle 501 reaches end position 511, i.e., before remote control of motor vehicle 501 is about to end, another device 515 generates another inquiry signal and outputs these another inquiry signals, wherein these another inquiry signals represent another inquiry to motor vehicle 501 and / or to the guide of motor vehicle 501, i.e., at least partially automated long-distance guidance should be returned to motor vehicle 501 or to the guide.

[0130] Depending on the response to this further query, remote control of motor vehicle 501 is terminated.

[0131] In response to receiving the additional query signal, for example, device 505 checks whether the additional query can be met. If so, device 505 approves or the device confirms the additional query, for example, by sending a corresponding approval message or confirmation message to further device 515 via the wireless communication network.

[0132] When motor vehicle 501 then reaches end position 511 , the remote control is terminated by means of further device 515 and motor vehicle 501 itself again takes over the at least partially automated guidance of the motor vehicle.

[0133] If, for example, further device 515 does not receive a corresponding approval message or confirmation information from motor vehicle 501 , it is provided, for example, that further device 515 remotely controls the transfer of motor vehicle 501 into the safe state.

[0134] For example, the safe state is a stationary state, which means, for example, that further device 515 stops motor vehicle 501 in a remotely controlled manner, as long as, for example, no corresponding approval message or confirmation message has been received.

[0135] In summary, the approach described here is also based in particular on carrying out one or more changes in driving responsibility during a trip. For example, this responsibility relates to the areas of safety, planning and regulation.

[0136] That is to say, in principle, the motor vehicle itself is driven at least partially automatically, in particular highly automatically. This means, for example, that in particular the responsibility, planning of the driving task, regulation of the driving task, safety responsibility, etc., is located in the motor vehicle or is carried out by the motor vehicle. In addition to data / intelligence, etc., within the motor vehicle, external data, recommendations (e.g. from the infrastructure / from infrastructure systems), etc., can also be taken into account. However, the motor vehicle (decision maker) always has the "final say".

[0137] For areas that are too complex, (currently) insufficient (in terms of quality) or not achievable at all, the responsibility for the driving process / in the driving process is transferred to the external system (additional device 515). That is, from here on, the external system has the responsibility for planning the driving task, regulating the driving task, safety responsibility, etc. (decision maker).

[0138] These tasks are performed with the aid of external infrastructure / external infrastructure systems. The system can take into account external data, suggestions (from the perspective of external systems), etc., of the motor vehicle to be guided remotely and of other motor vehicles and other external systems / sources.

[0139] This means that the process is, for example, as follows:

[0140] 1. The motor vehicle itself is driven in a highly automated manner; (the decision maker / responsibility lies with the motor vehicle)

[0141] 2. It has been determined and / or is known that there were previously conditions / sections on the route where the motor vehicle could not or could not adequately drive itself;

[0142] 3. It has been determined and / or known that an external system (additional equipment 515) is available for use in this section;

[0143] 4. Ask the external system whether it is possible to take over the vehicle, that is, whether it is possible to remotely control the vehicle within the section;

[0144] 5. As long as the external system agrees (i.e. as long as it can comply with the query):

[0145] a. Transfer of responsibility (motor vehicle to external system); preferably, the transfer is performed at a defined location or within a defined area;

[0146] b. In the event of a successful transfer of responsibility, the motor vehicle is driven by the external system (the responsibility lies with the external system);

[0147] c. After the situation / section, the responsibility is returned (to the motor vehicle); preferably, the return is carried out at a defined location or in a defined area;

[0148] d. Following the successful transfer of responsibility, the vehicle is driven again in a highly automated manner (based on the vehicle; responsibility lies with the vehicle).

[0149] In another variant, it is possible to start the driving process directly with the responsibility of the external system, that is:

[0150] 1. The motor vehicle is being driven manually by the driver or is stationary (the driver is responsible or “no one is yet responsible”);

[0151] 2. It has been determined and / or known that there were previously conditions / sections on the route where the vehicle could not or could not travel well enough.

[0152] 3. Ask the external system whether it is possible to take over the motor vehicle.

[0153] 4. If the external system agrees:

[0154] a. Follow the steps in 5 above.

[0155] In another variant, it is possible to end the driving process after the driving performed by the external system. That is, the motor vehicle is parked (remains stationary or, for example, is parked in a parking lot).

[0156] In another embodiment, it is provided that after driving is performed by the external system, the driving process is handed over to the driver, for example, because the driver wants this, or because no driving process can be realized neither by highly automated control performed by the motor vehicle nor by an external system (with or without planning).

[0157] If any handover fails, either the handover is made to the driver and / or the motor vehicle is brought into a safe state (eg, a stationary state).

[0158] If a fault is detected in the system, either during highly automated driving of the motor vehicle itself or during driving guided by an external system, the motor vehicle is either handed over to the driver and / or the motor vehicle is brought into a safe state (e.g., stationary state). This generally means that, in one embodiment, it is provided that, in the event of a detected fault, the motor vehicle is, for example, transferred into a safe state or responsibility is handed over to the driver.

[0159] In another embodiment, the inquiry that takes over by the external system can also be when driving starts or before inquiry and planning. In this case, for example, in an optimized manner when about to arrive at this section, implement new confirmation (some changes may have occurred).

[0160] In another embodiment, inquiries may be queried and / or scheduled for multiple areas.

[0161] When requesting a takeover by an external system, the desired route (possibly with several possibilities for traveling through the section) is preferably also handed over.

[0162] The system checks whether the desired route is feasible. If the desired route is not feasible, alternatives are sought if necessary and if possible. The motor vehicle (and therefore the driver if necessary) is informed of these alternatives. For example, the motor vehicle (and / or the driver) can accept or reject these alternatives in an additional step.

[0163] Preferably, additional data, such as vehicle details etc., are also sent to the system for planning and execution upon inquiry or are exchanged with the system regularly and / or upon inquiry.

[0164] It is also possible to call up information about the regions and their characteristics in terms of (cloud) data, maps, standards, communication types, etc. Advantageously, this information is always real-time and reflects the current state, which may change. For example, the current state is that new regions exist, old regions are adapted or no longer exist.

[0165] For example, the external system for guiding the vehicle includes the following or is constructed, for example, as follows or is based on the following assumptions:

[0166] -Environmental sensors (video, radar, lidar, induction loop, etc.):

[0167] Fixed environmental sensors

[0168] Movable environmental sensors (e.g. drones)

[0169] For example, environmental sensors of a motor vehicle (for example environmental sensors of a remotely controlled motor vehicle and / or environmental sensors of another motor vehicle);

[0170] The section in which the motor vehicle is to be remotely controlled is known;

[0171] - decide that the system can be distributed only on-premises in the "cloud" (on-premises, cloud);

[0172] - individual analyses can additionally be carried out, for example, in sensors / intermediate systems;

[0173] - communication with the vehicle via mobile radio, WLAN, generally via a wireless communication network;

[0174] The system preferably also has an influence on the traffic infrastructure (light signal equipment, etc.) in order to simplify / optimize the driving process.

[0175] Preferably, all data / actions etc. are recorded (at least temporarily) for further analysis, optimization etc., but also for documentation purposes, for example in the event of an accident.

[0176] In one specific embodiment, it is provided that before the transfer of responsibility from the vehicle to the external system a check is carried out to determine whether the external system is able to take over this responsibility.

[0177] In this case, the “whether” or not is evaluated based on / with the aid of criteria / data.

[0178] Here, the following contents (all or some of them) are analyzed:

[0179] - Are external systems operational and fully functional at the queried / predicted time?

[0180] - Is the segment in question available as a service at the time (service meaning remote control of the motor vehicle making the inquiry)?

[0181] - Are weather conditions permitting the service at the requested / forecasted time?

[0182] - Will traffic permit the service within the requested / forecasted time?

[0183] For example, during peak hours, the service may be disabled (ie, there may be restrictions).

[0184] - Does the infrastructure (roads) allow the service?

[0185] For example, construction sites, maintenance, events, etc. may make remote control difficult or impossible.

[0186] - Can the external system also process the vehicle within the requested / predicted time in terms of its own system limitations (e.g. computing power)?

[0187] For example, only a maximum number of motor vehicles to be remotely controlled may be permitted;

[0188] Are there too many vehicles to be controlled on one section?

[0189] - Problems due to possible "coincidence" routes of the motor vehicles to be controlled?

[0190] - Is the system compatible with vehicles (of possibly different configurations / generations / etc.) and has "interoperability"?

[0191] - Is the vehicle currently controllable (are all systems in the vehicle normal)?

[0192] - Is the vehicle allowed to serve in the system generally / for a section?

[0193] For example, there may have been problems with a particular motor vehicle in the past and the motor vehicle was blocked;

[0194] - (e.g. by inspection) (in the vehicle, in external systems, in cooperation, in communication, etc.) Do technical conditions apply?

[0195] - Is this service paid for?

[0196] Based on one or more responses to the above questions, a decision is then made in particular as to whether the query can be met.

[0197] That is, the process is, for example, as follows:

[0198] -For this method,

[0199] within a short time / immediately,

[0200] Within a limited time / time window,

[0201] Ask about the "responsibility takeover" service for a certain section;

[0202] - The system analyses the takeover according to criteria / data;

[0203] -System returns results

[0204] If necessary, alternative options are provided in terms of time, section (starting position, size / length), driving conditions, route, etc.

[0205] Preferably, historical data are taken into account in the calculation (eg weather, traffic).For example, on every Monday before Christmas, the traffic has a certain state or a certain number of motor vehicles want to use the service.

[0206] For optimization purposes, the results, analyses, etc. including conditions are stored and are available for subsequent analysis (learning behavior).

[0207] In one specific embodiment, it is provided that before the transfer of responsibility from the external system to the motor vehicle a check is carried out to determine whether the motor vehicle can take over this responsibility.

[0208] Here, the analysis of this "whether" is based on / with the help of standards / data and is implemented. Here, for example, the following contents (all or some or others) are analyzed:

[0209] - Is highly automated or motor vehicle-based driving possible after this section?

[0210] Is the section open at all and / or at that time?

[0211] - Do weather conditions permit motor vehicle based travel at the time being queried / forecasted?

[0212] - Does the traffic allow for a high degree of automation or vehicle-based travel at the time being asked / predicted?

[0213] For example, motor vehicle-based travel may not be permitted during rush hour;

[0214] - Does the infrastructure (roads) allow the service? That is, are the sites, maintenance, events, etc. known to the vehicle / external system?

[0215] - Is the vehicle currently capable of highly automated operation (all systems of the vehicle functioning normally)?

[0216] Based on one or more responses to the above questions, it is then decided in particular whether the query can be met.

[0217] That is, the process is, for example, as follows:

[0218] -For this method,

[0219] within a short time / immediately,

[0220] Within a limited time / time window,

[0221] Ask about the "Responsibility Transfer" service

[0222] - the motor vehicle (as the subsequent responsible party / decision maker) analyses the takeover based on criteria / data,

[0223] Advantageously, the motor vehicle also refers to data etc. from external sources (external systems, other vehicles etc.);

[0224] -Motor vehicle return results.

[0225] If the vehicle is not ready, then the following actions may be initiated by the infrastructure and / or the vehicle. At least or and / or:

[0226] - Ask the driver if he is in charge;

[0227] - planning and implementation of measures to bring the motor vehicle into a safe state (stationary; for example in a defined position).

[0228] - Information about "Service Personnel"

[0229] - triggering safety measures (e.g. "blocking" a road by signalling equipment).

[0230] Preferably, historical data is taken into account in the calculation (e.g. weather, traffic). For example, every Monday before Christmas, traffic, X vehicles want to use the service...

[0231] For optimization purposes, the results, analyses, etc. including the conditions are stored and made available for subsequent analyses (learning behavior).

Claims

1. A method for at least partially automatically guiding a motor vehicle (501), the method comprising the following steps: - receiving a query signal, the query signal representing a query from the motor vehicle (501) that the motor vehicle (501) should be remotely controlled in order to remotely guide the motor vehicle (501) at least partially automatically; - checking, in response to receipt of said interrogation signal, whether said interrogation can be complied with; - if yes, generating a remote control signal for at least partially automated remote control of the lateral and longitudinal guidance of the motor vehicle (501); and - outputting the generated remote control signal in order to remotely guide the motor vehicle (501) at least partially automatically based on the generated remote control signal, Wherein, checking whether the query can be met includes checking whether one or more conditions are met, wherein the query is met only when one or more or all of the one or more conditions are met, The one or more conditions are respectively elements selected from the following group of conditions: the equipment for at least partially automatically guiding the motor vehicle (501) and implementing the steps of the method for at least partially automatically guiding the motor vehicle (501) is in operation and fully functional, the actual weather is equivalent to the expected weather, the actual traffic conditions in the surrounding environment of the motor vehicle (501) are equivalent to the expected traffic conditions, the actual traffic infrastructure in the surrounding environment of the motor vehicle (501) is equivalent to the expected traffic infrastructure, the computing power of the equipment for at least partially automatically guiding the motor vehicle (501) is equal to or greater than a predetermined computing power threshold, the equipment for at least partially automatically guiding the motor vehicle (501) can remotely control the motor vehicle (501) that is being inquired, the motor vehicle (501) that is being inquired can be remotely controlled, the necessary conditions for the remote control to function in accordance with regulations are met, and payment has been made for the implementation of the remote control.

2. The method according to claim 1, wherein: The inquiry includes a starting position (509) or a starting area, and when the motor vehicle (501) is located at the starting position (509) or in the starting area, remote control of the motor vehicle (501) should be started at the starting position or in the starting area, wherein, if the inquiry can be met, the remote control signal is generated and output in such a way that the remote control can be started when the motor vehicle (501) is located at the starting position (509) or in the starting area.

3. The method according to claim 1 or 2, wherein: The inquiry includes an end position (511) or an end area, and when the motor vehicle (501) is located at the end position (511) or within the end area, the remote control of the motor vehicle (501) should be terminated at the end position or within the end area, wherein, if the inquiry can be met, the remote control signal is generated and output in such a way that the remote control can be terminated when the motor vehicle (501) is located at the end position (511) or within the end area.

4. The method according to claim 1 or 2, wherein: Before the remote control of the motor vehicle (501) is terminated, a further inquiry signal is generated and output, which represents a further inquiry to the motor vehicle (501) and / or to the guide of the motor vehicle (501): the at least partially automated remote guidance should be returned to the motor vehicle (501) or to the guide, wherein the remote control of the motor vehicle (501) is terminated based on a response to the further inquiry.

5. The method according to claim 4, wherein: In the absence of a response from the motor vehicle (501) and / or the guide to the further inquiry, the generation of the remote control signal includes generating a remote control signal for remotely controlling the transition of the motor vehicle (501) to a safe state, so as to remotely control the transition of the motor vehicle (501) to a safe state based on the generated remote control signal.

6. The method according to claim 4, wherein: In the absence of a response from the motor vehicle (501) and / or the guide to the further inquiry, a light signal device control signal for controlling one or more light signal devices located in the surroundings of the motor vehicle (501) is generated and output in such a way that when the one or more light signal devices are controlled based on the light signal control signal, the light signal devices are able to block traffic of the motor vehicle (501) using the signal image of the light signal devices.

7. The method according to claim 1 or 2, wherein: A warning signal is output, which represents a warning that a remote at least partially automated guidance of the motor vehicle is possible and / or is a predetermined warning.

8. The method according to claim 1 or 2, wherein: The remote control of the motor vehicle is started while the motor vehicle is in motion or while the motor vehicle is stationary, and / or wherein the remote control of the motor vehicle is ended while the motor vehicle is in motion or while the motor vehicle is stationary.

9. A method for at least partially automatically guiding a motor vehicle (501), the method comprising the following steps: - during at least partially automated remote-controlled transverse and longitudinal guidance of a motor vehicle (501) for at least partially automated remote guidance of the motor vehicle (501), receiving a query signal representing a query to the remote-controlled motor vehicle (501) and / or to a guide of the remote-controlled motor vehicle (501) that the at least partially automated remote guidance should be handed back to the motor vehicle (501) or to the guide; - checking, in response to receipt of said interrogation signal, whether said interrogation can be complied with; - if yes, generating a control signal for at least partially automatically controlling the transverse and longitudinal guidance of the motor vehicle (501); as well as outputting the generated control signal in order to guide the motor vehicle (501) at least partially automatically based on the generated control signal, Wherein, checking whether the query can be met includes checking whether one or more conditions are met, wherein the query is met only when one or more or all of the one or more conditions are met, The one or more conditions are elements selected from the following group of conditions: the internal equipment of the motor vehicle for at least partially automatically guiding the motor vehicle (501) and capable of implementing the steps of the method for at least partially automatically guiding the motor vehicle (501) is in operation and fully functional, the actual weather is equivalent to the expected weather, the actual traffic conditions in the surroundings of the motor vehicle (501) are equivalent to the expected traffic conditions, the actual traffic infrastructure in the surroundings of the motor vehicle (501) is equivalent to the expected traffic infrastructure, the computing power of the internal equipment of the motor vehicle for at least partially automatically guiding the motor vehicle (501) is equal to or greater than a predetermined computing power threshold, and the internal equipment of the motor vehicle for at least partially automatically guiding the motor vehicle (501) is capable of taking over the at least partially automated guidance.

10. A device (301, 515) configured to carry out all steps of the method according to any one of claims 1 to 9.

11. Computer program product (403), comprising instructions which, when executed by a computer, arrange the computer to implement the method according to any one of claims 1 to 9.

12. A machine-readable storage medium (401) on which a computer program product (403) according to claim 11 is stored.

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