Method and apparatus for controlling an autonomous vehicle

Abstract

The present invention relates to a method and a device for controlling an autonomous vehicle (1) by means of a vehicle control center (2), wherein a sensor signal (S) collected on the vehicle side is transmitted to the vehicle control center (2) and the vehicle (1) is controlled by means of the vehicle control center (2) based on the sensor signal (S). The present invention provides that a time stamp is provided for the corresponding sensor signal (S) on the vehicle side, wherein the time stamp is checked in the vehicle control center (2) when the corresponding sensor signal (S) is received, and when the time stamp of the sensor signal (S) exceeds a predetermined first time limit, it is displayed in a marked form to a remote operator of the vehicle control center (2) to indicate a signal delay, and the display of the sensor signal (S) whose time stamp exceeds a predetermined second time limit is suppressed.

Description

Technical Field

[0001] The present invention relates to a method for controlling an autonomous driving vehicle by means of a vehicle control center, wherein sensor signals acquired on the vehicle side are transmitted to the vehicle control center and the vehicle is controlled by means of the vehicle control center based on the sensor signals. The present invention also relates to a device for executing the method. Background Art

[0002] DE 10 2014 015 493 A1 discloses a method for operating a motor vehicle and a motor vehicle. The motor vehicle comprises at least one sensor device and an auxiliary device, wherein in a first operating mode of the auxiliary device, environmental data describing the surroundings of the motor vehicle are collected by the sensor device. The auxiliary device automatically controls the motor vehicle by driving at least one actuator of the motor vehicle based on the environmental data without driver intervention. Here, when a switching condition for evaluating the environmental data is met, the auxiliary device switches to a second operating mode, at which time at least a portion of the environmental data is wirelessly transmitted to a remote control device at a fixed position and is visualized there for an operator outside the vehicle. Based on the operator's operating input on the remote control device, driving intervention data describing the driving intervention for the driving operation of the motor vehicle is determined and wirelessly transmitted to the motor vehicle, and then the auxiliary device controls the motor vehicle by driving the actuator based on the driving intervention data. Summary of the invention

[0003] The object of the present invention is to specify a method for controlling an autonomously driven vehicle by means of a vehicle control center, which is improved compared to the prior art, and a device for carrying out the method.

[0004] According to the invention, this object is achieved with regard to the method by the features of claim 1 and with regard to the device by the features of claim 8 .

[0005] Advantageous embodiments of the invention are the subject matter of the dependent claims.

[0006] According to the present invention, a method for controlling an autonomous driving vehicle with the aid of a vehicle control center is provided, wherein a sensor signal collected on the vehicle side is transmitted to the vehicle control center and the vehicle is controlled based on the sensor signal with the aid of the vehicle control center, and the method stipulates that a timestamp is provided for the corresponding sensor signal on the vehicle side, wherein the timestamp is checked in the vehicle control center when the corresponding sensor signal is received, and when the timestamp of the corresponding sensor signal exceeds a predetermined first time limit, it is marked and displayed to a remote operator of the vehicle control center to indicate a signal delay, and when the timestamp exceeds a predetermined second time limit, the display of the corresponding sensor signal is suppressed.

[0007] By using the method, the timeliness of sensor signals transmitted on the vehicle side to the vehicle control center is determined and, if not up to date, is not taken into account for vehicle control.

[0008] In particular, the method is a solution whereby a vehicle that can be driven to a destination without a driver can be controlled by a vehicle control center in such a way that the vehicle-side information required for the control is up-to-date and its validity and thus timeliness can therefore be determined and displayed in the vehicle control center.

[0009] In one embodiment of the method, the sensor signals are marked by displaying an absolute delay value and / or by displaying a color coding so that the remote operator can see the timeliness of the sensor signals and can therefore take this into account when controlling the vehicle. In particular, the remote operator can determine based on the time stamp of the corresponding sensor signal, i.e. based on the displayed delay value and / or color coding, whether the remote operator should manually intervene in the vehicle control in order to, for example, bring the vehicle to a safe state, in particular to a stop in a safe area.

[0010] In another embodiment, the marking of the sensor signal changes according to the age of the sensor signal, wherein, when it is determined that a signal delay is exceeded, the sensor signal is displayed in a first color such as yellow; when it is determined that another signal delay is exceeded, the sensor signal is displayed in a second color such as red, thereby indicating the timeliness of the sensor signal to the remote operator.

[0011] A development of the method provides that the transmission of at least one sensor signal is requested, in particular explicitly requested, by means of the vehicle control center and the time period which has elapsed before the transmission of the requested at least one sensor signal is determined. In this case, the request time is actually also taken into account, wherein this development is a relatively reliable possible way to determine the timeliness of the sensor signal transmitted by the vehicle. In this case, perhaps more sensor signals than necessary are discarded, but the display of potentially or actually outdated sensor signals can be substantially avoided.

[0012] If the sensor signal is still displayed when the timestamp exceeds the second time limit, the command sent by the remote operator to the vehicle will be rejected or confirmation will be required. Therefore, the action to be performed by the command is rejected, or the vehicle control center needs to confirm the transmission of the command to the vehicle. This can improve the safety related to the execution of the method.

[0013] In a possible improvement to further improve safety, the execution of the command is rejected by the vehicle rather than the vehicle control center. To this end, the signal delay is determined both in the vehicle control center and in the vehicle. As a result, the vehicle can determine the age of the sensor signal when it is received by the vehicle control center and reject subsequent commands if the age of the sensor signal exceeds a certain time threshold before or at the same time.

[0014] In particular, video signals, audio signals, light signals and / or turn signal signals, ignition signals, engine signals, radar-based, lidar-based and / or ultrasound-based sensor signals and / or signals from a laser scanner are transmitted as sensor signals to the vehicle control center.

[0015] The present invention also relates to a device for controlling an autonomous vehicle by means of a vehicle control center, wherein the vehicle transmits the collected sensor signals to the vehicle control center by means of a control unit, and the vehicle control center controls the vehicle according to the sensor signals. The present invention provides that the control unit equips the sensor signal with a time stamp, wherein another control unit of the vehicle control center is designed to check the time stamp when receiving the corresponding sensor signal, and when the time stamp of the corresponding sensor signal exceeds a predetermined first time limit, the other control unit marks it, wherein a display unit connected to the other control unit in terms of data technology displays the marked sensor signal to a remote operator so that the signal delay is recognizable, and the other control unit suppresses the display of the sensor signal whose time stamp exceeds a predetermined second time limit.

[0016] The above method can be performed with the aid of the device, so that safer control of the vehicle can be achieved with the aid of the vehicle control center, so that the vehicle can be driven into a safe area or autonomous driving can be resumed. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The embodiments of the present invention are described in detail below in conjunction with the accompanying drawings.

[0018] Figure 1 A vehicle is schematically shown which is connected in terms of data technology to a vehicle control center. DETAILED DESCRIPTION

[0019] The single figure shows a vehicle 1 and a vehicle control center 2, wherein the vehicle 1 is connected in terms of data technology to the vehicle control center 2. The vehicle 1 can be controlled by means of the vehicle control center 2, so that driving operations of the vehicle 1 can be performed automatically without a driver as a function of sensor signals S detected on the vehicle side.

[0020] Typically, the autonomy of the vehicle 1 is limited, especially when safe driving of the vehicle 1, i.e., safe forward movement, is not possible based on the acquired sensor signals S of the vehicle sensor system 3 and / or with the aid of a high-precision digital map and a vehicle integrated controller.

[0021] Thus, for example, it is possible that, due to heavy snow, the light signals of the light signaling system cannot be detected by means of at least one onboard sensor such as a camera. It is also possible that the police are controlling traffic due to an accident and / or that a relatively new construction site does not have fully functional guarding and light signaling systems.

[0022] To this end, the vehicle sensor system 3 and the vehicle control center 2 need to recognize this state based on the detected sensor signal S, and the vehicle 1 must be switched to a safe state, especially an operating state, which is achieved, for example, by the vehicle 1 remaining stationary, stopping on the hard shoulder of the roadway, etc.

[0023] In order to switch the vehicle 1 from the safe operating state back to the automated driving operation, or at least to drive the vehicle 1 away from an area that, for example, interferes with the vehicle 1 , the method described below is provided.

[0024] It is known that sensor signals S detected on the vehicle side are evaluated by means of a vehicle control center 2 and the vehicle 1 is manually driven out of the area or switched to automated driving operation by a remote operator of the vehicle control center 2 .

[0025] For this purpose, the method provides for determining the timeliness, ie the time limit, of sensor signals S transmitted on the vehicle side to the vehicle control center 2 in order to accordingly determine the further course of the vehicle 1 in a safe operating state.

[0026] For example, a video signal of an image acquisition unit of the vehicle 1 is transmitted as a vehicle-side sensor signal S to the vehicle control center 2, wherein in particular what a human vehicle user would see is presented with the aid of the video signal. Alternatively or additionally, a captured and / or other captured environment image of the side of the vehicle 1, pointing to the rear of the vehicle 1, can also be transmitted as a vehicle-side sensor signal S to the vehicle control center 2.

[0027] A top-down camera signal of the vehicle 1 and / or a camera signal from a bird's-eye view and / or an image signal from a night vision camera may also be transmitted as a sensor signal S to the vehicle control center 2 .

[0028] Alternatively or additionally, an audio signal, a light signal, a turn signal signal, an ignition state signal and / or an engine signal, for example, output by a siren, is transmitted as a sensor signal S to the vehicle control center 2 .

[0029] As described above, the vehicle 1 has a vehicle sensor system 3, which includes a plurality of acquisition units arranged in and / or on the vehicle 1, so that, for example, radar-based, lidar-based and / or ultrasonic-based signals and / or laser scanner signals can be transmitted as sensor signals S to the vehicle control center 2.

[0030] In one specific embodiment of the method, there is a common time base between vehicle 1 and vehicle control center 2 , which is caused by a sufficiently accurate clock, which is synchronized to an atomic clock, for example via radio communication, in particular WLAN.

[0031] The vehicle 1 , ie, the control unit 4 of the vehicle 1 which is connected in terms of data technology to the vehicle sensor system 3 , assigns a corresponding time stamp to each sensor signal S to be transmitted.

[0032] When transmitting the corresponding sensor signal S with the time stamp, various signal delays may occur before the sensor signal S is received by the vehicle control center 2 and displayed there in a corresponding application, in particular for a remote operator.

[0033] For example, existing radio communication between vehicle 1 and vehicle control center 2 may cause signal delays in the transmission of sensor signal S. It is also possible that the signal delays occur generally due to the Internet, vehicle control center 2 and / or IT infrastructure.

[0034] When received, the corresponding sensor signal S with the time stamp is checked with respect to the time stamp by means of a further control unit 5 of the vehicle control center 2 and the age of the sensor signal S, ie the transmission time and thus the signal delay, is determined.

[0035] If the transmission time as a signal delay of the sensor signal S exceeds a first time limit stored in the further control unit 5, the sensor signal S is marked and optically output for identification on a display unit 6 connected to the further control unit 5. By means of the identification, the signal delay and thus the time limit of the received sensor signal S are indicated to the corresponding remote operator of the vehicle control center 2.

[0036] When checking the time stamp of the sensor signal S transmitted on the vehicle side to the vehicle control center 2, if the second time limit stored in the further control unit 5 is exceeded, the display of the sensor signal S on the display unit 6 is suppressed by means of the further control unit 5. The sensor signal S will therefore not be displayed to the remote operator.

[0037] Sensor signals S whose transmitted time stamp exceeds a first time limit associated with the signal delay are identified, for example, by displaying an absolute delay value and / or by color coding and / or another suitable coding.

[0038] For example, a video signal is transmitted as a sensor signal S from a vehicle 1 in a safe operating state to a vehicle control center 2, which has a timestamp of 12 hours 35 minutes 12 seconds 150 milliseconds. When the sensor signal S is received in another control unit 5, the reception timestamp is 12 hours 35 minutes 15 seconds 950 milliseconds, so the signal delay is 800 milliseconds. Such a delay value is classified as high, so the sensor signal S output on the display unit 6 in the form of a video signal is decorated with a yellow frame and displayed. If the delay value is, for example, 1 second, the sensor signal S can be decorated with a red frame and displayed to remind the remote operator of the timeliness of the received sensor signal S.

[0039] If the delay value is, for example, 1.5 seconds, the optical output of the sensor signal S by means of the display unit 6 will be switched off. The display of the sensor signal S, which is delayed by more than a predetermined second time period, will therefore be prevented.

[0040] For example, the color coding is performed in such a way that the sensor signal S is marked with a different color when the signal delay approaches the second time period than when the signal delay is not too long.

[0041] In another embodiment, another control unit 5 of the vehicle control center 2 explicitly requests the sensor signal S of the vehicle 1. The other control unit 5 then waits for the requested sensor signal S and simultaneously determines the duration from the request time until the receipt of the sensor signal S. Here, the request time is taken into account, i.e. calculated, but the second embodiment can be evaluated as "relatively reliable determination of signal delays" because the request time is also taken into account, so perhaps more sensor signals S than necessary are discarded, but sensor signals S that exceed a predetermined second time limit, i.e. potentially or actually outdated, are not displayed.

[0042] Furthermore, it can be provided that even when the signal delay exceeds a predetermined second time limit, the sensor signal S received by the other control unit 5 is always displayed by means of the display unit 6. If the vehicle control center 2 or the remote operator intends to send a command to execute an action to the vehicle 1, the command is not sent when there is a corresponding signal delay. As an alternative, when the vehicle control center 2 confirms the sending again, the execution command is transmitted to the vehicle 1.

[0043] Another embodiment of the method which makes it possible to optimize its execution provides that the transmission and execution of the command is not rejected by the vehicle control center 2 but by the vehicle 1 , ie, its control unit 4 .

[0044] For this purpose, the signal delay needs to be determined in both the vehicle control center 2 and the vehicle 1. For example, the determination is performed by confirming the reception of the sensor signal S transmitted by the vehicle 1 to the vehicle control center 2 to the vehicle 1 again. Thus, the vehicle 1 can also determine the age of the sensor signal S, that is, the transmission duration. Based on this, if the age of the sensor signal S exceeds a predetermined second age as a threshold value before or at the same time, the vehicle 1 can refuse to execute the command sent by the vehicle control center 2.

Claims

1. A method for controlling an autonomous driving vehicle (1) by means of a vehicle control center (2), wherein: The sensor signal (S) collected on the vehicle side is transmitted to the vehicle control center (2), and the vehicle (1) is controlled by the vehicle control center (2) according to the sensor signal (S). It is characterized in that A time stamp is provided for the corresponding sensor signal (S) on the vehicle side, wherein the time stamp is checked in the vehicle control center (2) when the corresponding sensor signal (S) is received, and when the time stamp of the corresponding sensor signal (S) exceeds a predetermined first time limit, the sensor signal is displayed in a marked manner to a remote operator of the vehicle control center (2) so that a signal delay can be identified, and the display of the sensor signal (S) whose time stamp exceeds a predetermined second time limit is suppressed, In this case, a request is made by means of a vehicle control center (2) to send at least one sensor signal (S), and a time period which has elapsed before the transmission of the requested at least one sensor signal (S) is determined.

2. The method according to claim 1, characterized in that The sensor signal (S) is marked by displaying an absolute delay value and / or by displaying a color coding.

3. The method according to claim 1 or 2, characterized in that: The labeling of the sensor signal (S) changes depending on the age of the sensor signal (S).

4. The method according to claim 1 or 2, characterized in that: When the time stamp of the sensor signal (S) still being displayed exceeds the second time limit, the command sent by the vehicle control center (2) to the vehicle (1) is rejected or requires confirmation.

5. The method according to claim 4, characterized in that The vehicle (1) refuses to execute the command.

6. The method according to claim 1 or 2, characterized in that: Video signals, audio signals, light signals and / or turn signal signals, ignition signals, engine signals, signals from radar-based, lidar-based and / or ultrasonic-based sensors and / or signals from laser scanners are transmitted as sensor signals (S) to a vehicle control center (2).

7. A device for controlling an autonomous vehicle (1) by means of a vehicle control center (2), wherein: The vehicle (1) transmits the collected sensor signal (S) to the vehicle control center (2) by means of a control unit (4), and the vehicle control center (2) controls the vehicle (1) according to the sensor signal (S). It is characterized in that The control unit (4) provides a time stamp for the sensor signal (S), wherein a further control unit (5) of the vehicle control center (2) is designed to check the time stamp when receiving the corresponding sensor signal (S), and when the time stamp of the corresponding sensor signal (S) exceeds a predetermined first time limit, the further control unit (5) marks the sensor signal, wherein a display unit (6) connected to the further control unit (5) in terms of data technology displays the sensor signal (S) to a remote operator in the form of a marked sensor signal so that a signal delay can be identified, and the further control unit (5) suppresses the display of sensor signals (S) whose time stamps exceed a predetermined second time limit, In this case, a request is made by means of a vehicle control center (2) to send at least one sensor signal (S), and a time period which has elapsed before the transmission of the requested at least one sensor signal (S) is determined.

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