Method for the automatic operation of a motor vehicle and mobile signal transmission device for wireless signal transmission with a motor vehicle capable of automatic operation

Abstract

The invention relates to a method for automatic operation of a motor vehicle, wherein the motor vehicle is designed to automatically perform a specified sequence of driving maneuvers in an area separated from normal road traffic. The invention also relates to a mobile signal transmission device for wireless signal transmission with such a motor vehicle. The method comprises specifying driving functions to be automatically performed by the motor vehicle (1) by selecting basic driving maneuver commands and defining their sequence, and selecting signal transmission devices (2, 2.1-2.7) corresponding to the selected basic driving maneuver commands and positioning the selected signal transmission devices (2, 2.1-2.7) in accordance with the defined sequence of basic driving maneuver commands and a target travel lane (3) for the automatic operation of the motor vehicle (1). The method further comprises acquiring the driving functions to be automatically performed by the motor vehicle (1) from the wireless signal transmission between the motor vehicle (1) and the selected and positioned signal transmission devices (2, 2.1-2.7), and automatically operating the motor vehicle (1) in accordance with the acquired driving functions.

Description

TECHNICAL FIELD

[0001] The invention relates to a method for the automated operation of a motor vehicle, wherein the motor vehicle is designed to automatically perform a specified sequence of driving maneuvers in an area separated from normal road traffic. The invention also relates to a mobile signal transmission device for wireless signal transmission with such a motor vehicle. BACKGROUND

[0002] It is known from the prior art that motor vehicles are operable in an autonomous driving mode in which the motor vehicle automatically performs vehicle guidance including longitudinal guidance and lateral guidance of the motor vehicle in normal road traffic by means of an autonomous driving system. In practice, a number of different technical solutions are known for this, which use different vehicle systems (for example, lane-keeping and distance assistance systems, camera systems, GPS systems or laser radar systems of the motor vehicle) and are generally relatively complex in terms of technology. In this case, the autonomous driving system for autonomous operation dynamically defines the driving maneuvers in the driving operation independently from the environment in order to reach a target position from a starting position.

[0003] It is also known in practice that motor vehicles, preferably utility vehicles, are designed to automatically perform a distributed, defined sequence of driving maneuvers. Such an automatically operated utility vehicle is mainly used in areas separated from normal road traffic, for example in construction site areas. The automation system generally requires extensive environmental detection and interpretation and advanced path planning algorithms to map for the autonomous driving task. Changes in the interaction with the environment, in particular with the path planning, require adjustments to the software, in particular since the behavior is hard-coded. This has the disadvantage that the programming of the driving maneuvers and driving functions to be automatically performed in each case, in particular for the desired application purpose, requires specialist knowledge. This is particularly disadvantageous when the driving maneuvers and driving functions to be automatically performed are to be specified (i.e. "programmed") for the purpose of setting up the automatic operation or adapting it to the situation in the field, for example in a construction site area, since the workers in the field usually do not have the necessary specialist knowledge. SUMMARY

[0004] It is therefore an object of the present invention to provide a technology for the automated operation of a motor vehicle designed to automatically perform a specified sequence of driving maneuvers, with which the disadvantages of the known technologies can be avoided. In particular, it is an object of the present invention to provide a further improved technology for the automated operation of such a motor vehicle, which can be easily adapted to local conditions.

[0005] According to a first general aspect of the present application, a method for automated operation of a motor vehicle is provided, wherein the motor vehicle is designed to automatically perform a specified sequence of driving maneuvers, preferably a user-specified sequence of driving maneuvers. "Automatically performing driving maneuvers" is to be understood as the motor vehicle being able to perform these driving maneuvers at least partially independently without a driver or without driver intervention.

[0006] As mentioned above, the specified sequence of driving maneuvers for automated operation means that the motor vehicle does not independently dynamically confirm the driving maneuvers from the starting point to the destination by means of the automated systems for automated driving and the powerful environmental detection necessary for automated operation in conventional road traffic. Rather, the specific automated driving operations and driving behavior, i.e. the driving maneuvers along the target path, are predefined, so that, for example, it is determined in advance which road sections the motor vehicle should automatically drive through within a construction site, where specific driving functions or work steps (unloading process, waiting process, etc.) should be performed, etc.

[0007] The motor vehicle is therefore preferably not a motor vehicle designed to independently drive autonomously. In other words, the motor vehicle is preferably not a motor vehicle that is able to independently perform vehicle guidance, including longitudinal guidance and lateral guidance of the motor vehicle, by means of automated systems in normal road traffic.

[0008] The method according to the application is preferably a method for automated operation of a motor vehicle in an area separate from normal road traffic, for example in a construction site area, or in an area separated by barriers and / or gate systems. By specifying the sequence of driving maneuvers, the driving behavior, for example the travel path, the vehicle speed of the automated driving operation, etc., can be predefined in advance, for example also irrespective of the presence of clearly defined roads or lanes. The term "driving maneuver " is also to be understood to include driving functions and processes performed by the motor vehicle, for example the unloading process in the case of a self-unloading vehicle.

[0009] Now, the core idea of the present application is not to specify the driving functions of the user by programming of software or applications, but to provide the user with a plurality of mobile signal transmission devices to specify the driving functions and driving maneuver actions, which can be arranged or placed in a specific order and which cause the motor vehicle to perform one or more specific driving maneuver commands when approaching. In this way, for example, a construction site manager can specify the order of driving maneuver actions and driving functions that the motor vehicle should automatically perform in succession by selecting, combining and arranging such mobile signal transmission devices, preferably in a specific order. Thus, the automatic operation of the motor vehicle is wirelessly (remotely) controlled or at least partially (remotely) controlled by the signal transmission devices arranged in a specific order. In this way, the desired route and behavior of the motor vehicle can be simply specified by arranging such mobile signal transmission devices, and can also be quickly and easily changed and adapted by changing the arrangement. No software operation and conventional programming of these driving maneuver actions are required to specify the driving maneuver actions for the automatic operation.

[0010] Thus, the method according to the present application comprises providing a plurality of basic driving maneuver commands for the automatic operation of the motor vehicle. Preferably, the basic driving maneuver commands are selected such that various conceivable sequences of driving maneuver actions or possible routes and behaviors of the motor vehicle can be specified for the desired application purpose. Thus, for example, individual basic driving maneuver commands are used as "building blocks" in order to be able to specify the desired sequence of driving maneuver actions and the desired automatic operation of the motor vehicle in a modular manner by combining and sequencing these basic driving maneuver commands.

[0011] Here, the term "basic driving maneuver action" can be understood, for example, as a specific standard maneuver action, preferably a command for a driving maneuver action, which can be performed with the motor vehicle itself or with an accessory or auxiliary unit of the motor vehicle for local navigation and traffic sign information. By way of example only, a basic driving maneuver action can include the motor vehicle driving in a specific (relative or absolute) direction at a specific vehicle speed, stopping and / or starting, tilting the loading area of the motor vehicle and opening or closing acoustic or optical signaling devices of the motor vehicle. A basic driving maneuver action can also include a driving maneuver action that causes a change in the deflection angle and / or a change in the vehicle speed. Furthermore, a basic driving maneuver command can include an action instruction that causes a control of a component of the motor vehicle and / or influences the behavior of the motor vehicle, preferably its automatic operation. Possible action instructions are, for example, sending a notification, parameterizing, for example, chassis parameters, increasing the consideration of detected obstacles, opening / closing sensor systems / actuator systems of the motor vehicle. These basic driving maneuver commands are provided in the form of mobile signal transmission devices, for example, as radar response stations.

[0012] Thus, the method according to the application also comprises providing a plurality of mobile signal transmission devices which are designed for wireless signal transmission with the motor vehicle. Each signal transmission device is assigned at least one basic driving maneuver command. When a specific basic driving maneuver command is to be specified for the motor vehicle, the signal transmission device which is assigned to this basic driving maneuver command is selected accordingly. Furthermore, the motor vehicle is designed to determine at least one assigned driving maneuver command from the signal transmission with one of the signal transmission devices.

[0013] These signal transmission devices which are each assigned a specific basic driving maneuver command can now simply be used to specify the driving functions to be performed automatically by the motor vehicle:

[0014] To this end, the basic driving maneuver commands are first selected from the plurality of basic driving maneuver commands provided (for example, those which are required to implement and / or specify the desired driving lane and vehicle behavior) and their sequence is defined. Furthermore, the signal transmission devices which correspond to the selected basic driving maneuver commands are selected from the signal transmission devices provided. For example, if 3 basic driving maneuver commands A, 1 basic driving maneuver command B and 3 basic driving maneuver commands C are required to implement the desired driving lane and vehicle behavior, etc., the signal transmission devices which are assigned to the basic driving maneuver command A are selected three times, the signal transmission devices which are assigned to the basic driving maneuver command B are selected once and the signal transmission devices which are assigned to the basic driving maneuver command C are selected twice.

[0015] The selected signal transmission devices are then positioned in accordance with the sequence of the basic driving maneuver commands defined and / or the target driving lane for the automatic operation of the motor vehicle. The target driving lane can be a target path or a region in which the vehicle is open to the vehicle in comparison with a region which cannot be entered. For example, to this end, the signal transmission elements can be arranged along or adjacent to the target route or the target driving lane and thus automatically form a guide path which is covered by the driving path of the motor vehicle in combination with the assigned basic driving maneuver commands.

[0016] The selection of the basic driving maneuver commands, the definition of their sequence and the selection and positioning of the signal transmission devices are carried out by a user (for example, a worker on a construction site).

[0017] By these steps, the user can specify the sequence of driving maneuvers to be performed automatically by the motor vehicle without "programming" with software. Now, the motor vehicle is designed to extract from the wireless communication with the located signal transmission device the basic driving maneuver commands assigned to the signal transmission device and to perform them in the automatic operation accordingly.

[0018] For this purpose, the method accordingly further comprises acquiring from the wireless signal transmission between the motor vehicle and the selected and located signal transmission device the driving functions to be performed automatically by the motor vehicle and performing the automatic operation of the motor vehicle in accordance with the acquired driving functions. In this case, the sequence of the acquired driving functions is preferably produced by the location of the selected signal transmission device.

[0019] As has already been pointed out, a particular advantage of this method is that the sequence of the desired driving maneuvers for the automatic operation can be specified without great effort, in particular without expert knowledge. Furthermore, the specification of the automatic operation can be adapted to local conditions or local requirement profiles, for example, by simply exchanging or repositioning the signal transmission devices. Furthermore, by the proposed method, the adjustment of the route guidance of the autonomous motor vehicle is particularly easy to understand for the user. Overall, the technical effort is significantly reduced in the implementation and adjustment of the automatic operation of the motor vehicle.

[0020] According to a particularly advantageous embodiment, the signal transmitted by the signal transmission device can contain an identifier for identifying the signal transmission device and / or the at least one assigned driving maneuver command. Furthermore, the motor vehicle can be designed to determine the at least one driving maneuver command assigned to the signal transmission device by recognizing the identifier for identifying the signal transmission device and / or the at least one assigned driving maneuver command from the signal transmission with the respective signal transmission device. Furthermore, according to this embodiment, the motor vehicle is designed to determine the at least one driving maneuver command assigned to the identifier from the recognized identifier also in accordance with a stored assignment relationship. The stored assignment relationship assigns each identifier to one or more driving maneuvers encoded with it. Advantageously, the information content to be transmitted in the signal is reduced. Furthermore, it is also possible to easily encode more complex basic driving maneuver commands by this method, so that, for example, a reflective radar transponder can be used as a signal transmission device. Thus, overall, advantages in terms of the operating safety of the automatic operation of the motor vehicle are achieved. Preferably, the identifier is stored in the motor vehicle itself. However, it is also conceivable that the identifier is stored in a database accessible to the motor vehicle outside the vehicle.

[0021] According to a refinement of this particularly advantageous embodiment, the identifier for identifying the signal transmission device can be changed, for example by changing the signal transmitted by the signal transmission device. In this way, the number of signal transmission devices that have to be kept in order to be able to specify all basic driving maneuver commands in the desired number can be significantly reduced. For example, the signal transmission device can for this purpose have a switch by means of which two of a plurality of alternative identifiers can be selected. The automatic operation of the motor vehicle can thus advantageously be adapted more quickly to local conditions.

[0022] According to a further embodiment, the acquisition of the driving function to be executed automatically by the motor vehicle further comprises the following two aspects: when the motor vehicle simultaneously receives signals from a plurality of signal transmission devices, the received signals can be evaluated and, depending on the evaluation, one signal transmission device can be determined as the currently relevant signal transmission device. For example, depending on a propagation time measurement of the signals, it can be determined which signal transmission device is the signal transmission device that is currently closest to the motor vehicle and this signal transmission device can then be selected as the currently relevant signal transmission device. Subsequently, the driving function to be executed automatically by the motor vehicle can be acquired from the wireless signal transmission between the motor vehicle and the specific signal transmission device determined as the currently relevant signal transmission device. The error rate of the automatic operation of the motor vehicle is advantageously reduced when receiving signals from a plurality of signal transmission devices.

[0023] In a further embodiment, the acquisition of the driving function to be executed automatically by the motor vehicle can comprise an environmental detection by at least one environmental sensor of the motor vehicle. Furthermore, it can be checked depending on the environmental detection whether an obstacle is identified that prevents the execution of the driving function or of a driving maneuver to be executed automatically by the motor vehicle. The safety of the automatic operation is thus further improved. For example, if an object or a person is detected by the environmental sensor that is located in a driving path planned depending on a basic driving maneuver command to be implemented, the automatic operation is interrupted.

[0024] In a further embodiment, a plurality of basic driving maneuver commands can be divided into different categories. These categories can comprise traffic sign information and / or road sign information that define a path in coordination with a plurality of signal transmission devices and / or positioning information and / or action commands that trigger a process executed by the motor vehicle, for example tilting a loading area of a utility vehicle designed as a dump truck. For example, the road sign information can define a path for the motor vehicle in coordination with a plurality of signal transmission devices. For example, the action command can comprise "dump here". These categories facilitate the selection and positioning of the signal transmission devices. According to a variant of this embodiment, the signal transmission devices assigned with basic driving maneuver commands of a first category can be visually distinguished from the signal transmission devices assigned with basic driving maneuver commands of another category. This facilitates the selection of the required signal transmission devices.

[0025] In a further embodiment, the signal transmission device can be embodied as a transponder which transmits electromagnetic radiation. The electromagnetic radiation can be in the radio frequency range, in the visible light range or in the infrared range.

[0026] In a particularly preferred embodiment, the signal transmission device can be designed as a radar transponder. Accordingly, the motor vehicle is designed to emit radar radiation, and the response signal of the radar transponder is evaluated in order to obtain the driving function to be performed. For example, the radar transponder can be designed as a reflector radar transponder. The radar transponder can generate a characteristic response signal or a characteristic echo in order to identify the signal transmission device and / or to identify the at least one assigned driving maneuver command. This enables a particularly low-cost and robust design.

[0027] The radar transponder can also be embodied as a radar beacon. The term "radar beacon" is understood to mean a radar response beacon which is embodied to actively return the radar beam itself in the direction of the incident beam. Since radar is less sensitive to contamination than lidar sensors, camera sensors and ultrasound sensors, it is particularly advantageous to transmit information by radar for use on construction sites. Radar beacons and devices for characteristically operating radar echoes are known from the prior art (see, for example, FR 2 553 234 A1).

[0028] In a further embodiment, the signal transmission device can be embodied as a traffic cone (also referred to as a bollard). The signal transmission device embodied as a traffic cone or bollard can advantageously fulfill a dual function, namely signal transmission and delimitation of a road area. Thus, personnel located on the construction site can easily and quickly detect the designated driving path of the automatically operated motor vehicle.

[0029] Alternatively or additionally, the signal transmission device can have a signal mast with an adjustable height. This increases the range of the signal to be transmitted by the signal transmission device and the visibility of the signal transmission device for personnel located on the construction site.

[0030] Alternatively or additionally, the signal transmission device can have an acoustically and / or optically operating warning device. Thus, personnel located on the construction site can additionally be informed or warned, for example, that they are in an area in which automatic operation of the motor vehicle is set.

[0031] In a further embodiment, the signal transmission device can have wheels or chains for walking and / or walking drive. This facilitates positioning of the mobile signal transmission device.

[0032] In a further embodiment, the signal transmission device can have a communication device which is designed to communicate with a communication device of another signal transmission device or an external unit. Thereby, an exchange of information between the signal transmission device and / or the external unit is advantageously possible.

[0033] In a refinement of the last-mentioned two embodiments, the walking drive can be designed to be remotely controlled by control commands received via the communication device. This facilitates the positioning of the signal transmission device.

[0034] In another embodiment, a plurality of signal transmission devices can each have a grating and / or a grating reflector, wherein a monitoring network of the positioned signal transmission devices is implemented and / or implemented by the grating and / or the grating reflector.

[0035] In another embodiment, an optical or acoustic warning signal can be output when passing through the monitoring network implemented by the grating and / or the grating reflector. Thus, personnel entering the specified travel path of the motor vehicle can be warned. The risk of accidents is thereby reduced. In another embodiment, a warning signal can be transmitted to the motor vehicle when passing through the monitoring network implemented by the grating and / or the grating reflector. For example, the signal transmission device itself can transmit the warning signal to the motor vehicle, for example in the form of an identifier change. Alternatively, the warning signal can be transmitted to the motor vehicle from another system.

[0036] In another embodiment, selected signal transmission devices can each be assigned an absolute position. Alternatively or additionally, the signal transmission devices can be designed to detect their absolute local position and preferably transmit it to the motor vehicle.

[0037] According to a second general aspect of the application, a mobile signal transmission device is provided, which as a device itself is also disclosed and claimed independently of the method. The mobile signal transmission device can be designed as described above. In order to avoid repetitions, the features disclosed purely in terms of the method are also to apply to the features disclosed in terms of the device and claimed. Thus, the aspects and features described above in connection with the method for the mobile signal transmission device also apply accordingly to the device itself. Thus, the mobile signal transmission device is designed for wireless signal transmission with an automatically operable motor vehicle. The signal transmission device is assigned at least one basic driving maneuver command. The signal transmission device is designed to transmit a signal for characterizing the at least one assigned basic driving maneuver command. The signal transmission device can be implemented as a radar transponder, for example a radar reflector or a radar beacon. BRIEF DESCRIPTION OF DRAWINGS

[0038] The above-mentioned preferred embodiments and features of the application can be combined with one another arbitrarily. Further details and advantages of the application will be explained below with reference to the drawings.

[0039] Figure 1 A schematic flowchart according to an embodiment of the application is shown.

[0040] Figure 2AA schematic diagram of the automatic operation of a motor vehicle is shown, which is implemented by the method of the first embodiment.

[0041] Figure 2B A schematic diagram of the automatic operation of a motor vehicle is shown, which is implemented by the method of the first embodiment. Figure 2A The selection and sequence of the basic motor actions commands of the automatic operation of a motor vehicle are shown.

[0042] Figure 3 A schematic side view of a mobile signal transmission device according to another embodiment of the application is shown.

[0043] Figure 4 A schematic side view of a monitoring network according to another embodiment of the application is shown.

[0044] Figure 5 A block diagram for illustrating the conversion of radar signals into automatic driving motor actions according to an embodiment is shown.

[0045] In all figures, elements that are the same or functionally equivalent are denoted with the same reference signs, and parts are not individually explained. DETAILED DESCRIPTION

[0046] Figure 1 A schematic flow chart of a method for automatically operating a motor vehicle 1 according to the application is shown.

[0047] In step S1 of the proposed method, a plurality of basic driving motor action commands for the automatic operation of a motor vehicle is provided These basic driving motor action commands can be executed automatically by the motor vehicle, i.e. without a driver or without driver intervention. Advantageously, the basic driving motor action commands are selected such that various conceivable sequences of driving motor actions or possible routes and behaviors of the motor vehicle can be specified for the desired application purpose. In practice, these available basic driving motor action commands can be communicated to a user, for example a worker who should set up the automatic operation at a construction site, for example as part of a training course and / or as part of an operating manual for setting up the automatic operation.

[0048] Table 1: Acquisition of driving functions to be executed automatically from the basic driving motor action commands assigned to the identifiers

[0049]

[0050]

[0051] Table 1 provides some basic driving maneuver commands exemplarily in the right-hand column. Here, the first basic driving maneuver command includes the instruction to "move tangentially towards the station (adjacent station) at a speed of 15 km / h." This essentially means that, in automatic operation, the vehicle should move tangentially towards the signal transmission device (also referred to below as the station or radar transponder) transmitting this basic driving maneuver command at a target speed of 15 km / h in the direction of the next station. This will be combined with... Figure 2A To provide a more detailed explanation.

[0052] Table 1 also includes three other basic driving maneuver commands as examples. It should be emphasized that this selection is merely exemplary and not exhaustive. For simplicity, Table 1 lists only those commands used to specify actions such as... Figure 2A The example shown illustrates the basic driving maneuver commands necessary for automated operation.

[0053] Here, the term "basic driving maneuver command" can be understood, for example, as a specific standard maneuver that can be performed using the vehicle itself or an accessory or auxiliary unit of the vehicle for local navigation and traffic sign information, preferably an instruction for driving maneuver. Furthermore, basic driving maneuver commands can include driving maneuvers that cause the vehicle to move in a specific manner toward a signal transmission device for transmitting the basic driving maneuver command, such as driving tangentially toward the signal transmission device at a specific speed as described above.

[0054] In step S2, a plurality of mobile signal transmission devices are provided, which are designed to wirelessly transmit signals to an autonomously operable motor vehicle. Each signal transmission device is assigned at least one basic driving maneuver command. The motor vehicle is designed to determine at least one assigned basic driving maneuver command from signal transmissions with one of the signal transmission devices. Here, the signal transmitted between the signal transmission device and the motor vehicle may, for example, contain the basic driving maneuver command itself and / or an identifier. The identifier is used to identify the basic driving maneuver command assigned to the signal transmission device. In the latter case, the motor vehicle 1 is designed to determine at least one basic driving maneuver command assigned to the corresponding signal transmission device by recognizing the identifier from signal transmissions with the signal transmission device. This will be explained in more detail below.

[0055] Table 1 shows that each basic driving maneuver command is assigned a unique identifier, for example ID-1, ID-2, ID-3 or ID-4, etc. The assignment relationship is stored in the motor vehicle. Thus, the basic driving maneuver commands can be identified, or in other words coded, by the short, unique identifiers, respectively. Thus, if a signal transmission device is assigned the identifier ID-1, this means that the signal transmission device is designed to provide the motor vehicle by signal transmission with the basic driving maneuver command "drive tangentially to the site (adjacent site) at 15 km / h" assigned to the identifier ID-1. Of course, a plurality of signal transmission devices can be provided with the same identifier and / or with the same assigned basic driving maneuver command, so that the respective basic driving maneuver command can be used several times to specify the automated operation.

[0056] In step S3, the driving functions to be automatically executed by the motor vehicle 1 are specified, which will be explained below with reference to Table 1 and Figure 2A to 2B

[0057] To illustrate the proposed method, as an example, an automated operation of the motor vehicle 1 on a construction site is to be carried out Figure 2A The automated operation of the motor vehicle 1 is schematically shown. In this example, a target path 3 is specified, which is represented by the dashed line. The motor vehicle 1 is to travel along this target path 3 from the starting point A to the target position H automatically, i.e. without driver intervention. The motor vehicle 1 is to stop at the position H and unload the goods of the motor vehicle 1. In the example shown, the position numbers A to H are to mark different points in time at which the motor vehicle 1 automatically travels along the target path 3 for the sake of simplicity of illustration. However, it is also conceivable that a plurality of motor vehicles are guided along the target path 3 in a fleet operation.

[0058] In order to enable the motor vehicle 1 to travel automatically, the driving maneuver commands to be executed must be specified externally to the motor vehicle.

[0059] To carry out these automatically executed driving maneuver commands, a user, for example a worker on the construction site, first selects the basic driving maneuver commands required to achieve the target path 3 and other driving maneuver commands, for example the unloading operation, etc., and defines their sequence. In other words, in thought, the travel, the stop and the unloading of the motor vehicle 1 on the target path 3 are divided here into a plurality of underlying basic driving maneuver commands.

[0060] As Figure 2A ​As shown, the target path 3 can be implemented by the motor vehicle 1, starting from the point A, first performing the basic driving maneuver with the identifier ID-1 twice, then performing the basic driving maneuver with the identifier ID-2, then performing the driving maneuver with the identifier ID-1 again, then performing the basic driving maneuver with the identifier ID-4, then performing the basic driving maneuver with the identifier ID-1 again, and finally performing the basic driving maneuver with the identifier ID-3.

[0061] In order to specify the target path 3 by this sequence of basic driving maneuvers, in the example shown, the worker can use a plurality of mobile signal transmission devices 2, each of which is assigned one of these basic driving maneuvers in the form of an identifier.

[0062] In the present example, the mobile signal transmission devices 2 are designed exemplarily as radar transponders which, when illuminated by a radar beam of the motor vehicle 1, generate a response signal for characterizing the assigned identifier. In other embodiments of the application not shown here, the signal transmission devices 2 can also be designed, for example, as lidar transponders.

[0063] Thus, in order to guide the motor vehicle along the target path 3 and to achieve the desired unloading at the location H, four signal transmission devices 2.1, 2.2, 2.4, 2.6 are required, each of which is assigned the identifier ID-1. A signal transmission device 2.3 assigned the identifier ID-2 is also required. A signal transmission device 2.4 assigned the identifier ID-4 is also required. A signal transmission device 2.7 assigned the identifier ID-3 is also required. This is schematically shown in Figure 2B .

[0064] Thus, the worker selects these seven signal transmission devices 2.1 to 2.7, for example, from a storage area of the signal transmission devices 2 of the construction site, and places them into the desired locations. That is, as Figure 2A exemplarily shown, the signal transmission devices are positioned along and adjacent to the target path 3.

[0065] Thus, the worker selects the required signal transmission devices 2, 2.1-2.7 and positions them along the target path 3 (see Figure 2A ).

[0066] After placing the radar transponders 3 in the correct order along the target path 3 and at intervals from the target path 3, the automatic operation of the vehicle 1 can begin, wherein steps S4 and S5 are repeated. That is, the driving function to be automatically performed by the vehicle is obtained from the wireless signal transmission between the vehicle 1 and the signal transmission device for selection and positioning (step S4), and then the automatic operation of the vehicle is performed accordingly based on the obtained driving function (step S5).

[0067] This will be based on Table 1 below and Figure 2A to 2B and Figure 5 To explain. In this exemplary embodiment, by way of example only, the motor vehicle 1 is a truck with a tiltable loading area. By way of example only, the motor vehicle 1 also includes a radar device 12, through which radar signals 19 can be transmitted and received. If the motor vehicle is near the radar transponder 2, the transmitted radar signal 19 is reflected by the motor vehicle, wherein an echo is generated to characterize the corresponding identifier. The radar device 12 of the motor vehicle 1 receives this characteristic echo. In the exemplary embodiment shown, the characteristic echo of the signal transmission devices 2.1 to 2.7, which are designed as radar transponders, contains an identifier, based on which basic driving maneuver commands assigned to the identifier and therefore assigned to the radar transponder can be confirmed.

[0068] The motor vehicle 1 also includes an automation system for automatic operation, which is designed to acquire driving maneuvers for automatic operation based on radar signals received by the signal transmission device 2.

[0069] Figure 5 The block diagram schematically illustrates this automated system, which will be further illustrated below. Figure 2A Refer to the explanation Figure 5 A block diagram.

[0070] The automated system for autonomous driving operation includes evaluation software 18 for acquiring driving maneuvers to be performed and an autonomous driving system 16 for converting these driving maneuvers into autonomous driving operations (i.e., longitudinal and lateral guidance commands, control of auxiliary units of the motor vehicle, etc.).

[0071] lie in Figure 2A Motor vehicle 1 at location A transmits radar signal 19 through its radar device 12. The radar signal is received by three signal transmission devices 2.1, 2.2 and 2.3 and reflected back to radar device 12 of motor vehicle 1 as characteristic echoes.

[0072] Signal transmission devices 2.1 and 2.2 are assigned the identifier "ID-1", and signal transmission device 2.3 is assigned the identifier "ID-2".

[0073] The evaluation software 18 comprises an ID detection device 13 which is designed to identify radar transponders in the received radar data. To this end, the ID detection device 13 confirms the identifier from the characteristic radar signal. To this end, assignment rules (not shown) are stored in the ID detection device 13 which assign a specific identifier to a specific response characteristic. The evaluation software 18 further comprises an identifier and maneuver map 14 which, from the defined identifier, obtains the basic driving maneuver command assigned to this identifier by means of a stored assignment table (as shown in Table 1).

[0074] In the overall context, the defined basic driving maneuver command is finally interpreted and prioritized, so that finally the maneuver command is transmitted to the automated driving system 16 of the motor vehicle. To this end, the evaluation software 18 comprises a scenario interpretation 15. If the radar device 12 of the motor vehicle receives radar response signals, for example, from a plurality of signal transmission devices 2, this scenario interpretation 15 selects which signal transmission device 2 is currently relevant according to specified criteria. It is merely by way of example that the currently relevant signal transmission device 2 is determined from the position of the received radar signal 19. To this end, the scenario interpretation 15 also directly analyzes the position of the received radar signal (this is shown by the arrow 17). Alternatively, this function can also be performed in the ID detection device 13.

[0075] The radar device 12 of the motor vehicle 1 is additionally used to scan the surrounding area of the motor vehicle 1, in particular to identify obstacles in the surrounding area of the motor vehicle 1. The detected surrounding area data are included in the scenario interpretation 15. The scenario interpretation 15 decides whether the basic driving maneuver command suggested by the identifier and maneuver map 14 would lead to a collision with an obstacle from the surrounding area data detected by the radar device 12. Thus, in this case, the obstacle would hinder the implementation of the driving function to be automatically performed by the motor vehicle 1. It is conceivable that the driving function to be automatically performed is then not performed or only performed in altered form in order to correspondingly prevent a collision with the obstacle. Thus, the automated driving system 16 uses the result of the scenario interpretation 15 to implement the automated operation of the motor vehicle 1.

[0076] It needs to be expressly emphasized that further information for the scenario understanding can also be taken into account, such as information from camera images, laser sensors, distance sensors, or reference Figure 5 to the radar obstacle recognition by means of the surrounding area data described.

[0077] The motor vehicle then performs the driving maneuver command assigned to the identifier ID-1 and drives tangentially to the signal transmission device 2.1 to which the basic driving maneuver command is assigned.

[0078] At position B, the motor vehicle 1 receives signals of the signal transmission devices 2.2 and 2.3, wherein the latter is identified as currently relevant and accordingly proceeds to position C.

[0079] At position C, the motor vehicle 1 receives only signals of the signal transmission device 2.3. Then, the motor vehicle executes the basic driving maneuver command assigned to the identifier "ID-2", drives tangentially to the signal transmission device 2.3 and, upon arrival, turns right with a radius of 15 m.

[0080] At position D, the motor vehicle 1 receives no radar signals. The ID-to-motor maneuver mapping shown in table 1 is stored in the motor vehicle 1, which in this case should execute the last basic driving maneuver command (here the basic driving maneuver command assigned to the identifier "ID-2"). Therefore, the motor vehicle maintains the speed and the turning radius and proceeds to position E.

[0081] At position E, the motor vehicle 1 receives signals of the signal transmission devices 2.4 and 2.5, wherein the signal of the signal transmission device 2.4 is identified as relevant according to the described pattern and accordingly proceeds to position F according to the basic driving maneuver command assigned to the identifier "ID-1".

[0082] At position F, the motor vehicle receives only signals of the signal transmission device 2.5. Then, the motor vehicle executes the basic driving maneuver command assigned to the identifier "ID-4", drives tangentially to the signal transmission device 2.5 and, upon arrival, turns right with a radius of 25 m.

[0083] At position G, the motor vehicle 1 receives signals of the signal transmission devices 2.6 and 2.7, identifies the signal of the signal transmission device 2.6 as currently relevant and accordingly executes the basic driving maneuver command assigned to the identifier "ID-1" and proceeds to position H.

[0084] At position H, the motor vehicle 1 receives only signals of the signal transmission device 2.7. Then, the motor vehicle 1 executes the basic driving maneuver command assigned to the identifier "ID-3", reduces the speed to 0 km / h upon arrival and unloads the vehicle cargo.

[0085] Figure 3 Three different embodiments of the proposed signal transmission device 2 are shown. In Figure 3In the first embodiment shown (left), the signal transmission device 2 comprises a radar transponder 10, which generates a characteristic response signal or a characteristic echo for identifying the signal transmission device 2 and for identifying at least one assigned driving maneuver command. In addition, the signal transmission device 2 of this embodiment comprises wheels 4 for movement, communication means 5 for communication with other communication means 5 and optical and / or acoustic warning means 6. In addition, the signal transmission device 2 comprises a grating reflector 7 for forming a grating 8, wherein the monitoring network is realized by the grating 8 and the grating reflector 7 Figure 4 Monitoring network of the positioned signal transmission devices 2 shown. In the embodiment shown, an optical or acoustic warning signal is output by the warning means 6 when the monitoring network realized by the grating 8 and the grating reflector 7 is crossed.

[0086] In Figure 3 In the second embodiment shown (middle), the signal transmission device 2 comprises a radar transponder 10, an adjustable height signal mast 11 and a pylone 9. In this embodiment, the signal transmission device 2 realizes a dual function, i.e. the function of the signal transmission device 2 in the proposed method and the form familiar to people for delimiting a lane area.

[0087] In Figure 3 In the third embodiment shown (right), the signal transmission device 2 comprises only a radar transponder 10.

[0088] List of reference signs

[0089] 1 motor vehicle

[0090] 2, 2.1 to 2.7 signal transmission device

[0091] 3 target path

[0092] 4 wheel

[0093] 5 communication means

[0094] 6 warning means

[0095] 7 grating reflector

[0096] 8 grating

[0097] 9 pylone

[0098] 10 radar transponder

[0099] 11 adjustable height signal mast

[0100] 12 radar device

[0101] 13 ID detection device

[0102] 14 identifier and maneuver mapping unit

[0103] 15 scenario explanation unit

[0104] 16 autonomous driving system

[0105] 17 Figure 5 indicated arrow

[0106] 18 evaluation software

[0107] 19 radar signal

Claims

1. A method for the automatic operation of a motor vehicle (1), wherein, The motor vehicle (1) is designed to automatically execute a specified sequence of driving maneuvers in an area separated from ordinary road traffic. Its features are: a) Provides multiple basic driving maneuver commands for the automatic operation of the motor vehicle (1); b) Provide a plurality of mobile signal transmission devices (2, 2.1-2.7) designed to wirelessly transmit signals with the motor vehicle (1), wherein each signal transmission device (2, 2.1-2.7) is assigned at least one basic driving maneuver command, and the motor vehicle (1) is designed to determine the at least one assigned basic driving maneuver command from signal transmissions with one of the signal transmission devices (2, 2.1-2.7); c) Specify the driving functions to be automatically performed by the motor vehicle (1) in the following manner: c1) Select a basic driving maneuver command from the provided plurality of basic driving maneuver commands, and specify the order of the selected basic driving maneuver commands; c2) Select a signal transmission device (2, 2.1-2.7) from the provided signal transmission devices (2, 2.1-2.7) that corresponds to the selected basic driving maneuver command, and locate the selected signal transmission device (2, 2.1-2.7) according to the defined sequence of the basic driving maneuver commands and the target path (3) for the automatic operation of the motor vehicle (1); d) Obtain the driving function to be automatically performed by the motor vehicle (1) from the wireless signal transmission between the motor vehicle (1) and the selected and positioned signal transmission devices (2, 2.1-2.7); and e) The motor vehicle (1) is operated automatically according to the acquired driving functions, wherein the sequence of the acquired driving functions is generated by the positioning of the selected signal transmission device (2, 2.1-2.7).

2. The method according to claim 1, characterized in that, The signals transmitted by the signal transmission devices (2, 2.1-2.7) contain an identifier for identifying the signal transmission devices (2, 2.1-2.7), and The motor vehicle (1) is designed to determine the at least one basic driving maneuver command assigned to the signal transmission device (2, 2.1-2.7) by: confirming the identifier for identifying the corresponding signal transmission device (2, 2.1-2.7) from the signal transmission with the corresponding signal transmission device (2, 2.1-2.7), and determining the at least one basic driving maneuver command assigned to the identifier from the confirmed identifier according to a stored allocation relationship.

3. The method according to claim 2, characterized in that, The identifier used to identify the signal transmission device (2, 2.1-2.7) is changed by altering the signal transmitted by the signal transmission device (2, 2.1-2.7).

4. The method according to any one of claims 1-3, characterized in that, The acquisition of the driving function to be automatically performed by the motor vehicle (1) further includes: a) When the motor vehicle (1) receives signals from multiple signal transmission devices (2, 2.1-2.7): evaluate the received signals and identify one signal transmission device (2, 2.1-2.7) as the currently relevant signal transmission device (2, 2.1-2.7), and b) Obtain the driving function to be automatically performed by the motor vehicle (1) from the wireless signal transmission between the motor vehicle (1) and the signal transmission device (2, 2.1-2.7) that is determined to be currently associated.

5. The method according to any one of claims 1-3, characterized in that, The acquisition of the driving function to be automatically performed by the motor vehicle (1) further includes: a) Environmental detection is performed using at least one environmental sensor of the motor vehicle (1), and b) Check whether an obstacle is identified based on the environmental detection to prevent the execution of the driving function to be automatically performed by the motor vehicle (1).

6. The method according to any one of claims 1-3, characterized in that, The basic driving maneuver commands include: a) A driving maneuver that causes the motor vehicle (1) to approach the signal transmission device (2, 2.1-2.7) which is assigned the basic driving maneuver command in a specific manner, and / or b) Driving maneuvers that cause changes in yaw angle and / or vehicle speed and / or stopping and / or starting of the motor vehicle (1), and / or c) Action commands that cause control over components of the motor vehicle and / or affect the behavior of the motor vehicle.

7. The method according to claim 6, characterized in that, The driving maneuver that causes the motor vehicle (1) to approach the signal transmission device (2, 2.1-2.7) in a specific manner is to cause the motor vehicle (1) to drive tangentially toward the signal transmission device (2, 2.1-2.7) which is assigned the basic driving maneuver command at a specific speed.

8. The method according to any one of claims 1-3, characterized in that, The multiple basic driving maneuver commands are divided into different categories, including: traffic sign information and / or road sign information that define the path in coordination with multiple signal transmission devices (2, 2.1-2.7), and / or location information and action commands that trigger the processing performed by the motor vehicle (1), the processing tilting to the loading area of ​​the multi-purpose vehicle designed as a dump truck.

9. The method according to any one of claims 1-3, characterized in that, The signal transmission devices (2, 2.1-2.7) are designed for short-range wireless signal transmission.

10. The method according to claim 9, characterized in that, The signal transmission device (2, 2.1-2.7) is implemented as a transponder for transmitting electromagnetic radiation.

11. The method according to any one of claims 1-3, characterized in that, The signal transmission device (2, 2.1-2.7) is designed as a radar transponder (10).

12. The method according to claim 11, characterized in that, The signal transmission device (2, 2.1-2.7) is designed as a radar beacon or a reflective radar transponder (10), which generates a characteristic response signal for identifying the signal transmission device (2, 2.1-2.7) and / or for identifying the at least one assigned basic driving maneuver command.

13. The method according to any one of claims 1-3, characterized in that, The signal transmission device (2, 2.1-2.7) has a traffic cone, an adjustable-height signal mast (11), and / or an alarm device (6) that performs acoustic and / or optical functions.

14. The method according to any one of claims 1-3, characterized in that, The signal transmission device (2, 2.1-2.7) has wheels (4) or chains for walking.

15. The method according to any one of claims 1-3, characterized in that, The signal transmission device (2, 2.1-2.7) has a communication device (5) designed to communicate with other communication devices (5).

16. The method according to claim 14, characterized in that, The walking drive system is designed to be remotely controlled via control commands received through the communication device (5).

17. The method according to any one of claims 1-3, characterized in that, The plurality of signal transmission devices (2, 2.1-2.7) each have a grating (8) and / or a grating reflector (7), wherein a monitoring network of the located signal transmission devices (2, 2.1-2.7) is realized through the grating (8) and / or the grating reflector (7).

18. The method according to claim 17, characterized in that, When passing through the monitoring network implemented by the grating (8) and / or the grating reflector (7), a) Output optical or acoustic warning signals through the signal transmission devices (2, 2.1-2.7), and / or b) Send a warning signal to the motor vehicle.

19. The method according to any one of claims 1-3, characterized in that, The selected signal transmission devices (2, 2.1-2.7) are each assigned an absolute position, and / or the signal transmission devices (2, 2.1-2.7) are designed to detect absolute positions.

20. A mobile signal transmission device (2, 2.1-2.7) designed to perform the method according to any one of claims 1-19 for wireless signal transmission with an automatically operable motor vehicle (1), wherein, The signal transmission devices (2, 2.1-2.7) are assigned at least one basic driving maneuver command, and the signal transmission devices (2, 2.1-2.7) are designed to transmit signals characterizing the at least one assigned basic driving maneuver command.

21. The mobile signal transmission device (2, 2.1-2.7) according to claim 20, characterized in that, The signals transmitted by the signal transmission devices (2, 2.1-2.7) contain identifiers for identifying the signal transmission devices (2, 2.1-2.7) and / or the at least one assigned basic driving maneuver command.

22. The mobile signal transmission device (2, 2.1-2.7) according to claim 21, characterized in that, The identifier is changed by altering the signal transmitted by the signal transmission devices (2, 2.1-2.7).

23. The mobile signal transmission device (2, 2.1-2.7) according to any one of claims 20 to 22, characterized in that: a) The signal transmission device (2, 2.1-2.7) is designed as a radar transponder (10), and / or b) The signal transmission device (2, 2.1-2.7) has a traffic cone, an adjustable-height signal mast (11) and / or an alarm device (6) that performs acoustic and / or optical functions.

24. The mobile signal transmission device (2, 2.1-2.7) according to claim 23, characterized in that, The signal transmission device (2, 2.1-2.7) is designed as a radar beacon or a reflective radar transponder (10), which generates a characteristic response signal for identifying the signal transmission device (2, 2.1-2.7) and / or for identifying the at least one assigned basic driving maneuver command.

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