Method for checking an automatically driving vehicle without the operation and

Abstract

The invention relates to a method for checking an automatic driving vehicle (50) before a start, in which a set (10) of predetermined checks (11-x) is automatically carried out at each start, said checks being carried out at least in part by a predetermined combination (12-x) of a sensor device (51) and an execution device (52) of the vehicle (50), and in which the set (10) of predetermined checks (11-x) is carried out at least in part by means of the predetermined combination (12-x) of the sensor device (51) and the execution device (52) of the vehicle (50). It is also checked whether the check (13-x) carried out cyclically in the past under predetermined conditions has been carried out at a sufficient frequency (14-x), and if the check (11-x) carried out at the start and the check (13-x) carried out under predetermined conditions have been carried out at a sufficient frequency (14-x), the travel by the automatic travel vehicle (50) is permitted. The invention also relates to an automatic driving vehicle (50).

Description

Technical Field

[0001] The invention relates to a method for inspecting an autonomous vehicle before departure and an autonomous vehicle. Background Art

[0002] Automatic or autonomous vehicles must be checked by the user or owner before each trip to allow automatic or autonomous operation, which results in considerable effort and cost for the user or owner.

[0003] A method for predicting and resolving tire accidents in a vehicle operating in an automatic driving (autonomous) mode is known from document US2021 / 0181737A1. This aspect includes determining the probability of tire failure, which includes measures that the vehicle can take to reduce the probability of failure. System inspections can be performed before driving and in real time. Vehicle models including tires can be used in fault prediction. The on-board system can store received data and identified sensor data about tire pressure and temperature, which can be evaluated based on the model to avoid tire accidents or minimize the probability of tire damage under consideration of different factors. These factors include load weight and load distribution, current and facing weather conditions on the route, kilometers traveled by each tire, and identified obstacles such as potholes, debris or other lane defects. If a tire blowout occurs, the autonomous system can immediately take all necessary corrective measures.

[0004] Document US 2021 / 0160433 A1 discloses a method which automatically checks whether certain elements of a vehicle are in a safe state using at least one on-board camera before starting, and provides the driver with information about the inspection results, for example by displaying the inspection results on the vehicle dashboard. Summary of the invention

[0005] The object of the present invention is to provide a method for checking an autonomous vehicle before departure and an autonomous vehicle, wherein the execution of the check is improved and the effort is reduced, in particular for the vehicle user or owner.

[0006] This object is achieved according to the invention by a method having the features of claim 1 and an autonomous vehicle having the features of claim 12. Advantageous embodiments of the invention are disclosed in the dependent claims.

[0007] In particular, a method for checking an autonomous vehicle before departure is provided, wherein a set of predetermined checks is automatically performed at each departure, wherein the checks are at least partially performed by a predetermined combination of sensor devices and actuator devices of the vehicle, and wherein a check is also checked whether checks that were cyclically performed under predetermined conditions have been successfully performed with sufficient frequency in the past, wherein the autonomous vehicle is allowed to travel if the checks performed at departure have been successfully performed and the checks performed under predetermined conditions have been successfully performed with sufficient frequency.

[0008] In addition, in particular, an automatically driven vehicle is realized, which comprises a control device, wherein the control device is configured to cause the automatic execution of a set of predetermined checks at each departure, wherein these are executed at least in part by a predetermined combination of sensor devices and actuator devices of the vehicle, and also to check whether checks that were cyclically performed under predetermined conditions have been successfully performed with sufficient frequency in the past, and to allow travel by the automatically driven vehicle if the checks performed at departure have been successfully performed and the checks performed under predetermined conditions have been successfully performed with sufficient frequency.

[0009] The method and the vehicle for automatic driving realize the necessary inspection automatically. Two inspection paths are provided for this purpose: on the one hand, a set of predetermined inspections is carried out at the time of departure. Then, the inspection in the set is carried out immediately at the time of departure. The expression "at the time of departure" here particularly includes the time period before departure, in which the vehicle is parked, and particularly includes the time period when the vehicle is started and the time period immediately after the start. Thus, the current state of the vehicle for automatic driving can be checked. If the predetermined inspections in all the sets have been successfully performed, the automatic driving operation can be allowed in terms of the angle of the first path. Otherwise, the automatic operation can be prevented. On the other hand, it is checked whether the inspections that were cyclically carried out under predetermined conditions in the past have been successfully carried out with sufficient frequency. If there are respectively predetermined conditions, the inspections that are cyclically carried out are always carried out during normal operation. In addition, the predetermined conditions can also be caused in a targeted manner in order to carry out the inspection. The inspections that are cyclically carried out are particularly detected by a counter, particularly by an indicator of the frequency of monitoring (IUMPR) counter in use. Within the scope of the inspection, the counter values ​​corresponding to the inspections that are carried out under the predetermined conditions can be compared with the predetermined minimum value for the frequency. The frequency particularly refers to the number of successful inspections for the predetermined time interval. If the minimum value is met, then the automatic operation of the vehicle may be allowed from the perspective of the second path. Otherwise, the automatic operation may be blocked. Automatic operation is only allowed if both paths allow automatic operation.

[0010] The checks in the set of predetermined checks are at least partially performed by a predetermined combination of sensor devices and actuators of the vehicle. The checks may include the use of at least one of the following: microphone (for detecting noise), environmental sensors (such as environmental cameras, laser radar, radar, ultrasound, etc.), motion estimation (such as by odometer, speed and / or acceleration measurement, by data of ESC system, etc.), self-positioning (such as by positioning system, navigation system, global satellite navigation system, etc.), tactile perception (detection of steering torque, detection of vibration, such as by low-frequency detection by means of microphone, etc.), temperature measurement (such as on equipment of the vehicle, such as engine, battery), logic monitoring (such as rule-based and / or machine learning-based credibility check of vehicle behavior), change of actuator (such as steering movement, change of state of air chassis to change pitch angle, etc.). For example, the combination may include a steering actuator and at least one environmental sensor, such as at least one environmental camera. Then, the steering actuator causes a deflection of the steerable wheel, for example, when stationary, and detects the change in the detection of the environment by the environmental sensor device, in particular by at least one environmental camera. The detected change can be compared with a reference value under the condition of taking into account the size of the deflection, which is performed by the steering actuator. If the detected change is consistent with the expected reference deflection or change in the environment, the check is successfully completed. Otherwise, the check is unsuccessful. In addition, this combination can include at least one brake and an electric motor or internal combustion engine, wherein the actuation is performed relative to the locked brake. If the vehicle is not moving and / or a certain braking force is demonstrated, the check is successfully completed. Another example of a combination includes at least one headlight of a vehicle and at least one ambient camera. The headlight projects a predetermined image, for example in the form of a known pattern, and / or a predetermined lighting to the environment, which is detected by the at least one ambient camera. The detected image is then compared with the expected image. If the deviation of the image is below a predetermined threshold value, the check is successfully completed. In addition, for example, the tread depth of the tires of the vehicle can also be determined and checked by optical measurement.

[0011] In particular, the check is only performed at the start of the journey if the environment of the vehicle permits it. In particular, a safety assessment is performed, i.e. whether the check can be performed in the current environment. For example, actuation at night with a locked brake on a frost-covered hillside is assessed as a safety concern, so that the check is not performed automatically or at least not under given conditions.

[0012] The check may also include, in particular, a self-diagnosis of vehicle systems and / or devices. For example, airbags and seat belt tensioners may be checked by a self-diagnosis before departure.

[0013] The predetermined conditions include, in particular, a plurality of categories. For example, one category includes conditions that frequently occur during driving, such as a predetermined speed range, a predetermined road type, etc.; the check is then performed during normal driving. Another category includes, for example, conditions that frequently occur after driving, such as the cooling process of the vehicle; in this category, the check is performed after driving. Another category also includes conditions that are created by the vehicle in order to specifically create the required check frequency, such as specific environmental conditions, etc.; the check is performed after the vehicle has created the conditions, for example, a specific environment has been detected and / or specific operating parameters have been achieved.

[0014] It can be provided that the results of the checks are recorded. In particular, information including the respective results and the time of execution can be stored and / or stored in a memory of the control device, so that it can be determined at a later time which checks were successfully or unsuccessfully performed at which time. This recording can be performed additionally or alternatively on a backend server.

[0015] It can be provided that a comparison with historical data and / or reference data is carried out within the scope of the examination. Thus, the data detected within the scope of the current examination can be compared with historical data of the same examination and, for example, checked according to a predetermined threshold value whether deviations are exceeded. The historical data and / or reference data can, for example, be stored and / or stored on a backend server and / or called up by it when required, i.e. when performing an examination.

[0016] As a check, provision can be made to detect the surroundings and to map them when the vehicle is stationary, wherein the mapped surroundings are used as a comparison basis for the current detection of the surroundings when setting off.

[0017] It can be provided that in the case of anticipated autonomous driving, the check at the start of the trip is already initiated during the vehicle's dwell time. This makes it possible to have the vehicle ready at the start of the autonomous driving desired by the user, or at least to reduce waiting time, since all or at least most of the checks have already been performed.

[0018] It can be provided that the set of predetermined checks and / or checks to be performed cyclically are selected and / or determined taking into account the operating location of the vehicle. This allows the regulations (norms, laws, standards, regulations, etc.) of a particular country to be taken into account for allowing automatic driving. The selection and / or determination can be performed automatically, for example based on a list stored in a memory, in which the checks for the respective operating location, in particular for the respective country, are stored.

[0019] It can be provided that the user and / or the owner of the vehicle can determine whether and / or when a check is to be carried out. In particular, the user and / or the owner of the vehicle can determine when substantially no check is to be carried out.

[0020] Parts of the autonomous vehicle, in particular the control device, can be designed individually or in combination as a combination of hardware and software, for example as a program code executed on a microcontroller or microprocessor. However, it can be provided that the parts are designed individually or in combination as an application specific integrated circuit (ASIC) and / or a field programmable gate array (FPGA).

[0021] The vehicle is in particular a motor vehicle. However, the vehicle can also be another agricultural, rail, water, air or space vehicle, such as an air taxi or a drone. In particular, the method can also be used to check other automatically running systems during startup, for example in the industrial sector. The embodiments described in the present disclosure are also applicable to the method for checking such a system in a similar manner.

[0022] In one embodiment, it is provided that different credibility levels are provided for the predetermined checks in the set, wherein the checks are carried out in the order of the credibility levels at the start of the journey, wherein only after all checks of the previous credibility levels have been successfully carried out, the checks of the higher credibility levels are carried out. This can gradually allow a larger range of functions of the autonomous vehicle provided during the autonomous check. In particular, the range of functions can be expanded with each higher credibility level. If it complies with legal provisions, the credibility level can correspond to the maximum speed at which autonomous driving is allowed (for example 6 km / h, 10 km / h..., without restrictions). In addition, a distinction can be made between private and public environments. For example, it can be provided that for a given credibility level, slower autonomous driving is already allowed on private land, but not in public spaces.

[0023] In one design, it is provided that the inspection in the set includes at least an inspection in a stationary state, an inspection during slow driving, and an inspection during driving, wherein the credibility level increases in the above order. Thus, a wider range of functions can be tested step by step. In addition, the inspection range can also be expanded when the vehicle is moving. Slow driving especially includes driving at a speed lower than a predetermined speed (e.g., 6 km / h or 10 km / h). During such slow driving, environmental perception can be checked in particular. For example, the environment can be detected by environmental sensors (environmental cameras, radars, laser radars, ultrasonic waves, etc.) and the object movement can be made reasonable according to the movement of the vehicle. When the vehicle is driving, sensor signals and / or sensor data can be detected and checked in particular, which cannot be detected or can only be detected to a limited extent when stationary or slow driving, or have limited persuasiveness. In addition, driving dynamics can be checked while driving. In addition, acoustic anomalies such as clattering, snapping, clicking, knocking, or vibrations can be detected and evaluated by suitable sensor devices. In this, a route is selected in particular, on which the vehicle can enter a safe state at any time and does not cause traffic jams and / or traffic risks in a safe state.

[0024] In one embodiment, it is provided that, for the inspection while driving slowly and / or while driving, a route suitable for the respective inspection is determined and / or driven. This allows the inspection to be carried out better, in particular in a shorter time. For example, this can be carried out based on map data of a map of a vehicle navigation system. For example, the route can include objects in the environment that are particularly suitable for inspection by environmental sensors, or include branch roads, on which the inspection can be carried out without affecting traffic.

[0025] In one embodiment, it is provided that the route is determined taking into account the confidence level achieved so far. The route can thus be adapted to the (limited) functional scope of the autonomous vehicle. For example, at a low confidence level, the route can only be located on private land (such as a private driveway or an underground parking lot). At a higher confidence level, the route can be on public roads, for example.

[0026] In one design, it is provided that the checks in the set and the checks executed cyclically have time validity respectively, and if the time validity of the check has not expired, the execution of the corresponding check is suspended and the check is considered to have passed. In this way, the inspection can be limited to the necessary checks. On the contrary, the checks that are still sufficiently time valid will not be executed. In this way, time, workload and cost can be saved.

[0027] In one design, it is provided that when an autonomous vehicle is parked, a suitable position and / or orientation for a predetermined set of inspections is selected. This allows for optimal preparation of the inspections that are faced during subsequent departures so that the inspections can be performed without time delay. It can be provided that a suitable position and / or orientation can be stored in an environmental map, for example, stored in a navigation system of the vehicle, and can be called from the environmental map when necessary according to the current position of the vehicle in the environmental map. If a position is stored nearby, the vehicle is directed to the position, and the orientation stored for the position is particularly adopted here. Alternatively or additionally, it is possible to evaluate whether the current environment is suitable for the inspection of the set. For example, objects in the environment can be used to inspect the environmental sensor device of the vehicle, etc. Accordingly, during the evaluation, the position and / or orientation on which these objects can be detected by the environmental sensor device is evaluated as a more suitable position and / or orientation and the vehicle is driven to this accordingly.

[0028] In one embodiment, it is provided that if at least one of the predetermined checks in the set cannot be performed automatically, the user of the vehicle is requested to perform one or more missing checks. In this way, checks that cannot be performed automatically can be performed with the help of the user (or holder) of the vehicle. For example, the user can receive a notification. For example, the notification can be output on a display device or mobile device of the vehicle. The notification can also include instructions for the user to perform the check.

[0029] In one embodiment, it is provided that a processing suggestion is given to the user based on the result of the check. The result of the check can thus be used to improve the condition of the vehicle. For example, the user can receive a processing suggestion for cleaning a sensor. This enables, in particular, predictive maintenance and / or servicing of the vehicle. In addition, it can thus also be possible to repeat an unsuccessfully performed check after executing the recommended processing in order to retry to successfully perform the check.

[0030] In one embodiment, it is provided that at least one of the predetermined checks of the set is carried out with the aid of at least one other vehicle and / or at least one infrastructure in the vehicle environment. This makes it easier to carry out the check. For example, environmental sensors of other vehicles and / or infrastructure can be used. For example, the appearance of the vehicle can be checked by environmental cameras of adjacent parked vehicles and / or sensors of nearby infrastructure (such as surveillance cameras). For example, damage to the vehicle body can be determined in this way. Communication between the vehicle and at least one other vehicle or at least one infrastructure can take place directly and / or via a background server.

[0031] In one embodiment, it is provided that at least selected checks of the set are aborted at the time of departure if at least one blocking condition is met. This prevents selected checks from being performed when they are not possible or desired. The blocking condition may also apply to all checks at the time of departure. Examples of blocking conditions are:

[0032] - The vehicle is being loaded,

[0033] - There are people in the environment, making it impossible to check,

[0034] - must be permitted by the user and cannot be permitted,

[0035] - transportation is located in public spaces,

[0036] - The user is not in the vehicle (the user cannot be involved during the inspection),

[0037] - the execution of the check is disabled,

[0038] - there is no scheduled inspection time slot,

[0039] -etc.

[0040] Can provide, for the check that blocking condition exists, be carried out by the user of vehicle voluntarily.Can provide here, the driver can confirm that this check is carried out by vehicle.

[0041] Further features with respect to the design of the self-driving vehicle result from the description of the design of the method. The advantages of the vehicle are respectively the same as the advantages in the design of the method. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The present invention will be further described below according to preferred embodiments with reference to the accompanying drawings.

[0043] Figure 1 A schematic diagram is shown for illustrating an embodiment of an autonomous vehicle and method;

[0044] Figure 2 A schematic flow chart is shown for illustrating an embodiment of a method for checking an autonomous vehicle before departure. DETAILED DESCRIPTION

[0045] Figure 1 A schematic diagram is shown for representing an embodiment of an autonomous vehicle 50 and a method. The vehicle 50 comprises a control device 1. The control device 1 has a computing device 2, for example, including one or more microprocessors, and a memory 3. The computing device 2 performs the computational operations required to perform the method described in the present disclosure. The method described in the present disclosure is further described below based on the vehicle 50.

[0046] The control device 1 is configured so that a set 10 of predetermined checks 11-x is automatically performed at each departure, wherein the checks are performed at least in part by a predetermined combination 12-x of sensor devices 51 and actuator devices 52 of the vehicle 50. The information describing the set 10 is stored, for example, in the memory 3 and is called up from the memory 3 by the computing device 2 in order to perform the predetermined checks 11-x.

[0047] Furthermore, the control device 1 is configured to check whether the check 13-x, which was performed cyclically in the past under predetermined conditions, has been successfully performed with sufficient frequency 14-x. Information describing the check 13-x and the frequency 14-x is also stored in the memory 3 and retrieved from it by the computing device 2 for the check.

[0048] If the check 11-x performed at the start of the trip is successful and the check 13-x performed under the predetermined conditions is successful with sufficient frequency 14-x, the control device 1 allows travel by the automatically driven vehicle 50. To this end, the control device 1 generates a permission signal 20, which is sent in particular to the vehicle controller 53.

[0049] To start the check, the control device 1 receives a start signal 21, in particular from the vehicle controller 52. This is done when the vehicle controller 52 determines that an automatic drive is to be carried out, for example when the vehicle 50 is started or a destination is entered. The check can also be started in advance, for example when a time point for the start of the automatic drive is determined and / or predetermined.

[0050] It can be provided that different credibility levels 15-x are assigned to the predetermined checks 11-x in the set 10, wherein the checks 11-x are carried out in the order of the credibility levels 15-x at the start of the journey, wherein the checks 11-x of a higher credibility level 15-x are carried out only after all the checks 11-x of the preceding credibility levels 15-x have been successfully carried out. In the example shown, the check 11-x corresponding to the credibility level 15-1 is carried out first. This is followed by the check 11-x corresponding to the credibility level 15-2, and then the check 11-x corresponding to the credibility level 15-3. The successful carrying out of all the checks 11-x of the credibility level 15-1 is a condition for allowing the carrying out of the check 11-x of the credibility level 15-2. Accordingly, the successful carrying out of the checks 11-x of the credibility levels 15-1 and 15-2 is a condition for allowing the carrying out of the check 11-x of the credibility level 15-3. The range of functions provided to the vehicle 50 during the checks 11-x, in particular in terms of autonomous driving and routing, increases with the level of the confidence level 15-x. The number of checks 11-x and the number and allocation of confidence levels 15-x are only examples and may also be different.

[0051] It can be provided that the checks 11-x in the set 10 include at least a check 11-x when stationary, a check 11-x when driving slowly, and a check 11-x when driving, wherein the confidence level 15-x increases in the above order. This order corresponds in particular to a progressively larger range of functions provided to the vehicle 50 during the checks 11-x.

[0052] It can be provided that, in order to carry out the inspection 11-x while driving slowly and / or while driving, a route 25 suitable for the respective inspection 11-x is determined and / or driven. For this purpose, for example, the control device 1 determines the route 25 in order to provide favorable conditions for carrying out the inspection 11-x. These favorable conditions can, for example, include predetermined optically detectable features in the environment and / or include a determined scenario in which the driving dynamics of the vehicle 50 can be tested. The control device 1 then sends the determined route 25 to the vehicle controller 53 for execution.

[0053] It can be provided that the route 25 is determined taking into account the confidence level 15-x reached so far. For example, it can be provided that if the confidence level 15-x is low, private land is not left. On the other hand, if the confidence level 15-x is high, it is possible to drive in public spaces, etc.

[0054] It can be provided that the checks 11-x in the set 10 and the checks 13-x executed cyclically have time validity respectively. If the time validity of the checks 11-x and 13-x has not expired, the execution of the corresponding checks 11-x and 13-x is terminated and the checks 11-x and 13-x are considered to have passed. The control device 1 then checks whether the time validity has expired for each check 11-x and 13-x to be executed. If it has not expired, the corresponding check 11-x and 13-x are terminated. On the contrary, if the time validity has expired, the corresponding check 11-x and 13-x are executed. The time validity can be determined, for example, by a value predetermined for the validity period, in a manner that a future time point is determined based on the time point when the corresponding check 11-x was last successfully performed.

[0055] It can be provided that when the autonomous vehicle 50 is parked, a suitable position and / or orientation for the set 10 of predetermined checks 11-x is selected. For this purpose, a route for autonomous driving is particularly determined, i.e., a suitable position and / or orientation is present at its final destination. For example, it can be provided that guidance is provided to private land and / or an environment in which certain objects and / or features are present, on which the environmental sensor device can be well checked. In particular, the control device 1 determines a suitable position and / or orientation. Alternatively, a navigation system (not shown) can also determine and / or select a suitable position and / or orientation. It can also be provided that a suitable position and / or orientation is stored in an environmental map, which can be selected and guided to when the destination is nearby.

[0056] It can be provided that if at least one of the predetermined checks 11-x of the set 10 cannot be performed automatically, a request is made to the user of the vehicle 50 to perform one or more missing checks 11-x. For this purpose, the control device 1 can send a request message 22, which includes a request to perform the check 11-x and / or instructions for performing the check 11-x, for example to a display device 54 of the vehicle 50 or to a mobile device 30 of the user.

[0057] Provision may be made for a user to be given a handling recommendation 23 based on the results of the checks 11 - x, 13 - x. Such handling recommendations 23 may include, for example, a maintenance request and / or a request to clean and / or replace an environmental sensor or the like.

[0058] It can be provided that at least one of the predetermined checks 11-x of the set 10 is performed with the aid of at least one further vehicle 60 and / or at least one infrastructure 61 in the environment of the vehicle 50. For this purpose, the control device 1 can communicate with the at least one further vehicle 60 and / or at least one infrastructure 61, for example, by car-to-X communication. For example, it can be determined whether the environmental sensor devices of the at least one further vehicle 60 and / or at least one infrastructure 61 can detect the vehicle 50. If so, an image of the vehicle 50 can be detected with the aid of the environmental sensor devices of the further vehicle 60 and / or the infrastructure and transmitted to the vehicle 50. The control device 1 can then analyze the detected and transmitted image and determine and check the (visual) state of the vehicle 50, for example, by means of methods of artificial intelligence and / or pattern recognition known per se. The communication takes place, for example, via the communication device 55 of the vehicle 50.

[0059] It can be provided that at least selected checks 11-x of the set 10 are aborted at the time of departure if at least one blocking condition 24 is met. In particular, the presence of at least one blocking condition 24 is checked by the control device 1. The at least one blocking condition 24 can also apply to all checks at the time of departure. The at least one blocking condition 24 can, for example, include one or more of the following:

[0060] - the vehicle 50 is being loaded,

[0061] - There are people in the environment, which makes it impossible to check 11-x,

[0062] - must be permitted by the user and cannot be permitted,

[0063] - the vehicle 50 is located in a public space,

[0064] - the user is not in the vehicle 50 (the user cannot intervene during the check 11-x),

[0065] - Check that execution of 11-x is disabled,

[0066] - there is no scheduled inspection time slot,

[0067] -etc.

[0068] Figure 2 A schematic flow chart is shown for illustrating an embodiment of a method for checking an autonomous vehicle before departure. The method is performed in particular by means of a vehicle, as described with reference to Figure 1 described.

[0069] After the method 100 is started, for example by a start signal from a vehicle control unit, a check is performed at the start of the journey in method step 200. This is performed in particular in a sequence of different confidence levels, which correspond in particular to the respective (restricted) functional scope of the automatic driving function. Method step 200 includes method steps 201 to 204.

[0070] In method step 201, checks are performed at rest. These checks may include conventional start-up checks, such as checking whether sensor values ​​are within a permissible range. Furthermore, these checks may also be performed by a predetermined combination of sensor devices and actuators of the vehicle, wherein the actuators are respectively controlled and simultaneously checked whether the sensor data of the sensor devices detected accordingly show expected values ​​and / or expected behavior (e.g. detection of steering movements by a surrounding camera, actuation of the brakes relative to a lock, etc.).

[0071] A check during slow driving is performed in method step 202. In particular, the surrounding sensor system and the perception and interpretation of the surroundings can be checked here.

[0072] In method step 203 , a check is performed while driving, wherein the confidence interval is gradually increased by successfully completed checks and the functional scope of the automated driving can be increased accordingly.

[0073] In method step 204 , it is checked whether all predefined checks in the set were successfully performed at the start of the trip.

[0074] Furthermore, after the method starts 100, a check is performed in method step 300 to determine whether the checks that were performed cyclically in the past under the predefined conditions were successfully performed with sufficient frequency. This frequency is detected by a counter, in particular by an IUMPR counter. Method step 300 includes method steps 301 to 304.

[0075] In method step 301, it is checked whether the check under conditions that frequently occur during driving (such as speed range, steering angle, weather conditions, etc.) is successfully performed with a predetermined frequency. For this purpose, the counter state of the counter that detects the corresponding frequency of successful checks is queried and compared with a predetermined minimum value.

[0076] In method step 302, it is checked whether the check under conditions that frequently occur after driving (such as cooling curves, certain temperature ranges, etc.) is successfully performed with a predetermined frequency. For this purpose, the counter state of the counter that detects the corresponding frequency of successful checks is queried and compared with a predetermined minimum value.

[0077] In method step 303, it is checked whether the check under the conditions that must be created by the vehicle in a targeted manner (such as special environmental conditions, special boundary conditions, etc.) is successfully performed with a predetermined frequency. For this purpose, the counter state of the counter that detects the corresponding frequency of successful checks is queried and compared with a predetermined minimum value.

[0078] In method step 304 , a check is performed to determine whether all cyclically performed checks have been successfully performed with a respectively predefined frequency.

[0079] In method step 400, it is checked whether the check to be performed at the start of the journey has been successfully performed and whether the cyclical check has been successfully performed at a respectively predetermined frequency. If so, driving by the self-driving vehicle is allowed in method step 401. Otherwise, it can be provided that a corresponding notification is issued to the user in method step 402.

[0080] Other embodiments of this method have been referred to Figure 1 illustrate.

[0081] Reference numerals list

[0082] 1. Control device

[0083] 2 Computing Device

[0084] 3 Memory

[0085] 10 Collections

[0086] 11-x Inspection (at departure)

[0087] 12-x combination

[0088] 13-x inspection (periodic)

[0089] 14-x Frequency

[0090] 15-x Confidence Level

[0091] 20 Enable signal

[0092] 21 Start signal

[0093] 22 Request Information

[0094] 23. Suggestions

[0095] 24 Blocking conditions

[0096] Route 25

[0097] 30 mobile devices

[0098] 50Transportation

[0099] 51 Sensor device

[0100] 52 Execution device

[0101] 53. Traffic Controller

[0102] 54 Display device

[0103] 55 communication device

[0104] 60Other means of transportation

[0105] 61 Infrastructure

[0106] 100 Methods and Steps

[0107] 200-204 Method Steps

[0108] 300-304 Method Steps

[0109] 400-401 Method Steps

Claims

1. A method for inspecting an autonomous vehicle (50) before departure, wherein: A set (10) of predetermined checks (11-x) is automatically performed at each departure, wherein the checks are performed at least in part by a predetermined combination (12-x) of sensor devices (51) and actuator devices (52) of the vehicle (50), and wherein it is also checked whether checks (13-x) cyclically performed under predetermined conditions have been successfully performed with sufficient frequency (14-x) in the past, wherein travel by the automatically driven vehicle (50) is permitted if the checks (11-x) performed at departure have been successfully performed and the checks (13-x) performed under predetermined conditions have been successfully performed with sufficient frequency (14-x).

2. The method according to claim 1, characterized in that Different credibility levels (15-x) are assigned to the predetermined checks (11-x) in the set (10), wherein the checks (11-x) are performed in the order of the credibility levels (15-x) when setting off, wherein a check (11-x) of a higher credibility level (15-x) is performed only after all checks (11-x) of the preceding credibility levels (15-x) have been successfully performed.

3. The method according to claim 2, characterized in that The checks (11-x) in the set (10) include at least a check (11-x) when stationary, a check (11-x) when driving slowly, and a check (11-x) when driving, wherein the confidence level (15-x) increases in the above order.

4. The method according to claim 3, characterized in that In order to carry out the inspection (11-x) while driving slowly and / or while travelling, a route (25) suitable for the respective inspection is determined and / or travelled.

5. The method according to claim 4, characterized in that The route is determined (25) taking into account the confidence level (15-x) achieved so far.

6. The method according to any one of the preceding claims, characterized in that The checks (11-x) in the set (10) and the checks (13-x) executed in a loop have time validity respectively, wherein if the time validity of the checks (11-x, 13-x) has not expired, the execution of the corresponding checks (11-x, 13-x) is terminated and the checks (11-x, 13-x) are considered to have passed.

7. The method according to any one of the preceding claims, characterized in that When the autonomous vehicle (50) is parked, a suitable position and / or orientation is selected for a set (10) of predetermined inspections (11-x).

8. The method according to any one of the preceding claims, characterized in that If at least one check of the predetermined checks (11-x) of the set (10) cannot be performed automatically, the user of the vehicle (50) is requested to perform one or more missing checks (11-x).

9. The method according to any one of the preceding claims, characterized in that Based on the results of the checks (11-x, 13-x), processing suggestions (23) are given to the user.

10. The method according to any one of the preceding claims, characterized in that At least one of the predetermined checks (11-x) of the set (10) is performed with the aid of at least one infrastructure (61) in the environment of the vehicle (50) and / or at least one further vehicle (60).

11. The method according to any one of the preceding claims, characterized in that If at least one blocking condition (24) is met, at least a selected check (11-x) of the set (10) is aborted upon departure.

12. An automatically driven vehicle (50), comprising a control device (1), wherein: The control device (1) is arranged to cause the automatic execution of a set (10) of predetermined checks (11-x) at each departure, wherein the checks are at least partially performed by a predetermined combination (12-x) of sensor devices (51) and execution devices (52) of the vehicle (50), and also to check whether checks (13-x) cyclically performed under predetermined conditions have been successfully performed with sufficient frequency (14-x) in the past, and if the checks (11-x) performed at departure have been successfully performed and the checks (13-x) performed under predetermined conditions have been successfully performed with sufficient frequency (14-x), then the travel of the automatically driven vehicle (50) is allowed.

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