Method for remote monitoring, diagnosis and control of autonomous off-road vehicles

Abstract

The invention relates to a method for remotely monitoring, diagnosing and controlling an autonomous off-road vehicle (2), in which data and software are transmitted between an internet-accessible server (1) and a communication unit (8) in the vehicle (2) that is not accessible via the internet, said transmission being carried out by at least one further intermediate mobile device (4), if the data is to be transmitted from the server (1) to the vehicle (2), a first download of the data from the server (1) to the mobile device (4) is triggered by prompting an owner of the mobile device (4), the server (1) receives data from the mobile device (4) to a communication unit (8) in the vehicle (2) to activate a second download of said data from the mobile device (4) to the communication unit (8) in the vehicle (2) once the mobile device (4) is in the vicinity of the vehicle (2) and within the transmission range of a wireless local area network (7) connecting the vehicle (2) and the mobile device (4), if the mobile device (4) is within the transmission range of the wireless local area network (7), a push notification is triggered by the server (1) to the owner of the mobile device (4), thereby prompting the owner to download the selected log data of the autonomous off-road vehicle (2) to the mobile device (4) for the first time once the mobile device (4) is within the transmission range of the wireless local area network (7). And subsequently transferring the selected log data from the mobile device (4) to the server (1) by a second download.

Description

Technical Field

[0001] The present invention relates to a method for remote monitoring, diagnosis and control of an autonomous off-highway vehicle, wherein data, including software updates and log data for performing said monitoring, diagnosis and control, are transmitted between an internet-accessible server and a communication unit in the vehicle which is not accessible via the internet. The present invention also relates to an on-board communication unit or control unit for performing the method of the present invention, an autonomous off-highway vehicle having such a communication unit or control unit, a computer program for performing the steps of the method of the present invention, and a mobile device comprising such a computer program. Background Art

[0002] The deployment of autonomous vehicles that independently perform specific tasks without the need for a driver or vehicle operator is increasing, but their scope is still limited. While autonomous vehicles are rarely seen in normal road traffic, they are more common in vehicles used on non-public roads (e.g. agricultural vehicles, vehicles in non-public production and factory facilities or vehicles in open-pit mining / mining). The reason is that there, the requirements related to the operation of autonomous vehicles are easier to handle with regard to legal framework conditions and interdependencies with the environment.

[0003] The operation of autonomous vehicles generally requires a continuous data connection, ie internet coverage, radio network coverage or access to a specific and stable communication means including a hub or control center.

[0004] In the prior art, known systems enable a substantially continuous connection between a control center and a non-autonomous vehicle. For example, US 7,155,321 B2 discloses a data and information system for non-autonomous vehicles in a fleet, the system being used to centrally process as much information from the vehicle as possible, in order to enable targeted real-time repair, maintenance or diagnosis, for example, based on operating parameters.

[0005] In summary, there is a problem that autonomous vehicles can be driven on non-public roads and fenced private property land even without more comprehensive precautions, but precisely these places often do not have adequate Internet coverage or sufficient radio networks. This leads to conflicting goals, as operations often fail in places where autonomous vehicles are reasonably deployed due to the lack of stable data connections. Summary of the invention

[0006] It is therefore an object of the present invention to provide a method that enables safe operation of autonomous vehicles even in places without secure and stable internet coverage or data connection.

[0007] This object is solved by the features of the independent claims. Further advantageous embodiments are disclosed in the dependent claims. Protection is also claimed for a communication device capable of implementing the method, a vehicle equipped with such a communication device, and an application software, and a mobile device equipped with this software.

[0008] In the method of the present invention, data for remote monitoring, diagnosis and control of an autonomous off-highway vehicle (including software updates and log data used to perform said monitoring, diagnosis and control) is transmitted between an Internet-accessible server and a communication unit in the vehicle that is not accessible via the Internet, said transmission being performed via at least one other intermediary mobile device.

[0009] According to the method of the present invention, the data is temporarily cached in the mobile device, so that - if the data should be transferred from the server to the vehicle, triggering by the server a first download of the data from the server to the mobile device via a push notification and a download request to the owner of the mobile device, thereby also prompting the owner to activate a second download of the data from the mobile device to a communication unit in the vehicle once the mobile device is in the vicinity of the autonomous off-highway vehicle and within the reception range of a wireless local area network connecting the vehicle and the mobile device, thus - if, with reference to said data, there is a logging request for vehicle log data from the server, triggering by the server a push notification to the owner of the mobile device, prompting the owner to download selected log data of the autonomous off-highway vehicle to the mobile device for a first time once the mobile device is within reception range of said wireless local area network, and subsequently transferring the selected log data from the mobile device to the server by a second download as soon as the server is again accessible via the Internet.

[0010] The advantage of the method according to the invention is that in areas where the radio network does not have full network coverage, the mobile device is used to bridge and transport the required data. Using the method according to the invention, it is only necessary to connect the mobile device and the autonomous vehicle in close range, for example via Bluetooth or Wi-Fi, while on the other hand, it is only necessary to temporarily connect the mobile device to the server and / or database in areas with sufficient network coverage.

[0011] An embodiment of the present invention resides in a method wherein the mobile device provides a first programmed application software (app) through which updates, software changes and log data can be detected, selected and transmitted.

[0012] Such an application software makes it possible to provide the method according to the invention to every operator of an autonomous vehicle without having to set up further infrastructure directly at the operator's location. It is sufficient that the vehicle itself contains the required devices and a server accessible via the Internet is likewise able to communicate with the application software.

[0013] In order to ensure the required security against manipulation of the transmitted data, the following further embodiments of the method according to the invention are provided. In one embodiment of the invention, the data are compressed and encrypted using a security key generated by an algorithm. To this end, the owner of the mobile device must also authenticate himself via the first application software (App), and the first application software includes a database to store the previously received and encrypted data.

[0014] Another embodiment of the method of the present invention also relates to security considerations, wherein the encrypted data stored in the first application database is protected from access by the owner of the mobile device, whether it is server data or log data.

[0015] In another embodiment of the method of the present invention, the first application software is programmed to automatically connect to the communication unit in the vehicle and automatically transmit the data in an encrypted format once the mobile device is within the transmission range of the wireless local area network connecting the vehicle and the mobile device.

[0016] In this way, a fully automatic data transfer can be achieved without much intervention by the owner of the mobile device. This is particularly feasible in another embodiment of the method according to the invention, in which, in the vehicle control unit, it is foreseen that a second programmed application software works in conjunction with the first application software in the mobile device.

[0017] Another embodiment of the present invention relates to a method, wherein, if the data is to be transmitted to the vehicle, the first application software and the second application software cooperate as follows: - after connecting the mobile device to the vehicle, decrypting said data to be transmitted, - flashing the control units in that vehicle with updated software and data, - downloading a return message to the mobile device indicating the latest status of the software and data available in the vehicle, Thus, as soon as the server is accessible via the Internet again, the owner will be prompted to download the return message from the mobile device to the server.

[0018] In this way, it is ensured that the current state of the autonomous vehicle and the current software contained therein can be tracked at any time and exist in the server or control center.

[0019] In another embodiment of the method of the present invention, after downloading the return message to the server is performed, the encrypted data in the first application database is deleted. This prevents accidental use of outdated software versions or older data on further connections between the server, the mobile device and the autonomous vehicle.

[0020] Another embodiment of the present invention pertains to a method, wherein, if there is a logging request for vehicle log data, the first application software and the second application software cooperate as follows; - upon connecting the mobile device to the vehicle, prompting the owner to select a logging period, said selection being communicated to the vehicle via the mobile device, - after the log data is compressed by the second application software and protected by a security key generated by an algorithm, the log data is transmitted to the mobile application and stored in an encrypted format in a mobile application database, - When the server is accessible again via the Internet, the log data are automatically transferred from the mobile device to the server by the first application software.

[0021] In this manner, operational data of an autonomous vehicle collected over a specified time period may be recorded and transmitted to the server or another control center without requiring continuous network coverage or a continuously available radio network between the server and the vehicle.

[0022] In addition, in this data transmission situation, an embodiment of the method of the present invention is to delete the encrypted log data in the first application database after transmitting the encrypted log data to the server. As mentioned above, this can prevent accidental use of outdated software versions or older data.

[0023] One embodiment of the invention pertains to a method in which the data is at least partially stored or processed by a cloud-based program or server. This facilitates access to relevant data from different locations, vehicles and users. Furthermore, storage space or computing power does not have to be expanded at higher levels in various places.

[0024] Another embodiment of the invention features the use of the method for remote monitoring, diagnosis and control, in particular of agricultural or mining vehicles.

[0025] Especially for agricultural vehicles or vehicles in open-pit mining or factory sites, the method is particularly suitable for resolving the conflict of objectives already mentioned above, which consists in that operations often fail due to the lack of a stable data connection where the autonomous vehicle can reasonably be deployed without too much effort.

[0026] A further embodiment pertains to a communication unit or control unit in a vehicle, which is provided with data processing means for carrying out the method according to the invention, whereby the communication or control unit comprises transmission means for transferring data within a wireless local area network connecting the vehicle and the mobile device.

[0027] Yet another embodiment of the invention resides in an autonomous off-highway vehicle, in particular an agricultural tractor or an agricultural vehicle, having such a communication unit or control unit for carrying out the method of the invention.

[0028] Yet another embodiment of the invention pertains to an application software (app) for executing the method of the invention, said application software being storable on the mobile device and / or in a communication or control unit of the vehicle to provide communication between the mobile device, the vehicle and the Internet.

[0029] Yet another embodiment of the invention resides in a computer program comprising program code means for executing the steps of the method according to the invention to be performed by the mobile device when said program is run on a computer of said mobile device.

[0030] A further embodiment of the invention pertains to a computer program comprising program code means for executing the steps of the method according to the invention to be performed by a communication unit or control unit of the vehicle when said program is run on a computer of the communication unit or control unit of the vehicle.

[0031] At least another embodiment of the invention resides in a mobile device, in particular a smartphone, comprising a computer program for said mobile device. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The present invention will be described in more detail with the aid of embodiments, in which

[0033] Figure 1 The basic principle of the method according to the invention is shown in diagram form,

[0034] Figure 2 A flow chart illustrating the basic steps of a first part of the method according to the invention is shown,

[0035] Figure 3 A flow chart illustrating the essential steps of the second part of the method according to the invention is shown. DETAILED DESCRIPTION

[0036] Figure 1 The basic principle of the method according to the invention is illustrated in diagram form, wherein an autonomous and self-driving vehicle operating outside a publicly accessible area (i.e. not on a public road, public path or public carriageway) is remotely monitored, remotely diagnosed and controlled.

[0037] In order to operate such a vehicle, data 6 must be exchanged between at least one control entity (implemented as a cloud server 1) and an autonomous and self-driving heavy-duty vehicle 2 in a quarry. These data include, for example, software updates for such a vehicle, operating data of the vehicle (log data), measurement data, diagnostic data of vehicle equipment, etc. With the method according to the invention, these data can be exchanged even when the vehicle 2 is not located within the range of a normally accessible radio network or when there is no stable Internet connection 3. The Internet connection or the radio network 3 is in Figure 1 Thus, the Internet connection 3 includes the cloud server 1, the mobile device 4 which is located within the radio network / Internet 3 at a specific point in time, and a control or development center 5 which, for example, develops new software and makes it available via the cloud server 1. However, the control or development center 5 can also acquire the operating data of the vehicle 2, perform statistical analysis on it, and determine instructions for general maintenance based on it.

[0038] When data 6 are transmitted from the server 1 to the vehicle 2, the data 6 are first transmitted in encrypted form to the mobile device 4 and stored there. The mobile device 4 is, for example, a mobile phone owned by the operator of the heavy-duty vehicle 2 and is only sometimes located near the vehicle, but is able to establish a wireless connection 7 with the vehicle 2 within the close range of the vehicle. In the figure, the wireless connection 7 within the close range of the vehicle 2 is indicated by a double dashed line.

[0039] This data transmission is then carried out such that, upon request of an associated program routine of the cloud server 1 , the owner of the mobile phone / mobile device 4 moves to the vicinity of the autonomous vehicle 2 and initiates appropriate measures there for data transmission or acquisition of operating data (log data).

[0040] If data 6 needs to be transferred from the server 1 to the vehicle 2, a first download of the data from the server 1 to the mobile device 4 is triggered by the server 1 via a push notification and a download request to the owner of the mobile device 4, whereby the owner is also prompted to activate a second download of the data 6 from the mobile device 4 to the communication unit 8 in the vehicle 2 once the mobile device 4 is in the vicinity of the autonomous off-highway vehicle 2 and within the reception range of the wireless local area network 7 capable of connecting the vehicle 2 and the mobile device 4.

[0041] In the opposite case, i.e. if there is a logging request for vehicle log data or for operating data of the vehicle 2 from the cloud server 1, a push notification is triggered by the server to the owner of the mobile device 4, prompting the owner to download the selected log data of the autonomous off-highway vehicle 2 to the mobile device 4 for a first time as soon as the mobile device 4 is within the reception range of the wireless local area network 7, and subsequently to transfer the selected log data from the mobile device 4 to the server 1 by a second download as soon as the server 1 is accessible again via the Internet 3.

[0042] Figure 2 and Figure 3 A flow chart is shown respectively, which shows the basic steps of the method to be performed by the various devices 1, 2, 4 and 5 required to perform the method according to the invention. Here, Figure 2 The data 6 is shown to be transmitted from the cloud server 1 to the autonomous vehicle 2. Figure 3 A situation in which operation data or logs from the vehicle 2 are transmitted to the cloud server 1 is shown.

[0043] exist Figure 2 In FIG. 1 , a first step or first action A1 can be seen, which involves transmitting a new software update for the vehicle 2 to the cloud server 1 via the Internet 3 by the control center 5. Then action A2 is performed in the cloud server 1, in which the data packets are encrypted. Furthermore, action A3 is performed, namely transmitting a notification, a so-called "push notification", to the mobile device 4 via the Internet connection 3, which indicates that a software update is available. Action A3.1 can also be performed, enabling the mobile device 4 to request, for example, whether a new software update is available.

[0044] Thus, when a new software update is available or intended, action A4 is performed, wherein the encrypted data of the software update is downloaded to the mobile device 4 via the existing Internet connection 3. In a subsequent step A5, the transmitted data is stored in the corresponding application in the mobile device 4 for software update.

[0045] As soon as the application of the mobile device 4 determines that the mobile device 4 is in close proximity, ie in the vicinity of the autonomous vehicle 2 , a wireless local connection 7 between the mobile device 4 and the autonomous vehicle 2 is established in action A6 , for example by establishing a temporary Wi-Fi or Bluetooth connection.

[0046] As soon as the wireless connection 7 is established and secured, the encrypted data of the software update are transmitted in step A7 to the vehicle 2 or to an application software (app) installed in a control or communication unit 8 of the vehicle 2 and decrypted in a subsequent step A8 .

[0047] After the software update data in the vehicle 2 are downloaded in step A7 and decrypted in step A8, the update status of the vehicle 2 is first reported to the mobile device 4 in step A9 and then, when the mobile device 4 is again in an area with effective Internet coverage 3, uploaded to the cloud server 1 in step A10. Subsequently, only the encrypted data still present in the mobile device 4 are deleted in a final step A11.

[0048] Figure 3 A situation is shown in which, in step or action B1, a request is transmitted by server 1 to a mobile device 4 or its owner via an existing Internet connection 3 to obtain operating data of an autonomous vehicle 2, i.e. a request to transmit these operating data or logs from vehicle 2 back to cloud server 1 so that they can be processed there or in another facility 5.

[0049] According to this request, the owner of the mobile device moves to the vicinity of the autonomous vehicle 2 with the mobile device 4. If this is the case, i.e. when the mobile device 4 is in close proximity, then in the vicinity of the autonomous vehicle 2, in action B2 a wireless local connection 7 is established between the mobile device 4 and the autonomous vehicle 2, for example by establishing a temporary Wi-Fi or Bluetooth connection. The establishment of such a connection essentially corresponds to Figure 1 Step A6 shown.

[0050] Then, in action B3, the owner or mobile device 4 specifies a time period for requesting the transmission of operating data of the vehicle 2. Subsequently, in step / action B4, this time determination is transmitted to the vehicle 2, or to its control or communication unit 8 and the communicating second application software (app) installed there.

[0051] In the control unit of the vehicle 2 or in the application software present in the control unit, a compilation (log file) for the requested time period is prepared in action B5 and packed and encrypted in step B6. This is followed by step B7, in which the encrypted data is transmitted to the mobile device via the established local wireless connection 7.

[0052] In with Figure 2 In step B8, which corresponds substantially to step A5, the transmitted data will be saved in an application on the mobile device 4. When the local device is subsequently removed from the vicinity of the vehicle 2 and disconnected from the wireless local connection, and finally reconnected to the cloud server 1 via the existing Internet connection 3, the requested operating data (log file, log data) will be transmitted to the cloud server 1 in step B9. Then, in actions / steps B11 and B12, the operating data can be passed to the control or development center 5, which will process and statistically analyze the operating data and determine instructions for general maintenance based on it.

[0053] In any case, the step or action B10 provided in the mobile device 4 is also important, which involves deleting the encrypted data in the mobile device 4 after transmitting this data to the cloud server 1 .

[0054] Reference Number List (Part of the Instructions)

[0055] 1 Cloud Server

[0056] 2 Autonomous Vehicles

[0057] 3 Internet connection, radio network

[0058] 4 Mobile devices

[0059] 5 Software Development Center, Control Center

[0060] 6 Data

[0061] 7 Wireless LAN

[0062] 8 Control unit / communication unit

[0063] A1 transmits data 6 for software update to cloud server 1

[0064] A2 Compressing and encoding data6

[0065] A3 Send push notification

[0066] A3.1 Checking the availability of software updates

[0067] A4 Downloading software updates to mobile devices4

[0068] A5 Storing the encrypted software update in the mobile device 4

[0069] A6 Establishing a connection with wireless LAN 7

[0070] A7 sends the encrypted software update to autonomous vehicle 2

[0071] A8 Decrypting and decompressing data6

[0072] A9 Send the status of the updated version to the mobile device 4

[0073] A10 sends the updated version status to server 1

[0074] A11 Deleting the encrypted data 6 from the mobile device 4

[0075] B1 Send push notification for logging request

[0076] B2 Establishing a connection with wireless LAN 7

[0077] B3 Select the time period to use for log data

[0078] B4 Communicate the selected time period for logging data to the vehicle 2

[0079] B5 Generates log files within a time period

[0080] B6 Compress and encode log files / log data

[0081] B7 Transferring log data / log files to mobile devices4

[0082] B8 Storing the encrypted log data / log file in the mobile device 4

[0083] B9 Send log data / log files to server 1

[0084] B10 Deleting the encrypted log data / log file from the mobile device 4

[0085] B11 Transferring log data / log files to control and development center 5

[0086] B12 Evaluation log data / log files

Claims

1. A method for remotely monitoring, diagnosing and controlling an autonomous off-highway vehicle (2), wherein data (6) including software updates and log data, diagnostic data and control data for performing said monitoring, said data (6) being transmitted between an internet accessible server (1) and a communication unit (8) in said vehicle which is not accessible via the internet (3), said transmission being performed via at least one other intermediate mobile device (4), said data being temporarily cached in said mobile device (4), whereby - if the data (6) is to be transmitted from the server (1) to the vehicle (2), a first download (A4) of the data (6) from the server (1) to the mobile device (4) is triggered by the server (1) via a push notification (A3) and a download request to the owner of the mobile device (4), thereby also prompting the owner to activate a second download (A7) of the data from the mobile device (4) to the communication unit (8) in the vehicle (2) as soon as the mobile device (4) is in the vicinity of the autonomous off-highway vehicle (2) and within the transmission range of a wireless local area network (7) connecting the vehicle (2) and the mobile device (4), thus - if, with reference to the data (6), there is a logging request for vehicle log data from the server (1), a push notification (B1) is triggered by the server (1) to the owner of the mobile device (4), thereby prompting the owner to download (B7) the selected log data of the autonomous off-highway vehicle (2) to the mobile device (4) for a first time once the mobile device (4) is within the reception range of the wireless local area network (7), and subsequently to transfer the selected log data from the mobile device (4) to the server (1) by a second download (B9) when the server (1) is accessible again via the Internet (3).

2. The method according to claim 1, wherein: The mobile device (4) provides a programmed first application software (app), through which software updates, software changes and log data can be detected, selected and transmitted.

3. The method according to claim 1 or 2, wherein: The data (6) is compressed and encrypted using a security key generated by an algorithm.

4. The method according to claim 1, wherein: The owner of the mobile device (4) must authenticate himself through the first application software.

5. The method according to claim 1, wherein: The first application software comprises a database to store the previously received and encrypted data (6).

6. The method according to claim 1, wherein: The encrypted data stored in the first application database is protected from access by the owner of the mobile device (4), whether it is server data or log data.

7. The method according to claim 1, wherein: The first application software is programmed to automatically connect to the communication unit (8) in the vehicle (2) once the mobile device (4) is within the reception range of a wireless local area network (7) connecting the vehicle (2) and the mobile device (4), and to automatically transmit the data in an encrypted format.

8. The method according to claim 1, wherein: A second application software is foreseen programmed in the vehicle control unit or communication unit (8), which second application software cooperates with the first application software in the mobile device (4).

9. The method according to claim 1, wherein: If the data (6) is to be transmitted to the vehicle (2), the first application software and the second application software work together as follows: - after connecting the mobile device (4) to the vehicle (2), the decryption (A8) of the data to be transmitted is performed by the second application software, - performing a memory refresh of the control unit (8) in the vehicle (2) with updated software and data, - downloading a return message (A9) indicating that the latest status of software and data in the vehicle (2) is available to the mobile device (4), Thus, when the server (1) is accessible again via the Internet (3), the owner is prompted to download (A10) the return message from the mobile device (4) to the server (1).

10. The method according to claim 9, wherein: After downloading the return message to the server (1), the encrypted data (6) in the first application database is deleted (A11).

11. The method according to claim 1, wherein: If there is a logging request for vehicle log data (B1), the first application software and the second application software work together as follows: - after connecting (B2) the mobile device (4) to the vehicle (2), prompting the owner to select a logging period (B3), communicating (B4) the selection to the vehicle via the mobile device (4), - after the log data is compressed (B6) by the second application software and protected using a security key generated by an algorithm, the log data is transmitted (B7) to the mobile application (4) in an encrypted format and stored (B8) in the mobile application database, - When the server (1) is accessible again via the Internet (3), the log data is automatically transferred (B9) from the mobile device (4) to the server (1) by the first application software.

12. The method according to claim 11, wherein: The encrypted log data in the first application database is deleted (B10) after being transmitted to the server (1).

13. The method according to one of claims 1 to 12, wherein: The data (6) is at least partially stored or processed by a cloud-based program or server (1).

14. Method according to one of claims 1 to 13, in particular for remote monitoring, diagnosis and control of agricultural vehicles or mining vehicles.

15. A communication unit (8) or a control unit in a vehicle (2), said communication unit or control unit being provided with data processing means for carrying out the method according to one of claims 1 to 14, wherein: The communication unit or control unit (8) comprises transmission means for transferring data within a wireless local area network (7) connecting the vehicle (2) and the mobile device (4).

16. An autonomous off-highway vehicle (2), in particular an agricultural tractor or an agricultural vehicle, provided with a communication unit (8) or a control unit according to claim 15.

17. Application software, which executes the method according to one of claims 1 to 14, which application software can be stored on a mobile device (4) and / or in a communication or control unit (8) of the vehicle (2), thereby providing communication between the mobile device (4), the vehicle and the Internet (3).

18. A computer program comprising program code means for carrying out the steps of the method according to one of claims 1 to 14 to be performed by the mobile device (4) when the program is run on a computer of the mobile device (4).

19. A computer program comprising program code means for carrying out the steps of the method according to one of claims 1 to 14 to be performed by the communication unit (8) or the control unit of the vehicle (2) when the program is run on a computer of the communication unit (8) or the control unit of the vehicle (2).

20. A mobile device, in particular a smartphone, comprising a computer program according to claim 19.

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