A method for infrastructure-supported assistance of a plurality of motor vehicles

Abstract

This invention relates to a method for providing infrastructure-supported assistance to multiple motor vehicles while they are operating at least partially automatically, using a multi-channel radio system for communication between motor vehicles and infrastructure. The method includes the steps of: receiving input data to be transmitted to the motor vehicles via the radio system; determining which of the received input data should first be transmitted via a first radio channel of the radio system; and transmitting the determined input data via the first radio channel. The invention also relates to an apparatus, a computer program, and a machine-readable storage medium.

Description

Technical Field

[0001] The present invention relates to a method, an apparatus, a computer program, and a machine-readable storage medium for providing infrastructure-supported assistance to multiple motor vehicles when they are operating at least partially automatically. Background Technology

[0002] Automated Vehicle Marshalling (AVM) is a specific category of low-speed remote-controlled automated driving. It supports various applications and scenarios, including: Self-Navigating Automotive Production (SNAP) for controlling vehicles on a production line; Automated Plant Marshalling (APM), Automated Factory Parking (AFP), or Automated Factory Marshalling (AFM) for manipulating assembled vehicles within a factory; and Automated Valet Charging (AVC) and Automated Valet Parking (AVP) for manipulating vehicles within parking facilities. The term AVM is used below as a general term to represent all variations. Different types exist, each controlling motor vehicles in different ways. For example, in Type 2, motor vehicles are controlled by infrastructure systems / Remote Vehicle Operation (RVO) and parking garages / parking lots are equipped with sensors for this purpose, thus enabling mixed traffic with other traffic participants.

[0003] Currently, standardization bodies, such as the European Telecommunications Standards Institute (ETSI), are seeking a cross-manufacturer solution for Europe. To this end, standard ETSI TS 103 882 (v0.0.16) is being developed, which standardizes the messages "Marshalling Infrastructure Message (MIM)" and "Marshalling Vehicle Message (MVM)." The former is sent from the infrastructure system to the vehicle, and the latter is sent from the vehicle to the infrastructure system.

[0004] It is especially important here to keep the amount of data transmitted from the parking garage to the motor vehicle (particularly in MIM messages) as small as possible, because the bandwidth of Connected-Intelligent Transportation Systems (C-ITS) is narrow and overload is not allowed.

[0005] In standards used for radio messaging, all participants must use the same "language". To this end, these standards specify in a notational way, through what is called Abstract Syntax Notation One (ASN1), how to encode (sometimes called serialization) messages for various use cases (such as MIM in AVM).

[0006] Here, an agreement has been reached on Unaligned Packet Encoding Rules (UPER). Unlike block-based encoding methods, this method is highly efficient in utilizing minimal radio resources (data rate). Its drawback is that the size of the message is usually only known after encoding. Summary of the Invention

[0007] The objective of this invention is to provide a scheme for efficiently providing infrastructure-supported assistance to multiple motor vehicles while they are operating at least partially automatically.

[0008] This task is solved by means of the corresponding subject matter of the independent claim. The advantageous configurations of the invention are the subject matter of the various dependent claims.

[0009] According to a first aspect, a method is provided for providing infrastructure-supported assistance to multiple motor vehicles while they are operating at least partially automatically, using a multi-channel radio system for communication between motor vehicles and infrastructure, the method comprising the steps of: Receive input data to be transmitted to the motor vehicle via the radio system; To seek, and in particular to select, those input data received that should first be transmitted via the first radio channel of the radio system; The requested, and in particular the selected, input data is transmitted via the first radio channel.

[0010] According to a second aspect, an apparatus is provided, configured to perform all the steps of the method according to the first aspect.

[0011] According to a third aspect, a computer program is provided that includes instructions that, when implemented by a computer, for example by means according to a second aspect, cause the computer to implement the method according to a first aspect.

[0012] According to a fourth aspect, a machine-readable storage medium is provided, on which a computer program according to a third aspect is stored.

[0013] This invention is based on and includes the understanding that: making a selection of which of the received input data should be transmitted via the first radio channel. This, for example, gives rise to the technical advantage that input data to be transmitted via the radio system to the plurality of motor vehicles can be prioritized. Therefore, for example, it can be efficiently ensured that particularly important input data is transmitted first, before less important input data. "Important" here may, for example, mean time-sensitive and / or safety-critical.

[0014] Therefore, infrastructure can be used to efficiently and safely support multiple motor vehicles in at least partially automated driving.

[0015] "Retrieving those input data that should be transmitted first via the first radio channel of the radio system from the received input data" includes, for example, or is: selecting those input data that should be transmitted first via the first radio channel of the radio system from the received input data.

[0016] In one embodiment of the method, input data to be transmitted not via the first radio channel is configured to be transmitted via at least one additional radio channel.

[0017] This results in, for example, the following technical advantages: the first radio channel is not overloaded and / or at least one additional radio channel is used efficiently. In other words, the allocation of radio channels in the transmission of input data is configured, for example, to efficiently utilize the radio system and prevent radio channel overload.

[0018] In one embodiment of the method, the state of the first radio channel is determined, wherein, based on the determined state of the first radio channel, those input data that should first be transmitted via the first radio channel of the radio system are determined from the received input data.

[0019] This results in, for example, the following technical advantage: that the input data that should first be transmitted via the first radio channel of the radio system can be efficiently retrieved from the received input data.

[0020] In one embodiment of the method, the state and / or at least one characteristic of at least one radio channel, particularly the first radio channel, are determined, wherein, based on the determined state and / or at least one characteristic of the at least one radio channel, those input data that should first be transmitted via the first radio channel of the radio system are determined from the received input data.

[0021] This results in, for example, the following technical advantage: that the input data that should first be transmitted via the first radio channel of the radio system can be efficiently retrieved from the received input data.

[0022] Generally, for example, it is configured to obtain the respective states of one or more or all of the radio channels.

[0023] In one embodiment of the method, one or more radio parameters of one or more radio channels are obtained, wherein the respective states of the one or more radio channels are determined based on the obtained one or more radio parameters.

[0024] This leads to the following technical advantages, for example: the state of one or more radio channels can be obtained efficiently.

[0025] In one embodiment of the method, the one or more radio parameters are selected as elements of the following group of radio parameters: channel load, packet reception probability, packet error rate, retransmission error, information age, delay, maximum transmission unit (MTU), expected available data rate, duty cycle, received power, signal-to-noise ratio (SINR or SNR), number and size of messages to be transmitted at the facility layer, state of DCC mechanism or MCO mechanism, and time interval from the last transmitted message (especially MIM message).

[0026] MIM stands for Marshalling Infrastructure Message.

[0027] This results in, for example, the following technical advantage: the state of one or more radio channels can be determined using particularly suitable radio parameters.

[0028] These parameters can be obtained, for example, through measurements by a communication system, and / or received and / or requested from a networked communication system.

[0029] Here, the following abbreviations are defined as follows.

[0030] FAC: Facility Layer (or Application Layer). The status of the FAC (and especially the number of messages to be sent / received on the FAC). This is important because it allows the infrastructure side to identify whether other services or applications also wish to send radio messages.

[0031] DCC: Distributed Congestion Control: A distributed mechanism used to avoid channel overload. The state of the DCC algorithm can provide additional information about the radio system.

[0032] Inter-packet gaps: The time interval between two messages.

[0033] SINR / SNR: Signal-to-interference-and-noise ratio (SNR).

[0034] rx power: Receive power.

[0035] Duty cycle: The proportion of time spent transmitting to time spent not transmitting. For example, there may be a rule that the transmitter is only allowed to transmit for 3% of the time.

[0036] Therefore, the state of a radio channel can be determined, for example, by one or more of the radio parameters mentioned above.

[0037] In one embodiment of the method, the received input data that should first be transmitted via the first radio channel of the radio system is determined based on a data volume threshold, such that the data volume of the determined input data is less than or equal to the data volume threshold.

[0038] This results in the following technical advantages, for example: it can efficiently ensure that not too much input data is transmitted via the first radio channel, thereby effectively preventing overload of the first radio channel.

[0039] In one embodiment of the method, the data volume threshold is preset.

[0040] This leads to the following technical advantage, for example: it is not necessary to determine the data volume threshold.

[0041] In one embodiment of the method, the data volume threshold is determined.

[0042] This leads to the following technical advantages: a suitable data volume threshold can be determined at the current time point, allowing for flexible consideration of specific existing situations.

[0043] In one embodiment of the method, the data volume threshold is determined based on the obtained state of the first radio channel.

[0044] This results in the following technical advantage, for example: the data volume threshold can be obtained efficiently.

[0045] In one embodiment of the method, the data volume threshold is determined based on the desired state and / or at least one characteristic of the at least one radio channel, particularly the first radio channel.

[0046] This results in the following technical advantage, for example: the data volume threshold can be obtained efficiently.

[0047] In one embodiment of the method, determining the data volume threshold includes estimating the data volume threshold.

[0048] This results in the following technical advantage, for example: the data volume threshold can be obtained efficiently.

[0049] In one embodiment of the method, the method includes: segmenting the received input data based on a first segmentation method to obtain sorted input data, wherein, based on the sorted input data, those input data that should first be transmitted via a first radio channel of the radio system are identified from the received input data.

[0050] This results in, for example, the following technical advantage: it allows for the efficient extraction of those input data from the received input data that should first be transmitted via the first radio channel of the radio system. In other words, the sorting is pre-defined in the order in which the input data should be transmitted.

[0051] Generally, the sorting in this specification is given, for example, in the following order: the input data should be sent in this order.

[0052] In one embodiment of the method, the requested input data is transmitted via the first radio channel based on the sorting.

[0053] This results in the following technical advantage, for example: the input data can be sent efficiently.

[0054] In one embodiment of the method, input data to be transmitted without the first radio channel is configured to be transmitted via the at least one additional radio channel based on the sorting.

[0055] This results in, for example, the following technical advantage: input data that is not intended to be transmitted via the first radio channel can be transmitted efficiently.

[0056] In one embodiment of the method, the method includes: segmenting input data to be transmitted without the first radio channel based on a second segmentation method to obtain sorted input data to be transmitted without the first radio channel, wherein the input data to be transmitted without the first radio channel is transmitted via the at least one additional radio channel based on the sorting.

[0057] This results in, for example, the following technical advantage: input data that is not intended to be transmitted via the first radio channel can be transmitted efficiently.

[0058] In one embodiment of the method, for each radio channel, it is determined which segmentation method should be used to segment the input data to be transmitted via the corresponding radio channel to obtain sorted input data, wherein the input data to be transmitted via the one or more radio channels is segmented according to the correspondingly determined segmentation method to obtain sorted input data, and the input data to be transmitted is transmitted via the corresponding radio channel based on the sorting.

[0059] This results in the following technical advantages, for example: the ability to efficiently send input data to be sent.

[0060] In one embodiment of the method, the input data to be sent is divided into multiple messages based on at least one threshold, particularly a message size threshold, and the multiple messages are sent in an order based on the sorting.

[0061] This leads to, for example, the following technical advantage: the input data to be transmitted can be transmitted efficiently. In particular, this leads to, for example, the following technical advantage: the radio channel can be utilized efficiently. Therefore, it can be advantageously ensured that the message to be transmitted is always of such a size that it can be transmitted via the radio channel, or that the radio channel can be utilized efficiently and optimally.

[0062] For example, the threshold is specific to the radio channel. This specifically means, for example, that a threshold is pre-defined for each radio channel.

[0063] In one embodiment of the method, one or more of the segmentation methods are selected from a plurality of segmentation methods.

[0064] This results in, for example, the following technical advantages: flexibility in terms of the segmentation method to be used.

[0065] In one embodiment of the method, the respective states of the radio channels of the radio system are determined, wherein one or more of the segmentation methods are selected based on the determined states.

[0066] This results in, for example, the following technical advantage: one or more of the segmentation methods can be selected efficiently.

[0067] In one embodiment of the method, the plurality of segmentation methods are configured to include one or more elements from the following group of segmentation methods: segmentation by motor vehicle; segmentation by input data content; segmentation by geographic region; segmentation by corresponding status involving infrastructure-supported auxiliary aspects of the plurality of motor vehicles respectively; and segmentation by at least one corresponding radio characteristic and / or corresponding radio technology of the plurality of motor vehicles.

[0068] This leads to the following technical advantages, for example: a particularly suitable segmentation method can be set.

[0069] In one embodiment of the method, segmenting by motor vehicle includes sequentially ordering the input data such that input data for one of the motor vehicles that has been waiting for input data for a longer period of time precedes input data for another motor vehicle in the same motor vehicle, where the other motor vehicle has been waiting for input data for a shorter period of time or has a smaller remaining time budget until the next reception.

[0070] This leads to the following technical advantages, for example: the ability to set particularly meaningful segments.

[0071] The time budget for radio transmission specifically refers to the following: On the infrastructure side, budgets are typically set for the different signal processing components that make up the overall system. For example, according to some specifications, the communication latency can be around 30ms, which leaves a 120ms travel time buffer when other budgets are taken into account, within which the next message with information must reach the vehicle.

[0072] The time budget includes, for example, the maximum permissible duration for transmitting the message so that the vehicle can still use the message.

[0073] In one embodiment of the method, segmenting by motor vehicle includes sorting the input data according to the manufacturer of the motor vehicle and / or according to the parameterization of the V2X service.

[0074] This results in the following technical advantages, for example: the input data can be sorted efficiently.

[0075] In one embodiment of the method, segmenting the input data according to its content includes sorting the input data by data category such that, for example, driving permits for motor vehicles precede target trajectories for motor vehicles and / or updates to target trajectories for motor vehicles.

[0076] In this scenario, the driving permission for a motor vehicle typically consists of only one data point, which is sent to a single motor vehicle to confirm that it can continue along a previously obtained target trajectory. This driving permission must arrive at the vehicle periodically at predetermined intervals so that, in the event of infrastructure system failure, the remotely controlled vehicle can be brought to a stop according to the principle of totmannschalters (disabling switches). Therefore, the timing of this type of input data is particularly critical for uninterrupted remote control procedures.

[0077] The target trajectory used for motor vehicles and / or updates to the target trajectory are input data that describes to the motor vehicle where it should travel over a longer time period. Therefore, the time frame of this input data is not very pressing.

[0078] Other data categories include emergency stop signals, time synchronization requests, end-to-end encrypted containers, system management data, vehicle status, and confidence levels. Prioritization and sorting of data categories can be done statically or dynamically, where "static" means a fixed hierarchy, and "dynamic" means a hierarchy related to internal and external factors.

[0079] This leads to the following technical advantage, for example, that input data can be meaningfully sorted.

[0080] This results in the following technical advantages, for example: it allows for efficient segmentation of input data.

[0081] In one embodiment of the method, segmenting the input data according to its content includes sorting the input data in such a way that time-sensitive input data precedes less time-sensitive and / or less time-sensitive input data.

[0082] This leads to, for example, the following technical advantage: the input data can be meaningfully ordered. Thus, for instance, if time-critical input data can be sent before time-uncritical input data, the time-critical input data will arrive at its receiver earlier than the time-uncritical input data.

[0083] In one embodiment of the method, segmentation by geographic region includes grouping input data that is determined to be used for motor vehicles located within a common geographic region.

[0084] This results in the following technical advantages, for example: the input data can be grouped efficiently.

[0085] A geographic area may include, for example, one or more zones that, from a safety technology perspective, are particularly critical for at least partially automated driving. This means that a geographic area may include zones where pedestrians, i.e., crosswalks, are present more frequently than in other zones. Such zones may include, for example, pedestrian crossings. Geographic areas may also include, for example, parking areas.

[0086] In one embodiment of the method, the input data includes one or more of the following: target trajectory for the motor vehicle, driving permit for the motor vehicle, object list of objects in the motor vehicle environment, and occupancy map involving the motor vehicle environment.

[0087] This results in, for example, the following technical advantages: the input data includes particularly suitable input data.

[0088] In one embodiment of the method, the respective states of the radio channels of the radio system are determined, wherein the first radio channel and / or the at least one other radio channel are selected based on the determined states of the radio channels.

[0089] This results in, for example, the following technical advantages: one or more radio channels can be selected efficiently.

[0090] In one embodiment of the method, the respective states and / or at least one characteristic of the radio channels of the radio system are determined, wherein the first radio channel and / or the at least one additional radio channel are selected based on the determined states and / or at least one characteristic of the radio channels.

[0091] This results in, for example, the following technical advantages: one or more radio channels can be selected efficiently.

[0092] It should be noted that the terms “auxiliary” and “support” can be used synonymously.

[0093] The term "motor vehicle" as used in this specification refers, for example, to a motor vehicle that is at least partially automated. This means that the motor vehicle can be guided, for example, at least partially automated. Therefore, the motor vehicle can drive, at least partially automated. The motor vehicle includes, for example, an ADS, which stands for "Automated Driving System" (in German, "automatischesFahrsystem"). This ADS is specifically configured for guiding the motor vehicle at least partially automated.

[0094] The phrase "at least partially automated guidance" includes one or more of the following: assisted guidance, partially automated guidance, highly automated guidance, fully automated guidance, and autonomous guidance. Therefore, the phrase "at least partially automated" includes one or more of the following: assisted, partially automated, highly automated, fully automated, and autonomous. Therefore, at least partially automated guidance for a motor vehicle includes at least partially automated control of the lateral and / or longitudinal guidance of the motor vehicle.

[0095] “Assisted guidance” is equivalent to Level 1 of automation as defined by the German Federal Highway Research Institute (BASt). “Partially automated guidance” is equivalent to Level 2 of automation as defined by BASt. “Highly automated guidance” is equivalent to Level 3 of automation as defined by BASt. “Fully automated guidance” is equivalent to Level 4 of automation as defined by BASt. “Autonomous guidance” is equivalent to Level 5 of automation as defined by SAE (J3016), where SAE stands for “Society of Automotive Engineers”.

[0096] "Assisted guidance" means that the driver of a motor vehicle continuously performs either lateral or longitudinal guidance. The corresponding driving task (i.e., control of the longitudinal or lateral guidance of the motor vehicle) is performed automatically. Therefore, this means that when assisted guidance of a motor vehicle is performed, either lateral or longitudinal guidance is automatically controlled.

[0097] "Partially automated guidance" means that the longitudinal and lateral guidance of a motor vehicle is automatically controlled in specific situations (e.g., driving on a highway, driving in a parking lot, overtaking an object, driving in a lane defined by lane markings) and / or for a certain period of time. The driver does not need to manually control the longitudinal and lateral guidance. However, the driver must continuously monitor the automatic control of longitudinal and lateral guidance so that manual intervention can be made if necessary. The driver must be prepared to take full control of the vehicle's guidance at any time.

[0098] "Highly automated guidance" means automatically controlling the longitudinal and lateral guidance of a motor vehicle within a certain time period and under specific conditions (e.g., driving on a highway, driving in a parking lot, overtaking an object, driving in a lane defined by lane markings). The driver does not need to manually control the longitudinal and lateral guidance. The driver does not need to constantly monitor the automatic control of longitudinal and lateral guidance to intervene manually when necessary. A takeover request is automatically sent to the driver when needed to take over control of longitudinal and lateral guidance, especially with sufficient time margin. Therefore, the driver must be potentially able to take over control of longitudinal and lateral guidance. The boundaries of the automatic control of longitudinal and lateral guidance are automatically identified. In highly automated guidance, it is impossible to automatically lead to the state of least risk in every departure situation.

[0099] "Fully automated guidance" means that the longitudinal and lateral guidance of a motor vehicle is automatically controlled in specific situations (e.g., driving on a highway, driving in a parking lot, overtaking an object, driving in a lane defined by lane markings). The driver does not need to manually control the longitudinal and lateral guidance. The driver does not need to monitor the automatic control of longitudinal and lateral guidance to intervene manually when necessary. The system automatically requests the driver to take over driving duties (controlling the vehicle's lateral and longitudinal guidance) before terminating automatic control of longitudinal and lateral guidance, especially with sufficient time margin. If the driver does not take over, the system automatically returns to the state of least risk. The boundaries of automatic control of longitudinal and lateral guidance are automatically identified. The system can automatically return to the state of least risk in all situations.

[0100] "Autonomous guidance" or "autonomous driving" means automatically controlling the longitudinal and lateral guidance of a motor vehicle in all situations, not just one or more specific situations. The driver is no longer required as a reversing agent. Therefore, the motor vehicle can be driven without a driver.

[0101] The solutions described in this article can be used in one or more of the following application scenarios: Automated Valet Parking (AVP), Self-Navigating Automotive Production (SNAP), Automated Factory Marshalling (AFM), or Automated Valet Charging (AVC). In Automated Valet Parking or SNAP, the infrastructure guides vehicles from the production line to other checkpoints or parking lots during or after vehicle production. In Automated Valet Charging, the infrastructure assists vehicles in driving to available charging spots.

[0102] The general term used for the aforementioned application scenarios is AVM (Automated Vehicle Marshalling).

[0103] Therefore, the scheme described in this paper can be used for AVM.

[0104] MIM stands for Marshalling Infrastructure Message.

[0105] The expression "at least one" means "one or more".

[0106] The method described in the first aspect is, for example, a computer-implemented method.

[0107] The device is configured, for example, in terms of programming techniques, to implement the computer program.

[0108] The features of the apparatus are similarly derived from the corresponding features of the method, and vice versa.

[0109] The process involves, for example, estimation and / or calculation.

[0110] "Retrieving those input data that should be transmitted first via the first radio channel of the radio system from the received input data" includes, for example, selecting those input data that should be transmitted first via the first radio channel of the radio system from the sorted input data, wherein, for example, the selection is made in an order pre-given by the sorting.

[0111] The above selection can be similarly applied, for example, to input data that is not transmitted via the first radio channel.

[0112] For example, the message to be transmitted is encoded. The encoded message is transmitted, for example, via a first radio channel or via at least one other radio channel.

[0113] The implementation methods and examples described herein can be combined with each other in any manner, even if not explicitly stated otherwise. Attached Figure Description

[0114] The invention will now be explained in more detail with the aid of preferred embodiments. Herein lies: Figure 1 : According to the flowchart of the method in the first aspect; Figure 2 According to the apparatus of the second aspect; Figure 3 According to the fourth aspect, machine-readable storage media; and Figure 4 :block diagram.

[0115] In the following text, the same reference numerals may be used for the same features. Detailed Implementation

[0116] Figure 1 A flowchart is shown of a method for providing infrastructure-supported assistance to multiple motor vehicles while they are operating at least partially automatically, using a multi-channel radio system for communication between motor vehicles and infrastructure. The method includes the following steps: Receive 101 input data to be transmitted to the motor vehicle via the radio system; Determine those input data received by 103 that should first be transmitted via the first radio channel of the radio system; The input data requested by 105 is transmitted via the first radio channel.

[0117] Figure 2 An apparatus 201 is shown, which is configured to perform all the steps of the method according to the first aspect.

[0118] Figure 3 A machine-readable storage medium 301 is shown, on which a computer program 303 is stored. The computer program 303 includes instructions that, when executed by a computer, cause the computer to perform the method according to the first aspect and / or the second aspect.

[0119] Figure 4 Block diagram 401 is shown, which exemplarily illustrates the scheme described herein according to the method of the first aspect.

[0120] Reference numeral 403 points to the sorted input data. The sorted input data consists, for example, of message segments 404, 406, 408, 411, 412, and 414. Reference numeral 405 symbolically indicates a first data size threshold, up to which the portion of the sorted input data should be transmitted via the first radio channel. The first three message segments 404, 405, and 406 are located before this first data size threshold. This portion of the sorted input data is indicated by curly braces with reference numeral 407. Message segments 411 and 412 are located after the first data size threshold but before a second data size threshold 413. Data size thresholds 405 and 413 may have the same data size or may be different depending on the radio channel. The portion of the sorted input data that should be transmitted via another radio channel is indicated by curly braces with reference numeral 409. Message segment 414 is located after the second data size threshold 413 and therefore cannot be transmitted via either the first or the other radio channel. Since there is no other third radio channel in this situation, the message segment is not transmitted.

[0121] Reference numeral 421 symbolically denotes the following message, particularly MIM: this message includes some or all of the input data according to section 407 that should be transmitted via a first radio channel, symbolically indicated by curly braces with reference numeral 423. The input data from section 407 corresponds to message segments 404, 406, and 408.

[0122] In addition to input data, message 421 may include other data content, such as message headers, like ITS-PDU headers, or end-to-end protection consisting of message length, rolling counter, and checksum (CRC). These other data contents are symbolically indicated by boxes with reference numeral 415a.

[0123] The input data according to section 409 is transmitted via a second radio channel, symbolically indicated by curly braces with reference numeral 431. Reference numeral 433 symbolically indicates a message that includes some or all of the input data according to section 409. The input data from section 409 corresponds to message segments 411 and 412. Message 433 may further include other data content 415b. This other data content 415b may be the same as data content 415a, or may differ in some places, such as in terms of checksum (CRC).

[0124] In one embodiment of the method, the input data is segmented according to a segmentation method. For example, the segmentation method can be selected, or it can be predetermined. Therefore, for example, it can be pre-configured which segmentation method should be used.

[0125] In one embodiment of the method, the input data, particularly segmented input data, is sorted according to a sorting method. For example, the sorting method can be selected, or it can be predetermined. Therefore, for example, it can be pre-configured which sorting method should be used.

[0126] In one embodiment of the method, the input data that should be transmitted via the first radio channel from the sorted input data is selected. Here, for example, it is specified that the corresponding input data is selected such that the total amount of these input data has a predetermined or dynamically determined data volume. This can be achieved, for example, by comparing the data volume with a data volume threshold. This data volume threshold is determined, for example, based on the channel characteristics of one or more radio channels, and in V2X, is provided, for example, by the MCO.

[0127] In one embodiment of the method, the input data to be transmitted is allocated into a message for a first radio channel. This is particularly true when considering, for example, an MTU.

[0128] For example, the message is encoded. The encoded message is then transmitted, for example, via a first radio channel.

[0129] Similarly, input data that is not transmitted via the first radio channel can be processed for one or more additional radio channels. This can continue, for example, until all input data has been transmitted via the radio channels, or until, for example, no more radio channels are available for transmitting input data, such as due to radio channel overload. The remaining input data is then discarded, for example.

[0130] The segmentation method or the sorting method may be different for each radio channel. The segmentation method or the sorting method may be related to the radio channel and / or the radio channel characteristics (e.g., for input data on channel X, here for example, ITS service channel 0, it has a high correlation with motor vehicles capable of radio communication on channel X, such as motor vehicles equipped with V2X).

[0131] For example, consider in particular the number of protocol headers added and the number of messages required for that amount of input data. This data, namely the headers and messages, constitutes the additional amount of data that fills the radio channel in addition to the payload.

[0132] For example, consider non-AVM-specific data placed on a radio channel, which is known, for example, through MCO or other services.

[0133] The input data can be segmented, for example, according to data category or according to the vehicle to which it is sent.

[0134] The following example calculations are used to illustrate the scheme described in this article in more detail.

[0135] For example, a 5kB limit applies to input data that can be included in a message every 100ms. The MTU is approximately 1300B. However, if 7kB of input data is to be sent every 100ms, this would, for example, result in four packets of size [missing information]. The message will not be transmitted. Correspondingly, 2000kB will not be sent. Then, if another radio channel exists, this 2000kB can be redirected to that other radio channel. With the same MTU, two messages of sizes 1300B and 700B will then be generated on that other radio channel, for example. Then, even if other radio channels exist, there is no need to use those other radio channels.

[0136] For example, the input data can be segmented. The segmented input data can be allocated, for example, to a first radio channel, and further allocated to at least one additional radio channel when necessary, i.e., while there is still input data to be transmitted via at least one other radio channel.

[0137] In summary, the solution described in this paper has the following advantages.

[0138] Radio channel overload prevention: Important input data (such as safety-critical input data) is not lost due to collisions or interference, but rather less important input data is selectively discarded, for example, by setting up intelligent radio channels instead of allowing radio channels to "arbitrarily select" which input data to send or discard.

[0139] Utilize all resources: If other radio channels become available, less critical input data can continue to be transmitted. In particular, the full range of possibilities can be optimally utilized.

Claims

1. A method for providing infrastructure-supported assistance to multiple motor vehicles while they are operating at least partially automatically, using a multi-channel radio system for communication between motor vehicles and infrastructure, the method comprising the steps of: Receive (101) input data to be transmitted to the motor vehicle via the radio system; Determine those input data that should first be transmitted via the first radio channel of the radio system from the input data received (103); The input data obtained by (105) is transmitted via the first radio channel.

2. The method according to claim 1, wherein, Input data that is not transmitted via the first radio channel is transmitted via at least one other radio channel.

3. The method according to claim 1 or 2, wherein, The state and / or at least one characteristic of at least one radio channel, particularly the first radio channel, are determined, wherein, based on the determined state and / or at least one characteristic of the at least one radio channel, those input data that should first be transmitted via the first radio channel of the radio system are determined from the received input data.

4. The method according to any one of the preceding claims, wherein, Based on a data volume threshold, the input data that should first be transmitted via the first radio channel of the radio system is determined such that the data volume of the determined input data is less than or equal to the data volume threshold.

5. The method according to claim 4, wherein, The data volume threshold is predefined.

6. The method according to claim 4, wherein, Calculate the data volume threshold.

7. The method according to claims 4 and 6, wherein, The data volume threshold is determined based on the obtained state and / or at least one characteristic of the at least one radio channel, especially the first radio channel.

8. The method according to claim 6 or 7, wherein, Determining the data volume threshold includes estimating the data volume threshold.

9. The method according to any one of the preceding claims, the method comprising: The received input data is segmented based on a first segmentation method to obtain sorted input data, wherein, based on the sorted input data, those input data that should be transmitted first via the first radio channel of the radio system are identified.

10. The method according to claim 9, wherein, The requested input data is transmitted via the first radio channel based on the sorting.

11. The method according to claim 9 or 10 of claim 2, wherein, Based on the sorting, input data to be transmitted via the at least one additional radio channel is transmitted.

12. The method according to any one of the preceding claims, including claim 2, wherein the method comprises: The input data to be transmitted without the first radio channel is segmented based on the second segmentation method to obtain sorted input data to be transmitted without the first radio channel, wherein the input data to be transmitted without the first radio channel is transmitted via the at least one other radio channel based on the sorting.

13. The method according to any one of the preceding claims, wherein, For each of the radio channels, it is determined which segmentation method should be used to segment the input data that should be transmitted via the corresponding radio channel in order to obtain sorted input data, wherein, according to the correspondingly determined segmentation method, the input data to be transmitted via one or more of the radio channels is segmented to obtain sorted input data, wherein the input data to be transmitted is transmitted via the corresponding radio channel based on the sorting.

14. The method according to any one of claims 9 to 13, wherein, The input data to be sent is divided into multiple messages based on at least one threshold, particularly a message size threshold, and the multiple messages are sent in an order based on the sorting.

15. The method according to any one of claims 9 to 14, wherein, Choose one or more of the segmentation methods from a plurality of segmentation methods.

16. The method according to claim 13, wherein, The respective states of the radio channels of the radio system are determined, wherein one or more of the segmentation methods are selected based on the determined states.

17. The method according to claim 15 or 16, wherein, The multiple segmentation methods include one or more elements from the following group of segmentation methods: segmentation according to motor vehicles; segmentation according to input data content; The system is divided into segments based on geographical regions and corresponding states, whereby the corresponding states relate to infrastructure-supported assistance provided to the plurality of motor vehicles, respectively. The vehicles are segmented according to at least one corresponding radio characteristic and / or corresponding radio technology of the plurality of motor vehicles.

18. The method according to any one of the preceding claims relating to the at least one additional radio channel, as cited in claim 2, wherein, The respective states and / or at least one characteristic of the radio channels of the radio system are determined, wherein the first radio channel and / or the at least one other radio channel are selected based on the determined states and / or at least one characteristic of the radio channels.

19. An apparatus (201) configured to perform all the steps of the method according to any one of the preceding claims.

20. A computer program (303) comprising instructions that, when implemented by a computer, cause the computer to perform the method according to any one of claims 1 to 18.

21. A machine-readable storage medium (301) having a computer program (303) as claimed in claim 20 stored thereon.

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