Method for infrastructure-supported assistance of a plurality of motor vehicles

Abstract

The invention relates to a method for infrastructure-supported assistance of a plurality of motor vehicles when driving respectively at least partially automated. Herein, messages to be transmitted to the motor vehicles are segmented. The invention also relates to a device, a computer program and a machine-readable storage medium.

Description

Technical Field

[0001] The present invention relates to two methods, 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 an infrastructure system / 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 each operating at least partially automatically, the method comprising the following steps: Receive input data to be sent to the motor vehicle; Select a segmentation method from multiple segmentation methods to segment the received input data; The received input data is sorted based on the selected segmentation method in order to obtain sorted input data; A message is generated, the message including sorted input data, first input data derived according to the sorting, or the message including sorted input data, first input data derived according to the sorting, and at least one other input data immediately following the first input data according to the sorting. (i) Compare the size of the generated message with a predetermined message size threshold; If the size of the generated message is less than or equal to the predetermined message size threshold, then (ii) Determine whether all input data still to be sent is included in the generated message; If all the input data to be sent is included in the generated message, then (iii) Encode the generated message to obtain the encoded message; (iv) Send the encoded message to the motor vehicle; If not all input data yet to be sent is included in the generated message, then (v) Add one or more sorted input data to the message, such that the sorted input data immediately follows the input data already included in the generated message, in order to generate a message that additionally includes the added content, wherein the method continues in step (i); If the size of the generated message is greater than the predetermined message size threshold, then (vi) Encode the final message whose message size is less than or equal to the predetermined message size threshold; (vii) The encoded final message is sent to the motor vehicle; (viii) Generate a new message, which includes the last content added to the generated message whose message size is less than or equal to the file size threshold, wherein the method continues in step (i) by using the new message as the generated message.

[0010] According to a second aspect, a method is provided for providing infrastructure-supported assistance to multiple motor vehicles while they are each operating at least partially automatically, the method comprising the following steps: Receive input data to be sent to the motor vehicle; The received input data is sorted based on a segmentation method in order to obtain sorted input data; (i) Generate a message based on the maximum amount of data that can be added, the message including a certain number of input data that have been sorted according to the sorting and have not yet been sent, such that the amount of data of the number of input data is less than or less than or equal to the maximum amount of data that can be added; (ii) Determine whether all input data still to be sent is included in the generated message; If all input data still to be sent is included in the generated message, then (iii) Encode the generated message to obtain the encoded message; (iv) Send the encoded message to the motor vehicle; If not all input data yet to be sent is included in the generated message, then (v) Encode the final message; (vi) The encoded final message is sent to the motor vehicle; (vii) Continue the method in step (i).

[0011] According to a third aspect, an apparatus is provided, the apparatus being configured to perform all the steps of the method according to the first aspect.

[0012] According to a fourth aspect, a computer program is provided, the computer program including instructions that, when implemented by a computer, for example by means according to a third aspect, cause the computer to perform the methods according to a first aspect and / or according to a second aspect.

[0013] According to a fifth aspect, a machine-readable storage medium is provided, on which a computer program according to a fourth aspect is stored.

[0014] This invention is based on and incorporates the following understanding: the aforementioned task is solved by, for example, determining a segmentation method, and accordingly and appropriately sorting the input data used for the method. This, for example, achieves the following technical advantage: messages to be sent to the plurality of motor vehicles can be meaningfully segmented according to the selected segmentation method. Therefore, this means that the received input data can be divided into multiple individual messages by the segmentation method, such that the corresponding message size is always sufficiently small, for example, less than or equal to the MTU (Maximum Transmission Unit), so that these messages can be transmitted to the motor vehicles via radio channels.

[0015] This achieves, for example, the following technical advantages: efficient utilization of communication connections between infrastructure and multiple vehicles. In particular, it can, for example, reduce or avoid transmission errors. Here, the situation is that the MTU at the infrastructure level, i.e., the maximum amount of data that the infrastructure can send in a single message (e.g., in a MIM message, i.e., in a marshalling infrastructure message), is, for example, approximately 1300 bytes. Therefore, according to these regulations, when there are a large number of vehicles to be controlled, the input data necessary for control must be divided into multiple messages.

[0016] Therefore, the scheme described here advantageously ensures that the message to be sent is always of such a large size that it can be transmitted via the radio channel, or that the radio channel can be used efficiently and optimally. Furthermore, segmentation ensures that data is transmitted in meaningfully combined segments, and prioritization allows more important or time-sensitive segments to be placed in the first generated message. Segmentation based on data content ensures that at least the relevant data can be obtained in the event of message loss. Otherwise, in some cases, the loss of a single message among multiple messages generated from the input data could render all data unusable by the receiver. In contrast, in an advantageous implementation, segmentation ensures that message loss only results in a loss of functionality achievable with that message. On the other hand, prioritization allows for on-demand optimization of latency, as generated messages often must be routed through queues at lower communication layers, such as EDCA in ITS-G5, and therefore, higher latency may occur for later-generated messages.

[0017] Therefore, multiple motor vehicles can be efficiently supported through infrastructure while operating at least partially automated.

[0018] The common inventive concept that connects the first and second aspects lies in obtaining, in particular estimating, the size of the encoded message before encoding it.

[0019] According to the first aspect, this can be achieved by determining, in particular calculating and / or estimating, the message size after adding input data to the message, or after the message is generated but before encoding, wherein the message size is compared with a predetermined message size threshold. Only messages whose message size is less than or equal to the predetermined message size threshold are encoded and sent. Therefore, the message size of the encoded message is also likely to be less than or equal to the predetermined message size threshold.

[0020] According to the second aspect, this can be achieved by determining the maximum amount of data that can be added before adding input data to the message, or rather, before generating the message. Then, only so much input data is added that the amount of added data is less than or equal to the maximum amount of data that can be added. Therefore, a message is generated whose message size is capped by the maximum amount of data that can be added; this also applies to encoded messages.

[0021] In one embodiment of the method according to the second aspect, the following is set: prior to step (i), the maximum number of input data to be sent is determined based on the maximum amount of data that can be added, thereby maximizing the amount of input data to be sent to the maximum amount of data that can be added, wherein in step (ii), the message is generated such that the amount of input data is maximized to, in particular, equal to, the maximum amount that can be added.

[0022] This results in the following technical advantage, for example: messages can be generated efficiently in step (i).

[0023] In one embodiment of the method according to the first aspect and / or the second aspect, the message size of the encoded message is determined before the encoded message is sent, wherein the encoded message is sent based on the determined message size.

[0024] This leads to, for example, the following technical advantages: It allows for efficient decision-making on whether or not to send an encoded message. It also allows for efficient assurance that only encoded messages with a message size less than or equal to a predetermined threshold are sent.

[0025] For example, the system can be configured to send an encoded message only if the message size is less than or equal to a predetermined threshold.

[0026] For example, it can be configured such that if the message size is greater than a predetermined threshold, the encoded message will not be sent.

[0027] For example, discarding unsent encoded messages.

[0028] If the encoded message exceeds a predetermined threshold, the encoded message is discarded, for example.

[0029] For example, unsent messages are discarded, and the method continues in step (i). This results in, for example, the technical advantage that the method does not need to be completely restarted.

[0030] For example, the method can be configured to restart when no encoded message is sent. This has the technical advantage of eliminating the need to maintain a record table of added input data.

[0031] If the encoded message size exceeds a predetermined threshold, then, for example, the process of calculating the message size for the unencoded message is repeated. This repetition may include, for example, revising the calculation method, particularly the estimation method, so that the message size is recalculated using the revised calculation method.

[0032] If the encoded message exceeds a predetermined threshold, then, for example, the maximum amount of data that can be added is determined repeatedly. This repetition may include, for example, revising the determination method, particularly the estimation method, so that the maximum amount of data that can be added is re-determined using the revised determination method.

[0033] In one embodiment of the method according to the first aspect and / or the second aspect, the state of a radio system for communication between infrastructure and motor vehicles is determined, wherein an encoded message is transmitted based on the determined state of the radio system.

[0034] This leads to, for example, the following technical advantages: taking into account the state of the radio system when transmitting encoded messages.

[0035] The state, for example, can provide information about the amount of data that can be sent, maximizing the system's throughput or reliability within that range. Based on this, i.e., based on the state, the maximum amount of data that can be added can be determined, for example.

[0036] In one embodiment of the method according to the first aspect and / or the second aspect, the radio system includes at least two radio channels, wherein, based on the state of the radio system, a radio channel is selected through which an encoded message should be transmitted, wherein the encoded message is transmitted through the selected radio channel.

[0037] This results in, for example, the following technical advantage: one of the at least two radio channels can be selected efficiently.

[0038] In one embodiment of the method according to the first aspect and / or the second aspect, the method is configured to: select a segmentation method from a plurality of segmentation methods, wherein the plurality of segmentation methods include, for example, one or more elements of the following group of segmentation methods: segmentation by motor vehicle; segmentation by input data content; segmentation by geographic region; segmentation by corresponding state, the corresponding state relating to corresponding infrastructure-supported assistance performed on the plurality of motor vehicles; and segmentation by at least one corresponding radio characteristic and / or corresponding radio technology of the plurality of motor vehicles.

[0039] This leads to the following technical advantages, for example: the ability to select a particularly suitable segmentation method.

[0040] In one embodiment of the method according to the first aspect and / or the second aspect, the segmentation according to motor vehicles includes sorting the input data in such a sequential manner 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 than the first motor vehicle, or the other motor vehicle has a smaller remaining time budget until the next reception.

[0041] This leads to the following technical advantages, for example: the ability to set particularly meaningful segments.

[0042] 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 time budget for communication latency can be approximately 30ms, which, when other budgets are taken into account, leaves a 120ms travel time buffer within which the next message carrying information must reach the vehicle.

[0043] The time budget includes, for example, the maximum permissible duration for transmitting the message so that the vehicle can still use the message.

[0044] In one embodiment of the method according to the first aspect and / or the second aspect, segmentation 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.

[0045] This results in the following technical advantages, for example: the input data can be sorted efficiently.

[0046] In one embodiment of the method according to the first aspect and / or the second aspect, segmenting the input data according to its content includes sorting the input data in such a way that driving permits for motor vehicles precede target trajectories for motor vehicles and / or updates to target trajectories for motor vehicles.

[0047] In this scenario, the driving permission for a motor vehicle typically consists of only one data point, which is confirmed to a single motor vehicle, allowing it to continue along the 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, it can trigger the remotely controlled motor vehicle to stop according to the principle of totmannschalters (disconnect switches). Therefore, the timing of this type of input data is particularly critical for uninterrupted remote control procedures.

[0048] 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.

[0049] 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.

[0050] This leads to the following technical advantage, for example, that input data can be meaningfully sorted.

[0051] In one embodiment of the method according to the first aspect and / or the second aspect, segmentation according to input data content includes segmenting the input data according to data category.

[0052] This results in the following technical advantages, for example: it allows for efficient segmentation of input data.

[0053] In one embodiment of the method according to the first aspect and / or the second aspect, segmenting the input data according to its content includes sorting the input data in such a way that time-sensitive input data precedes time-less and / or time-infrequent input data.

[0054] This leads to, for example, the following technical advantage: the input data can be meaningfully ordered. Thus, for instance, if time-sensitive input data can be sent before time-unsensitive input data, the time-sensitive input data will arrive at its receiver earlier than the time-unsensitive input data.

[0055] In one embodiment of the method according to the first aspect and / or the second aspect, segmentation according to geographic regions includes grouping input data that is determined to be used for motor vehicles located within a common geographic region.

[0056] This results in the following technical advantages, for example: the input data can be grouped efficiently.

[0057] 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, or crosswalkers, are present more frequently than in other zones. Such zones may include, for example, pedestrian crossings. A geographic area may also include, for example, parking areas.

[0058] In one embodiment of the method according to the first aspect and / or the second aspect, 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.

[0059] This results in, for example, the following technical advantages: the input data includes particularly suitable input data.

[0060] In one embodiment of the method according to the first aspect and / or the second aspect, the following is set: determining whether the input data is time-triggered or event-triggered, wherein, based on whether the input data is time-triggered or event-triggered, the segmentation method is selected from the plurality of segmentation methods.

[0061] This leads to the following technical advantages, for example: efficient selection of segmentation methods. In particular, it leads to the following technical advantages: optimal response to time-triggered and event-triggered input data.

[0062] In one embodiment of the method according to the first aspect and / or the second aspect, the segmentation method is set such that, in the case of time-triggered input data, segmentation according to motor vehicles is selected as the segmentation method.

[0063] This leads to the following technical advantages, for example: in the case of time-triggered input data, a particularly suitable segmentation method can be selected.

[0064] In one embodiment of the method according to the first aspect and / or the second aspect, the segmentation method is set such that, in the case of input data triggered by an event, segmentation according to the content of the input data is selected as the segmentation method.

[0065] This leads to the following technical advantages, for example: in the case of event-triggered input data, a particularly suitable segmentation method can be selected.

[0066] In one embodiment of the method according to the first aspect and / or the second aspect, the method is configured to: determine the number of motor vehicles to be assisted, wherein, based on the determined number, the segmentation method is selected from the plurality of segmentation methods.

[0067] This leads to the following technical advantages, for example: the segmentation method can be selected efficiently.

[0068] In one embodiment of the method according to the first aspect and / or the second aspect, the following is set: the quantity to be obtained is compared with a predetermined quantity threshold, wherein, based on the comparison, segmentation according to geographical region is selected as the segmentation method.

[0069] This leads to the following technical advantages, for example: the segmentation method can be selected efficiently.

[0070] In one embodiment of the method according to the first aspect and / or the second aspect, if the quantity to be obtained is greater than or equal to the predetermined quantity threshold, then segmentation according to geographical region is selected as the segmentation method.

[0071] This leads to the following technical advantage, for example: when the number of motor vehicles to be controlled is greater than or equal to the predetermined number threshold, a particularly suitable segmentation method can be selected.

[0072] In one embodiment of the method according to the first aspect and / or the second aspect, the corresponding state is set as an element selected from the following group of states: the motor vehicle is waiting to be remotely controlled by the infrastructure, the motor vehicle is currently being remotely controlled by the infrastructure, the remote control by the infrastructure is suspended, and the remote control by the infrastructure has been terminated.

[0073] This leads to the following technical advantages, for example: it allows for the setting of particularly suitable states, and segmentation based on these states.

[0074] In one embodiment of the method according to the first aspect and / or the second aspect, setting "segmentation according to corresponding states, the corresponding states relating to corresponding infrastructure-supported assistance to the plurality of motor vehicles" includes: input data for a motor vehicle whose state is "the motor vehicle is currently being remotely controlled by the infrastructure" precedes another input data for another motor vehicle whose state is different from "the motor vehicle is currently being remotely controlled by the infrastructure".

[0075] In one embodiment of the method according to the first aspect and / or the second aspect, setting "segmentation according to corresponding states, the corresponding states relating to corresponding infrastructure-supported assistance to the plurality of motor vehicles" includes: input data for a motor vehicle whose state is "remote control by infrastructure suspended" is preceded by another input data for another motor vehicle whose state is "remote control by infrastructure aborted".

[0076] In one embodiment of the method according to the first aspect and / or the second aspect, setting "segmentation according to corresponding states, the corresponding states relating to corresponding infrastructure-supported assistance to the plurality of motor vehicles" includes: input data for a motor vehicle whose state is "motor vehicle waiting for remote control by infrastructure" is preceded by another input data for another motor vehicle whose state is "motor vehicle waiting for remote control by infrastructure".

[0077] The aforementioned sequence for segmenting by status is used, for example, in the application scenario of "automatically loading motor vehicles onto ships via an infrastructure system," because the availability of road space between the parking location and the ship is important, and therefore priority is given to motor vehicles that are no longer parked at their designated locations. Other sequences can be set for other applications.

[0078] This leads to the following technical advantages, for example: sorting or segmentation can be performed meaningfully.

[0079] It should be noted that the terms “auxiliary” and “support” can be used synonymously.

[0080] 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.

[0081] 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.

[0082] “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”.

[0083] "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.

[0084] "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.

[0085] "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.

[0086] "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.

[0087] "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.

[0088] 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, infrastructure guides vehicles from the production line to other checkpoints or parking lots during or after vehicle production. In Automated Valet Charging, infrastructure assists vehicles in navigating to available charging spots.

[0089] The common term used for the aforementioned application scenarios is AVM (Automated Vehicle Marshalling).

[0090] Therefore, the scheme described in this paper can be used for AVM.

[0091] MIM stands for Marshalling Infrastructure Message.

[0092] The expression "at least one" means "one or more".

[0093] The method described in the first aspect is, for example, a computer-implemented method.

[0094] The method described in the second aspect is, for example, a computer-implemented method.

[0095] The characteristics of the method according to the first aspect are similarly derived from the characteristics of the method according to the second aspect, and vice versa.

[0096] If only "method" is written, "according to the first aspect and / or according to the second aspect" should always be understood together.

[0097] For example, the method based on the first aspect can be combined with the method based on the second aspect. This means that the implementation methods of these two approaches can be combined with each other.

[0098] The device is configured, for example, in terms of programming techniques, to implement the computer program.

[0099] The features of the apparatus are similarly derived from the corresponding features of the method, and vice versa.

[0100] The process involves, for example, estimation and / or calculation.

[0101] The method according to the first aspect and / or the second aspect includes, for example, selecting a segmentation method from a plurality of segmentation methods for segmenting the received input data, and sorting the received input data based on the selected segmentation method to obtain sorted input data.

[0102] The method described in the first aspect includes, for example, determining the message size of the generated message.

[0103] The second method includes, for example, determining the maximum amount of data that can be added to a message to be sent to a motor vehicle.

[0104] 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

[0105] 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 third aspect; Figure 3 Machine-readable storage media according to the fifth aspect; Figure 4 First block diagram; Figure 5 :PARKING LOT; Figure 6 : Second block diagram; and Figure 7 : Flowchart based on the method in the second aspect.

[0106] In the following text, the same reference numerals may be used for the same features. Detailed Implementation

[0107] 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 automated, the method comprising the following steps: Receive 101 input data to be sent to the motor vehicle; (Optional) Select segmentation method 103 from multiple segmentation methods to segment the received input data; The received input data is sorted based on the selected segmentation method 105 in order to obtain sorted input data; A 107 message is generated, the message including sorted input data, first input data derived according to the sorting, or the message including sorted input data, first input data derived according to the sorting, and at least one other input data immediately following the first input data according to the sorting. (i) (Optional) Calculate the message size of the message generated by 109; (ii) Compare the desired message size of the generated message with the predetermined message size threshold. If the size of the generated message is less than or equal to the predetermined message size threshold, then (iii) Determine if 113 is included in all the input data that is still to be sent; If all input data still to be sent is included in the generated message, then (iv) Encode the generated message 115 to obtain the encoded message; (v) Send the encoded message 117 to the motor vehicle; If not all input data yet to be sent is included in the generated message, then (vi) Add one or more of the sorted input data 119 to the message, such that the input data follows the input data already included in the generated message according to the sorting, so as to generate a message that additionally includes the added content, wherein the method continues in step (i); If the size of the generated message is greater than the predetermined message size threshold, then (vii) Encode the final message whose message size is less than or equal to the predetermined message size threshold 121; (viii) The encoded final message is sent to the motor vehicle via 123; (ix) Generate 125 new messages, the new messages including the content last added to the generated message whose message size is less than or equal to the file size threshold, wherein the method continues in step (i) by using the new messages as the generated messages.

[0108] Figure 2 An apparatus 201 is shown, configured to perform all the steps of the method according to the first aspect.

[0109] 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 methods described according to the first aspect and / or the second aspect.

[0110] Figure 4 Block diagram 401 is shown, which exemplarily illustrates the scheme described herein according to the method of the first aspect. According to function block 403, input data is read in or received. This input data may be, for example, event-triggered or time-triggered input data.

[0111] According to function block 405, a segmentation method is selected from multiple segmentation methods to segment the received input data. For example, four such segmentation methods are shown via blocks 407, 409, 411, and 413.

[0112] The box with reference numeral 407 indicates a segmentation method according to motor vehicles. The box with reference numeral 409 indicates segmentation according to input data content. The box with reference numeral 411 indicates segmentation according to geographical region. The box with reference numeral 413 indicates segmentation according to a corresponding state, which relates to corresponding infrastructure-supported assistance for multiple motor vehicles.

[0113] At this point, select one of the four segmentation methods. Based on function block 415, sort the input data accordingly.

[0114] According to function block 417, first input data is added to the MIM based on the sorting, and optionally at least one additional input data following the first input data based on the sorting is added.

[0115] According to function block 419, the message size of the generated MIM is determined. In function block 421, the determined message size is compared with a predetermined message size threshold. If the determined message size is less than or equal to the predetermined message size threshold, then in function block 423, it is determined whether all input data is contained in the MIM, i.e., whether it is all included by the MIM. If so, the MIM is encoded according to function block 425. In function block 427, the encoded MIM is sent.

[0116] If, according to function block 421, the message size of the MIM is found to be greater than the predetermined message size threshold, then according to function block 425, the last generated MIM with a message size less than or equal to the predetermined message size threshold is encoded, and then according to function block 427, it is sent to multiple motor vehicles.

[0117] A new MIM is generated, wherein, continuing in function block 417, additional sorted input data derived from the sorting is added to the newly generated MIM.

[0118] If it is found in function block 423 that not all input data has been included, then continue in function block 417.

[0119] Figure 5 A parking lot 501 with multiple parking spaces 503 is shown. A port 505 is located adjacent to the parking lot 501, in which a vessel 507 is located.

[0120] Multiple motor vehicles 509 are partially parked in parking space 503, and these motor vehicles should be loaded onto vessel 507. Here, the infrastructure should support the operation of motor vehicles 509 in at least partially automated, and especially at least highly automated, manner. In other words, for example, the loading of motor vehicles should be configured to be at least highly automated.

[0121] For example, a motor vehicle remotely controlled by infrastructure system 513 is indicated by reference numeral 511. A wireless communication connection is established between motor vehicle 511 and infrastructure system 513, which is symbolically shown by a dashed line with reference numeral 515.

[0122] In addition, another motor vehicle is indicated by reference numeral 517, which is also remotely controlled by infrastructure system 513 via a wireless communication connection. For clarity, this wireless communication connection is not shown in the attached diagram. Figure 5 Draw it explicitly in the middle.

[0123] The target trajectory for motor vehicle 511 is symbolically shown by reference numeral 519, along which motor vehicle 511 shall travel at least partially automatically.

[0124] Similarly, the target trajectory for another motor vehicle 517 is symbolically shown by an arrow with reference numeral 521.

[0125] Parking lot 501 is exemplarily divided into two geographic areas: a first geographic area 523 and a second geographic area 525, which are shown by different shaded lines.

[0126] For example, you can set it to segment according to geographical regions, because there are multiple potential vehicles to be controlled here.

[0127] In other words, Figure 5 An exemplary large parking lot 501 is shown, which has multiple potential vehicles 509, 511, 517 to be controlled, which are to be loaded onto vessel 507. According to... Figure 5 The diagram in Figure 5 At the time indicated, motor vehicle 511 and second motor vehicle 517 are remotely controlled by infrastructure system 513.

[0128] For example, the message size may exceed the MTU if the target trajectory is particularly long and / or because there are other vehicles to be remotely controlled. Thus, for example, segmentation according to geographic regions can be selected as the segmentation method, so that the input data for vehicles 509, 511, 517 can be segmented or sorted according to geographic regions 523, 525.

[0129] Here, for example, the following settings are configured: the second motor vehicle 517 is assigned to the second geographic region 525. The motor vehicle 511 is assigned to the first geographic region 523.

[0130] Therefore, for example, the setup might be as follows: first, input data for vehicles located in the first geographic region 523 is sent. Only after this is input data for vehicles located in the second geographic region 525 sent. Then, for example, the corresponding messages are sent sequentially.

[0131] Figure 6 A second block diagram 601 is shown, which exemplarily illustrates the scheme described herein according to the method according to the second aspect.

[0132] The first block diagram 401 and the second block diagram 601 have similarities, and their differences will be explained below.

[0133] For function blocks 403, 405, 407, 409, 411, 413, 415, 423, 425, and 427, see [reference to] Figure 4 The explanations provided are as follows. These interpretations apply accordingly here.

[0134] According to function block 603, the maximum amount of data that can be added to the message to be sent to the motor vehicle is determined. According to function block 605, the maximum number of input data to be sent is determined based on the determined maximum amount of data that can be added, such that the amount of input data to be sent is at most the determined maximum amount of data that can be added. In function block 607, input data to be sent, in a quantity equal to or less than the maximum number, is added to the MIM in accordance with the sorting, thereby generating an MIM based on the determined maximum amount of data that can be added. This MIM includes a number of input data that has been sorted according to the sorting and has not yet been sent, such that the amount of input data is less than or less than or equal to the determined maximum amount of data that can be added.

[0135] If it is determined in function block 423 that all input data is contained in the MIM, i.e., all data is included by the MIM, then the MIM is encoded according to function block 425. In function block 427, the encoded MIM is sent.

[0136] If, in function block 423, it is determined that not all input data has been included, then the final generated MIM is encoded according to function block 425, and sent to the vehicle according to function block 427. The method continues in function block 607.

[0137] The scheme described here has the following technical advantages in particular: it is able to meaningfully segment messages to be sent to motor vehicles, that is, to divide them into multiple individual messages, so that the assistance provided by the infrastructure to multiple motor vehicles can continue to function reliably while they are driving at least partially automatically.

[0138] Segmentation methods could include, for example, segmentation based on motor vehicles. Here, the order of input data to be transmitted could be chosen such that vehicles that have been waiting for updates for a longer period receive their input data first. For instance, vehicles from certain manufacturers might receive their corresponding input data preferentially or first. This is, for example, because these manufacturers can use or expect specific containers, thereby enabling them to use fewer radio resources.

[0139] For example, segmentation based on the content of the input data can be an exemplary segmentation method. For instance, a driving permission can be sent before an update is made to the target trajectory for a motor vehicle. Therefore, segmentation can be based, for example, on the "time urgency of the input data content." This is particularly meaningful in the case of event-triggered input data.

[0140] One exemplary segmentation method is segmentation based on geographical regions. The terms "region" and "area" can be used synonymously.

[0141] Therefore, this means that input data can be divided according to geographical regions or geographical areas. For example, a geographical area could be a floor of a parking garage.

[0142] For example, an exemplary segmentation method could be segmentation based on corresponding states, which relate to corresponding infrastructure-supported assistance for multiple vehicles. This is meaningful, for example, when some of the vehicles have begun at least partially automated driving (e.g., an AVP process, generally an AVM process) and are therefore already in motion, while other vehicles are still waiting to start driving with infrastructure assistance. Then, for example, the vehicles already under remote control can continue driving without interruption with a higher probability, because the first message segment can be sent and received within the time budget with a higher probability.

[0143] The message content or the choice of segmentation method can be based, for example, on feedback from lower layers (e.g., radio channel status) and / or the received payload.

[0144] The scheme described herein is further illustrated below.

[0145] For example, when MIM messages should be sent in an infrastructure system in a time-triggered or event-triggered manner, input data (especially driving permits, target trajectories for vehicles to be controlled, etc.) is first read in. Then, for example, a segmentation method or segmentation approach for that time step (or for a specific time period) is determined. The following allocation is shown: for periodically triggered messages, the selection method 1 is "segmented by vehicle"; for event-triggered messages, the selection method 2 is "segmented by input data content"; and for messages involving multiple vehicles to be controlled or messages involving large areas with multiple sending units, the selection method 3 is "segmented by geographic region". However, other combinations are also possible.

[0146] For divisions based on geographical regions, the following possibilities exist: For example, segmented messages can be generated for each floor of a parking garage.

[0147] In very large sites / parking garages, multiple geographical areas can also be defined within a single floor.

[0148] When there are multiple sending units (e.g., roadside units, RSUs) in a parking garage / parking lot (generally infrastructure), each sending unit can correspond to a segment.

[0149] The method according to the first aspect has the following advantages: estimating / calculating (generally obtaining) the message size after each addition of input data has the following advantages: it allows for high flexibility in filling the message, i.e., adding input data, when the size of the input data to be added (e.g., the vehicle container) may change. The vehicle container contains input data for the vehicle.

[0150] The method according to the second aspect has the following advantages, for example: estimating the amount of data in advance is more computationally efficient because it is sufficient to perform the estimation only once, so that the input data can be added to the MIM directly in accordance with the estimation thereafter.

[0151] The vehicle container, for example, includes several optional data elements, which can be described in a standardized manner. For instance, some infrastructure components might be designed so that they utilize specific fields by configuration while excluding others. This, for example, is the same for all vehicles. Only the state points describing the target trajectory for the vehicle can vary as needed.

[0152] Figure 7 A flowchart is shown of a method for providing infrastructure-supported assistance to multiple motor vehicles while they are operating at least partially automated, the method comprising the following steps: Receive input data to be sent to the motor vehicle (701). (Optional) Select segmentation method 703 from multiple segmentation methods to segment the received input data; The received input data is sorted based on the selected segmentation method 705 in order to obtain sorted input data; (i) (Optional) Determine the maximum amount of data that can be added to the message to be sent to the motor vehicle by 707; (ii) Generate a 709 message based on the maximum amount of data that can be added, the message including a certain number of input data that have been sorted according to the sorting and have not yet been sent, such that the amount of data of the number of input data is less than or less than or equal to the maximum amount of data that can be added. (iii) Determine if 711 is included in all the input data to be sent; If all the input data to be sent is included in the generated message, then (iv) Encode the generated message 713 to obtain the encoded message; (v) Send the encoded message to the motor vehicle at 715; If not all the input data to be sent is included in the generated message, then (vi) Encode the final message as 717; (vii) The encoded final message is sent to the motor vehicle at 719; (viii) Continue the method in step (i) or (ii).

[0153] The "or" in "continue the method in step (i) or (ii)" is symbolically shown by a dashed arrow.

[0154] For example, it is set after step (i) and before step (ii) to determine the maximum number of input data to be sent based on the maximum amount of data that can be added, thereby making the amount of input data to be sent the maximum of the maximum amount of data that can be added, wherein in step (ii) a message is generated such that the amount of input data is the maximum, in particular, equal to the maximum amount that is determined.

[0155] In summary, the scheme described herein is based on estimating and generally determining the amount of addable input data to be sent to motor vehicles. This can be achieved, for example, by determining, e.g., calculating and / or estimating the size after adding input data. The resulting message is then compared with a message size threshold, which can be, for example, an MTU and / or determined based on currently available radio channel resources. This can also be achieved, for example, by determining, in particular calculating and / or estimating, the maximum amount N of input data for each message based on one or more thresholds, such as MTU and / or currently available channel resources, and then adding feasible amounts. For example, the trajectory can be defined only with a certain level of detail and, for example, only for a certain number of motor vehicles, so that the corresponding input data can be added without exceeding the threshold.

[0156] After encoding the message, for example, the message size of the encoded message can be determined. For example, the determined message size of the encoded message can be compared with one or more predetermined thresholds, such as the predetermined message size threshold. For example, the encoded message is sent only if the message size of the encoded message is less than or equal to the predetermined message size threshold.

[0157] Typically, message size is constrained by either the MTU or resource limitations, and often by both. Therefore, the message size threshold is chosen, for example, as the smaller of the maximum MTU and the maximum radio channel resource, thus providing an upper limit on message size.

[0158] For example, the system can be configured to generate additional messages when MTU is limited. These additional messages may have their own message size, for example, a maximum of MTU. Conversely, if the radio channel resources limit the maximum message size, the system may be configured to, for example, not to load any more MIMs into that radio channel.

[0159] For example, the channel resources can be checked. For instance, the allowable data volume can be pre-calculated based on resource availability, and then checks can be performed on aspects such as whether the message size is less than or equal to the MTU.

[0160] If limited only by the MTU, then all input data can be sent, for example. This input data is then encapsulated into a message at most the size of the MTU. If limited by available radio channel resources, then, for example, unsent data can remain, which can be sent, for example, via another radio channel.

[0161] Therefore, input data that cannot be transmitted via a certain radio channel can be transmitted via other radio channels when available: for example, other ITS channels and / or via WLAN and / or via mobile radio networks, or mobile radio communications. Then, transmission can be performed via this radio technology in a similar manner to the explanation above. This means, for example, that available channel resources and / or MTU are also considered for these radio technologies. This consideration can be performed, for example, in parallel or sequentially. This means, for example, first determining the available channel resources, and then, for example, checking whether the message size is less than or equal to the MTU. In terms of parallel consideration, this could, for example, mean checking both in parallel. This continues, for example, until all input data has been transmitted or, for example, no more radio channels are available.

[0162] Comparing the size of the encoded message to a predetermined message size threshold after encoding the message offers technical advantages, for example, by efficiently checking whether regulations governing transmission over radio channels are being followed. This means that security is improved by ultimately checking whether restrictions on message size, and especially the amount of resources consumed by all generated messages, are being met. This is particularly true in cases where, for example, an earlier estimate of the expected message size is based on an uncertain expectation.

Claims

1. A method for providing infrastructure-supported assistance to multiple motor vehicles (509, 511, 517) while they are each operating at least partially automatically, the method comprising the steps of: Receive (101) input data to be sent to the motor vehicle (509, 511, 517); The received input data is sorted based on the segmentation method (105) in order to obtain sorted input data; Generate a (107) message, the message including sorted input data, first input data derived according to the sorting, or the message including sorted input data, first input data derived according to the sorting, and at least one additional input data immediately following the first input data according to the sorting. (i) Compare the message size of the generated message with the message size threshold (111); If the size of the generated message is less than or equal to a predetermined message size threshold, then (ii) Determine (113) whether all input data still to be sent is included in the generated message; If all input data still to be sent is included in the generated message, then (iii) Encode the generated message (115) to obtain the encoded message; (iv) Send (117) the encoded message to the motor vehicle (509, 511, 517). If not all input data yet to be sent is included in the generated message, then (v) Add (119) one or more sorted input data to the message, such that the input data follows the input data already included in the generated message according to the sorting, so as to generate a message that additionally includes the added content, wherein the method continues in step (i); If the size of the generated message is greater than the predetermined message size threshold, then (vi) Encode the last generated message whose message size is less than or equal to the predetermined message size threshold (121); (vii) The encoded final generated message is sent (123) to the motor vehicle (509, 511, 517). (viii) Generate (125) a new message, the new message comprising the last content added to the generated message whose message size is less than or equal to the file size threshold, wherein the method continues in step (i) by using the new message as the generated message.

2. A method for providing infrastructure-supported assistance to multiple motor vehicles (509, 511, 517) while they are each operating at least partially automatically, the method comprising the steps of: Receive (701) input data to be sent to the motor vehicle (509, 511, 517); The received input data is sorted based on a segmentation method (705) to obtain sorted input data; (i) Generate a (709) message based on the maximum amount of data that can be added, the message including a certain number of input data that have been sorted according to the sorting and have not yet been sent, such that the amount of data of the number of input data is less than or less than or equal to the maximum amount of data that can be added; (ii) Determine (711) whether all input data still to be sent is included in the generated message; If all input data still to be sent is included in the generated message, then (iii) Encode the generated message (713) to obtain the encoded message; (iv) Send (715) the encoded message to the motor vehicle (509, 511, 517). If not all input data yet to be sent is included in the generated message, then (v) Encode the final message (717); (vi) The encoded final generated message is sent (719) to the motor vehicle (509, 511, 517). (vii) Continue the method in step (i).

3. The method according to claim 2, wherein, Prior to step (i), the maximum number of input data to be sent is determined based on the maximum amount of data that can be added, so that the maximum amount of input data to be sent is equal to the maximum amount of data that can be added. In step (ii), the message is generated such that the number of input data is equal to, in particular, the maximum amount of data that can be added.

4. The method according to any one of claims 1 to 3, wherein, Before sending the encoded message, the message size of the encoded message is determined, and the encoded message is sent based on the determined message size.

5. The method according to any one of the preceding claims, wherein, The state of a radio system used for communication between infrastructure and motor vehicles (509, 511, 517) is determined, wherein an encoded message is transmitted based on the determined state of the radio system.

6. The method according to claim 5, wherein, The radio system includes at least two radio channels, wherein, based on the state of the radio system, a radio channel is selected through which an encoded message should be transmitted, wherein the encoded message is transmitted through the selected radio channel.

7. The method according to any one of the preceding claims, wherein, (703) The segmentation method is selected from a plurality of segmentation methods, wherein the plurality of segmentation methods include, for example, one or more elements of the following group of segmentation methods: segmentation by motor vehicle (509, 511, 517); segmentation by input data content; segmentation by geographic region; segmentation by corresponding state, the corresponding state relating to corresponding infrastructure-supported assistance performed on the plurality of motor vehicles (509, 511, 517); and segmentation by at least one corresponding radio characteristic and / or corresponding radio technology of the plurality of motor vehicles (509, 511, 517).

8. The method according to claim 7, wherein, Segmenting by vehicle (509, 511, 517) involves sequentially ordering the input data such that the input data for one of the vehicles (509, 511, 517) that has been waiting for input data for a longer period of time precedes the input data for another vehicle (509, 511, 517) that has been waiting for input data for a shorter period of time than one of the vehicles (509, 511, 517) or has a smaller remaining time budget until the next reception.

9. The method according to claim 7 or 8, wherein, Segmentation by motor vehicle (509, 511, 517) includes sorting the input data according to the manufacturer of the motor vehicle (509, 511, 517) and / or according to the parameterization of the V2X service.

10. The method according to any one of the preceding claims, including claim 7, wherein, Segmenting the input data according to its content includes sorting the input data in such a way that the driving permits for motor vehicles (509, 511, 517) are placed before the target trajectories for motor vehicles (509, 511, 517) and / or the updates to the target trajectories for motor vehicles (509, 511, 517).

11. The method according to any one of the preceding claims, referring to claim 7, wherein, Segmenting the input data according to its content includes segmenting the input data according to its category.

12. The method according to any one of the preceding claims, referring to claim 7, wherein, Segmenting the input data according to its content includes sorting the input data in such a way that time-sensitive input data precedes time-sensitive and / or time-unsensitive input data.

13. The method according to any one of the preceding claims, referring to claim 7, wherein, Segmentation by geographic region includes grouping the input data that was identified as being used for those motor vehicles (509, 511, 517) located in a common geographic region.

14. The method according to any one of the preceding claims, wherein, The input data includes one or more of the following: target trajectory for motor vehicles, driving permits for motor vehicles, object list of objects in the motor vehicle environment, and occupancy map involving the motor vehicle environment.

15. The method according to any one of the preceding claims, wherein, Determine whether the input data is time-triggered or event-triggered, and select the segmentation method from the plurality of segmentation methods based on whether the input data is time-triggered or event-triggered.

16. The method according to claim 15 of claim 7, wherein, Given time-triggered input data, segmentation based on motor vehicles (509, 511, 517) is selected as the segmentation method.

17. The method according to any one of the preceding claims, referring to claim 7 and claim 15, wherein, In the case of input data triggered by an event, the segmentation method is to segment the input data according to its content.

18. The method according to any one of the preceding claims, wherein, The number of motor vehicles (509, 511, 517) to be assisted is determined, wherein, based on the determined number, the segmentation method is selected from the plurality of segmentation methods.

19. The method according to claim 18 of claim 7, wherein, The obtained quantity is compared with a predetermined quantity threshold, wherein, based on the comparison, segmentation according to geographical region is selected as the segmentation method.

20. The method according to claim 19, wherein, If the quantity to be obtained is greater than or equal to the predetermined quantity threshold, then segmentation according to geographical region is selected as the segmentation method.

21. The method according to any one of the preceding claims, referring to claim 7, wherein, The corresponding state is an element selected from the following state group: the vehicle is waiting to be remotely controlled by the infrastructure, the vehicle is currently being remotely controlled by the infrastructure, remote control by the infrastructure is paused, and remote control by the infrastructure has been terminated.

22. The method according to claim 21, wherein, "Segmenting according to the corresponding state, the corresponding state relating to the corresponding infrastructure-supported assistance performed on the plurality of motor vehicles (509, 511, 517)" includes: input data for a motor vehicle (509, 511, 517) whose state is "the motor vehicle is currently being remotely controlled by the infrastructure" precedes another input data for a motor vehicle (509, 511, 517) whose state is different from "the motor vehicle is currently being remotely controlled by the infrastructure".

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

24. 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 22.

25. A machine-readable storage medium (301) having a computer program (303) as claimed in claim 24 stored thereon.

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