Driverless transfer of a passenger vehicle over a distance within the factory process, the distribution process, or in between

Abstract

Method for driverless repositioning of a passenger vehicle (40) over a distance - in the work process, - in the distribution process or - between the production process and distribution process of a passenger vehicle manufacturer or distributor, wherein - to move the vehicle (40) depending on route information of the route, one or more actuators (20, 21, 22) of the vehicle (40) are controlled, which relate to the movement of the vehicle, - depending on route information ◯ the engine control, ◯ the braking system, ◯ the steering system, and / or ◯ the vehicle's transmission control (40) is controlled, - before the driverless relocation of the vehicle (40), an external device (4) is connected to the vehicle (40), - after the driverless relocation of the vehicle, the external device (4) is disconnected from the vehicle (40), - the external device (4) communicates with the vehicle electronics via an interface of the vehicle (40), and - the external device (4) receives sensor information from one or more sensors (10, 11, 12, 13) of the vehicle via the interface and / or the interface is the on-board diagnostics interface of the vehicle (40).

Description

[0001] The invention relates to the transfer of a passenger vehicle over a distance in the factory process, in the distribution process or in between.

[0002] After the manufacturing and testing process of a vehicle is completed, the customer-ready vehicle is moved several times before being received by the customer. This is done either by manually repositioning the vehicle by a person driving it or by transporting the vehicle using a transport vehicle (trailer).

[0003] These vehicle movements incur significant costs, for example - Personnel costs for manual vehicle movement or transport of the vehicle in a trailer, - Expenses for protection against damage when entering and exiting the vehicle interior, - Expenses for protecting the vehicle interior against soiling, and - the costs associated with damage to new vehicles.

[0004] The German patent application DE 103 44 528 A1 describes a method for testing and / or adjusting a fully assembled vehicle within designated, spatially separated testing and / or adjustment stations. The method provides that the transport of the vehicle to the respective testing and / or adjustment stations is carried out, at least in part, by means for controlling the vehicle's actuators.

[0005] The object of the invention is to provide a method for transferring a passenger vehicle over a distance in the factory process, in the distribution process or in between, which eliminates or at least reduces the disadvantages described above.

[0006] The problem is solved by the features of the independent process claim.

[0007] According to the inventive method of claim 1, a driverless transfer of a passenger vehicle over a distance is proposed, wherein the distance is to be covered within the factory process, the distribution process, or an intermediate stage. Depending on the route information, one or more actuators of the vehicle are controlled, which affect the movement of the vehicle. Depending on route information, - the engine control, - the braking system, - the steering system, and / or - the transmission control of the vehicle.

[0008] In the method according to the invention, an external device is used for the relocation process: Before the driverless relocation of the vehicle, the external device is connected to the vehicle; after the driverless relocation of the vehicle, the external device is disconnected from the vehicle again. The external device communicates with the vehicle electronics via an interface of the vehicle.

[0009] The invention provides that the external device receives sensor information from one or more sensors of the vehicle via the interface and / or that the interface is the on-board diagnostics interface (OBD interface) of the vehicle.

[0010] The vehicle's internal sensors include, for example, a steering angle sensor or a distance sensor. Furthermore, the external device may also be designed to receive sensor information from the vehicle's internal sensor system for localization and / or environmental perception.

[0011] Preferably, the sensor information from the vehicle sensors (for example, for steering angle, distance, and environmental perception) is processed by the external device. Depending on the processing of the sensor information, the actuators are controlled, whereby the engine control, the braking system, the steering system, and / or the transmission control are controlled by the external device via the vehicle interface.

[0012] Furthermore, the external device preferably communicates with another device (for example, a terminal or a server), particularly via a wireless communication connection.

[0013] The driverless relocation of the vehicle proposed according to the invention can avoid the costs described above, since no person needs to be in the vehicle during the journey.

[0014] A definable route is traversed, for example the route from the end of production to distribution, in particular to the entrance of the distribution area in the factory warehouse.

[0015] In the simplest case, the controlled actuators can affect only the engine and brakes (for slowly moving the vehicle along a straight stretch). However, the steering and transmission are also advantageously affected. Typically, the actuators are not controlled directly, but indirectly via the corresponding internal control units in the vehicle, such as the engine control unit, transmission control unit, steering control unit, and brake control unit.

[0016] The route information can, for example, be the coordinates of a predefined route, control data for the actuators, and / or route information determined by a sensor through environmental detection.

[0017] Advantageously, the vehicle is either equipped with an automatic transmission or an electric drive for purely electric driving (e.g., an electric car or a full hybrid). In the first case, the gears can be easily shifted electronically during driverless operation; in the second case, gear changes are typically not necessary during the conversion process.

[0018] During the relocation process, sensor information from a localization and / or environmental perception sensor, particularly a camera, is preferably taken into account. The sensor could be, for example, an optical camera, a radar sensor, an ultrasonic sensor, a lidar (light detection and ranging) sensor, an infrared sensor, or the like. The sensor can be a permanent part of the vehicle or only temporarily attached to it during the relocation process.

[0019] In this process, vehicle control and steering can be performed externally via a vehicle interface. Alternatively, vehicle control can be performed entirely internally using the vehicle's electronics.

[0020] The external device may simply have an adapter function for the vehicle electronics or it may fulfill more advanced functions within the implementation process.

[0021] The external device can, for example, be designed to process route information and, depending on this information, control the engine management, braking system, steering system, and / or transmission control. The route information can, for example, be stored in the external device.

[0022] Alternatively, the route information can be processed in another device (for example, a server) which exchanges data with the external device via a communication link, in particular a wireless communication link.

[0023] Furthermore, the external device may include a sensor for localization and / or environmental perception, such as a camera or radar sensor. Alternatively, the external device may not directly include such a sensor, but rather be connected to such a sensor, which has been temporarily attached to the vehicle for the transfer process, via a communication link, in particular a wireless communication link.

[0024] During driverless relocation, the vehicle is in a special transport mode, which enables the relocation process. Before driverless relocation, the vehicle is typically put into this special transport mode. The transport mode is reset for each vehicle by the dealership before handover to the customer, thus preventing driverless relocation from that point onward.

[0025] As described above, the processing of route data can be carried out by an external device that communicates with the vehicle via the vehicle interface. The sensor information is processed by the external device, and the actuators are controlled based on the route information and the sensor information. Alternatively, the processing of the route information and the actuator control can be carried out not by an external device but by internal electronic components of the vehicle.

[0026] Furthermore, functions of one or more of the vehicle's existing driver assistance systems, particularly camera- or radar-based systems, can also be used for the driverless transfer process. Multiple camera and radar functions of the vehicle can be networked for this purpose.

[0027] It can be implemented that the route is also recorded via the vehicle's electronics. Route recording can be done manually or by recording the route. Information regarding the transfer process or the route is advantageously displayed on the on-board monitor. For example, when entering the route manually via a user interface (e.g., iDrive) or recording it, the corresponding data is displayed on the on-board monitor. When recording the route, the route is driven once, for example, at the factory. The route data can then be (electronically) loaded into each vehicle being transferred along the route before the transfer process and is thus available and usable in transport mode. The route data can be deleted by the dealer before the vehicle is handed over to the customer.

[0028] Another aspect of the invention relates to the external device already described above, which can be temporarily connected to the vehicle for the purpose of driverless relocation of a vehicle over a distance.

[0029] The invention is described below with reference to the accompanying drawings and several exemplary embodiments. These show: Fig. 1 a first embodiment of the method according to the invention; Fig. 2. An example of the implementation process; Fig. 3 a second embodiment of the method according to the invention; Fig. 4 further route examples within the production process that are suitable for driverless relocation; Fig. 5 further route examples within the distribution area of ​​the plant that are suitable for driverless transfer; and Fig. 6a / b is an example of the user interface for recording the route.

[0030] Fig. Figure 1 shows an embodiment of the inventive method for autonomously transferring a motor vehicle over a distance within the production process, the distribution process, or between the production process and the distribution process. The left part of Fig. Figure 1 shows the process flow and the interaction with the human operator. Fig. Figure 1 further shows an external device 4, which includes an adapter 8 for the vehicle electronics. The external device 4 is connected to the vehicle before the driverless transfer and disconnected from the vehicle after the driverless transfer. Preferably, the adapter 8 of the external device 4 is connected to the vehicle's on-board diagnostics interface for this purpose. The external device 4 is preferably connected to another device (not shown), for example, a terminal, via a wireless communication link. For this purpose, a corresponding transmitter and receiver (not shown) is preferably provided in the external device 4.

[0031] Preferably, a user interface (not shown) is also provided for inputting and / or outputting information. The user interface is preferably located on the external terminal; alternatively, the user interface could also be provided on the external device 4.

[0032] At the in Fig. In the embodiment shown in Figure 1, the external device further comprises a routing system 3. Alternatively, it can be provided that the routing system 3 is located in an external server which is connected to the external device 4 via a wireless communication link.

[0033] Optionally, the external device 4 also includes sensors 9, for example a camera with a controller for environmental perception and / or localization. With the help of the camera, it is possible, for example, to recognize specific landmarks along the route or a marking on the road surface and to adjust the vehicle's movement accordingly.

[0034] The implementation process also involves the vehicle's internal sensors 1 and actuators 2.

[0035] The vehicle's internal sensor system 1 includes, for example, a radar sensor 10 of an ACC (Adaptive Cruise Control) driver assistance system for detecting obstacles in front of the vehicle (e.g., other vehicles or people). The vehicle's internal sensor system 1 also includes sensor 11 in the chassis for steering angle detection. Furthermore, sensor 12 is provided for recording the distance traveled, for example, by measuring the wheel rotation. Optionally, a camera 13 of a camera-based driver assistance system is also used. However, since the majority of vehicles are not yet equipped with a camera-based driver assistance system, the camera described above can alternatively be provided in sensor 9 of the external device. Instead of a camera, a radar sensor, an ultrasonic sensor, a lidar sensor, or an infrared sensor can also be used.

[0036] The actuators 2 include the steering actuator 20, the vehicle brake actuator 21, and the engine control actuator 22.

[0037] To simplify the drawing, in Fig. Figure 1 shows only a single controller / control unit for the vehicle's internal sensors 1 and actuators 2. Typically, however, several controllers / control units are used for this purpose.

[0038] Route guidance 3 controls (via adapter 8 and the corresponding control units) actuators 20, 21, and 22 to move the vehicle. Route guidance 3 uses data from a predefined route 31 for this purpose. Route 31 does not have to be stored in the external device 4, but can also be located on an external server, for example. The sensor information from the vehicle's sensor 1 and, optionally, from the external sensor 9 (see, for example, the optional camera system) indicates the extent to which the vehicle has followed the route specified by the route information. For example, a certain number of meters of straight-line travel corresponds to a specific feedback from the wheel travel sensor 12, such as a specific number of wheel rotations. A left turn corresponds to a value from the steering angle sensor 11, including the distance traveled in the meantime. Route synchronization can take place to synchronize the current position.

[0039] In route comparison 32, the predefined route information 31 is compared with the actual route traveled, which is determined based on sensor information. Depending on this comparison, the vehicle actuator 2 is controlled so that the vehicle follows the predefined route. A difference between the predefined route and the actual route traveled can occur, for example, due to inaccuracies in the actuators' behavior or due to external influences such as vehicles or people on the road, to which the system then reacts.

[0040] The method therefore uses sensor and actuator functions as well as route data and processes the sensor data, actuator data and route data in real time.

[0041] The implementation process is structured as follows: Several prerequisites must first be met for the implementation process to begin: Adapter 4 for the vehicle electronics is installed. The vehicle is in a special vehicle mode (referred to here as transport mode), which allows the conversion process to take place. Providing a special mode for the conversion process offers the advantage that a conversion process cannot be initiated during normal operation (i.e., when the special mode is not engaged). Furthermore, certain consumers and control units are deactivated for transport purposes in transport mode.

[0042] There is no person in the vehicle.

[0043] The fulfillment of the requirements is confirmed by a person via the user interface at the terminal.

[0044] In step 101, the vehicle is handed over to the autonomous transfer process. The external device 4 and the vehicle electronics now communicate with each other. The vehicle handover is communicated to the vehicle electronics via adapter 8.

[0045] Step 102 involves starting the vehicle. The engine is started by the external device 8 and the vehicle begins its journey to a defined destination.

[0046] In step 103, the vehicle drives along a predetermined route without a human driver.

[0047] The vehicle stops at the specified destination point (step 104).

[0048] In step 105, the transfer process is completed and the vehicle is taken back into the hands of a person. The vehicle's mode is now (or later, before the vehicle is delivered to the customer) switched from the special vehicle mode for the transfer process to another vehicle mode that does not allow an autonomous transfer process. The external device 4 with the adapter 8 to the vehicle electronics 8 is disconnected from the vehicle. A person takes over driving the vehicle.

[0049] Fig. Figure 2 shows an application example of the transfer process. Here, vehicles 40 are transferred autonomously (i.e., driverless) from the end of production (including testing) to the entrance of the distribution area 42 in the factory warehouse along the dashed lines. The routes are, for example, 500 m to 1000 m long. The route typically also includes one or more curves (not shown). Optionally, orientation points 41 are provided along the route for guidance. These orientation points can be detected by appropriate sensors (e.g., a camera system 9 or 13), and the vehicle can be aligned accordingly. The orientation points can also emit a radio signal, infrared signal, or ultrasonic signal, which is detected by a corresponding sensor for orientation. From the entrance of the distribution area 42, the vehicles 40 are taken over by a person.

[0050] In Fig. 1. The processing of route data and sensor information (e.g., steering angle, path and environment perception) takes place in the external device 4, which communicates with the vehicle via an OBD interface. The control of the actuators is then adjusted based on the data processing. Fig. Figure 3 shows another embodiment in which the processing of route data and sensor information, as well as the control of the actuators, is carried out by in-vehicle electronic components. All necessary information is processed by the vehicle electronics. Blocks with the same reference numerals in Fig. 1 and Fig. 3 correspond to each other in their function and the explanations to Fig. 1. The provisions of paragraph 1 also apply accordingly to Fig. 3. Unlike Fig. 1 is in Fig. Block 3, the route guidance unit, is part of the vehicle. Communication between route guidance unit 3, actuator 2, and sensor 1 can take place via an internal vehicle bus system, without requiring data exchange via the OBD interface. In this case, the external device 4 has less functionality than in... Fig. 1. Essentially, the external device 4 comprises the adapter 8 for the OBD interface and an optional transmitter and receiver (not shown) for communication with another external device, such as a terminal and / or a server. It would also be conceivable to dispense with the external device 4 entirely and use an in-vehicle wireless transmitter and receiver (e.g., a GSM or UMTS radio module) for communication with a terminal and / or server.

[0051] At the in Fig. In the illustrated embodiment 3, the route information can be entered manually or recorded, for example via an iDrive system (see Fig. 6) When manually entering or recording a route, the data is preferably displayed on the on-board monitor.

[0052] Fig. Figure 4 shows further route examples (see dashed lines) within the production process that are suitable for driverless transfers: for example, from the end of the respective filling conveyor to the testing and commissioning lines, within the testing and commissioning zones, or from the end of a testing and commissioning line to the finishing conveyors. Furthermore, the procedure can also be used for vehicle testing (roller driving) in the testing zone. In this case, the vehicle is not actually transferred, but rather travels driverless on rollers along a virtual test track without moving from its position.

[0053] Fig. Figure 5 shows further route examples (see dashed lines) within the distribution area in the plant, which are suitable for driverless relocation.

[0054] In Fig. Figures 6a / b show an example of the user interface for recording the route. Operation is via the iDrive system.

Claims

[1] Method for driverless repositioning of a passenger vehicle (40) over a distance - in the work process, - in the distribution process or - between the production process and distribution process of a passenger vehicle manufacturer or distributor, wherein - to move the vehicle (40) depending on route information of the route, one or more actuators (20, 21, 22) of the vehicle (40) are controlled, which relate to the movement of the vehicle, - depending on route information ◯ the engine control, ◯ the braking system, ◯ the steering system, and / or ◯ the vehicle's transmission control (40) is controlled, - before the driverless relocation of the vehicle (40), an external device (4) is connected to the vehicle (40), - after the driverless relocation of the vehicle, the external device (4) is disconnected from the vehicle (40), - the external device (4) communicates with the vehicle electronics via an interface of the vehicle (40), and - the external device (4) receives sensor information from one or more sensors (10, 11, 12, 13) of the vehicle via the interface and / or the interface is the on-board diagnostics interface of the vehicle (40). [2] Method according to one of the preceding claims, wherein the external device (4) comprises a sensor (9) for localization and / or environment detection or is at least connected to such a sensor, which is not a permanent part of the vehicle, via a communication link. [3] Method according to one of the preceding claims, wherein a driver assistance system, in particular a camera or radar-based driver assistance system, which is a permanent part of the vehicle, is used for the implementation. [4] Method according to any one of claims 1 to 2, wherein - the external device (4) processes the sensor information received via the interface from one or more sensors (10, 11, 12, 13) or forwards this sensor information to another device for processing, and - depending on the processing of the sensor information, the engine control, the braking system, the steering system, and / or the transmission control is activated. [5] Method according to one of the preceding claims, wherein during the transfer the vehicle is in a special mode which allows driverless transfer. [6] Method according to one of the preceding claims, wherein the route extends from the end of production to distribution, in particular to the entrance of the distribution area (42) in the factory warehouse. [7] Method according to any of the preceding claims, wherein the external device (4) processes the route information, or the external device (4) is connected to another device via a communication link which processes the route information. [8] Method according to any one of claims 1 to 6, wherein - the processing of route information and - the control is carried out depending on the route information by means of vehicle electronics, which are a permanent part of the vehicle. [9] Method according to one of the preceding claims, wherein the route information is acquired by vehicle electronics which are a permanent part of the vehicle, and the route is in particular entered manually or recorded. [10] Method according to one of the preceding claims, wherein the vehicle comprises an automatic transmission or an electric drive for all-electric driving. [11] Method according to one of the preceding claims, wherein sensor information from a sensor (9, 13) is taken into account for localization and / or environmental detection, in particular a camera, during the conversion. [12] External device (4) which can be temporarily connected to the vehicle for the driverless transfer of a passenger vehicle (40) over a distance, according to one of the preceding claims. [13] Passenger car (40), equipped to carry out the method according to any one of claims 1-11.

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