Methods for at least assisted crossing of an intersection by a motor vehicle

Abstract

Method for at least assisted crossing of an intersection (401) by a motor vehicle (405), comprising the following steps: Receiving (101) environmental signals representing a surrounding area of ​​the motor vehicle (405) that at least partially encompasses a node (401), Generating (103) remote control signals for remotely controlling the lateral and / or longitudinal guidance of the motor vehicle (405) based on the environmental signals such that, when the lateral and / or longitudinal guidance of the motor vehicle (405) is remotely controlled based on the remote control signals, the motor vehicle (405) crosses the intersection (401) at least with assistance, Output (105) of the generated remote control signals, wherein safety condition signals are received which represent at least one safety condition which must be met in order for the motor vehicle (405) to be remotely controlled, wherein it is checked whether the at least one safety condition is met, wherein the remote control signals are generated based on a result of checking whether the at least one safety condition is met, wherein at least one safety condition includes the existence of a predetermined level of safety integrity of at least the motor vehicle (405) and an infrastructure for remotely controlling a motor vehicle.

Description

[0001] The invention relates to a method for at least assisted crossing of an intersection by a motor vehicle. The invention further relates to a device, a computer program and a machine-readable storage medium. State of the art

[0002] The patent application DE 10 2018 129 066 A1 discloses systems and methods for unprotected left turns in high traffic situations in autonomous vehicles.

[0003] Publication DE 11 2016 002 832 T5 of the international application with publication number WO 2016 / 209 415 A1 discloses safety systems and procedures for autonomous vehicles.

[0004] Publication DE 11 2016 007 093 T5 of the international application with publication number WO 2018 / 038 700 A1 discloses a vehicle access authorization.

[0005] The patent application DE 10 2017 200 842 A1 discloses a method for operating a traffic control infrastructure.

[0006] The patent application DE 10 2015 209 976 A1 discloses a safety test of a vehicle with a remotely operated assistance system for driverless driving.

[0007] The patent application DE 10 2016 205 972 A1 discloses a method for the autonomous or semi-autonomous execution of a cooperative driving maneuver. Disclosure of the invention

[0008] The object underlying the invention is to provide an efficient concept for the efficient, at least assisted, crossing of an intersection by a motor vehicle.

[0009] This problem is solved by means of the respective subject matter of the independent claims. Advantageous embodiments of the invention are the subject matter of dependent claims.

[0010] Following a first aspect, a procedure for at least assisted crossing of an intersection by a motor vehicle is provided, comprising the following steps: Receiving environmental signals that represent an environment of the motor vehicle that at least partially encompasses a node, Generating remote control signals for remotely controlling the lateral and / or longitudinal guidance of the motor vehicle based on the environmental signals in such a way that, when the lateral and / or longitudinal guidance of the motor vehicle is remotely controlled based on the remote control signals, the motor vehicle crosses the intersection at least with assistance, and outputting the generated remote control signals.

[0011] According to a second aspect, a device is provided which is set up to carry out all steps of the procedure according to the first aspect.

[0012] According to a third aspect, a computer program is provided which includes instructions that, when the computer program is executed by a computer, for example by the device according to the second aspect, cause it to execute a procedure according to the first aspect.

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

[0014] The invention is based on the finding and includes the understanding that the above problem can be solved by supporting the motor vehicle when crossing an intersection in such a way that the lateral and / or longitudinal guidance of the motor vehicle is remotely controlled. This results, for example, in the technical advantage that the motor vehicle can be efficiently supported when crossing an intersection.

[0015] Thus, the particular technical advantage is that a concept for the efficient, at least assisted, crossing of an intersection by a motor vehicle is provided.

[0016] According to one embodiment, a step is provided to determine that a motor vehicle should cross an intersection.

[0017] Assisted crossing specifically includes the case where only the lateral or only the longitudinal guidance of the vehicle is remotely controlled. The term "assisted crossing" specifically includes the case where both the lateral and longitudinal guidance of the vehicle are remotely controlled.

[0018] In the case that remote control signals are provided for controlling the lateral or longitudinal guidance of the motor vehicle, one embodiment provides that the corresponding other guidance, i.e. the longitudinal guidance or the lateral guidance, is either manually controlled by the driver or at least semi-automatically controlled in order to guide the motor vehicle at least semi-automatically, so that the motor vehicle can cross the intersection at least with assistance or does cross it.

[0019] The phrase "at least partially automated operation" encompasses one or more of the following cases: partially automated operation, highly automated operation, fully automated operation.

[0020] Partially automated driving means that in a specific situation (for example: driving on a highway, driving within a parking lot, overtaking an object, driving within a lane defined by lane markings) and / or for a certain period of time, the longitudinal and lateral control of the vehicle is automatically controlled remotely. The driver does not need to manually control the longitudinal and lateral control of the vehicle. However, the driver must continuously monitor the automatic remote control of the longitudinal and lateral control in order to be able to intervene manually if necessary. The driver must be ready to take over full control of the vehicle at any time.

[0021] Highly automated driving means that, for a certain period of time in a specific situation (for example: driving on a highway, driving within a parking lot, overtaking an object, driving within a lane defined by lane markings), the longitudinal and lateral control of the vehicle is automatically controlled remotely. The driver does not need to manually control the vehicle's longitudinal and lateral control. The driver does not need to constantly monitor the automated remote control of longitudinal and lateral control in order to intervene manually if necessary. If required, a takeover request is automatically issued to the driver to assume control of longitudinal and lateral control, specifically with a sufficient time buffer. Therefore, the driver must be potentially capable of taking over control of longitudinal and lateral control.The limits of automatic remote control of lateral and longitudinal guidance are automatically detected. With highly automated guidance, it is not possible to automatically create a risk-minimizing state in every initial situation.

[0022] Fully automated driving means that in a specific situation (for example: driving on a highway, driving within a parking lot, overtaking an object, driving within a lane defined by lane markings), the longitudinal and lateral control of the vehicle is automatically controlled remotely. The driver does not need to manually control the vehicle's longitudinal and lateral stability. The driver does not need to monitor the automatic remote control of longitudinal and lateral stability in order to intervene manually if necessary. Before the automatic remote control of longitudinal and lateral stability ends, the driver is automatically prompted to take over the driving task (controlling the vehicle's longitudinal and lateral stability), with sufficient time to do so. If the driver does not take over the driving task, the system automatically returns to a low-risk state.The limits of automatic control of lateral and longitudinal guidance are automatically detected. In all situations, it is possible to automatically return to a system state with minimal risk.

[0023] According to one embodiment, it is provided that safety condition signals are received, which represent at least one safety condition that must be fulfilled in order for the motor vehicle to be remotely controlled, whereby it is checked whether the at least one safety condition is fulfilled, wherein the remote control signals are generated based on a result of checking whether the at least one safety condition is fulfilled.

[0024] This results, for example, in the technical advantage that remote control signals can be generated efficiently. In particular, it provides the technical advantage of efficiently ensuring that certain prerequisites, in this case the safety condition, are met for remote control of the vehicle. Thus, the specific technical advantage is that, if the safety condition is met, then remote control of the vehicle is safely possible.

[0025] According to one embodiment, the at least one safety condition is selected from the following groups of safety conditions: the presence of a predetermined Safety Integrity Level (SIL or Automotive Safety Integrity Level ASIL) of at least the motor vehicle and infrastructure, in particular including a communication link and / or communication components (e.g., communication interface), for remote control of a motor vehicle, especially with regard to the overall systems in the motor vehicle and infrastructure, and in particular parts; e.g., components, algorithms, interfaces, etc.; the presence of a maximum latency of communication between the motor vehicle and a remote control device for remote control of the motor vehicle based on the remote control signals.The existence of a predetermined level of computer protection for a device to perform the steps of the procedure according to the first aspect; the existence of predetermined components and / or algorithms and / or communication capabilities used to perform the steps of the procedure according to the first aspect; the existence of redundancy and / or diversity in predetermined components and / or algorithms and / or communication capabilities used to perform the steps of the procedure according to the first aspect; the existence of predetermined availability information indicating the availability of predetermined components and / or algorithms and / or communication capabilities; the existence of predetermined quality criteria for the predetermined components and / or algorithms and / or communication capabilities; and the existence of a plan.which includes measures to reduce errors and / or measures in case of failure of predetermined components and / or algorithms and / or communication options and / or measures for misanalysis and / or measures in case of misinterpretations, the existence of one or more fallback scenarios, the existence of a predetermined function, the existence of a predetermined traffic situation, the existence of predetermined weather, the maximum possible time for each execution of one or more steps of the procedure according to the first aspect, and the existence of a test result that elements or functions used to execute the procedure according to the first aspect are currently functioning without errors.

[0026] A communication link is, for example, a communication link between the device described in the second aspect and the motor vehicle. A communication link comprises, for example, one or more communication channels.

[0027] In one embodiment, a component used to carry out the method according to the first aspect is an element selected from the following group of components: environment sensor, motor vehicle, infrastructure, remote control device, device according to the second aspect, motor vehicle system, in particular drive system, clutch system, brake system, driver assistance system, communication interface of the motor vehicle or the infrastructure, processor, input, output of the device according to the second aspect.

[0028] In one embodiment, a function used to execute the method according to the first aspect is an element selected from the following group of functions: remote control function, communication function between the motor vehicle and the infrastructure or the remote control device, evaluation function of environmental sensor data from an environmental sensor, planning function, in particular journey planning function, traffic analysis function.

[0029] A computer protection level is defined in particular as follows: an activated firewall and / or a valid encryption certificate for encrypting communication between the motor vehicle and the infrastructure or the remote control device and / or an activated virus program with current virus signatures and / or the presence of protection, in particular mechanical protection, in particular burglary protection, of the computer, in particular the device according to the second aspect, or the remote control device and / or the presence of a means of verification that signals, in particular remote control signals or environmental signals, were transmitted correctly, i.e., without errors.

[0030] An algorithm, for example, includes the computer program according to the third aspect.

[0031] By specifically checking that redundancy and / or diversity exists in predetermined components and / or algorithms and / or communication options, the technical advantage is achieved, for example, that if the corresponding component, such as a computer, or the corresponding algorithm or communication option fails, a safe function can still be executed.

[0032] To ensure the accuracy of results, one embodiment allows, for example, the calculation to be performed multiple times and the corresponding results to be compared. Only if the results match is it determined that the results are correct. If an odd number occurs multiple times, it can be stipulated, for example, that the result with the highest number of identical results is considered correct.

[0033] Remote control signals, for example, are only generated if it can be determined that the result is correct.

[0034] In one embodiment, it is provided that the remote control signals are only generated if at least one safety condition is met.

[0035] In one embodiment, it is provided that the check to see whether at least one safety condition is met is carried out before and / or after and / or during one or more predetermined process steps.

[0036] In particular, this provides the technical advantage of efficiently ensuring that certain prerequisites, namely the safety condition, for remote control of the motor vehicle are met before, after, and / or during the execution of the relevant procedural steps. Thus, the specific technical advantage is that, if the safety condition is met, remote control of the motor vehicle is then safely possible.

[0037] In one embodiment, it is provided that after the remote control signals are issued, remote control of the lateral and / or longitudinal guidance of the motor vehicle is checked based on the issued remote control signals in order to detect a fault, wherein, if a fault is detected, the remote control is aborted or emergency remote control signals are generated and issued for remote control of the lateral and / or longitudinal guidance of the motor vehicle in an emergency.

[0038] The emergency remote control signals are such that, for example, when the lateral and / or longitudinal control of the motor vehicle is remotely controlled based on the emergency remote control signals, the motor vehicle is brought into a safe state, in particular it is stopped.

[0039] In one embodiment, it is provided that after the remote control signals are issued, remote control of the lateral and / or longitudinal guidance of the motor vehicle is checked based on the issued remote control signals in order to detect a fault, wherein, if a fault is detected, the remote control is aborted or vehicle-internal emergency control signals are generated and issued to control the lateral and / or longitudinal guidance of the motor vehicle in an emergency.

[0040] The vehicle's internal emergency control signals are such that, for example, when the lateral and / or longitudinal guidance of the vehicle is controlled based on the vehicle's internal emergency control signals, the vehicle is brought to a safe state, in particular, it is stopped.

[0041] Emergency control signals within a vehicle are therefore emergency control signals that are generated by the vehicle itself or are generated within the vehicle.

[0042] This results, for example, in the technical advantage that even in the event of a communication failure, which corresponds to an emergency, between the motor vehicle and the device according to the second aspect or a remote control device for remotely controlling the motor vehicle, the motor vehicle can bring itself into a safe state.

[0043] Statements made in connection with remote control signals or vehicle-internal emergency control signals apply analogously to emergency remote control signals and vice versa.

[0044] According to one embodiment, identification signals are received, representing a respective identification of at least one of the motor vehicle, a keeper of the motor vehicle and a driver of the motor vehicle (i.e., a respective identification of the motor vehicle and / or a keeper of the motor vehicle and / or a driver), wherein the remote control signals are generated based on the respective identification.

[0045] This results, for example, in the technical advantage that remote control signals can be generated efficiently. In particular, this means that the remote control of the vehicle's lateral and / or longitudinal steering can depend on the respective identification.

[0046] This allows, for example, certain drivers who have not paid the fees for assisted crossing at an intersection in the past to be efficiently excluded from current assisted crossings. In particular, this makes it possible to identify drivers who have misused assisted crossing in the past, so that these drivers can also be excluded.

[0047] According to one embodiment, it is provided that at least one vehicle parameter of the vehicle is received, wherein the remote control signals are generated based on the at least one vehicle parameter.

[0048] This results, for example, in the technical advantage that the remote control signals can be generated efficiently. In particular, this allows the remote control signals to be generated efficiently for the specific vehicle. For example, a maximum possible vehicle speed, maximum possible vehicle acceleration, current vehicle payload, current vehicle weight, length, width, height, maximum possible steering angle, wheelbase, turning circle radius, and / or turning circle diameter can be efficiently taken into account.

[0049] According to one embodiment, it is provided that if at least one vehicle parameter is not received, the remote control signals are generated based on a vehicle standard parameter corresponding to the at least one vehicle parameter.

[0050] This results, for example, in the technical advantage that it is possible to react efficiently to missing vehicle parameters.

[0051] According to one embodiment, the at least one motor vehicle parameter is selected from the following group of motor vehicle parameters: maximum possible motor vehicle speed, maximum possible motor vehicle acceleration, instantaneous motor vehicle payload, instantaneous motor vehicle weight, length, width, height, maximum possible steering angle, wheelbase, turning circle radius, turning circle diameter.

[0052] This results, for example, in the technical advantage that particularly suitable vehicle parameters can be used.

[0053] According to one embodiment, the junction is provided for as an intersection or a junction.

[0054] This results, for example, in the technical advantage that the motor vehicle can efficiently cross the intersection or junction.

[0055] According to one embodiment, the crossing includes a left turn or a right turn.

[0056] This results in the particular technical advantage that the motor vehicle can turn left or right efficiently.

[0057] According to a further embodiment, it is provided that driving maneuver signals are received which represent a momentary and / or a planned driving maneuver by at least one road user, in particular another motor vehicle, in the vicinity of the motor vehicle, wherein the remote control signals are generated based on the driving maneuver signals.

[0058] This results, for example, in the technical advantage that remote control signals can be generated efficiently. In particular, this results in the technical advantage that at least one other road user in the vicinity of the vehicle can react efficiently to driving maneuvers, especially to immediate and / or planned maneuvers.

[0059] According to one embodiment, a road user is one of the following road users: another motor vehicle, cyclist, truck, motorcycle and pedestrian.

[0060] According to one embodiment, it is provided that one or more process steps, with the exception of the steps of generating and outputting the remote control signals, are carried out internally within the vehicle and / or wherein one or more process steps are carried out externally within the vehicle, in particular in an infrastructure, preferably in a cloud infrastructure.

[0061] This results, for example, in the technical advantage that the relevant process steps can be carried out efficiently and redundantly. This can be particularly advantageous in further increasing safety.

[0062] According to one embodiment, it is provided that one or more process steps are documented, in particular documented in a blockchain.

[0063] This results, for example, in the technical advantage that the process can be analyzed retrospectively after it has been carried out or executed, due to the documentation. Documenting in a blockchain offers the particular technical advantage that the documentation is tamper-proof and forgery-proof.

[0064] A blockchain (also called a block chain) is, in particular, a continuously expanding list of data records, called "blocks," that are linked together using one or more cryptographic methods. Each block contains, in particular, a cryptographically secure hash (value) of the previous block, a timestamp, and transaction data.

[0065] In one embodiment, it is provided that, based on the environmental signals and the remote control signals, control signals are generated and output to control a traffic control system in order to guide traffic in the vicinity of the motor vehicle by means of the traffic control system in order to support the crossing of the intersection by the motor vehicle.

[0066] This results, for example, in the technical advantage that assisted crossing can be efficiently supported.

[0067] A traffic management system refers in particular to a system for directing road traffic, especially by means of static traffic signs and / or variable message signs. A traffic management system includes, in particular, at least one variable message sign and / or at least one traffic signal system.

[0068] A variable message sign is a traffic sign that can be displayed, changed, or canceled as needed. It is therefore a dynamic traffic sign. For example, a variable message sign may include an electronic sign or a display device.

[0069] A traffic guidance system therefore includes, in particular, one or more variable message signs and / or one or more traffic signal systems.

[0070] According to one embodiment, it is provided that a check is performed to determine whether the entire system, consisting of the motor vehicle and the infrastructure involved in the procedure according to the first aspect, including communication between the infrastructure and the motor vehicle, is currently secure for the concept of "intervention in the motor vehicle for critical actions" described here. This means, in particular, that the motor vehicle and / or local and / or global infrastructure and / or communication are checked accordingly. The remote control signals are generated, in particular, based on the result of this check.

[0071] This means, in particular, that the components used in the execution of the procedure according to the first aspect are checked for safety, i.e., whether they meet certain safety conditions, before the intervention in the driving operation is carried out, i.e., before the motor vehicle is remotely controlled.

[0072] Important or dependent criteria include, for example, one or more of the safety conditions described above.

[0073] According to one embodiment, the method according to the first aspect is a computer-implemented method.

[0074] According to one embodiment, the method according to the first aspect is carried out or performed by means of the device according to the second aspect.

[0075] Device features are derived analogously from corresponding process features, and vice versa. This means, in particular, that the technical functions of the device according to the second aspect are derived analogously from corresponding technical functionalities of the process according to the first aspect, and vice versa.

[0076] The phrase “at least one” specifically means “one or more”.

[0077] The abbreviation "bzw." stands for "beziehungsweise", which in particular stands for "respective".

[0078] The phrase “respective” stands in particular for “and / or”.

[0079] Exemplary embodiments of the invention are shown in the drawings and explained in more detail in the following description. They show: Fig. 1. A flowchart of a procedure for at least assisted crossing of an intersection by a motor vehicle, Fig. 2 a device, Fig. 3 a machine-readable storage medium and Fig. 4 a junction.

[0080] Fig. Figure 1 shows a flowchart of a procedure for at least assisted crossing of an intersection by a motor vehicle.

[0081] The process includes the following steps: Receiving 101 of environmental signals representing an environment of the motor vehicle that at least partially encompasses a junction, generating 103 remote control signals for remotely controlling a lateral and / or longitudinal guidance of the motor vehicle based on the environmental signals such that, when remotely controlling the lateral and / or longitudinal guidance of the motor vehicle based on the remote control signals, the motor vehicle crosses the junction at least with assistance, outputting 105 the generated remote control signals.

[0082] According to one embodiment, it is provided that safety condition signals are received, which represent at least one safety condition that must be fulfilled in order for the motor vehicle to be remotely controlled, whereby it is checked whether the at least one safety condition is fulfilled, wherein the remote control signals are generated based on a result of checking whether the at least one safety condition is fulfilled.

[0083] The result of checking whether at least one safety condition is met indicates, for example, that at least one safety condition is met.

[0084] The result of checking whether at least one safety condition is met indicates, for example, that at least one safety condition is not met.

[0085] According to one embodiment, the remote control signals are only generated and output if the result of checking whether at least one safety condition is met indicates that at least one safety condition is met.

[0086] According to one embodiment, it is provided that the generation and output of remote control signals is omitted if the result of checking whether at least one safety condition is met indicates that at least one safety condition is not met.

[0087] According to one embodiment, the method according to the first aspect includes remote control of the lateral and / or longitudinal guidance of the motor vehicle based on the output remote control signals.

[0088] Fig. Figure 2 shows a device 201.

[0089] The device 201 is set up to perform all steps of the procedure according to the first aspect.

[0090] The device 201 includes an input 203, which is configured to receive the environmental signals.

[0091] The device 201 includes a processor which is configured to generate the remote control signals based on the environmental signals.

[0092] The device 201 further includes an output 207, which is configured to output the generated remote control signals.

[0093] For example, according to one embodiment, outputting the generated remote control signals includes sending the remote control signals to the motor vehicle via a communication network, in particular via a wireless communication network.

[0094] Generally, signals are received via input 203. Input 203 is therefore specifically configured to receive the corresponding signals.

[0095] Generally, signals that are output are output via output 207. Output 207 is therefore specifically configured to output the corresponding signals.

[0096] According to one embodiment, several processors are provided instead of the single processor 205.

[0097] According to one embodiment, the processor 205 is configured to perform the steps of generating and / or checking and / or determining described above and / or below.

[0098] Device 201, for example, is part of an infrastructure, in particular cloud infrastructure.

[0099] Fig. Figure 3 shows a machine-readable storage medium 301.

[0100] A computer program 303 is stored on the machine-readable storage medium 301, which includes instructions that, when executed by a computer, cause the computer program 303 to perform a procedure according to the first aspect.

[0101] According to one embodiment, the device 201 comprises a remote control device which is configured to remotely control the motor vehicle based on the generated remote control signals.

[0102] According to one embodiment, an infrastructure or infrastructure system is provided, which, for example, includes the device according to the second aspect.

[0103] The infrastructure includes, for example, a node.

[0104] Fig. Figure 4 shows a 401 intersection as an example of a junction.

[0105] Several environmental sensors 403 are arranged spatially distributed in the intersection area, which detect their respective surroundings.

[0106] The respective environmental sensors 403 provide corresponding environmental sensor data for the respective detection. For example, the environmental sensors 403 transmit their environmental sensor data as environmental signals to the device according to the second aspect. This means that, according to one embodiment, the device according to the second aspect receives the environmental sensor data as environmental signals.

[0107] The environmental sensor data is processed, for example, to detect a motor vehicle approaching intersection 401.

[0108] Such a motor vehicle is in Fig. Figure 4 is shown with reference 405. An arrow with reference 407 indicates a direction of travel for the motor vehicle, which runs from left to right relative to the plane of the paper.

[0109] For example, according to one embodiment, it is provided that when a motor vehicle approaching intersection 401 is detected, it is determined that a motor vehicle should cross intersection 401.

[0110] For example, it is then provided that a communication link is established between a device according to the second aspect (not shown) and the motor vehicle 405.

[0111] The remote control signals generated by the device for remote control of a lateral and / or longitudinal guidance of the motor vehicle 405, as described above and / or below, can then be transmitted to the motor vehicle 405 via this communication link.

[0112] For example, according to one embodiment, the motor vehicle 405 sends a request to the device according to the second aspect that it wishes to be assisted when crossing the intersection 401.

[0113] In response to the receipt of such a request, it is then determined, according to one embodiment, that a motor vehicle should cross intersection 401.

[0114] Accordingly, the remote control signals are then transmitted to the motor vehicle 405 via the communication link.

[0115] According to one embodiment, there is a permanent communication link between the motor vehicle 405 and the device.

[0116] Essentially in the middle above intersection 401, a traffic signal system 409 is provided, which guides or regulates traffic that wants to cross intersection 401.

[0117] According to one embodiment, it is provided that control signals for controlling the traffic signal system 409 are generated and output, wherein these control signals are such that when the traffic signal system 409 is controlled based on the control signals, the traffic signal system 409 optically signals to the motor vehicle 405 using a green signal that it has a clear path and the traffic signal system 409 optically signals to cross traffic using a red signal that the cross traffic must stop.

[0118] Thus, the use of a traffic light system can efficiently support the assisted crossing of an intersection by a motor vehicle.

[0119] According to one embodiment, it is checked whether a current traffic situation allows intervention, in particular remote control, in order to prevent, for example, other road users in the vicinity of the motor vehicle from being injured.

[0120] According to one embodiment, the process, i.e., the procedure, in other words the process steps, is documented in a tamper-proof and traceable manner, for example, in a blockchain.

[0121] According to one embodiment, it is provided that a driver of the motor vehicle is informed that an intervention in the driving operation of the motor vehicle has taken place or is taking place, i.e. that the motor vehicle has been or is being remotely controlled.

[0122] This means, in particular, that communication signals are generated and output, representing a corresponding message. For example, these communication signals are output to a human-machine interface of the vehicle, so that the driver is informed about the intervention or remote control based on these signals.

[0123] According to one embodiment, a prerequisite for remote control, or rather for intervention, is that the remote control is secure. In this context, "secure" means specifically "safe" and "secure." While these two English terms are usually translated into German as "sicher," they have somewhat different meanings in English.

[0124] The term "safe" refers specifically to the topic of accidents and accident prevention. Remote control, which defines "safe," ensures that the probability of an accident or collision is less than or equal to a predetermined probability threshold.

[0125] The term "secure" is specifically directed towards the topic of computer protection or hacker protection, i.e., how secure a (computer) infrastructure and / or a communication infrastructure, in particular a communication link between a motor vehicle and a remote control device for remotely controlling a motor vehicle, is against unauthorized access or data manipulation by third parties ("hackers").

[0126] Remote control, which is therefore "secure", is based in particular on adequate and sufficient computer protection or hacker protection.

[0127] For example, according to one embodiment, it is verified whether the entirety of the motor vehicle and the infrastructure involved in the procedure according to the first aspect, including communication between the infrastructure and the motor vehicle, is currently secure for the concept of "intervention in the motor vehicle for critical actions" described here. This means, in particular, that the motor vehicle and / or a local and / or global infrastructure and / or communication are checked accordingly. The remote control signals are generated, in particular, based on the result of this check.

[0128] This means, in particular, that the components used in the execution of the procedure according to the first aspect are checked for safety, i.e., whether they meet certain safety conditions, before the intervention in the driving operation is carried out, i.e., before the motor vehicle is remotely controlled.

[0129] Important or dependent criteria include, for example, one or more of the safety conditions described above.

[0130] According to one embodiment, it is provided that, firstly, the entire system (motor vehicle, infrastructure, communication link, cloud ...) is checked with regard to the safety condition.

[0131] According to one embodiment, it is provided that the individual parts are also checked to ensure they meet the safety requirements. This is done in particular before the motor vehicle is remotely controlled.

[0132] The verification step(s) are carried out in one embodiment inside the motor vehicle and / or outside the motor vehicle, in particular in an infrastructure.

[0133] In one embodiment, the verification step(s) are subsequently checked, i.e., at a later time, for example, regularly. For instance, the verification step(s) are subsequently checked at a predetermined frequency, for example, every 100 ms.

[0134] For example, according to one embodiment, this verification, i.e., checking whether at least one safety condition is met, takes place before and / or after and / or during one or more predetermined process steps.

[0135] According to one embodiment, the checking process is carried out or performed in case of problems.

[0136] In one embodiment, registration signals are received, which represent a registration for at least an assisted crossing of a junction by means of a motor vehicle.

[0137] In one embodiment, request signals are received which represent a request for at least assisted crossing of a junction by means of a motor vehicle.

[0138] The request signals or registration signals are sent, for example, from the motor vehicle via a wireless communication network.

[0139] According to one embodiment, the request(s) refer to a specific node.

[0140] According to one embodiment, the request(s) refer to nodes in general.

[0141] This means, for example, that the motor vehicle permanently, i.e. continuously, and in particular repeatedly at a predetermined frequency, transmits corresponding request signals or registration signals via a wireless communication network.

[0142] According to one embodiment, the remote control signals are automatically generated when the motor vehicle, for example, approaches the specific junction or a junction, i.e., is at a predetermined distance from the junction.

[0143] In one embodiment, a communication link between the motor vehicle and the infrastructure, which in particular includes the device according to the second aspect, is provided.

[0144] According to one embodiment, the infrastructure includes a local infrastructure, for example the node.

[0145] According to one embodiment, the infrastructure comprises a global infrastructure; preferably a cloud infrastructure.

[0146] In one embodiment, it is examined whether the functionality "Assisted crossing of a junction" can be provided.

[0147] In one embodiment, it is checked whether the infrastructure is functionally ready and / or available for assisted crossing of a junction.

[0148] In one embodiment, it is checked whether the motor vehicle is functionally ready and / or available for assisted crossing of an intersection.

[0149] In one embodiment, it is checked whether the service or functionality "Assisted Crossing of an Interchange" is enabled for the vehicle (or driver or owner) requesting the functionality. This is done specifically at the vehicle level, infrastructure level, and service level. For example, it is envisaged that a provider of the functionality "Assisted Crossing of an Interchange" may no longer allow the requesting vehicle or its owner or driver to use the service due to past unpaid fees or misuse.

[0150] In one embodiment, the system provides for the detection and / or reception (and in particular the transmission) of vehicle capabilities (the vehicle parameters described above and / or below) (for example, maximum possible acceleration or speed, etc.). For example, vehicle parameters are sent by the vehicle. This means that, for example, vehicle parameters sent by the vehicle are received.

[0151] For example, vehicle parameters are sent from the cloud, specifically from a cloud server. This means that vehicle parameters sent from the cloud, specifically from a cloud server, are received.

[0152] If this is not possible (e.g., due to missing data), then a defined standard configuration (preferably an emergency configuration) is used.

[0153] In one embodiment, data signals are received that represent data from the motor vehicle or at least one other road user, in particular another motor vehicle. The data includes, for example, traffic environment information or traffic environment functions. The data is used, for example, to support or improve the evaluation or processing of the environmental sensor data from the environmental sensors 403. This means, in particular, that an evaluation or processing of the environmental sensor data is carried out based on the data. The data is transmitted, for example, by the motor vehicle or by the at least one other road user via a communication network, in particular a wireless one.

[0154] In one embodiment, a check is provided to determine whether the traffic situation allows the vehicle to cross the intersection with assistance. Preferably, this check runs continuously, i.e., permanently – even before a corresponding request, and thus independently of any request.

[0155] Preferably, in a further embodiment, other road users – if possible – additionally send their current and planned driving maneuvers to the motor vehicle and / or to the cloud server via V2X.

[0156] In one embodiment, it is provided to calculate or determine whether at least an assisted crossing of the intersection by the motor vehicle is possible.

[0157] The calculation or determination is carried out, for example, in the vehicle and / or in the infrastructure. If this is done in both the vehicle and the infrastructure, redundancy can be advantageously achieved, which can increase safety.

[0158] Provided that at least assisted crossing is possible, the vehicle, for example, is remotely controlled. The infrastructure thus takes over vehicle control. Intelligence, decision-making, and control reside with the infrastructure.

[0159] The vehicle, therefore, drives across the intersection, primarily via remote control, thus crossing it. Crossing includes, for example, a left turn or a right turn.

[0160] Preferably, the crossing process is continuously monitored.

[0161] The review will be carried out according to one or more of the following methods: In the motor vehicle, in the infrastructure, or both in the motor vehicle and in the infrastructure, the latter being advantageously able to provide redundancy, which can increase safety.

[0162] Ideally, the entire process starts very early so that the vehicle doesn't have to stop before the intersection. This means it doesn't have to reduce its speed, for example, because not all registration / analysis processes (verification steps) have been completed.

[0163] In one embodiment, the entire traffic in the vicinity of the motor vehicle is automatically coordinated and regulated by the infrastructure through a traffic control system comprising, in particular, traffic system(s), especially traffic signal system(s), in such a way that an optimal process (optimal at least assisted crossing) is achieved or effected for the motor vehicle and for other motor vehicles that can be driven at least partially automatically, in particular remotely, and / or for other motor vehicles that cannot be driven at least partially automatically, in particular those that cannot be remotely controlled.

[0164] This means that, especially when, according to one embodiment, the infrastructure takes over control not only of the motor vehicle but also of other motor vehicles which can be driven at least partially automatically, in particular remotely controlled, the entire traffic is regulated in such a way that an optimal traffic flow is achieved.

[0165] In one embodiment, the testing step(s) are subsequently checked, i.e., at a later time, for example, regularly. For instance, the testing step(s) are subsequently checked at a predetermined frequency, for example, every 100 ms.

[0166] For example, according to one embodiment, this verification, i.e., checking whether at least one safety condition is met, takes place before and / or after and / or during one or more predetermined process steps.

[0167] According to one embodiment, the checking process is carried out or performed in case of problems.

Claims

[1] Method for at least assisted crossing of an intersection (401) by a motor vehicle (405), comprising the following steps: Receiving (101) environmental signals representing a surrounding area of ​​the motor vehicle (405) that at least partially encompasses a node (401), Generating (103) remote control signals for remotely controlling the lateral and / or longitudinal guidance of the motor vehicle (405) based on the environmental signals such that, when the lateral and / or longitudinal guidance of the motor vehicle (405) is remotely controlled based on the remote control signals, the motor vehicle (405) crosses the intersection (401) at least with assistance, Output (105) of the generated remote control signals, wherein safety condition signals are received which represent at least one safety condition which must be met in order for the motor vehicle (405) to be remotely controlled, wherein it is checked whether the at least one safety condition is met, wherein the remote control signals are generated based on a result of checking whether the at least one safety condition is met, wherein at least one safety condition includes the existence of a predetermined level of safety integrity of at least the motor vehicle (405) and an infrastructure for remotely controlling a motor vehicle. [2] The method of claim 1, wherein the at least one safety condition is selected from the following groups of safety conditions: the presence of a maximum latency of communication between the motor vehicle (405) and a remote control device for remotely controlling the motor vehicle (405) based on the remote control signals; the presence of a predetermined level of computer protection of a device for performing the steps of the method according to any of the preceding claims; the presence of predetermined components and / or algorithms and / or communication capabilities used to perform the steps of the method according to any of the preceding claims; the presence of redundancy and / or diversity in predetermined components and / or algorithms and / or communication capabilities used to perform the steps of the method according to any of the preceding claims.The existence of predetermined availability information, which specifies the availability of predetermined components and / or algorithms and / or communication capabilities; the existence of predetermined quality criteria for the predetermined components and / or algorithms and / or communication capabilities; the existence of a plan that includes measures for reducing errors and / or measures in case of failures of predetermined components and / or algorithms and / or communication capabilities and / or measures for misanalysis and / or measures in case of misinterpretations; the existence of one or more fallback scenarios; the existence of a predetermined function; the existence of a predetermined traffic situation; the existence of predetermined weather conditions; the maximum possible time for each execution of one or more steps of the method according to one of the preceding claims; the existence of a test result that confirms the elements or functions,which are used to carry out the method according to one of the preceding claims, are currently functioning without errors. [3] Method according to claim 1 or 2, wherein the remote control signals are generated only if at least one safety condition is met. [4] Method according to any one of claims 1 to 3, wherein the checking to see if the at least one safety condition is met is carried out before and / or after and / or during one or more predetermined method steps. [5] Method according to one of the preceding claims, wherein, after outputting the remote control signals, remote control of the motor vehicle (405) is checked based on the output remote control signals in order to detect a fault, wherein, upon detection of a fault, the remote control is aborted or emergency remote control signals are generated and output for remote control of the lateral and / or longitudinal guidance of the motor vehicle (405) in an emergency. [6] Method according to one of the preceding claims, wherein identification signals are received which represent a respective identification of at least one of the motor vehicle (405), a keeper of the motor vehicle (405) and a driver of the motor vehicle (405), wherein the remote control signals are generated based on the respective identification. [7] Method according to one of the preceding claims, wherein at least one motor vehicle parameter of the motor vehicle (405) is received, wherein the remote control signals are generated based on the at least one motor vehicle parameter. [8] Method according to one of the preceding claims, wherein, in the absence of reception of at least one motor vehicle parameter, the remote control signals are generated based on a motor vehicle standard parameter corresponding to the at least one motor vehicle parameter. [9] Method according to claim 7 or 8, wherein the at least one motor vehicle parameter is selected from the following group of motor vehicle parameters: maximum possible motor vehicle speed, maximum possible motor vehicle acceleration, instantaneous motor vehicle payload, instantaneous motor vehicle weight, length, width, height, maximum possible steering angle, wheelbase, turning circle radius, turning circle diameter. [10] Method according to any of the preceding claims, wherein the junction (401) is a crossroads or a junction. [11] Method according to any of the preceding claims, wherein the crossing includes a left turn or a right turn. [12] Method according to any of the preceding claims, wherein driving maneuver signals are received which represent an instantaneous and / or a planned driving maneuver by at least one road user in the vicinity of the motor vehicle (405), wherein the remote control signals are generated based on the driving maneuver signals. [13] Method according to one of the preceding claims, wherein one or more method steps, except for the steps of generating and outputting the remote control signals, are carried out internally within the motor vehicle and / or wherein one or more method steps are carried out externally within the motor vehicle, in particular in an infrastructure, preferably in a cloud infrastructure. [14] Method according to any of the preceding claims, wherein one or more method steps are documented, in particular documented in a blockchain. [15] Method according to one of the preceding claims, wherein, based on the environmental signals and based on the remote control signals, control signals are generated and output to control a traffic control system (409) in order to direct traffic in the vicinity of the motor vehicle (405) by means of the traffic control system (409) to assist the motor vehicle (405) in crossing the intersection (401). [16] Method according to any of the preceding claims, wherein it is verified whether an assembly consisting of a motor vehicle (405) and infrastructure involved in the method according to any of the preceding claims, including communication between infrastructure and motor vehicle (405), is safe, such that the motor vehicle (405) and / or a local and / or a global infrastructure and / or communication between motor vehicle (405) and infrastructure are checked accordingly. [17] Device (201) configured to perform all steps of the method according to any of the preceding claims. [18] Computer program (303) comprising instructions which, when the computer program (303) is executed by a computer, cause it to execute a method according to any one of claims 1 to 16. [19] Machine-readable storage medium (301) on which the computer program (303) according to claim 18 is stored.

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