Procedure for assisting a motor vehicle

Abstract

Method for assisting a motor vehicle that is at least partially automated (403, 405) to pass through a tunnel, comprising the following steps: Receiving (101) ambient signals representing a surrounding area of ​​the motor vehicle (403, 405) that at least partially encompasses a tunnel (401), Receiving (103) safety condition signals, which represent at least one safety condition that must be met in order for the motor vehicle (403, 405) to be assisted externally while passing through the tunnel, Check (105) whether at least one safety condition is met, Generating (107) data signals which represent suitable data for assisted passage through the tunnel (401) by the motor vehicle (403, 405), based on the environmental signals and based on a result as to whether at least one safety condition is met, Output (109) of the generated data signals.

Description

[0001] The invention relates to a method for assisting a motor vehicle, at least partially automated, in driving through a tunnel. The invention further relates to a device, a computer program, and a machine-readable storage medium. State of the art

[0002] Publication DE 11 2014 001 058 T5 of the international application with publication number WO 2014 / 148 975 A1 discloses a method and a system for controlling autonomous vehicles.

[0003] The patent application WO 2019 / 028464 A1 discloses a method for the automatic control of the activation and deactivation of autonomous operation of vehicles.

[0004] Patent DE 10 2013 108 034 B3 discloses a method for automatically controlling the entry of a road vehicle into a controlled section of road.

[0005] The patent application DE 10 2009 036 177 A1 discloses a method for increasing the road safety of vehicles.

[0006] Patent DE 10 2006 048 627 B3 discloses a method for controlling traffic flows involving hazardous materials. Disclosure of the invention

[0007] The object underlying the invention is to provide an efficient concept for efficiently assisting a motor vehicle, at least partially automated, in driving through a tunnel.

[0008] 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.

[0009] Following a first aspect, a procedure for assisting a motor vehicle, at least partially automated, in driving through a tunnel is provided, comprising the following steps: Receiving environmental signals that represent the motor vehicle's surroundings, at least partially encompassing a tunnel, Receiving safety condition signals, which represent at least one safety condition that must be met in order for the motor vehicle to be assisted externally while passing through the tunnel, Check whether at least one safety condition is met, Generating data signals that represent suitable data for assisted tunnel passage by the motor vehicle, based on environmental signals and based on a result indicating whether at least one safety condition is met. Output of the generated data signals.

[0010] 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.

[0011] 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.

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

[0013] The invention is based on the understanding that the above problem can be solved by providing assistance to a motor vehicle when driving through a tunnel. For this purpose, it is specifically provided that data suitable for providing assistance is generated and output to or sent to the motor vehicle. This results, for example, in the technical advantage that the motor vehicle can be efficiently supported when driving through the tunnel.

[0014] By generating this data based on the result of a check to determine whether at least one security condition is met, it can be advantageously ensured that the data generation takes place within a secure framework. For example, this efficiently ensures that the data cannot be, or has not been, manipulated. For instance, it advantageously ensures that the data can be transmitted to the vehicle in a tamper-proof manner.

[0015] This means, in particular, that the vehicle can rely on this data when, for example, it drives through the tunnel at least semi-automatically based on this data.

[0016] This results, for example, in the technical advantage of reducing the risk of accidents for the motor vehicle or for road users in the vicinity of the motor vehicle.

[0017] This results in the particular technical advantage of providing an efficient concept for the efficient, at least assisted, passage through a tunnel by a vehicle that is at least partially automated.

[0018] For the purposes of this description, assistance refers to assistance provided externally to the vehicle, for example, using tunnel infrastructure. This assistance specifically includes generating and outputting data signals.

[0019] According to one embodiment, a step is provided to determine that a motor vehicle, at least partially automated, should pass through a tunnel.

[0020] For example, it is planned that the environmental signals will be processed to detect a motor vehicle, at least partially automated, that wants to drive through the tunnel.

[0021] For example, when a partially automated vehicle is detected that intends to drive through the tunnel, it is determined that a partially automated vehicle intends to drive through the tunnel.

[0022] According to one embodiment, the data includes a driving instruction that the motor vehicle is to follow.

[0023] This results, for example, in the technical advantage that assistance can be carried out efficiently.

[0024] According to one embodiment, the driving instructions are directed to a driver of the motor vehicle.

[0025] In one embodiment, the driving instruction is directed at the motor vehicle itself. This means, in particular, that the driving instruction should be implemented or followed independently by the motor vehicle, i.e., autonomously.

[0026] According to one embodiment, the driving instruction includes remote control commands for remotely controlling the lateral and / or longitudinal guidance of the motor vehicle.

[0027] This results, for example, in the technical advantage that the driving instructions can be implemented efficiently. In particular, this means that, according to this embodiment, the motor vehicle is remotely controlled based on the driving instructions. Remote control means that, in particular, the lateral and / or longitudinal guidance of the motor vehicle is remotely controlled. Therefore, remote control is carried out primarily based on the remote control commands.

[0028] Assistance provided externally to the motor vehicle when passing through the tunnel includes, in particular, the case where only the lateral guidance or only the longitudinal guidance of the motor vehicle is remotely controlled, or where both the lateral and longitudinal guidance of the motor vehicle are remotely controlled.

[0029] 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 of the motor vehicle or is at least semi-automatically controlled in order to guide the motor vehicle at least semi-automatically in order to assist the motor vehicle in merging.

[0030] The phrase "at least partially automated management" includes one or more of the following cases: partially automated management, highly automated management, fully automated management.

[0031] Partially automated driving means that in a specific situation (for example: driving on a highway, driving within a parking lot, overtaking a collision 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 fully take over control of the vehicle at any time.

[0032] 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 a collision 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.

[0033] Fully automated driving means that in a specific situation (for example: driving on a highway, driving within a parking lot, overtaking a collision 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.

[0034] 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.

[0035] 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.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] An algorithm, for example, includes the computer program according to the third aspect.

[0040] 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.

[0041] 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.

[0042] Data signals are only generated if it can be determined that the result is correct.

[0043] In one embodiment, it is provided that the data signals are only generated if at least one safety condition is met.

[0044] According to one embodiment, the environmental signals are processed to detect a collision object, in particular another motor vehicle, located within a predetermined distance after a tunnel entrance or after a tunnel exit with respect to a direction of travel of the motor vehicle.

[0045] This results, for example, in the technical advantage that a corresponding collision object can be detected efficiently.

[0046] In one embodiment, it is provided that, depending on the detection of a corresponding collision object, in particular another motor vehicle, the data includes the information that a corresponding collision object, in particular another motor vehicle, has been detected or not.

[0047] This provides the technical advantage, for example, of efficiently informing the vehicle whether a collision object, particularly another vehicle, is located behind a tunnel entrance or exit. In other words, the vehicle can be informed whether the tunnel entrance or exit is clear. This information can therefore include, in particular, a clearance to enter or exit the tunnel if no collision object has been detected.

[0048] It is generally the case that vehicle sensors can have difficulty detecting collision objects, especially other vehicles, immediately after entering or exiting a tunnel. One reason for this is the abrupt change in lighting conditions, for example, from bright to dark and vice versa. In such a situation, the vehicle can be efficiently assisted by being informed whether the tunnel entrance or exit is clear or not.

[0049] In one embodiment, it is provided that upon detection of a corresponding collision object, the driving instruction includes a stop, in particular an emergency stop, especially an emergency braking maneuver.

[0050] This results, for example, in the technical advantage that the risk of a collision can be efficiently reduced, or the severity of an accident can be efficiently reduced should a collision nevertheless occur.

[0051] In one embodiment, it is provided that after outputting the data signals, wherein the data include a driving instruction which the motor vehicle is to follow, wherein the driving instruction includes remote control commands for remotely controlling a lateral and / or longitudinal guidance of the motor vehicle, remote control of the motor vehicle based on the remote control commands is checked in order to detect a fault, wherein if a fault is detected the remote control is aborted or emergency remote control signals for remotely controlling the lateral and / or longitudinal guidance of the motor vehicle in an emergency are generated and output.

[0052] 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.

[0053] In one embodiment, it is provided that after outputting the data signals, wherein the data include a driving instruction which the motor vehicle is to follow, wherein the driving instruction includes remote control commands for remotely controlling a lateral and / or longitudinal guidance of the motor vehicle, remote control of the motor vehicle based on the remote control commands is checked in order to detect a fault, wherein if a fault is detected the remote control is aborted or vehicle-internal emergency control signals for controlling the lateral and / or longitudinal guidance of the motor vehicle in an emergency are generated and output.

[0054] 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.

[0055] Emergency control signals within a vehicle are therefore emergency control signals that are generated by the vehicle itself or are generated within the vehicle.

[0056] 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 motor vehicles, the motor vehicle can bring itself into a safe state.

[0057] Statements made in connection with remote control commands or vehicle-internal emergency control signals apply analogously to emergency remote control signals and vice versa.

[0058] According to one embodiment, it is provided that one or more process steps, with the exception of the steps of generating and outputting the data 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 and / or in a tunnel infrastructure.

[0059] 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.

[0060] According to one embodiment, it is provided that one or more process steps are documented, in particular documented in a blockchain.

[0061] 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.

[0062] 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.

[0063] An exemplary use case may include one or more of the following embodiments, features, or examples: In one embodiment, it is specified that a motor vehicle drives towards the tunnel.

[0064] For example, information signals are received that indicate a vehicle is approaching the tunnel. These information signals are then transmitted by the vehicle. Based on these signals, it is determined that a vehicle is approaching the tunnel. For example, the vehicle transmits a signal and is thereby detected. This means, in particular, that the vehicle can transmit a signal, such as a position signal. For example, it is intended that, in response to such a signal, it is determined that a vehicle is approaching the tunnel.

[0065] For example, environmental signals are processed, particularly via tunnel infrastructure, to detect a vehicle approaching the tunnel. The vehicle can be detected, for example, via its license plate. The processing of environmental signals includes, in particular, license plate recognition.

[0066] For example, the motor vehicle is connected to the tunnel infrastructure via communication technology or is (automatically) connected to the tunnel infrastructure in front of the tunnel (especially automatically).

[0067] The tunnel infrastructure includes, for example, the device described in the second aspect. The tunnel infrastructure includes, for example, one or more spatially distributed environmental sensors for monitoring the tunnel and / or the tunnel entrance and / or the tunnel exit and / or the tunnel's surroundings.

[0068] For example, a tunnel situation and / or the motor vehicle and / or the position of the motor vehicle are analyzed, particularly using the tunnel infrastructure.

[0069] For example, the vehicle is located.

[0070] Vehicle data is transmitted by the vehicle, for example, automatically or upon request. Vehicle data includes, for example, position data, especially GPS data, and / or vehicle speed data.

[0071] The tunnel infrastructure detects the motor vehicle, for example, using visual infrastructure sensors, i.e., environmental sensors, such as video sensors.

[0072] For example, the motor vehicle sends its route to the device according to the second aspect.

[0073] For example, route signals are received, representing the route of the vehicle. The route includes, for example, the vehicle's speed along the route.

[0074] For example, a traffic event is analyzed, in particular using the tunnel infrastructure, especially using the device according to the second aspect.

[0075] Analyzing traffic patterns includes, for example, processing vehicle data sent by other motor vehicles and / or processing, for example, visual evaluation, the environmental sensor data from the tunnel infrastructure's environmental sensors.

[0076] In one embodiment, data is determined which is suitable for assisted passage through the tunnel by the motor vehicle.

[0077] In one embodiment, the data includes a driving instruction. In particular, the driving instruction includes remote control commands for remotely controlling the lateral and / or longitudinal guidance of the motor vehicle.

[0078] A driving instruction specifies a tunnel route through the tunnel. In particular, the driving instruction specifies a speed profile along the tunnel route.

[0079] The data is sent to the vehicle, for example, via a wireless communication network.

[0080] The procedure according to the first aspect is carried out, for example, while the motor vehicle is in motion, i.e., without stopping the motor vehicle, e.g., for a handover of vehicle control from the motor vehicle or the driver to the tunnel infrastructure.

[0081] For example, if a hazard is identified during the execution of the procedure according to the first aspect, then, according to one embodiment, at least one of the following actions is triggered or steps are carried out: The vehicle is stopped for safety reasons and a solution is subsequently sought.

[0082] For example, other road users, especially motor vehicles, in the vicinity of the vehicle are informed of the danger. This information is disseminated, for example, via V2I communication systems. Information is also disseminated, for example, via external information systems such as signs and / or audio systems.

[0083] For example, a traffic control system comprehensively uses, for example, traffic facilities, in particular traffic signal systems and / or display systems, to assist the motor vehicle as it passes through the tunnel.

[0084] The process steps are preferably documented in a tamper-proof and traceable manner, especially in a blockchain.

[0085] In one embodiment, the passage of the motor vehicle through the tunnel is assisted by a person encompassed by the tunnel infrastructure.

[0086] According to one embodiment, the method according to the first aspect is a computer-implemented method.

[0087] 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.

[0088] Device features are derived analogously from corresponding process features, and vice versa. This means, in particular, that the technical functionalities 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.

[0089] The phrase “at least one” specifically means “one or more”.

[0090] The abbreviation "bzw." stands for "beziehungsweise", which in particular stands for "respective".

[0091] The phrase “respective” stands in particular for “and / or”.

[0092] The terms lane and roadway can be used synonymously.

[0093] 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 according to the first aspect, Fig. 2 a device according to the second aspect, Fig. 3 a machine-readable storage medium and Fig. 4 a tunnel.

[0094] Fig. Figure 1 shows a flowchart of a procedure for assisting a motor vehicle with at least partial automation for driving through or while driving through a tunnel, comprising the following steps: Received 101 of ambient signals representing a motor vehicle environment that at least partially encompasses a tunnel, Receiving 103 safety condition signals, which represent at least one safety condition that must be met in order for the motor vehicle to be assisted externally while passing through the tunnel, Check 105 to see if at least one safety condition is met, Generate 107 data signals that represent suitable data for assisted tunnel passage by the motor vehicle, based on the environmental signals and based on a result indicating whether at least one safety condition is met. Output 109 of the generated data signals.

[0095] According to one embodiment, the data includes a driving instruction which the motor vehicle is to follow.

[0096] According to one embodiment, the driving instruction includes remote control commands for remotely controlling the lateral and / or longitudinal guidance of the motor vehicle.

[0097] According to one embodiment, the method according to the first aspect comprises remote control of a lateral and / or longitudinal guidance of the motor vehicle based on the remote control commands.

[0098] According to one embodiment, the result indicates whether at least one safety condition is met, or not.

[0099] The embodiment provides that the data signals are only generated if the result indicates that at least one safety condition is met.

[0100] If at least one safety condition is not met, it is stipulated, for example, that the generation of data signals will be refrained from.

[0101] For example, it is stipulated that the driving instruction only includes remote control commands for remotely controlling the lateral and / or longitudinal guidance of the vehicle if the result, indicating whether at least one safety condition is met, confirms that at least one safety condition is met. Otherwise, it is stipulated, for example, that the driving instruction does not include remote control commands for remotely controlling the lateral and / or longitudinal guidance of the vehicle.

[0102] This means, in particular, that remote control of the lateral and / or longitudinal guidance of the motor vehicle will be refrained from if at least one safety condition is not met.

[0103] In an embodiment not shown, a tunnel infrastructure transmits data signals and / or, in particular, environmental signals and / or, in particular, safety condition signals to the motor vehicle. The motor vehicle analyzes the data, environmental signals, or safety condition signals itself, for example, and determines the necessary driving instructions for traversing the tunnel. It then continues driving, at least partially automatically, based on these instructions (particularly temporarily).

[0104] Fig. Figure 2 shows a device 201.

[0105] The device 201 is set up to perform all steps of the procedure according to the first aspect.

[0106] The device 201 includes an input 203 which is configured to receive the environmental signals and the safety condition signals.

[0107] The device 201 further comprises a processor 205, which is configured to perform the testing step and the generating step.

[0108] For example, the processor 205 is set up to determine, based on environmental signals, that a motor vehicle intends to pass through a tunnel.

[0109] The device 201 further includes an output 207, which is configured to output the generated data signals.

[0110] For example, according to one embodiment, outputting the generated data signals includes sending the data signals to the motor vehicle via a communication network, in particular via a wireless communication network.

[0111] For example, processor 205 is configured to process environmental signals in order to detect a motor vehicle in the vicinity of the tunnel. Processor 205 is also configured, for example, to determine, upon detecting a motor vehicle in the vicinity of the tunnel, that a motor vehicle intends to pass through the tunnel.

[0112] Generally, signals are received via input 203. Input 203 is therefore specifically configured to receive the corresponding signals.

[0113] Generally, signals are output via output 207. Output 207 is therefore specifically configured to output the corresponding signals.

[0114] According to one embodiment, several processors are provided instead of the single processor 205.

[0115] 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.

[0116] According to one embodiment, the device 201 is part of an infrastructure, in particular cloud infrastructure, for example part of a tunnel infrastructure.

[0117] Fig. Figure 3 shows a machine-readable storage medium 301.

[0118] A computer program 303 is stored on the machine-readable storage medium 301, which includes instructions that, when the computer program is executed by a computer, cause it to perform a procedure according to the first aspect.

[0119] According to one embodiment, the device 201 comprises a remote control unit configured to remotely control the lateral and / or longitudinal guidance of motor vehicles based on remote control commands. This means, in particular, that the remote control unit is specifically configured to remotely control the motor vehicle based on the remote control commands, i.e., to remotely control the lateral and / or longitudinal guidance of the motor vehicle based on the remote control commands.

[0120] Fig. Figure 4 shows a tunnel 401.

[0121] A first motor vehicle 403 and a second motor vehicle 405 are to drive through tunnel 401 at least partially automated.

[0122] In an embodiment not shown, it may be provided that, for example, one of these motor vehicles 403, 405 is driven manually by a driver through the tunnel 401.

[0123] The direction of travel of the first motor vehicle 403 is symbolically indicated by an arrow with the reference sign 407.

[0124] One direction of travel of the second motor vehicle 405 is symbolically indicated by an arrow with the reference sign 409.

[0125] With regard to the directions of travel 407, 409, the tunnel 401 comprises a tunnel entrance 411 and a tunnel exit 413.

[0126] Tunnel 401 includes a tunnel infrastructure 415.

[0127] The tunnel infrastructure 415 includes several video cameras 417, each comprising a video sensor (not shown), which monitor an interior of the tunnel 401, the tunnel exit 413 and the tunnel entrance 411.

[0128] In an embodiment not shown, for example, it is provided that instead of or in addition to the video sensors of the video cameras 417, further environmental sensors are provided.

[0129] In general, an environmental sensor is defined as one of the following environmental sensors: radar sensor, lidar sensor, ultrasonic sensor, magnetic field sensor, infrared sensor and video sensor, in particular the video sensor of a video camera.

[0130] The tunnel infrastructure 415 includes two traffic signal systems 419, which regulate traffic at the tunnel entrance 411.

[0131] The tunnel infrastructure 415 further includes the device 201 according to Fig. 2.

[0132] The tunnel infrastructure 415 further includes a first wireless communication interface 421, which is located in front of the tunnel entrance 411 with respect to the directions of travel 407, 409.

[0133] The tunnel infrastructure 415 further includes a second wireless communication interface 423, which is located inside the tunnel 401, i.e. in the interior of the tunnel 401.

[0134] The tunnel infrastructure 415 includes a third wireless communication interface 421, which is located after the tunnel exit 413 with respect to the directions of travel 407, 409.

[0135] Furthermore, the tunnel infrastructure 415 includes a cloud infrastructure 429. In an embodiment not shown, the device 201 is provided to be part of the cloud infrastructure 429.

[0136] The procedural steps of the procedure according to the first aspect can, for example, be carried out in the cloud infrastructure 429.

[0137] The video signals from video cameras 417 are provided, for example, to device 201.

[0138] These video signals are, for example, an example of environmental signals.

[0139] Alternatively, these video signals may be encompassed by environmental signals as described.

[0140] For example, it is intended that remote control commands for the motor vehicles 403, 405 are generated based on these video signals for remote control of a respective lateral and / or longitudinal guidance of these motor vehicles.

[0141] These remote control commands are sent, for example, via the wireless communication interface 421, 423, 425 to the motor vehicles 403, 405 via a wireless communication network.

[0142] For example, in one embodiment it is provided that the data which are determined by means of the processor 205 include signal image data which represent a signal image of the light signaling system 419.

[0143] This means, in particular, that the signal image of the traffic signal system 419 can then be sent to the two motor vehicles 403, 405 via the wireless communication network.

[0144] This results, for example, in the technical advantage that these motor vehicles 403, 405 can efficiently acquire knowledge of the signal aspect of the traffic signal systems 419.

[0145] For example, it is provided that if a collision object is detected inside tunnel 401 based on the processing of the video signals, the traffic light systems 419 are controlled in such a way that they issue an optical red signal to visually signal to the two motor vehicles 403, 405 that they must stop.

[0146] This can, for example, advantageously and efficiently prevent a collision with the collision object.

[0147] In particular, a prerequisite for generating the data signals according to the procedure described in the first aspect is that at least one safety condition is met.

[0148] For example, for remote control of motor vehicles 403, 405, it must be provided that the latency for the transmission of the remote control commands over the wireless communication network using the wireless communication interfaces 421, 423, 425 is less than or less than or equal to a predetermined latency threshold.

[0149] For example, a motor vehicle that may be remotely controlled based on driving control commands must have a predetermined level of safety integrity.

[0150] According to one embodiment, a prerequisite for remote control of the lateral and / or longitudinal guidance of motor vehicles, and in particular for the remote control of the lateral and / or longitudinal guidance of motor vehicles 403, 405, is that the remote control is safe. In the context of this description, "safe" means in particular "safe" and "secure." While these two English terms are usually translated into German as "sicher," they have somewhat different meanings in English.

[0151] 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.

[0152] 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").

[0153] Remote control, which is therefore "secure", is based in particular on adequate and sufficient computer protection or hacker protection.

[0154] For example, according to one embodiment, it is verified whether the entirety of the motor vehicle and the infrastructure involved in the process according to the first aspect, including communication between the infrastructure and the motor vehicle, is currently safe for the concept described here, "Intervention in the motor vehicle for critical actions, use case tunnel." This means, in particular, that the motor vehicle and / or a local and / or global infrastructure and / or communication are checked accordingly. The data signals, especially the remote control commands, are generated based on the result of this check.

[0155] 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.

[0156] Important or dependent criteria include, for example, one or more of the safety conditions described above.

[0157] According to one embodiment, it is provided that, firstly, the entire system (motor vehicle, infrastructure, for example tunnel infrastructure, communication link, cloud ...) is checked with regard to the safety condition.

[0158] 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.

[0159] The checking step(s) are carried out in one embodiment inside the motor vehicle and / or outside the motor vehicle, in particular in an infrastructure, for example tunnel infrastructure.

[0160] 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.

[0161] 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.

[0162] According to one embodiment, the checking process is carried out or performed in case of problems.

Claims

[1] Method for assisting a motor vehicle that is at least partially automated (403, 405) to pass through a tunnel, comprising the following steps: Receiving (101) ambient signals representing a surrounding area of ​​the motor vehicle (403, 405) that at least partially encompasses a tunnel (401), Receiving (103) safety condition signals, which represent at least one safety condition that must be met in order for the motor vehicle (403, 405) to be assisted externally while passing through the tunnel, Check (105) whether at least one safety condition is met, Generating (107) data signals which represent suitable data for assisted passage through the tunnel (401) by the motor vehicle (403, 405), based on the environmental signals and based on a result as to whether at least one safety condition is met, Output (109) of the generated data signals. [2] Method according to claim 1, wherein the data comprise a driving instruction which the motor vehicle (403, 405) is to follow. [3] Method according to claim 2, wherein the driving instruction comprises remote control commands for remote control of a lateral and / or longitudinal guidance of the motor vehicle (403, 405). [4] A method according to any of the preceding claims, wherein the at least one safety condition is selected from the following groups of safety conditions: the presence of a predetermined level of safety integrity of at least the motor vehicle (403, 405) and an infrastructure, in particular including a communication link and / or communication components, for remotely controlling a motor vehicle (403, 405), particularly with respect to the overall systems in the motor vehicle (403, 405) and infrastructure, and in particular parts thereof; e.g., components, algorithms, interfaces, etc.; the presence of a maximum latency of communication between the motor vehicle (403, 405) and a remote control device for remotely controlling the motor vehicle (403, 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 existence of predetermined components and / or algorithms and / or communication capabilities used to execute the steps of the method according to one of the preceding claims; the existence of redundancy and / or diversity in predetermined components and / or algorithms and / or communication capabilities used to execute the steps of the method according to one of the preceding claims; 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 for reducing errors and / or measures in case of failure of predetermined components and / or algorithms and / or communication possibilities and / or measures for misanalysis and / or measures in case of misinterpretation, 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 a respective execution of one or more steps of the method according to one of the preceding claims, and the existence of a test result that elements or functions used to execute the method according to one of the preceding claims are currently functioning without errors. [5] Method according to one of the preceding claims, wherein the environmental signals are processed to detect a collision object, in particular another motor vehicle, located within a predetermined distance after a tunnel entrance (411) or after a tunnel exit (413) with respect to a direction of travel (407, 409) of the motor vehicle (403, 405), wherein the data, depending on a detection of a corresponding collision object, in particular another motor vehicle, include the information that a corresponding collision object, in particular another motor vehicle, has been detected or not. [6] Method according to one of the preceding claims insofar as it relates back to claim 2, wherein the environmental signals are processed to detect a collision object, in particular another motor vehicle, located within a predetermined distance after a tunnel entrance (411) or after a tunnel exit (413) with respect to a direction of travel (407, 409) of the motor vehicle (403, 405), wherein, upon detection of a corresponding collision object, the driving instruction includes a stop, in particular an emergency stop, in particular an emergency braking. [7] Device (201) configured to perform all steps of the method according to any of the preceding claims. [8] 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 6. [9] Machine-readable storage medium (301) on which the computer program (303) according to claim 8 is stored.

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