Method for controlling a motor vehicle and motor vehicle, method for operating a system comprising a motor vehicle and a remote control device and system comprising a motor vehicle and a remote control device

Abstract

Method for controlling a motor vehicle (1), in which the motor vehicle (1) carries out predetermined steps in order to determine a trajectory to be traversed in the future, and in which the motor vehicle (1) controls itself in such a way that it traverses a respective trajectory until a control unit of the motor vehicle determines a state in which the motor vehicle (1) should no longer be or can no longer steer itself, wherein a transfer then takes place to a remote control device (2), which is then to completely control the motor vehicle (1), so that the motor vehicle (1) receives control signals from the remote control device (2) and the actuators (18) of the motor vehicle react exclusively to these control signals from the remote control device (2), wherein during the control by the remote control device (2) the motor vehicle (1) continues to carry out the predetermined steps for determining a trajectory and, in the casethat a trajectory to be traversed in the future is determined according to a predetermined criterion, returns to controlling itself, wherein the transition to the motor vehicle (1) controlling itself again takes place in that, in the event that a trajectory to be traversed in the future is determined according to a predetermined criterion, a corresponding message is sent to the remote control device (2), the remote control device sends a feedback signal to the motor vehicle and no longer sends out any further control signals, and the control unit of the motor vehicle, after receiving the feedback, again controls its actuators (18).

Description

The invention relates to a method for controlling a motor vehicle, in which the motor vehicle executes predetermined steps ("algorithm") in order to determine a trajectory ("planned travel route") to be passed in the future. It is intended to be an autonomously driving motor vehicle, that is to say the motor vehicle itself controls such that it traverses a respective trajectory (previously ascertained on the basis of the predetermined steps). The trajectory to be traversed in the future is regularly ascertained anew, for example, in small time units in the order of seconds, and the motor vehicle then continues to steer itself along the trajectory. If the control unit of the motor vehicle determines a state in which the motor vehicle is no longer intended to control itself, a transfer to a remote control device takes place, which is intended to control the motor vehicle completely in the following. This includes the motor vehicle receiving control signals of the remote control device and the actuators of the motor vehicle reacting to this control signal of the remote control device. The invention also relates to a motor vehicle having sensors and actuators, which is capable of carrying out the method according to the invention, and to a method for operating a system composed of a motor vehicle and a remote control device, and finally to a system composed of at least one motor vehicle and a remote control device.A method of the type mentioned at the beginning is known, for example, from WO 2019 / 032292 A1. If the motor vehicle detects that problematic traffic conditions are present, this functions as a "trigger" so that the motor vehicle transfers control to a person external to the vehicle, which then remotely controls the motor vehicle. The document discloses that the motor vehicle may still have some degree of autonomy ("levels 1-3") while being remotely controlled. This is intended to assist the person on the remote control device. The motor vehicle, while being remotely controlled, can monitor when a condition affecting autonomous driving is no longer present, and once this is the case, the remote control is ended, the motor vehicle controls itself again.From CN 11079685 A1, a method for remotely controlling a motor vehicle designed for autonomous driving is also known. The motor vehicle has a module for autonomous driving and a module for receiving remote control signals. The remote control can be provided with information on the state of the motor vehicle (position, speed, steering wheel angle, etc.), and information on the road, weather and the like detected by the sensor system of the motor vehicle can also be detected by the motor vehicle and transferred to the remote control.Finally, WO 2019 / 180700 A1 describes a method for remotely controlling a motor vehicle designed for autonomous driving, which can be remotely controlled by a human being or by an artificial intelligence depending on boundary conditions. Here, it is checked whether sufficient bandwidth is available to transmit video signals between the motor vehicle and the artificial intelligence. In the case of insufficient video signals, a human can take over the remote control from the artificial intelligence.Furthermore, WO 2020 / 139713 A1 discloses a method for providing remote intervention by a server for a vehicle.Moreover, DE 10 2018 106 527 A1 discloses an electronic control unit for a vehicle which is configured to switch a vehicle controller out of an autonomous driving mode.A disadvantage of all these methods of the prior art is that the transition from autonomous driving of the motor vehicle to remote control and above all the transition back does not take place seamlessly, but is made more difficult due to the conditions.The invention is now based on the object of facilitating such transitions. The object is achieved by a method for controlling a motor vehicle of the type mentioned at the beginning, in which, however, the motor vehicle receives control signals of the remote control device and the actuators of the motor vehicle react exclusively to these control signals of the remote control device, and wherein, during the control by the remote control device, the motor vehicle continues to execute the predetermined steps for ascertaining a trajectory and, in the event that a trajectory to be traversed in future is ascertained according to a predetermined criterion, merges again with the control itself.The invention is thus intentionally based on the provision of mixing systems in which the motor vehicle is still driving semi-autonomously and at the same time is remotely controlled. A passive state of the motor vehicle with respect to the remote control device is intentionally generated. However, because the motor vehicle continues to work ("computes") in order to ascertain a trajectory, it can resume self-control if a valid trajectory is ascertained. The predetermined criterion includes that either a trajectory can be determined at all (that is to say that the predetermined steps for determining a trajectory are successfully executed) or that a trajectory determined on the basis of the predetermined steps satisfies predetermined conditions ("steering angle not too strong" or the like).Since the method according to the invention includes the motor vehicle determining on its own whether a trajectory to be passed in future according to a predetermined criterion is the result of carrying out the predetermined steps, the motor vehicle itself transmits a corresponding message to the remote control device, receives a feedback from the remote control device, detects that the remote control device is no longer transmitting further control signals, and the motor vehicle then controls itself again by means of its control unit which transmits control signals to the actuators.In one embodiment, the remote control device operates with artificial intelligence to determine a trajectory for the motor vehicle (parallel to the steps in the motor vehicle) to be passed in the future. Alternatively or additionally, it is possible for the remote control device to have operator control means for enabling the motor vehicle to be manipulated by a human and to convert inputs at the operator control means into control signals to the motor vehicle. The method according to the invention can thus be used independently of whether an artificial intelligence or a human is responsible for the remote control, or whether both can be carried out at the same time as desired.In one exemplary embodiment, the predetermined steps include sensor data being received from sensors of the motor vehicle and evaluated in order to represent an environment of the motor vehicle. In this case, the exemplary embodiment is preferably implemented in that a model of the environment of the motor vehicle is derived on the basis of the sensor data and this model is matched to information(s) from a map system.Then, it is also naturally easily definable from when autonomous driving is not possible: the state in which the motor vehicle can no longer control itself occurs in one exemplary embodiment when at least one predetermined type of information cannot be derived from the sensor data. For example, the motor vehicle can no longer control itself if the size of an object to be bypassed cannot be determined, or if the state of the roadway cannot be determined due to adverse weather conditions, and the like.The state in which the motor vehicle can no longer control itself or is intended to do so can also occur when a predetermined defined traffic situation exists. Thus, it can be stored in the control unit of the motor vehicle that, in the case of an obstacle that is stationary or is moving below a maximum speed, an overtaking process is not autonomously initiated, but must take place by the remote control.The motor vehicle according to the invention has sensors and actuators, means for determining a trajectory to be traversed by the motor vehicle in the future on the basis of sensor data acquired with the sensors, and a control unit for autonomously controlling those actuators which bring about and / or assist driving and steering of the motor vehicle on the basis of a respectively determined trajectory to be traversed by the motor vehicle in the future. The motor vehicle has a transmitting and receiving device for communicating with an external remote control device. The means for ascertaining are designed to ascertain a state in which the motor vehicle is no longer intended to or can no longer control itself. The control unit is designed to cause the control of the motor vehicle to be transferred to the external remote control device in this case, wherein the motor vehicle then receives corresponding control signals from the external remote control device and forwards them to those actuators which cause and / or assist driving and steering of the motor vehicle. During the control by the remote control device, the means for determining a trajectory to be traversed in the future by the motor vehicle continues to operate on the basis of sensor data acquired by the sensors, and while the actuators have previously been controlled by the control signals from the external remote control device, in the event that a trajectory to be traversed in the future is determined according to a predetermined criterion, the control unit brings about a return to the control of these actuators by itself.Preferred embodiments of the method can be carried out by suitable configurations of the motor vehicle.The method according to the invention for operating a system made of a motor vehicle and a remote control device comprises the motor vehicle executing predetermined steps in order to determine a trajectory to be traversed in the future, to control itself to traverse a respective trajectory, and to check whether a state is present in which it is no longer intended to control itself or can no longer control itself. In the event of the positive output of the test, a signal is sent to the remote control device, the remote control device gives a feedback and the motor vehicle, on the basis of the feedback, enters a passive operating mode with respect to at least a predetermined part of its actuators. However, the motor vehicle in this case further executes predetermined steps in order to ascertain a trajectory to be traversed in the future and checks whether a trajectory to be traversed in the future is (can be) ascertained according to a predetermined criterion. In the case of the positive output of the check, it sends a signal to the remote control device, the remote control device gives feedback, and the motor vehicle controls itself again such that it traverses a respective trajectory, wherein the remote control device still does not send any further control signals to the motor vehicle.The system according to the invention consists of at least one motor vehicle of the type according to the invention and a remote control device which has a transmitting and receiving device for communicating with the at least one motor vehicle.Further features of the invention can be derived from the following description of the figures and from the drawing. The features and combinations of features mentioned above in the description and the features and combinations of features shown below in the description of the figures and / or in the figures alone can be used not only in the respectively specified combination but also in other combinations or alone without departing from the scope of the invention.The drawing shows in: FIG. 1 schematically shows a traffic situation in which the methods of the type according to the invention can be carried out, and FIG. 2 schematically shows functional units of a motor vehicle and of a remote control device which cooperate in the method according to the invention.Identical or functionally identical elements are provided with the same reference numerals in the figures.A motor vehicle shown in FIG. 1 and denoted there as a whole by 1 is intended to be selectively autonomous or to be guidable by means of a remote control device 2, which can generate control signals for the motor vehicle 1 by an operating device 3 or artificial intelligence 4. The motor vehicle 1 drives autonomously in situation I. This includes the environment being detected in the motor vehicle itself by sensor systems and a trajectory being proposed to the motor vehicle which it can pass through. In situation II, an obstacle 5 is standing on the roadway. In this case, the algorithm present is not sufficient to autonomously pass the motor vehicle 1 past the obstacle 5. A transfer to the remote control device 2 takes place accordingly. here, either a person on an operating device 3 or an artificial intelligence 4 can ensure that the motor vehicle is placed in situation III. Meanwhile, the motor vehicle 1 is in a passive mode, but continuously attempts to generate, in particular calculate, a valid trajectory. As soon as this is possible for the motor vehicle 1 again to reach situation III-the motor vehicle displays this to the remote control device 2 which returns control to the motor vehicle-the motor vehicle is now thus able to determine its trajectory to be traversed in the future again and is itself about to control itself, according to situation IV. The passenger in the motor vehicle is not involved in any interruption in driving.The following functional units are located for this purpose in the motor vehicle 1 and the remote control device 2: sensors 10 transmit their data to a functional unit 12 which represents a model of the environment. Map information is stored in a memory 14, which is compared with the environment model and is used to carry out the function of a path planning unit (trajectory calculation) 16. Control commands are then sent to the actuators 18 of the motor vehicle 1. The sensors 10 are capable of transmitting the recorded data at least partially to the remote control device 2 via a transceiver device 20, which for this purpose has a transceiver device 22. A control device 24, which can implement artificial intelligence overall, but can also cooperate with an operating unit 26, generates signals which are sent to the path planning unit 28, which in turn transmits signals via the transceiver device 20 to the actuators 18 via the transceiver device 22.The invention allows a seamless transition between the purely autonomous and the purely passive driving of the motor vehicle, and this is therefore also comfortable for the occupant, and the motor vehicle can quickly overcome critical situations. Furthermore, there is no need for signaling for requesting from the remote control device 2 whether the motor vehicle 1 would again be able to take over the journey.List of reference characters1 Motor vehicle 2 Remote control device 3 Operating device 4 Artificial intelligence 5 Obstacle 10 Sensors 12 Functional unit 14 Memory 16 Path planning unit 18 Actuators 20 Transceiver device 22 Transceiver device 24 Control device 26 Operating unit 28 Path planning unit I-IV situations

Claims

Method for controlling a motor vehicle (1), in which the motor vehicle (1) carries out predetermined steps in order to determine a trajectory to be passed through in the future, and in which the motor vehicle (1) controls itself in such a way that it passes through a respective trajectory until a control unit of the motor vehicle determines a state in which the motor vehicle (1) is no longer intended to control itself or can no longer control itself, wherein a transfer then takes place to a remote control device (2) which is intended to subsequently fully control the motor vehicle (1), such that the motor vehicle (1) receives control signals of the remote control device (2) and the actuators (18) of the motor vehicle react exclusively to these control signals of the remote control device (2), wherein, during the control by the remote control device (2), the motor vehicle (1) continues to carry out the predetermined steps for determining a trajectory and, in the case that a trajectory to be passed through in the future is determined according to a predetermined criterion, The method again proceeds to control itself, wherein the transition to the fact that the motor vehicle (1) controls itself again takes place in that, in the event that a trajectory to be passed through in the future is determined according to a predetermined criterion, a corresponding message is given to the remote control device (2), the latter emits a feedback to the motor vehicle and no longer emits further control signals, and the control unit of the motor vehicle actuates its actuators (18) again after receiving the feedback.Method according to Claim 1, in which the remote control device (2) operates with artificial intelligence (4) in order to determine a trajectory for the motor vehicle which is to be passed in the future.A method according to claim 1 or 2, wherein the remote control device comprises operator means (3) for enabling human manipulation of the motor vehicle (1) and converts inputs at the operator means (3) into control signals to the motor vehicle.Method according to one of Claims 1 to 3, in which the predetermined steps comprise sensor data being received from sensors (10) of the motor vehicle and being evaluated in order to represent an environment of the motor vehicle (1).Method according to Claim 4, in which a model (12) of the environment of the motor vehicle is derived on the basis of the sensor data and this model (12) is matched to information from a map system (14).Method according to Claim 4 or 5, in which the state in which the motor vehicle (1) can no longer control itself occurs if at least one predetermined type of information cannot be derived from the sensor data.Method according to one of Claims 1 to 6, in which the state in which the motor vehicle (1) can no longer control itself or is intended to occur if a predetermined defined traffic situation is present.Motor vehicle (1) having sensors (10) and actuators (18), having means (16) for determining a trajectory to be traversed in the future by the motor vehicle (1) on the basis of sensor data acquired with the sensors, and having a control unit for autonomously controlling those actuators (18) which bring about and / or assist driving and steering of the motor vehicle on the basis of a respectively determined trajectory to be traversed in the future by the motor vehicle (1), wherein the motor vehicle (1) has a transmitting and receiving device (20) for communicating with an external remote control device, wherein the means (16) for determining are designed to determine a state in which the motor vehicle (1) is no longer intended to or can control itself, and wherein the control unit is designed to determine, In this case, the control of the motor vehicle is to be transferred to the external remote control device (2), and wherein the motor vehicle (1) then receives corresponding control signals from the external remote control device (2) and forwards them to those actuators (18) which bring about and / or assist driving and steering of the motor vehicle (1), wherein during the control by the remote control device (2), the motor vehicle (1) continues to operate the means (16) for determining a trajectory to be traversed in future by the motor vehicle on the basis of sensor data detected by the sensors (10), and wherein, in the case that a trajectory to be traversed in future is determined according to a predetermined criterion, the control unit brings about a return to the control of those actuators (18) which bring about and / or assist driving of the motor vehicle (1) by itself, wherein the transition to the effect that:, the motor vehicle (1) is again self-controlling, in that, in the event that a trajectory to be passed in future is determined according to a predetermined criterion, a corresponding message is given to the remote control device (2), this device emits a feedback to the motor vehicle and no longer emits further control signals, and the control unit of the motor vehicle actuates its actuators (18) again after receiving the feedback.Motor vehicle according to Claim 8, in which a model (12) of the environment of the motor vehicle is derived on the basis of the sensor data and this model (12) is matched to information from a map system (14) which is stored in the motor vehicle (1) at least temporarily.Motor vehicle according to Claim 8 or 9, in which the control unit is designed to determine that the state in which the motor vehicle (1) can no longer control itself has occurred if at least one predetermined type of information cannot be derived from the sensor data and / or if a predetermined defined traffic situation is given.Method for operating a system comprising a motor vehicle (1) and a remote control device (2), in which - the motor vehicle (1) carries out predetermined steps in order to determine a trajectory to be traversed in the future, - controls itself in such a way that it traverses a respective trajectory, and - checks whether a state is given in which the motor vehicle (1) is no longer intended to control itself or can no longer control itself, - in the case of the positive output of the check, sends a signal to the remote control device (2), - the remote control device (2) gives feedback, - the motor vehicle (1) passes into a passive operating mode with respect to at least a predetermined part of its actuators (18) on the basis of the feedback, - the remote control device (2) sends control signals to the motor vehicle (1) and these are used for controlling the predetermined part of the actuators (18), - the motor vehicle (1) however in this case carries out further predetermined steps, in order to determine a trajectory to be traversed in the future, and - checks whether a trajectory to be traversed in the future is determined according to a predetermined criterion, - in the case of the positive output of the check, a signal is transmitted to the remote control device (2), - the remote control device (2) provides feedback, - the motor vehicle (1) again controls itself in such a way that it traverses a respective trajectory, and - the remote control device (2) does not transmit any further control signals to the motor vehicle.System comprising at least one motor vehicle (1) having the features according to one of Claims 8 to 10 and a remote control device (2) which has a transmitting and receiving device (22) for communicating with the at least one motor vehicle (1).

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