Method for operating an automated, in particular highly automated or autonomously operable vehicle fleet in a transport network

Abstract

Method for operating an automated, in particular highly automated or autonomously operable vehicle fleet (2) in a traffic route network, wherein vehicles (3) of the vehicle fleet (2) each have at least one communication unit (3.1) for communication with a vehicle-external central processing unit (4), comprising the method steps to be carried out by means of the central processing unit (4) - Define requirements for driving functions (FF) for homogeneous driving behavior of the vehicle fleet (2) in the traffic route network before driving on the traffic route network and - carry out a restriction of existing driving functions (FF) of the vehicles (3) if the existing driving functions (FF) deviate from the requirements, characterized in that existing driving functions (FF) of individual vehicles (3) which have higher-quality software versions (SWV) are restricted.

Description

[0001] The invention relates to a method for operating an automated, in particular highly automated or autonomously operable vehicle fleet in a traffic route network according to the preamble of claim 1.

[0002] US 2022 / 0065656 A1 discloses a method, a device, and a computer program product for creating an automated driving capability index for vehicles. The method, device, and computer program product are configured to use changes in a vehicle's autonomy level and / or data associated with a change in an autonomy level to determine an automated driving capability index.

[0003] DE 10 2018 205 011 A1 discloses a method for the controlled transition of an autonomous or semi-autonomous vehicle in a vehicle fleet into a safe state. For this purpose, a central vehicle management system selects a vehicle from the fleet based on discrimination factors and transmits a command to this vehicle to transition to a safe state. The command is transmitted based on a situation-specific risk assessment.

[0004] DE 10 2020 114 372 A1 discloses a method for fleet-based protection of an automated driving function involving multiple motor vehicles against map errors. The method involves the vehicles detecting the presence of predetermined deficiencies in the map data used and transmitting degradation data to the other vehicles in the fleet. The receiving vehicles then restrict at least one automated driving function.

[0005] DE 10 2022 107 516 A1 discloses a method for an automated motor vehicle that determines a functional space based on a detected driving function. Based on the functional space, a functional request is created and transmitted to a second vehicle or a traffic infrastructure element, which responds with a functional response. Depending on the functional response, the driving function is then initiated.

[0006] The invention is based on the object of specifying a method for operating an automated, in particular highly automated or autonomously operable vehicle fleet in a traffic route network that is improved compared to the prior art.

[0007] The object is achieved according to the invention by a method having the specified features of claim 1.

[0008] Advantageous embodiments of the invention are the subject of the subclaims.

[0009] For the method for operating an automated, in particular highly automated or autonomously operable vehicle fleet in a traffic route network, vehicles of the vehicle fleet each have at least one communication unit for communication with a central processing unit external to the vehicle.

[0010] According to the invention, requirements for driving functions for a homogeneous driving behavior of the vehicle fleet in the traffic route network are defined by means of the central processing unit before driving on the traffic route network and a restriction of existing driving functions of the vehicles is carried out if the existing driving functions deviate from the requirements.

[0011] In order to achieve homogenization of the driving behavior of the vehicles in one or more vehicle fleets, existing driving functions of individual vehicles that have higher-quality software versions are restricted. The restriction of existing driving functions is achieved, for example, through a software update, later also called a SW update, and / or a reconfiguration. The restriction of the driving functions is carried out for a limited time and / or geographically in order to bring all vehicles in the vehicle fleet in a specifiable or predetermined area of ​​the traffic network to the same software version and / or functional status. Individual vehicles that have a higher-quality software version have their capabilities restricted, so that they may exhibit or demonstrate a more "primitive" behavior than they are actually capable of.This means in particular that a potential software update intended to enable a vehicle with a higher-level software function to drive through a critical “homogenized” area does not constitute an “upgrade,” i.e. an improvement or an update to a “newer version.”

[0012] Restricting driving functions allows for the adaptation, particularly the harmonization, of the driving functions of all vehicles in the fleet. The vehicles can be operated with similar driving behavior, for example, to create the same basic conditions for users across the fleet.

[0013] Autonomous vehicles are an important development trend in the automotive industry. It is currently becoming apparent that mixed traffic is to be expected in the medium to long term, meaning that autonomous vehicles will move in a traffic system simultaneously with human drivers. In mixed traffic, the central processing unit can provide information about the driving functions of the vehicles in the fleet to vehicles with human drivers.

[0014] A homogeneous automated fleet on a given route section increases comfort and safety in mixed traffic. Autonomous vehicles with inappropriate behavior, such as those with insufficient technical capabilities, are prohibited from certain routes for the safety and comfort of all road users.

[0015] The invention pursues two objectives. First, the driving of autonomous vehicles through certain temporal-spatial areas of the traffic network, in particular the road network, is to be controlled in such a way that only autonomous vehicles that meet certain requirements, i.e., conditions or criteria, are permitted / able to drive through a certain temporal-spatial area. Second, as a specific embodiment or specialization of the first objective, the objective is to homogenize the behavior of autonomous vehicles within certain temporal-spatial areas of the road network.In particular, this means that it is important to prevent vehicles in a vehicle fleet from exercising arbitrarily different autonomous, especially automated, driving capabilities in mixed traffic, where a human driver cannot know or recognize what the automated vehicle is capable of on the respective route. Homogenization can, for example, serve to slowly accustom human drivers to autonomous vehicles within a specific temporal and spatial area of ​​the road network.

[0016] It is assumed that there are stretches or areas within the road network with special requirements for autonomous vehicles. These areas are referred to below as "critical areas." Furthermore, it is assumed that critical areas that impose incompatible requirements on autonomous vehicles do not overlap in time or space. Vehicles that do not meet these special requirements are not allowed / should not enter this critical area.

[0017] The requirements for driving functions can be influenced, for example, by: - at least one weather condition and / or - at least one visibility and / or - at least one lighting condition and / or - at least a traffic relationship.

[0018] The requirements can vary greatly. For example, weather conditions, visibility, lighting, and traffic conditions may impose certain minimum requirements on autonomous vehicles that they must meet. This can ensure that, for example, the vehicle's detection unit and / or sensors do not "stick together" or that detection areas are not disrupted due to weather conditions, such as heavy snowfall. This can prevent algorithms that allow the vehicle to navigate even in complex situations from being negatively affected.However, there may also be regulatory requirements that force autonomous vehicles to adhere to certain rules that go beyond the road traffic regulations, such as using only the right lane on a motorway, not overtaking, or not exceeding a certain maximum speed.

[0019] The requirements can therefore be at least - a starting behavior and / or - acceleration behavior and / or - overtaking behaviour and / or - a driving speed and / or - use of the roadway be defined.

[0020] If an autonomously driving vehicle fails to meet the requirements for a critical area, for example due to built-in hardware, settings and / or configurations, and / or installed software, the invention technically prevents the vehicle from entering critical areas without changing its driving functions. Operating vehicles with driving functions that deviate from the requirements may result in driving behavior that does not meet the requirements.

[0021] The central processing unit can, for example, be a backend or backend server. The respective vehicle in the fleet is prevented from entering critical areas if the requirements are not met, either by itself or by the backend, which monitors and controls the areas and the vehicle. The severity of enforcement can be graded.

[0022] A decision as to whether or not a vehicle may enter a critical area may depend on the importance and / or urgency of the journey being undertaken by that vehicle.

[0023] If an “unqualified” vehicle, i.e. a vehicle that does not meet the requirements, encounters a critical area, there can be three options: - The car is enabled to enter this area. - The car looks for the nearest parking space and parks there until it is able to enter this critical area or until the vehicle's planned route no longer crosses the (temporally and spatially dynamic) critical area, for example if a thunderstorm has passed. - The critical area, for example one containing a thunderstorm, is avoided.

[0024] A vehicle can be enabled to meet the requirements, for example, through an OTA software update (short for "Over The Air Software Update") or through an OTA reconfiguration, i.e., an adjustment of settings and / or parameters. Based on the vehicle's route and the spatial-temporal forecast of the movement and / or change in the critical area, it can be calculated whether and approximately when the vehicle will enter this critical area, i.e., cross its boundary. This can be used to determine how long an update and / or reconfiguration will take.

[0025] Since the required software update or reconfiguration will take is known, it is possible to estimate or predict the latest time the process (software update, reconfiguration) should begin. This may involve taking the risk that the driver cannot continue driving seamlessly and, for example, may have to park briefly. This risk may involve a loss of time and / or a detour and / or a workaround, for example, to save costs for a potentially unnecessary software update.

[0026] If the update process or reconfiguration is not completed by the time the vehicle enters the critical area, for example because the critical area has moved differently, is expanding faster or shrinking more slowly than expected, the vehicle is driven into a parking space.

[0027] The journey will continue if one of the following conditions occurs: - The process is completed and the vehicle is able to enter the critical area. - The critical area shrinks and no longer affects the vehicle's current route, at least not in the immediate spatial-temporal vicinity. - The critical area moves somewhere else and no longer affects the vehicle's current route, at least not in the immediate spatial-temporal vicinity.

[0028] When leaving the critical area, the following options are available. - If the vehicle met the requirements at the beginning, i.e. before entering the critical area, and did not have to perform a special qualification procedure, nothing will be done. - If the vehicle has performed an authorization process before entering the critical area, which resulted in a newer / more current SW version, nothing will be done. - If the vehicle has carried out an enabling procedure before entering the critical area which has changed the vehicle's capabilities or adapted them to the critical area but has not improved them in every respect, the state in which the vehicle was before entering the critical area will be restored, for example by "rolling back" or by another software update.

[0029] Embodiments of the invention are explained in more detail below with reference to drawings.

[0030] Showing: Fig. 1 schematically shows a first embodiment of a device for carrying out a method for operating an automated, in particular highly automated or autonomously operable vehicle fleet in a traffic route network and Fig. 2 schematically shows a second embodiment of a device for carrying out a method for operating an automated, in particular highly automated or autonomously operable vehicle fleet in a traffic route network.

[0031] Corresponding parts are provided with the same reference numerals in all figures.

[0032] Fig. 1 schematically shows a first embodiment of a device 1 for carrying out a method for operating an automated, in particular highly automated or autonomously operable vehicle fleet 2 in a traffic route network, wherein the central processing unit 4 is not configured to restrict existing driving functions (FF) of individual vehicles (3) having higher-quality software versions (SWV). Fig. 1 therefore does not show an embodiment of a device 1 for carrying out a method for operating an automated, in particular highly automated or autonomously operable vehicle fleet 2 in a traffic route network, according to claims 1 to 6.

[0033] Vehicles 3 of the vehicle fleet 2 each have at least one communication unit 3.1 for communication, for example, telematics, with a vehicle-external central processing unit 4. The vehicle-external central processing unit 4 is, for example, a backend or a backend server.

[0034] The vehicles 3 each have at least one control unit 3.2, for example, a control device or hardware components. The control unit 3.2 comprises at least one implemented software that executes and controls the driving functions FF of the vehicles 3. The control unit 3.2 is coupled to the communication unit 3.1. The control unit 3.2 and optionally also the communication unit 3.1 can be part of a vehicle assistance system.

[0035] The central processing unit 4 comprises at least one management module 4.1, for example in the form of a database, for managing technical driving functions FF, also called technical capabilities, of different software versions SWV of autonomous vehicles 3.

[0036] The central processing unit 4 comprises at least one requirement module 4.2 for specifying or defining requirements of respective route sections in the transport route network.

[0037] Furthermore, the central processing unit 4 comprises at least one release module 4.3 for issuing a route release (SF) or for granting permission for autonomous driving if the requirements are met. The requirements taken into account include at least starting behavior, acceleration behavior, overtaking behavior, driving speed, and / or lane usage.

[0038] Specific driving functions FF and / or specific software versions SWV can be assigned to the defined requirements.

[0039] The central processing unit 4 can furthermore Fig. 2 illustrated communication module 4.5 for communication with vehicles 3 of a vehicle fleet 2 and / or for communication with other, non-autonomously operable vehicles and, for example, at least one prediction module for predicting a traffic route network situation depending on weather conditions, visibility conditions, lighting conditions and / or traffic conditions.

[0040] The vehicles 3 transmit information about their software versions SWV and autonomous driving functions FF to the central processing unit 4. The central processing unit 4 checks the driving functions FF and / or software versions SWV for compliance with the requirements defined for driving on the traffic route network. If non-compliance with the requirements is determined, at least the existing driving functions FF of the respective vehicles 3 are discontinued or no approval is granted. If a route approval SF is not received, driving on unauthorized routes is avoided. Information can be issued to a human user of the vehicle 3 to take over the driving tasks.

[0041] If the requirements are met, information on temporally and spatially permitted traffic route networks, in particular on temporally and spatially permitted route sections, is transmitted from the central processing unit 4 to the respective vehicles 3.

[0042] The vehicles 3 are then capable of using the temporally and spatially permitted traffic route networks for autonomous driving and with the help of an on-board navigation system.

[0043] By requesting and providing software updates, the capabilities, particularly the driving functions (FF), of autonomous vehicles 3, especially fleet vehicles, can be modified and / or improved. This will enable new or different routes to be driven autonomously over time.

[0044] Fig. 2 schematically shows a second embodiment of a device 1 for carrying out a method for operating an automated, in particular highly automated or autonomously operable vehicle fleet 2 in a traffic route network.

[0045] By means of the central processing unit 4, hereinafter also referred to as the backend, requirements for driving functions FF are defined for homogeneous driving behavior of the vehicle fleet 2 in a specific traffic route network, in particular in a specific route section of a traffic route network, whereby a restriction of existing driving functions FF of the vehicles 3 is carried out if the existing driving functions FF deviate from the requirements. In particular, a homogenization of the driving functions FF of the respective vehicles 3 is carried out by means of the central processing unit 4 in order to bring all vehicles 3 of the vehicle fleet 2 to the same software version and / or functional status, in particular to operate them.

[0046] Vehicles 3 of the vehicle fleet 2 each have at least one communication unit 3.1 for communication, for example, telematics, with a vehicle-external central processing unit 4. The vehicle-external central processing unit 4 is, for example, a backend or a backend server.

[0047] The vehicles 3 each have at least one control unit 3.2, for example, a control device or hardware components. The control unit 3.2 comprises at least one implemented software that executes and controls the driving functions FF of the vehicles 3. The control unit 3.2 is coupled to the communication unit 3.1. The control unit 3.2 and optionally also the communication unit 3.1 can be part of a vehicle assistance system.

[0048] The central processing unit 4 comprises at least one management module 4.1, for example in the form of a database, for managing technical driving functions FF, also called technical capabilities, of different software versions of autonomous vehicles 3.

[0049] The central processing unit 4 comprises at least one requirement module 4.2 for specifying or defining requirements of respective route sections in the transport route network.

[0050] Furthermore, the central processing unit 4 comprises at least one release module 4.3 for issuing a route release (SF) or for granting permission for autonomous driving if the requirements are met. The requirements taken into account include at least starting behavior, acceleration behavior, overtaking behavior, driving speed, and / or lane usage.

[0051] Specific driving functions FF and / or specific software versions SWV can be assigned to the defined requirements.

[0052] The central processing unit 4 further comprises a communication module 4.5 for transmitting the technical driving functions FF, in particular technical capabilities and properties, of the autonomously operable or operated vehicles 3 as information to vehicles with human drivers.

[0053] The central processing unit 4 can further comprise, for example, at least one prediction module (not shown in detail) for predicting a traffic route network situation depending on weather conditions, visibility conditions, lighting conditions and / or traffic conditions.

[0054] Furthermore, the central processing unit 4 comprises a determination module 4.4 for determining the driving functions FF for autonomous driving on the traffic route network, in particular on temporally and spatially limited route sections.

[0055] The vehicles 3 transmit information about their software versions SWV and existing driving functions FF to the central processing unit 4. The central processing unit 4 checks the existing driving functions FF and / or software versions SWV to ensure that they meet the requirements. If the existing driving functions FF deviate from the requirements, the existing driving functions FF of the vehicles 3 are restricted. In doing so, the central processing unit 4 restricts the existing driving functions FF of individual vehicles 3 with higher-quality software versions SWV. The restriction of the existing driving functions FF is carried out by a software update and / or reconfiguration or reconfiguration transmitted by the central processing unit 4 to the vehicles 3. The vehicles 3 must have at least or exactly one software version SWV and / or certain driving functions FF in order to receive route approval SF.The software update and / or configuration is carried out, for example, via a communication connection.

[0056] In this case, temporally and spatially permitted routes can be traveled by technically similar autonomous vehicles 3. In particular, a route is traveled using a specific SWV software version for autonomous driving. In particular, this avoids the use of technical features of different SWV software versions, especially higher-quality versions. Furthermore, information can be output to vehicles with human drivers, especially in mixed traffic, about the respective driving functions FF of the autonomous vehicles 3. Drivers can be advised to avoid overtaking autonomous vehicles 3.

[0057] Homogeneous driving behavior of autonomous vehicles 3 on the mixed-traffic network can be supported by specifying a minimum SWV software version and / or minimum autonomous driving functions (FF). After updating and / or configuration, higher-level SWV software versions only utilize the technical capabilities, i.e., the FF driving functions, of the specified minimum SWV software version. The SWV software versions are backward compatible.

Claims

[1] Method for operating an automated, in particular highly automated or autonomously operable vehicle fleet (2) in a traffic route network, wherein vehicles (3) of the vehicle fleet (2) each have at least one communication unit (3.1) for communication with a vehicle-external central processing unit (4), comprising the method steps to be carried out by means of the central processing unit (4) - Define requirements for driving functions (FF) for homogeneous driving behavior of the vehicle fleet (2) in the traffic route network before driving on the traffic route network and - restrict existing driving functions (FF) of the vehicles (3) if the existing driving functions (FF) deviate from the requirements, characterized by that existing driving functions (FF) of individual vehicles (3) that have higher-quality software versions (SWV) are restricted. [2] Method according to claim 1, characterized bythat the restriction of the existing driving functions (FF) is carried out by a software update and / or a reconfiguration. [3] Method according to one of the preceding claims, characterized by that the restriction of the driving functions (FF) is carried out in a time-limited and / or spatially limited manner, whereby all vehicles (3) of the vehicle fleet (2) have a similar software version and / or functional status for a time-limited and / or spatially limited period. [4] Method according to one of the preceding claims, characterized by that in mixed traffic the central processing unit (4) provides information on the driving functions (FF) of the vehicles (3) of the vehicle fleet (2) to vehicles with human drivers. [5] Method according to one of the preceding claims, characterized by that the requirements are at least - a starting behavior and / or - acceleration behavior and / or - overtaking behaviour and / or - a driving speed and / or - a roadway use is / will be defined. [6] Method according to one of the preceding claims, characterized by that the requirements are influenced by: - at least one weather condition and / or - at least one visibility and / or - at least one lighting condition and / or - at least a traffic relationship.

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