Procedures for driving a vehicle that is not or is no longer subject to driver control, as well as motor vehicles

Abstract

Procedure for operating a first vehicle (1) which is not or is no longer subject to driver control, with: - Determining by a second vehicle (2) that the first vehicle (1) is not subject to driver control; - Driving the second vehicle (2) in front of the first vehicle (1); - the first vehicle (1) being forced into convoy driving by the second vehicle (2); - To guide the second vehicle (2) and thus the first vehicle (1) following it to a place (10c) where a safe stop can be made; and - Stopping the second vehicle (2) and thus the first vehicle (1) following it, whereby in the step of determining: - First, the second vehicle (2) uses sensor readings to determine that there is a suspicion of a situation in which the first vehicle (1) is not under driver control; - then, based on suspicion, a request is sent to the first vehicle asking whether external control should be implemented; and - if the request is answered positively, or if there is no answer within a predetermined time period or under predetermined conditions, the suspicion is considered confirmed.

Description

[0001] The invention relates to a method for driving a first vehicle that is not, or is no longer, subject to driver control. It also relates to a motor vehicle that, in the method, serves to drive another motor vehicle.

[0002] German patent application DE 10 2019 214 471 A1 discloses a method for remotely controlling a motor vehicle upon detection of a hazardous situation, which was identified by another motor vehicle. The other motor vehicle provides environmental sensor data to resolve the hazardous situation in order to remotely stop the other motor vehicle.

[0003] In this case, however, it is necessary that the motor vehicle in the dangerous situation is remotely controllable.

[0004] German patent DE 10 2020 130 821 A1 discloses an intervention system for a driver of a pursuit vehicle to force another vehicle to stop. The pursuit vehicle could be, for example, a police car following a vehicle carrying criminals. The latter is slowed down to a controlled stop by means of a remote control signal configurable by the driver.

[0005] Convoy driving, also known as "fleet driving," is a well-known technique. US 2021 / 0 318 695 A1 describes more complex situations in which fleet driving occurs in specific formations that can be modified in response to environmental conditions. In this scenario, one vehicle is switched to a lead vehicle mode, sending control signals to a following vehicle to enable a coordinated response to accident conditions. For example, upon detecting an accident scene, the formation of the following vehicles can be changed to safely bypass the accident site.

[0006] US 2018 / 0253977A1 ​​reveals that one vehicle can provide assistance to another, with an external central office handling organizational tasks.

[0007] It is known from DE 10 2015 216 074 A1 that a vehicle's driver status is monitored and that, in case of danger, a signal is sent to another vehicle, which then assumes the role of lead vehicle. A similar system is described in DE 10 2014 224 645 A1.

[0008] DE 10 2021 003 125 A1 concerns a procedure for initiating an eCall for one vehicle by another vehicle.

[0009] The object of the invention is to demonstrate a way in which a vehicle can be driven safely with relatively little effort in a situation in which a vehicle is not subject to driver control (and preferably does not drive or can drive autonomously or semi-autonomously in principle), in particular to avoid accidents.

[0010] The problem is solved by a method for driving a first vehicle according to claim 1 and by a motor vehicle according to claim 6.

[0011] The inventive method for driving a first vehicle that is not or no longer subject to driver control comprises: - Determining by a second vehicle that the first vehicle is not subject to driver control; - Driving the second vehicle in front of the first vehicle; - forcing the first vehicle to drive in convoy by the second vehicle; - Guiding the second vehicle, and thus the first vehicle following it, to a place where a safe stop can be made; and - Stopping the second vehicle and thus the first vehicle following it (at the safe place).

[0012] Unlike in the case of DE 10 2019 214 471 A1, the first vehicle does not need to be remotely controllable. Rather, it may suffice that the vehicle is fundamentally capable of performing convoy driving, and it merely needs to be equipped in such a way that convoy driving can be imposed on it externally. Thus, little needs to be modified on existing vehicles to be able to carry out the procedure in a hazardous situation.

[0013] According to the invention, in the step of determining: - Initially, the second vehicle used sensor readings to determine a suspected situation in which the first vehicle was not under driver control; - then, based on suspicion, a request is sent to the first vehicle asking whether external control should be implemented; and - if the request is answered positively, or if there is no answer within a predetermined time period or under predetermined conditions (such as poor reception of signals between the vehicles, etc.), the suspicion is considered confirmed (and preferably otherwise dismissed).

[0014] Here, communication between vehicles and, if necessary, their drivers can occur based on a "handshake" principle. The second vehicle can automatically send the request or notify its driver that another vehicle is in danger and allow the driver to initiate the request via a human-machine interface. Conversely, sensors in the first vehicle can detect that the driver has lost control and automatically respond to the request, or the driver can be prompted via a human-machine interface to confirm their condition. (A driver who has suffered a heart attack, for example, might still be able to respond to such a request so that help can be dispatched quickly.)

[0015] Additionally, the detection process can include the second vehicle receiving an emergency call from the first. Here, too, the emergency call can be placed automatically if sensors in the vehicle detect the driver's inability to control the vehicle. Alternatively, the emergency call can also be placed by the driver via a human-machine interface. For example, placing an emergency call to another vehicle can also be combined with activating the hazard warning lights, at least under predetermined conditions regarding the detection of further characteristics by sensors. Sensors in the vehicle can, for instance, detect driver fatigue based on a lack of attention: the driver's eyes are monitored with an infrared camera, and so on.If the sensors detect something like this and the hazard warning lights are switched on at the same time, an emergency call can be made in this example case.

[0016] Alternatively or additionally to the aforementioned preferred embodiment, the step involves determining that a third vehicle, based on sensor readings, has identified a suspected situation, or that the third vehicle, based on receiving an emergency call from the first vehicle, determines that the first vehicle is not under driver control, and the third vehicle has transmitted a corresponding message to the second vehicle. Here, three vehicles cooperate with each other. The third vehicle could, for example, be a vehicle equipped with reliable sensors, while the second vehicle might be more appropriately positioned on the road to assist the first vehicle in the aforementioned manner.

[0017] According to a further preferred embodiment of the invention, the second vehicle is guided in front of the first vehicle by a device enabling autonomous driving. Thus, the driver of the second vehicle does not need to consciously position themselves in front of the first vehicle; instead, upon detection of an emergency, the first vehicle is automatically rescued.

[0018] In this context, it can also be provided that commands (general or specific control commands in the sense of remote control) issued by the second vehicle cause the first vehicle to assist the second vehicle in moving in front of the first. Here, too, the first vehicle's ability to drive in convoy can be utilized, as this can also include forming the convoy in the first place.

[0019] The motor vehicle according to the invention comprises a device for autonomous driving, and according to the invention it is provided that a method is implemented in the device for autonomous driving which includes: - Determine that another vehicle is not subject to driver control; - Driving your own vehicle in front of the other vehicle; - forcing the other vehicle to drive in convoy; - To guide the other vehicle to a place where it can be brought to a safe stop; and (there) - Stop.

[0020] The intention is that measurement results from the vehicle's sensor devices can be used to establish, at least through the autonomous driving device, the suspicion that another vehicle is not subject to driver control.

[0021] This motor vehicle is the second vehicle in the aforementioned procedure, which is therefore able to save the first vehicle.

[0022] The motor vehicle to be rescued, which is not separately claimed here, comprises an autonomous driving device designed to cause the vehicle to follow another motor vehicle in a convoy, whereby a transition to convoy driving can be enforced externally. This may involve the autonomous driving device being able to receive a single external control command that triggers a switch to convoy driving. It may be necessary to transmit only a single bit, possibly after a suitable header / preamble. Preferably, this motor vehicle is designed to be able to assist the other vehicle in driving ahead of itself before convoy driving begins.

[0023] For use cases or application situations that may arise during the procedure and are not explicitly described here, it may be provided that, according to the procedure, an error message and / or a request for user feedback is issued and / or a default setting and / or a predetermined initial state is set.

[0024] The invention also includes the control device for the motor vehicle. The control device can comprise a data processing device or a processor unit configured to carry out an embodiment of the method according to the invention. For this purpose, the processor unit can comprise at least one microprocessor and / or at least one microcontroller and / or at least one FPGA (Field Programmable Gate Array) and / or at least one DSP (Digital Signal Processor). In particular, a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), or an NPU (Neural Processing Unit) can be used as the microprocessor. Furthermore, the processor unit can comprise program code configured to carry out the embodiment of the method according to the invention when executed by the processor unit. The program code can be stored in a data memory of the processor unit.The processor circuitry of the processor device can, for example, include at least one circuit board and / or at least one SoC (System on Chip).

[0025] The invention also includes further developments of the method according to the invention, which have features already described in connection with the further developments of the motor vehicle according to the invention. For this reason, the corresponding further developments of the method according to the invention are not described again here.

[0026] The motor vehicle according to the invention is preferably designed as a motor vehicle, in particular as a passenger car or truck, or as a passenger bus or motorcycle.

[0027] As a further solution, the invention also includes a computer-readable storage medium comprising program code which, when executed by a processor circuit of a computer or a computer network, causes it to execute an embodiment of the method according to the invention. The storage medium can, for example, be provided at least partially as a non-volatile data storage medium (e.g., as flash memory and / or as an SSD - solid state drive) and / or at least partially as a volatile data storage medium (e.g., as RAM - random access memory). The storage medium can be located within the processor circuit's data storage. Alternatively, the storage medium can also be operated, for example, as an app store server on the internet. The computer or computer network can provide a processor circuit with at least one microprocessor.The program code can be provided as binary code or assembler and / or as source code of a programming language (e.g. C) and / or as a program script (e.g. Python).

[0028] The invention also includes combinations of the features of the described embodiments. The invention therefore also includes realizations that each exhibit a combination of the features of several of the described embodiments, provided that the embodiments have not been described as mutually exclusive.

[0029] A preferred embodiment of the invention is described in more detail with reference to the drawing, in which: Fig. 1 illustrates a basic situation in which there is no danger yet; Fig. 2 illustrates a situation in which a danger arises from a vehicle that is not under the control of its driver; Fig. Figure 3 illustrates how a second vehicle leads the first-mentioned vehicle; and Fig. Figure 4 illustrates how both vehicles are brought to a stop.

[0030] The exemplary embodiments described below are preferred embodiments of the invention. In these exemplary embodiments, the described components each represent individual features of the invention, which can be considered independently of one another and each further develops the invention independently. Therefore, the disclosure is intended to include combinations of features of the embodiments other than those shown. Furthermore, the described embodiments can also be supplemented by further features of the invention already described.

[0031] In the figures, identical reference symbols denote functionally equivalent elements.

[0032] A in Fig. Vehicle 1, shown in Figure 1, is driving behind vehicles 2 and 3 and in front of vehicle 4 in lane 10a. Another vehicle, 5, is driving in lane 10b. Vehicle 1 has a control unit 10 that enables at least platoon driving of vehicle 1 behind another vehicle. It also has a communication interface 14 for wireless communication. Similarly, vehicle 2 also has a control unit 10, which in this case also enables autonomous driving of vehicle 2, and a communication interface 14. Vehicle 3, in this case, has sensor devices 12 and also a communication interface 14. Vehicle 3 may also have a control unit 10, just as the other vehicles may have sensor devices.It is furthermore self-evident that the control units 10 can act on actuators not shown in order to control the motor vehicle. Let us now consider the case where the driver of vehicle 1 is no longer able to drive the vehicle safely, for example due to a health impairment such as a heart attack.

[0033] This is evident in the fact that vehicle 1 according to Fig. Vehicle 2 changes lane 10b from lane 10a to lane 10b without control. A distress call can now be sent from vehicle 1 to vehicle 2 via communication interface 14, or sensor devices 12 of a vehicle, such as vehicle 3 in this example, can detect that vehicle 1 may no longer be under driver control. Since vehicle 3 cannot intervene itself, it can then transmit a corresponding message to vehicle 2 via communication interface 14.

[0034] The motor vehicle 2 switches according to Fig. 3. The system switches from a normal mode to a mode in which it forces vehicle 1 to follow it. For this purpose, vehicle 2 changes from lane 10a to lane 10b in front of vehicle 1. Vehicle 1 is now forced into convoy driving. During convoy driving, for example, sensors in vehicle 1 are used to maintain a constant distance to the vehicle 2 ahead, whereby the distance may depend on the speed. Control signals that the control unit 10 of vehicle 2 sends to its actuators can also be directly transmitted to vehicle 1 and translated into suitable control signals for its actuators. For vehicle 2, it may be configured that when the brake pedal is pressed, a value between 1 and 100 is set, while the control system in vehicle 1 may be configured to set a value between 1 and 50 when braking.Accordingly, the brake value for vehicle 2 can simply be halved linearly to define the brake value for vehicle 1. Otherwise, a calibration curve is used. The same applies to the accelerator pedal, the steering angle, and so on.

[0035] As a result, motor vehicle 1 follows motor vehicle 2, which ultimately according to Fig. Vehicle 4 comes to a stop in parking space 10c next to lane 10b. The danger has passed.

[0036] It was demonstrated how remote control of other vehicles can be provided in dangerous situations.

Claims

[1] Method for driving a first vehicle (1) which is not or is no longer subject to driver control, comprising: - Determination by a second vehicle (2) that the first vehicle (1) is not subject to driver control; - driving the second vehicle (2) in front of the first vehicle (1); - forcing the first vehicle (1) to drive in convoy by the second vehicle (2); - guiding the second vehicle (2) and thus the first vehicle (1) following it to a location (10c) where a safe stop can be made; and - stopping the second vehicle (2) and thus the first vehicle (1) following it, wherein in the step of detecting: - First, the second vehicle (2) uses sensor readings to determine the suspicion of a situation in which the first vehicle (1) is not subject to driver control; - then, based on the suspicion, a request is sent to the first vehicle asking whether external control should be carried out; and - if the request is answered positively or if there is no answer within a predetermined period of time or under predetermined conditions, the suspicion is considered confirmed. [2] The method of claim 1, wherein the step of determining includes that the second vehicle (2) receives an emergency call from the first vehicle (1). [3] A method according to claim 1 or 2, wherein the step of determining includes a third vehicle (3, 4, 5) determining, based on sensor readings and / or based on receipt of an emergency call from the first vehicle (1), that the first vehicle (1) is not subject to driver control and sending a corresponding message to the second vehicle (2). [4] Method according to one of claims 1 to 3, wherein the second vehicle (2) is guided in front of the first vehicle (1) by a device for enabling autonomous driving. [5] Method according to claim 4, wherein commands emanating from the second vehicle (2) cause the first vehicle (1) to assist the second vehicle (2) in driving in front of the first vehicle (1). [6] Motor vehicle (2) with a device for autonomous driving, wherein a method is implemented in the device for autonomous driving, which method includes: - Determine that another vehicle (1) is not under driver control; - Driving your own vehicle (2) in front of the other vehicle (1); - forcing the other vehicle (1) to drive in convoy; - driving the other vehicle (1) to a place (10c) where a safe stop can be made; and - Stop, characterized bythat measurement results from sensor devices of the motor vehicle can be used to determine, by means of the device for autonomous driving, at least the suspicion that another vehicle (1) is not subject to driver control.

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