Autonomous commercial vehicle

Abstract

The invention relates to a communication system for an autonomous commercial vehicle (1), comprising a communication control unit and a plurality of simultaneously usable, at least partially different communication channels (K1 to K5), wherein the communication control unit is configured to monitor and protect the communication via the communication channels (K1 to K5), wherein a plurality of wireless communication units (2.1 to 2.11) are provided, several of which are configured for direct or indirect communication with a backend (3) via at least one of the communication channels (K1 to K5).

Description

[0001] The invention relates to an autonomous commercial vehicle according to the preamble of claim 1.

[0002] In the future, autonomous commercial vehicles (trucks) will be on the roads. These commercial vehicles will be connected to different backends depending on their company affiliation. Communication between the commercial vehicle and the backend is typically handled wirelessly and focuses on cloud-based services.

[0003] During communication, attenuation and interruption of the connection channels can occur for the following reasons: - Topology (e.g. in valleys or with low density of radio masts) - Shading of infrastructure (e.g. in tunnels, parking garages and underground car parks) - Crime (e.g., theft of the commercial vehicle and forcible removal of the power supply or antenna, jamming to actively disrupt communication channels, hiding the commercial vehicle, cyberattacks)

[0004] EP 3 605 852 B1 describes a communication system comprising: at least one broadband long-distance radio system, each of which is configured to be coupled to at least one antenna; a baseband system coupled to each of the at least one broadband long-distance radio system; wherein at least one broadband long-distance radio system and the baseband system are located at different locations of a vehicle; wherein the baseband system comprises a datalink communication management system and an audio processing system; and wherein the at least one broadband radio baseband system is coupled to the audio processing system and the datalink communication management system.

[0005] KR 10 2019 0 031 903 A describes a vehicle update system and a vehicle. The vehicle update system includes a vehicle that queries a wireless communication channel for data updates, assigns data to be downloaded for each of a plurality of queried wireless communication channels, and requests and receives the data. A telematics server transmits data information, including a download command, to the vehicle and transmits the data according to a download command for the data associated with the plurality of wireless communication channels transmitted by the vehicle.

[0006] US 2023 / 0309192 A1 describes a user device for wireless communication with a plurality of wireless network elements, comprising a plurality of antennas. The plurality of antennas is configured to form a plurality of spatial or directional beams. The user device is configured to simultaneously provide a plurality of independent wireless communication links using the plurality of spatial or directional beams, wherein the user device is configured to provide a first wireless communication link with a first wireless network element using a first spatial or directional beam and to provide a second wireless communication link with a second wireless network element using a second antenna beam.

[0007] DE 10 2016 116 855 A1 describes a system for controlling commercial vehicles in a restricted area, wherein the commercial vehicle has a sensor unit configured to detect objects in the surroundings of the commercial vehicle. The system comprises an information retrieval module, a detection module, an identification module, and a movement module. The information retrieval module is configured to retrieve information from a database about the restricted area, wherein the retrieved information comprises cartographic data of objects in the restricted area. The detection module is configured to detect at least one object in the surroundings of the vehicle using the sensor unit of the commercial vehicle. The identification module is configured to identify at least one detected object in the cartographic data.The movement module is designed to enable autonomous movement of the commercial vehicle in the restricted area based on the identified objects.

[0008] US 2018 / 0013786 A1 describes systems and methods that mitigate and / or prevent distributed denial-of-service (DDOS) attacks. In one implementation, a gateway comprises one or more processors configured to retrieve network data from one or more entities connected to the gateway, provide the network data to a server, and retrieve a set of entity identifiers from the server. The set of entity identifiers may be generated at least based on the network data. The one or more processors may also be configured to filter communications based on the entity identifiers.

[0009] The invention is based on the object of providing a novel autonomous commercial vehicle.

[0010] The object is achieved according to the invention by an autonomous commercial vehicle having the features of claim 1.

[0011] Advantageous embodiments of the invention are the subject of the subclaims.

[0012] A communication system for an autonomous commercial vehicle is proposed, comprising a communication control unit and a plurality of simultaneously usable, at least partially different communication channels, wherein the communication control unit is configured to monitor and protect communication via the communication channels. According to the invention, a plurality of wireless communication units is provided, several of which are configured for direct or indirect communication with a backend via at least one of the communication channels.

[0013] In one embodiment, the communication control unit is configured to determine whether a communication channel has failed or is being tampered with. In this case, communication can be performed via at least one other of the communication channels.

[0014] In one embodiment, at least one of the communication channels is connected to the backend directly via at least one ground-mounted radio mast and / or at least one of the communication channels is connected via a communications satellite and / or at least one of the communication channels is connected indirectly via a nearby additional vehicle configured as a relay station. The additional vehicle can itself be connected to the backend via at least one ground-mounted radio mast, via a communications satellite, or via another relay station.

[0015] For example, communication channels with different properties (e.g. bandwidth, area coverage, unidirectional or bidirectional and range) can be used.

[0016] In one embodiment, the communication control unit may be configured to use two-factor authentication as an authentication method, in which authentication occurs via multiple communication channels.

[0017] In one embodiment, at least one of the communication units is configured to communicate via a communication channel with an emergency satellite.

[0018] In one embodiment, the at least one communication unit for communicating with the emergency satellite is configured to activate itself and send an emergency signal with its geographical coordinates to the emergency satellite when it is submerged and / or when its orientation deviates from a normal orientation (for example, when the commercial vehicle is not on its wheels) and / or when all other communication units are no longer active.

[0019] In one embodiment, the at least one communication unit for communicating with the emergency satellite is configured to detach from the utility vehicle and float upwards by buoyancy when submerged.

[0020] Furthermore, at least one of the communication units can be designed as a wireless locating device.

[0021] For a commercial vehicle where all direct communication channels are interrupted due to the topology, such as a commercial vehicle stuck in a tunnel, an attempt can be made to use an indirect communication channel via another nearby vehicle, for example, outside the tunnel, as a relay station. The stuck commercial vehicle can then determine its position, for example, using dead reckoning, and report it to the backend via the communication channel.

[0022] In one embodiment, respective communication units (in particular hidden) are arranged in or on several parts of the commercial vehicle, in particular a body, at least one wheel and / or at least one door, and / or in or on cargo located in the commercial vehicle, which communication units form a network with distributed information about the positions of these communication units, wherein the network is configured to update the distributed information when one of the parts or cargo is added or removed, wherein the communication units detect an unauthorized disassembly when several or all of the communication units are no longer in spatial proximity to one another for a certain period of time and send their respective position to the backend, in particular when they are no longer in spatial proximity to at least one or several, in particular all, other communication units.

[0023] For example, the communication units can be configured to check their spatial proximity to one another at regular intervals, for example once per minute or once per hour.

[0024] The multitude of communication channels proposed by the invention in autonomous commercial vehicles enables better accessibility, improved efficiency, and increased resilience in topologically challenging situations, with concealed infrastructure, and criminal attacks, such as the sale of dismantled commercial vehicle parts. The solution proposed by the invention enables the commercial vehicle or its parts to communicate optimally in many situations, keeping the backend informed about the current status and / or position of the commercial vehicle.

[0025] Embodiments of the invention are explained in more detail below with reference to drawings.

[0026] Showing: Fig. 1 a schematic view of an autonomous commercial vehicle with a plurality of wireless communication units, Fig. 2 a schematic view of the commercial vehicle during a man-in-the-middle attack, Fig. 3 a schematic view of the commercial vehicle, which was stolen and subsequently hidden, for example, Fig. 4 another schematic view of the commercial vehicle, which was stolen and subsequently hidden, Fig. 5 another schematic view of the commercial vehicle stuck in a tunnel, Fig. 6 a further schematic view of the commercial vehicle in which several parts are provided with respective communication units.

[0027] Corresponding parts are provided with the same reference numerals in all figures.

[0028] Fig. 1 is a schematic view of an autonomous vehicle 1, in particular a commercial vehicle 1, with a plurality of wireless communication units 2.1 to 2.8, at least some of which are configured for direct or indirect communication with a backend 3. The commercial vehicle 1 may have a tractor 4 and a semitrailer 5 or trailer.

[0029] In the embodiment shown, some of the communication units 2.1 to 2.5 are arranged in or on the tractor 4 or parts of the tractor 4. Further communication units 2.6 to 2.8 are arranged in or on the semitrailer 5 or trailer or parts of the semitrailer 5 or trailer. In particular, one or more communication units 2.7, 2.8 are also arranged on parts of the load 6 that is transported in the semitrailer 5 or trailer.

[0030] The communication units 2.1 to 2.8 utilize a plurality of different communication channels K1 to K5, for example, a communication channel K1, K2 via ground-mounted radio masts 7, in particular directly or indirectly via another vehicle 1' located nearby, which can be used as a relay station. The other vehicle 1' can be configured in the same way as vehicle 1 and equipped with several communication units 2.1 to 2.8.

[0031] Another communication channel K3 can be provided via a communication satellite 8, for example Starlink®.

[0032] Furthermore, one or more of the communication units 2.1 to 2.8, for example the communication unit 2.4, can be designed as a wireless tracking device (for example Apple Airtag®).

[0033] Furthermore, one or more of the communication units 2.1 to 2.8, for example, the communication unit 2.5 arranged in the tractor 4 and the communication unit 2.6 arranged in the semi-trailer 5 or trailer, can be configured to communicate via a communication channel K4, K5 with an emergency satellite 9, for example Iridium. Such a communication link has a long wavelength with high penetration power, but a low bandwidth, and can be unidirectional from the respective communication unit 2.5, 2.6 to the emergency satellite 9.

[0034] By using multiple different communication channels K1 to K5 simultaneously, individual communication channels K1 to K5 can fail without causing communication to collapse. The use of multiple different communication channels K1 to K5 makes it possible to secure communication against "man-in-the-middle attacks" by using authentication procedures similar to those used in mobile phones, especially smartphones. In particular, communication channels K1 to K5 with different properties (e.g., bandwidth, area coverage, unidirectional or bidirectional, and range) can be used.

[0035] In this case, the vehicle 1 can have a communication control unit (not shown) configured to monitor and secure the communication in order to determine whether a communication channel K1 to K5 has failed. Furthermore, test methods can be implemented in the communication control unit to determine whether one of the communication channels K1 to K5 is or has been tampered with.

[0036] Fig. Figure 2 is a schematic view of vehicle 1 during a "man-in-the-middle attack." In the case shown, a pseudo-backend 10 has been set up, which is hooked into the communication channel K1 between the radio mast 7 and the backend 3, so that this communication takes place via the pseudo-backend 10. At the same time, however, two additional communication channels K2, K3 exist from the communication unit 2.3 via two different communication satellites 8, 8'. The communication control unit of the vehicle 1 can be configured to use two-factor authentication (2FA) as an authentication method, in which authentication takes place via multiple communication channels K1 to K5. This enables the monitoring and security of the transmitted information. The communication channels K2, K3 can also hop back and forth between the communication satellites 8, 8'.

[0037] Fig. 3 is a schematic view of the vehicle 1, which has been stolen, for example, and subsequently hidden to conceal the theft. The vehicle 1, in particular the tractor unit 4 and the semi-trailer 5 or trailer, is located, for example, in a lake 12. The at least one communication unit 2.5, 2.6 for communicating with the emergency satellite 9 can be configured to activate itself when all other communication units 2.1 to 2.4, 2.7, 2.8 are no longer active and / or when the communication unit 2.5, 2.6 is submerged and / or when an orientation of the communication unit 2.5, 2.6 deviates from a normal orientation. In the example shown, the tractor unit 4 and the semi-trailer 5 or trailer are lying on the roof, so that the communication units 2.5, 2.6 are not in a normal orientation in which the vehicle 1 is standing on its wheels 11. The communication units 2.5, 2.6 therefore send a distress signal with their geographical coordinates to the emergency satellite 9.

[0038] Fig. 4 is a further schematic view of the vehicle 1, which was, for example, stolen and subsequently hidden to conceal the theft. The vehicle 1, in particular the tractor unit 4 and the semitrailer 5 or trailer, is located, for example, in a lake 12. The at least one communication unit 2.5, 2.6 for communicating with the emergency satellite 9 can be configured to activate itself when all other communication units 2.1 to 2.4, 2.7, 2.8 are no longer active and / or to detach from the vehicle 1 and float upwards due to buoyancy when the communication unit 2.5, 2.6 is submerged and / or when an orientation of the communication unit 2.5, 2.6 deviates from a normal orientation. In the example shown, the communication units 2.5, 2.6 have detached from the vehicle 1 and floated upwards due to buoyancy. The communication units 2.5, 2.6 therefore send a distress signal with their geographical coordinates from the surface of the lake 12 to the emergency satellite 9.

[0039] Fig. Figure 5 is another schematic view of vehicle 1, which is stuck in a tunnel 13, for example, because it is blocked by an accident-damaged vehicle 14. This interrupts all direct communication channels K1, K3, K4, and K5. However, there is a communication channel K2 from the communication unit 2.1 via another vehicle 1' located outside the tunnel 13 and a radio mast 7 to the backend 3. The other vehicle 1' is used as a relay station. The stuck vehicle 1 can determine its position via dead reckoning and report it to the backend 3 via the communication channel K2.

[0040] Fig.Fig. 6 is a further schematic view of the vehicle 1, in which several parts, for example a body 15, the wheels 11, at least one door 16 and the load 6 are provided with respective communication units 2.1 to 2.11.

[0041] The communication units 2.1 to 2.11 form a network with distributed knowledge of the other communication units 2.1 to 2.11. Adding or removing cargo 6 or changing wheels accordingly results in an update of the network. However, these changes can be classified as certified changes. However, criminal disassembly of the parts equipped with communication units 2.1 to 2.11 can trigger an alarm, which at least one of the communication units 2.1 to 2.11 reports to backend 3 via at least one communication channel K1 to K5.

[0042] Criminal dismantling can be detected, for example, if several or all communication units 2.1 to 2.11 are no longer in close proximity to one another.

[0043] The communication units 2.1 to 2.11 can be concealed in or on the corresponding parts and automatically transmit their position to the backend 3 after a certain period of time when they are no longer in spatial proximity to at least one or more, in particular all, other communication units 2.1 to 2.11. For example, the loss of spatial proximity to the other communication units 2.1 to 2.11 can be determined based on the received signal strengths of the other communication units 2.1 to 2.11 or based on connection interruptions to the other communication units 2.1 to 2.11.

[0044] The communication units 2.1 to 2.11 can, for example, be configured to check their spatial proximity to one another at regular intervals, for example, once per minute or once per hour. In particular, the communication units 2.1 to 2.11 each have their own battery. Batteries with the longest possible service life are used, for example, for the regular check of their spatial proximity to one another.

[0045] The use of multiple communication channels K1 to K5 allows Vehicle 1 to use the communication channel K1 to K5 that is most suitable given the current constraints, as described in the examples above. To improve efficiency, multiple communication channels K1 to K5 can be bundled to increase bandwidth if necessary. The presence of multiple communication channels K1 to K5 improves resilience in the face of unexpected events, particularly criminal acts, natural disasters, or cyberattacks. If one communication channel K1 to K5 becomes unavailable, other communication channels K1 to K5 can be used for communication.

Claims

[1] Autonomous commercial vehicle (1) comprising a tractor (4), a semi-trailer (5) or trailer and a communication system comprising: - a communication control unit and a plurality of simultaneously usable, at least partially different communication channels (K1 to K5), wherein the communication control unit is configured to monitor and protect the communication via the communication channels (K1 to K5), - a plurality of wireless communication units (2.1 to 2.11), several of which are configured for direct or indirect communication with a backend (3) via at least one of the communication channels (K1 to K5), wherein several of the communication units (2.1 to 2.11) are arranged in or on the tractor (4) or parts of the tractor (4) and / or on parts of a load (6) transported in the tractor (4), wherein several of the communication units (2.1 to 2.11) are arranged in or on the semitrailer (5) or trailer or parts of the semitrailer (5) or trailer and / or are arranged on parts of a load (6) transported in the semitrailer (5) or trailer. [2] Autonomous commercial vehicle (1) according to claim 1, characterized by that the communication control unit is configured to determine whether a communication channel (K1 to K5) has failed or is being manipulated. [3] Autonomous commercial vehicle (1) according to claim 1 or 2, characterized by that at least one of the communication channels (K1 to K5) is connected to the backend (3) directly via at least one radio mast (7) arranged on the ground and / or at least one of the communication channels (K1 to K5) via a communication satellite (8) and / or at least one of the communication channels (K1 to K5) is connected indirectly via a further vehicle (1') located nearby and configured as a relay station. [4] Autonomous commercial vehicle (1) according to one of the preceding claims, characterized by that the communication control unit is configured to use two-factor authentication as an authentication method, in which authentication takes place via several communication channels (K1 to K5). [5] Autonomous commercial vehicle (1) according to one of the preceding claims, characterized bythat at least one of the communication units (2.1 to 2.11) is configured to communicate via a communication channel (K4, K5) with an emergency satellite (9). [6] Autonomous commercial vehicle (1) according to claim 5, characterized by that the at least one communication unit (2.1 to 2.11) for communicating with the emergency satellite (9) is configured to activate itself and to send an emergency signal with its geographical coordinates to the emergency satellite (9) when it is submerged and / or when its orientation deviates from a normal orientation and / or when all other communication units (2.1 to 2.11) are no longer active. [7] Autonomous commercial vehicle (1) according to claim 6, characterized bythat the at least one communication unit (2.1 to 2.11) for communication with the emergency satellite (9) is configured to detach from the utility vehicle (1) and to float upwards by buoyancy when submerged. [8] Autonomous commercial vehicle (1) according to one of the preceding claims, characterized bythat respective communication units (2.1 to 2.11) are arranged in or on several parts of the commercial vehicle (1), in particular a body (15), at least one wheel (11) and / or at least one door (16), and / or in or on cargo (6) located in the commercial vehicle (1), which form a network with distributed information about the positions of these communication units (2.1 to 2.11), wherein the network is configured to update the distributed information when one of the parts or cargo (6) is added or removed, wherein the communication units (2.1 to 2.11) detect an unauthorized disassembly when several or all of the communication units (2.1 to 2.11) are no longer in spatial proximity to one another for a certain period of time and send their respective position to the backend (3). [9] Autonomous commercial vehicle (1) according to claim 8, characterized bythat the communication units (2.1 to 2.11) are arranged in a hidden manner.

Images