Control device, control module and method for remotely controlling a vehicle

Abstract

A control device (1) for remotely controlling a vehicle (205) is proposed, wherein the control device (1) is configured to be implemented in a control module (200) that can be mounted on the vehicle (205). The control device (1) comprises a processor (10), a memory unit (20) for storing machine-readable instructions for the processor (10), and an interface (30). The interface (30) is configured to receive control commands (60) from a teleoperation unit (50) and to output control signals (70) to a vehicle control unit (40) for controlling the vehicle (205).The memory unit (20) contains instructions for the processor (10) to generate the control signals (70) based on the control commands (60) received from the teleoperation unit (50) and to output the control signals (70) to the vehicle control unit (40) so that the vehicle (205) can be remotely controlled by the teleoperation unit (50) by means of the control module (200) mounted on the vehicle (205).

Description

[0001] The present disclosure generally relates to methods for controlling vehicles. More specifically, the present disclosure relates to a control device, a control module, and a method for remotely controlling a vehicle.

[0002] Remote-controlled vehicles and methods for remote control or teleoperated driving of vehicles are known. The small number of vehicles equipped for teleoperated driving makes the production or series production of such vehicles uneconomical, and teleoperated driving correspondingly expensive.

[0003] An object of the embodiments of the present disclosure is to provide a cost-effective way of teleoperated driving.

[0004] To achieve this object, according to a first aspect, a control device for remotely controlling or teleoperated driving of a vehicle is provided. The control device is designed to be implemented in a control module that can be mounted on the vehicle, in particular can be removably mounted. The control device comprises a processor, a memory unit for storing data and machine-readable instructions for the processor, and an interface. The interface is designed to receive control commands or data representing control commands from a teleoperation unit or from a teledriver's station. The interface can, for example, comprise a mobile radio interface for communicating with a mobile radio interface of the teleoperation unit. The interface is further designed to transmit control signals or data representing control signals to a vehicle control unit orVehicle control unit for controlling the vehicle. In particular, the interface can be designed to communicate with a vehicle's communication network, so that the control signals can be forwarded to the vehicle control unit via the vehicle's communication network.

[0005] The teleoperation unit or teledriver station can, in particular, comprise a user interface with one or more input and / or output devices. The input devices of the teleoperation unit can, in particular, be designed similarly to input devices of a vehicle control system, such as a steering wheel, brake pedal, accelerator pedal, turn signals, etc. The input devices can further comprise touchscreen displays, virtual reality input components, or joysticks. The teleoperation unit can be designed to capture inputs from a teleoperator for remotely controlling the vehicle via the input devices. The inputs can be generated, for example, via steering movements of the steering wheel or via the use of the accelerator pedal.

[0006] The control signals can be received and implemented, in particular, by the vehicle control unit. In particular, control signals can be evaluated by the vehicle control unit so that the vehicle can be controlled based on the control signals. In particular, the control signals can include signals for controlling longitudinal and / or transverse movements of the vehicle. The longitudinal movements of the vehicle can include, in particular, acceleration or braking movements, and the transverse movements can include, in particular, steering movements.

[0007] The memory unit contains instructions for the processor to generate the control signals based, or at least partially based, on the control commands received from the teleoperation unit, or to convert the control commands into the control signals. The memory unit further contains instructions for the processor to output the control signals to the vehicle control unit so that the vehicle can be remotely controlled by the teleoperation unit using the control module mounted on the vehicle.

[0008] The control device offers a universal retrofit solution for remote-controlled vehicles. For example, if a standard vehicle is retrofitted with a control module containing the control device, a system for remotely controlled driving can be implemented in the standard vehicle. This makes it easy to create a remote-controlled vehicle based on a standard vehicle.

[0009] The interface can be designed to receive sensor data or signals from a sensor system for detecting the current vehicle environment. The sensor system can in particular comprise one or more cameras, lidar and / or radar sensors. The interface can further be designed to send data or images describing the current vehicle environment to the teleoperation unit. In particular, images and / or videos recorded by the cameras can be transmitted to the teleoperation unit. Based on the data describing the current vehicle environment, the control or remote control of the vehicle can be adapted to the current vehicle environment. In particular, the teleoperation unit can contain a processor and a memory unit with machine-readable instructions for the processor to evaluate data describing the current vehicle environment and to send control commands based at least partially on the current vehicle environment.Thus, the vehicle can be controlled from the teleoperation unit taking into account the current vehicle environment.

[0010] The memory unit can contain instructions for the processor to evaluate the sensor data and generate the control signals for controlling the vehicle based at least partially on the current vehicle environment. In particular, the evaluation of the sensor data can be performed at least partially by the control device, thereby reducing the data traffic between the control device and the teleoperation unit or the computing power of the teleoperation unit.

[0011] The interface can be designed to receive vehicle data or vehicle signals from the vehicle control unit or vehicle electronics, in particular from the vehicle's communications network, for detecting a current vehicle state. The interface can further be designed to send data describing the current vehicle state to the teleoperation unit. Based on the data describing the current driving state or vehicle state, the remote control of the vehicle can be adapted to the respective current vehicle state. In particular, the memory unit of the teleoperation unit can contain instructions for the processor to evaluate the data describing the current vehicle state and to send control commands based at least partially on the current vehicle state. The vehicle can thus be controlled from the teleoperation unit taking the current vehicle state into account.In some embodiments, the data transmitted to the teleoperation unit includes control data for controlling the control signals transmitted to the vehicle control unit.

[0012] The memory unit can contain instructions for the processor to evaluate the vehicle data and generate the control signals for controlling the vehicle based at least partially on the current vehicle state. In particular, the evaluation of the vehicle data can be performed at least partially by the control device, thereby reducing the data traffic between the control device and the teleoperation unit or the computing power of the teleoperation unit.

[0013] According to a second aspect, a control module for remotely controlling a vehicle is provided. The control module is designed to be mounted on the vehicle, wherein the control module comprises a control device according to the first aspect. The control module can in particular be designed to be removably mounted on or in a vehicle. The control module can in particular be accommodated in a compact housing or control box. The control box can be electrically connected to the vehicle control unit, so that any standard or standard vehicle can be converted into a teleoperationally operated (remotely controlled) vehicle. A removable control module can be quickly and easily mounted on another vehicle if necessary. Likewise, in the event of a driver failure, a driver-controlled vehicle can be quickly and easily modified into a remote-controlled vehicle.The interface of the control device can, in particular, be designed to connect the control module to the vehicle control unit via an electrical connection or cable connection. The electrical connection can be used to send control signals from the control device to the vehicle control unit, and vehicle data from the vehicle control unit to the control device. Using the control module, a vehicle with essentially standard equipment can be easily retrofitted to a remote-controllable vehicle.

[0014] The control module can comprise one or more of the following components: a sensor system, in particular comprising one or more cameras, for detecting the vehicle's surroundings, a GPS sensor or GPS receiver for detecting a current vehicle position, one or more cellular modems, and one or more antennas for communicating with the teleoperation unit or remote driver's station. The control device of the control module and / or the teleoperation unit can be configured to control the vehicle at least partially based on the current vehicle position. By installing such a control module on a vehicle without corresponding components, the vehicle can be easily converted into a remotely controllable vehicle.

[0015] The control module can, in particular, be designed in the form of a detachably mountable roof box of a vehicle. The control module designed as a roof box requires no installation space inside the vehicle. Furthermore, the vehicle roof offers the sensors arranged in or on the roof box a particularly favorable position for detecting the vehicle's surroundings. The electrical connection from the roof box to the vehicle interior can be made, for example, through a door seal or through an existing opening in the vehicle roof, such as in a sunroof or a roof with an antenna. In other installation variants, one or more roof openings can be created specifically for the roof box.

[0016] According to a third aspect, a method for remotely controlling a vehicle is provided. According to the method, in one method step, a control module according to the second aspect is provided for remotely controlling the vehicle. In one method step, the control module is mounted on the vehicle. In one method step, the interface of the control device of the control module is connected to the vehicle control unit or control device. The connection of the control device to the vehicle control unit can be established, in particular, by means of a cable connection and / or wirelessly. In one method step, the interface of the control device of the control module is connected to a teleoperation unit. In particular, the connection between the control device and the teleoperation unit can be established wirelessly, in particular by means of one or more mobile radio modems.The method further comprises sending control commands from the teleoperation unit and receiving the control commands via the interface of the control device of the control module. The method also comprises generating control signals for controlling the vehicle based, or at least partially based, on the received control commands. The method further comprises outputting the control signals to a vehicle control unit so that the vehicle can be controlled by the teleoperation unit via the control module mounted on the vehicle. Using the method, a substantially standard-equipped vehicle can be retrofitted for remote control in a cost-effective manner and remotely controlled by the teleoperation unit.

[0017] According to a fourth aspect, a vehicle is provided, wherein a control module for remotely controlling the vehicle is implemented on the vehicle. The vehicle can be controlled by a teleoperation unit using the control module. Especially compared to other remotely controllable vehicles, the vehicle can be provided particularly cost-effectively.

[0018] The invention will now be explained in more detail with reference to the accompanying figures. The same reference numerals are used throughout the figures for identical or equivalent parts. Fig. 1 shows a schematic block diagram of a control device for remotely controlling a vehicle according to an embodiment, Fig. 2 schematically shows a control module for remotely controlling a vehicle according to an embodiment, and Fig. 3 shows a flowchart of a method for remotely controlling a vehicle according to an embodiment.

[0019] Fig. Figure 1 shows a schematic block diagram of a control device for remotely controlling a vehicle according to one exemplary embodiment. The control device 1 is designed to be implemented in a control module that can be mounted on the vehicle, in particular removably mounted. The control device 1 comprises a processor 10, a memory unit 20 for storing machine-readable instructions for the processor 10, and an interface 30. Fig. 1 further shows a vehicle control unit 40 or control device of the vehicle and a teleoperation unit 50 for remotely controlling the vehicle. The vehicle control unit 40 is a central control unit or control device of the vehicle, which is designed to control the vehicle state or the state of the individual vehicle components. The vehicle control unit can be connected to sensors of the vehicle and receive and evaluate vehicle sensor data from the sensors. The vehicle sensor data can include sensor data, for example, about the speed or direction of movement, about the operating state of the engine, or about the vehicle interior.

[0020] The interface 30 is designed to receive control commands 60 (symbolically represented as an arrow) from the teleoperation unit 50 and to output control signals 70 to the vehicle control unit 40 for controlling the vehicle, symbolically represented as an arrow.

[0021] The memory unit 20 contains instructions for the processor 10 to generate the control signals 70 based on the control commands 60 received from the teleoperation unit 50 and to output the control signals 70 to the vehicle control unit 40. The vehicle can thus be remotely controlled by the teleoperation unit 50 using the control module mounted on the vehicle with the control device 1.

[0022] Fig. 1 further symbolically shows a sensor system 80 for detecting the current vehicle environment. The sensor system 80 can, in particular, comprise one or more sensors or real-time observation devices or image acquisition systems, such as optical sensors, cameras, radar and / or lidar sensors. In the exemplary embodiment shown, the interface 30 is further configured to receive sensor data 90 (symbolically represented as an arrow) from the sensor system 80 for detecting the vehicle environment.

[0023] In some embodiments, the memory unit 20 contains instructions for the processor 10 to evaluate the sensor data 90 and to generate the control signals 70 for controlling the vehicle based at least partially on the current vehicle environment. In some embodiments, the interface 30 is configured to send data 100 describing the current vehicle environment (symbolically represented as an arrow) or images to the teleoperation unit 50. In particular, images and / or videos captured by the sensors can be transmitted to the teleoperation unit. Based on the data 100 describing the current vehicle environment, the control or remote control of the vehicle can be adapted to the current vehicle environment.

[0024] In some embodiments, interface 30 is configured to receive vehicle data 110 from vehicle control unit 40 or vehicle electronics for detecting a current vehicle state. In some embodiments, interface 30 is configured to send data 120 describing the current vehicle state (symbolically represented as an arrow) to teleoperation unit 50. Based on the data describing the current driving state or vehicle state, the remote control of the vehicle can be adapted to the respective current vehicle state.

[0025] Fig. 2 schematically shows a control module for remotely controlling a vehicle according to an embodiment. In the embodiment of Fig. 2, the control module 200 is designed in the form of a roof box for mounting on the roof of the vehicle 205. The control module 200 comprises a control device 1 according to the first aspect and a sensor system 80 with a number of cameras 210 and a GPS receiver 220. The control module 200 further comprises one or more antennas for communicating with the teleoperation unit 50. The control module 200 is attached to the roof of the vehicle 205 by means of mounting rails 230, similar to a ski box. Using the mounting rails 230, the control module 200 can be easily mounted or removed as needed.

[0026] The cameras 210 are mounted on different sides of the control module 200. The cameras 210 each have a detection spatial angle (shown in dashed lines) and are aligned such that a comprehensive image of the vehicle's surroundings can be generated. The cameras installed in the roof box have a particularly good overview of the surroundings of the vehicle 205. The vehicle roof is generally an unused area, so that the roof box can be installed quickly and easily. If the vehicle is to be used as a driver-controlled vehicle, the control box can be removed or simply deactivated without disassembly. The deactivation of the remote control can be carried out in particular by the teleoperator or from the teledriver's position. In particular, the teleoperation unit can be configured so that the teleoperator can switch between the normal driving mode, i.e.when the vehicle is being driven by a driver, and can switch to remote control mode. The control box can be designed to be water-resistant, so that the control module is protected from rain or splash water. The control box can be designed to be shock-resistant, so that the control module is protected from vibrations.

[0027] In some embodiments, the control module is configured to form a positive fit with the vehicle or vehicle roof or is mounted on the vehicle, in particular, sealed to the vehicle with a seal. In some embodiments, the control module is configured such that, in the installed state, it is perceived as an integral part of the vehicle. The control module or the housing of the control module can, in particular, be designed to be streamlined, which can reduce the vehicle's wind resistance.

[0028] The electrical connection (not shown) between the control device 1 of the control module 200 and the vehicle control unit 40 can be designed, in particular, as a wired connection. The electrical connection can be established, for example, through a door seal, through the sunroof seal, or through an existing opening of a roof antenna 240 on the vehicle roof.

[0029] Fig.3 shows a flowchart of a method for remotely controlling a vehicle according to an exemplary embodiment. According to the method 400, in a method step 401, a control module according to the second aspect for remotely controlling the vehicle 205 is provided. In a method step 402, the control module 200 is mounted on the vehicle 205. In particular, in method step 402, a control module 200 designed as a roof box can be mounted on the roof of the vehicle 205. In a method step 403, the interface 30 of the control device 1 of the control module 200 is connected to the vehicle control unit 40. The connection of the control device 30 to the vehicle control unit 40 can be established, in particular, by means of a cable connection and / or wirelessly. In a method step 404, the interface 30 of the control device 1 of the control module 200 is connected to the teleoperation unit 50.The connection between the control device 30 and the teleoperation unit 50 can be wireless, in particular by means of a mobile radio modem of the control module 200 and with a wireless communication interface of the teleoperation unit 50.

[0030] In a method step 405, control commands 60 are sent from the teleoperation unit 50, and in a method step 406, the control commands 60 are received via the interface 30 of the control device of the control module 200. According to the method 400, in a method step 407, control signals 70 for controlling the vehicle 205 are further generated based, or at least partially based, on the received control commands 60. In particular, the control signals 70 can include signals for controlling longitudinal and / or transverse movements of the vehicle 205. The longitudinal movements of the vehicle 205 can, in particular, include acceleration or braking movements, and the transverse movements can, in particular, include steering movements. In a method step 408, the control signals 70 are output to the vehicle control unit 40, so that the vehicle 205 is controlled by the teleoperation unit 50 by means of the control module 200 mounted on the vehicle 205.

[0031] Due to the mountable control module, the vehicle can be easily converted into a remote-controlled vehicle, so that the process or remote control of the vehicle can be realized in a very inexpensive and simple way.

[0032] In some embodiments of method 400, the current vehicle environment is detected in one method step by means of sensor system 80, in particular by means of cameras 210. The data 100 describing the current vehicle environment (symbolically represented as an arrow) or images can be sent to teleoperation unit 50. In particular, images and / or videos recorded by sensor system 80 or cameras 210 can be transmitted to the teleoperation unit. Based on the data 100 describing the current vehicle environment, the control or remote control of the vehicle can be adapted to the current vehicle environment.

[0033] In some embodiments of method 400, data describing the current vehicle state is sent to the teleoperation unit. Based on the data describing the current driving state or vehicle state, the remote control of the vehicle can be adapted to the respective current vehicle state. In particular, the memory unit of the teleoperation unit can contain instructions for the processor to evaluate the data describing the current vehicle state and to transmit control commands based at least partially on the current vehicle state. Thus, the vehicle can be controlled from the teleoperation unit taking the current vehicle state into account.

[0034] Depending on the design, the control module or roof box may also include additional functional elements. In particular, the control module may include one or more microphones for detecting acoustic signals from the vehicle's surroundings. The acoustic signals can be evaluated in the control unit or teleoperation unit, so that vehicle control can be based at least partially on the acoustic signals.

[0035] In some embodiments, the control module includes signaling systems, in particular signal lights such as turn signals, brake lights, and / or hazard warning lights. These additional functions can improve the vehicle's visibility to other road users and enhance overall road safety.

[0036] Although at least one exemplary embodiment has been shown in the foregoing description, various changes and modifications may be made. The recited embodiments are merely examples and are not intended to limit the scope, applicability, or configuration of the present disclosure in any way. Rather, the foregoing description provides those skilled in the art with a road map for implementing at least one exemplary embodiment; numerous changes may be made in the function and arrangement of elements described in an exemplary embodiment without departing from the scope of the appended claims and their legal equivalents. Furthermore, multiple modules or multiple products may be connected together in accordance with the principles described herein to obtain additional functions. List of reference symbols 1 control device 10 processor 20 storage units 30 Interface 40 Vehicle control unit 50 Teleoperation Unit 60 control command 70 control signal 80 Sensor technology 90 sensor data 100 current vehicle environment descriptive data 110 Vehicle data 120 data describing the current vehicle condition 200 control module 205 vehicles 210 cameras 220 GPS receivers 230 mounting rails 240 roof antenna 400 procedures 401 Process step 402 Process step 403 Process step 404 Process step 405 Process step 406 Process step 407 Process step

Claims

[1] Control device (1) for remotely controlling a vehicle (205), wherein the control device (1) is designed to be implemented in a control module (200) mountable on the vehicle (205), and wherein the control device (1) comprises: - a processor (10), - a memory unit (20) for storing machine-readable instructions for the processor (10), and - an interface (30), wherein the interface (30) is designed to receive control commands (60) from a teleoperation unit (50) and to output control signals (70) to a vehicle control unit (40) for controlling the vehicle (205), wherein the memory unit (20) contains instructions for the processor (10) to generate the control signals (70) based on the control commands (60) received from the teleoperation unit (50) and to output the control signals (70) to the vehicle control unit (40), so that the vehicle (205) can be remotely controlled by the teleoperation unit (50) by means of the control module (200) mounted on the vehicle (205). [2] Control device (1) according to claim 1, wherein the interface (30) is designed to receive sensor data (90) from a sensor system (80) for detecting a current vehicle environment. [3] Control device (1) according to claim 2, wherein the memory unit (20) contains instructions for the processor (10) to evaluate the sensor data (90) and to generate the control signals (70) for controlling the vehicle (205) based at least partially on the current vehicle environment. [4] Control device (1) according to one of the preceding claims, wherein the interface (30) is designed to receive vehicle data (110) from the vehicle control unit for detecting a current vehicle state. [5] Control device (1) according to claim 4, wherein the memory unit (20) contains instructions for the processor (10) to evaluate the vehicle data (110) and to generate the control signals (70) for controlling the vehicle (205) at least partially based on the current vehicle state. [6] Control module (200) for remotely controlling a vehicle (205), wherein the control module (200) is designed to be mounted on the vehicle (205), and wherein the control module (200) comprises a control device (1) according to one of the preceding claims. [7] Control module (200) according to claim 6, wherein the control module (200) comprises one or more of the following components: - a sensor system (80), in particular comprising one or more cameras (210), for detecting the vehicle environment, - a GPS sensor (220) for detecting a current vehicle position, and - one or more mobile radio modems for communication with the teleoperation unit (50) with one or more antennas. [8] Control module (200) according to claim 7, wherein the control module (200) is designed in the form of a removably mountable roof box. [9] A method (400) for remotely controlling a vehicle (205), comprising: - Providing (401) a control module (200) according to one of claims 6 to 8 for remotely controlling the vehicle (205), - Mounting (402) the control module (200) on the vehicle (205), - connecting (403) the interface (30) of the control device (1) of the control module (200) to the vehicle control unit (40), - connecting (404) the interface (30) of the control device (1) of the control module (200) to the teleoperation unit (50), - sending (405) control commands (60) from the teleoperation unit (50), - receiving (406) the control commands (60) via the interface (30) of the control device (1) of the control module (200), - generating (407) control signals (70) for controlling the vehicle (205) based on the received control commands (60), and - Outputting (408) the control signals (70) to the vehicle control unit (40) so that the vehicle (205) can be controlled by the teleoperation unit (50) by means of the control module (200) mounted on the vehicle (205). [10] Vehicle (205), wherein a control module (200) according to claim one of claims 5 to 8 is implemented on the vehicle (205).

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