Method and system for remotely controlling a vehicle with assessment of the competence of a teleoperator and computer program product

Abstract

The invention relates to a method and a system (10) for remotely controlling a vehicle (12) by a teleoperator (14), in which the teleoperator (14) makes at least one operating input at a remote control station (16) external to the vehicle, which causes at least one control command for driving the vehicle (12) to be output to the vehicle (12). A receiving device (20) of the vehicle (12) receives the at least one control command, wherein the at least one control command is implemented by a device internal to the vehicle (22). An evaluation device (26) determines a competence of the teleoperator (14) with regard to remote control, wherein the teleoperator (14) is granted greater freedom with regard to remote control of the vehicle (12) if the competence is higher than if the competence is lower. Furthermore, the invention relates to a Computer program product.

Description

[0001] The invention relates to a method for remotely controlling a vehicle by a teleoperator, in which the teleoperator performs at least one operating input at a remote control station external to the vehicle. The operating input causes at least one control command for driving the vehicle to be output to the vehicle. A receiving device of the vehicle receives the at least one control command, wherein the at least one control command is implemented by a device internal to the vehicle. The invention further relates to a system for remotely controlling a vehicle and a computer program product.

[0002] WO 2020 / 114785 A1 describes a method for assisting a teleoperator in remotely controlling a motor vehicle using a remote control device. Sensor data provided by the motor vehicle's environmental sensors are used to create an image of the surroundings, which is displayed by the remote control device.

[0003] When a teleoperator remotely controls a vehicle, it should be ensured that the vehicle does not collide with obstacles. At the very least, the likelihood of collisions with obstacles should be reduced. For this purpose, an emergency stop module or emergency braking module can be integrated into the vehicle, which triggers emergency braking of the vehicle, for example, if the vehicle comes too close to an obstacle, such as another vehicle, during remote control.

[0004] An experienced teleoperator capable of driving the vehicle safely and collision-free under remote control, even at close range to obstacles or other vehicles, may feel inconvenienced or patronized by such emergency braking. The same applies, for example, to vehicle occupants who experience the emergency braking, even though the emergency braking would not be necessary due to the teleoperator's experience in driving the vehicle remotely.

[0005] The object of the present invention is therefore to provide a method of the type mentioned at the outset which enables particularly unimpaired driving of the vehicle during remote control by the teleoperator, and to provide a corresponding system and a computer program product for the system.

[0006] This object is achieved by a method having the features of patent claim 1, a system having the features of patent claim 12, and a computer program product having the features of patent claim 13. Advantageous embodiments with expedient further developments of the invention are specified in the dependent patent claims and in the following description.

[0007] In the method according to the invention for remotely controlling a vehicle by a teleoperator, the teleoperator makes at least one operating input at a remote control station external to the vehicle. The operating input causes at least one control command to be output to the vehicle, which can be implemented for remotely driving the vehicle. A receiving device of the vehicle receives the at least one control command, wherein the at least one control command is implemented by a device internal to the vehicle. In the method, an evaluation device determines the teleoperator's competence with regard to remote control. The teleoperator is granted greater freedom with regard to remote control of the vehicle if the competence is higher than if the competence is lower.

[0008] This is based on the realization that a teleoperator with a higher level of competence has more extensive skills or abilities, or greater proficiency, with regard to remote control of the vehicle than an inexperienced and thus less competent teleoperator. By taking the teleoperator's competence into account when granting freedom with regard to remote control of the vehicle, the individual skills of each teleoperator in remotely controlling the vehicle can be addressed very well.

[0009] In particular, impairments or limitations of the teleoperator can be avoided which the experienced or highly competent teleoperator need not be expected to endure or which need only be expected to endure to a lesser extent.

[0010] The highly competent teleoperator is thus subject to fewer restrictions and can remotely control the vehicle very efficiently and without interference. Consequently, the method enables particularly uninterrupted vehicle control when the teleoperator remotely controls the vehicle.

[0011] Furthermore, by determining the competence of the teleoperator, it can be ensured that a teleoperator with a lower level of competence is encouraged to proceed with particular caution when driving the vehicle remotely. This advantageously prevents collisions between the vehicle and obstacles or objects during remote-controlled driving. In this way, road safety can be increased, particularly during remote-controlled driving of vehicles.

[0012] In addition, depending on the teleoperator's competence determined by the assessment device, options or functions for teleoperated or remotely controlled driving of the vehicle can be enabled or activated. This promotes efficient, and especially rapid, driving of the vehicle by the teleoperator.

[0013] The remote control station, from which the teleoperator can issue the control commands to the vehicle, is preferably a stationary station, located, for example, in a building. Such a remote control station is therefore designed differently from a portable remote control or a remote control device by means of which an operator can control a vehicle while maintaining direct visibility of the vehicle. When controlling the vehicle remotely using the remote control, it is imperative that the operator is in close proximity to the vehicle and constantly has the vehicle in view.Furthermore, due to relevant regulations, remote control or maneuvering of the vehicle using the remote control device is only permitted if the operator is in close proximity to the vehicle and the vehicle is within the operator's direct field of vision. Furthermore, such a remote control device is a portable device, whereas the fixed remote control station is at least essentially immobile.

[0014] For the teleoperator, who makes operating inputs at the remote control station in order to cause the remote control station to issue at least one control command, it is not necessary, however, to have the vehicle directly in view. Rather, the teleoperator can view the vehicle on a display device, for example in the form of a screen or the like, which is preferably associated with the remote control station. Additionally or alternatively, the surroundings of the vehicle driven by the teleoperator can be displayed on such a screen. However, this is not permissible or sufficient if driving maneuvers of the vehicle are to be effected using the portable remote control device or the portable remote control. Rather, when using the remote control or the remote control device, direct visual contact of the operator with the vehicle is required and prescribed.

[0015] To determine the teleoperator's competence in remote control, the evaluation device preferably takes into account the driving behavior of at least one vehicle remotely controlled by the teleoperator. This makes it very easy to assess whether the teleoperator is steering the vehicle skillfully or clumsily or riskily. For example, to assess the driving behavior of a vehicle remotely controlled by the teleoperator, the evaluation device can take into account the vehicle's speed and how this speed compares to the maximum speed permitted on the route being traveled. Furthermore, parameters such as cornering and driving close to objects or obstacles can be considered as parameters describing the driving behavior.

[0016] The same applies, for example, to the frequency with which an automatic emergency braking system is activated. Emergency braking of the vehicle occurs during remote control of the vehicle by the teleoperator, for example, when the emergency braking is intended to avoid a collision with an object or obstacle. A teleoperator who frequently performs such emergency braking may therefore be classified by the assessment body as less competent than a teleoperator who does not use the emergency braking system or uses it very rarely.

[0017] By taking driving behavior into account, a score or similar value that takes driving safety into account when driving the vehicle remotely can be used to assess the competence of the teleoperator.

[0018] To determine the teleoperator's competence in remote control, the assessment device preferably takes into account the teleoperator's experience in remotely controlling vehicles. For example, objective or objectifiable parameters can be used for this purpose, such as the number of kilometers the vehicle has already traveled while being controlled by the respective teleoperator and / or the frequency with which the teleoperator remotely controls the vehicle. For example, it can be assumed that a teleoperator who remotely controls vehicles five days a week has a higher level of competence or experience than a teleoperator who only remotely controls vehicles every few weeks or once every three months.

[0019] Additionally or alternatively, to determine the teleoperator's competence with regard to remote control, the assessment device can take into account at least one proof of competence for the remote control of vehicles provided by the teleoperator. For example, the teleoperator can present or transmit to the assessment device proof of competence similar to graduated driving licenses, which demonstrate the teleoperator's competence in remotely driving the vehicle. The presence of a more demanding or more difficult to acquire proof of competence indicates a higher level of competence on the part of the teleoperator than if no proof of competence is present or only a very easy-to-acquire proof of competence is present. It is therefore advantageous if the assessment device takes into account the presence of at least one proof of competence provided by the teleoperator.The certificate of competence may be transmitted to the assessment body by the teleoperator, in particular in digital form.

[0020] Preferably, depending on the determined competence of the teleoperator, at least one threshold is changed. Upon reaching this threshold, the remote control performed by the teleoperator is intervened. By adjusting such a threshold, it is very easy to ensure that the teleoperator with the higher competence is granted greater freedom than the less competent teleoperator.

[0021] For example, the threshold value can be a vehicle speed that must not be exceeded when the vehicle is driven remotely by the teleoperator. A more experienced or more competent teleoperator can be permitted to drive a higher speed when driving the vehicle remotely than an inexperienced or less competent teleoperator.

[0022] Such a maximum vehicle speed granted to the teleoperator can, for example, be changed, in particular reduced, depending on whether the teleoperator issues control commands during remote control of the vehicle that, when implemented by the in-vehicle system, result in sharp or strong steering movements of the vehicle, and / or depending on whether the vehicle reverses during remote control. Even with such restrictions on the maximum vehicle speed, it is advantageous if the experienced or highly skilled teleoperator is subject to fewer restrictions than the inexperienced or less skilled teleoperator.

[0023] Accordingly, it can be provided that if the assessment device determines the higher competence of the teleoperator, a higher driving speed is permitted, even in the case of strong steering movements of the vehicle remotely controlled by the teleoperator and / or when reversing the vehicle remotely controlled by the teleoperator, than for the teleoperator for whom the assessment device determines the lower competence. In particular, it can be ensured that the teleoperator with the higher competence is not unpleasantly restricted with regard to the driving speed of the vehicle when driving the vehicle remotely. In particular, this can prevent the experienced teleoperator or the one with the higher competence from being forced to drive the vehicle at an undesirably slow speed.

[0024] Preferably, depending on the determined competence of the teleoperator, a distance value indicating a distance of the vehicle from an object is reduced as the at least one threshold value. In this case, the object can be physically contacted by the vehicle if the vehicle continues to travel unchanged. Thus, the vehicle may collide with the object or impact the object if the vehicle continues to travel unchanged. If the distance value is undershot, the driving speed of the vehicle remotely controlled by the teleoperator is reduced.

[0025] This is based on the realization that, for smooth driving behavior during teleoperated driving of the vehicle, an appropriate distance value can be integrated or implemented, in particular, in the in-vehicle device. The in-vehicle device, for example in the form of a control unit, can preferably bring about longitudinal and lateral guidance of the vehicle as well as braking of the vehicle when the in-vehicle device implements the at least one control command. If the in-vehicle device reduces the driving speed of the vehicle remotely controlled by the teleoperator when the distance value is undershot, it can be ensured that emergency braking or emergency deceleration of the vehicle does not occur in the first place. This is because the driving speed of the vehicle is reduced as a precautionary measure as soon as the vehicle enters a situation in which a collision with the object is possible.

[0026] However, a teleoperator with a high level of skill in remotely controlling the vehicle would be undesirably restricted by a comparatively high distance value. In contrast, for an inexperienced teleoperator or a teleoperator with low skill, a large or high distance value is useful to safely prevent the vehicle from colliding with objects.

[0027] Preferably, depending on the determined competence, at least one assistance function of a driver assistance system of the vehicle is enabled for the teleoperator, wherein the at least one assistance function facilitates the remote control of the vehicle for the teleoperator. This ensures that the experienced teleoperator or one with a high level of competence in remote control of the vehicle is relieved of the burden of remote control of the vehicle by the assistance function of the driver assistance system. This is advantageous, particularly with regard to efficient control of the vehicle by the teleoperator.

[0028] In the case of a less competent or inexperienced teleoperator, however, activating the driver assistance system's assistance function can result in the teleoperator devoting less attention to driving the vehicle than is necessary. This can be avoided if the at least one assistance function is only activated for the teleoperator if the assessment device determines that the teleoperator's competence exceeds a threshold value, for example, which can be assigned to the corresponding assistance function. This is because the experienced teleoperator or one who has a certain level of competence can ensure that they devote the necessary attention to driving the vehicle even when using the assistance function. It is therefore advantageous if the at least one assistance function is activated for the teleoperator depending on the determined level of competence.

[0029] Preferably, due to activation of the at least one assistance function, the vehicle is operated in a partially automated driving mode. This ensures that control or responsibility for driving the vehicle remains with the teleoperator. Nevertheless, the vehicle can be remotely controlled by the teleoperator in a simplified manner when the assistance function is activated. For example, a distance keeping function can be activated as the at least one assistance function, in which the vehicle maintains a predetermined distance from a vehicle traveling ahead. Additionally or alternatively, an automatic parking function and / or a lane keeping function can be executed as the at least one assistance function. Such assistance functions in which the vehicle is operated in a partially automated driving mode are also subject to control by the teleoperator.However, such assistance functions simplify the driving of the vehicle by the teleoperator.

[0030] Preferably, the teleoperator with the higher determined competence is authorized to perform at least one more demanding driving maneuver when remotely controlling the vehicle than with the lower determined competence. This allows for the fact that the experienced teleoperator or the one with the higher determined competence is capable of performing even demanding driving maneuvers without collisions, which require a high degree of skill on the part of the teleoperator. In contrast, such demanding driving maneuvers can be prohibited for the teleoperator for whom the lower competence was determined.

[0031] For example, the less competent or inexperienced teleoperator may be authorized to drive the vehicle to a parking space on company premises, while the more competent teleoperator may be authorized to drive the vehicle on the open road. In particular, in this context, the less competent teleoperator may only be authorized to drive the vehicle remotely on company premises, while the more competent teleoperator may also drive the vehicle remotely outside the company premises.

[0032] Additionally or alternatively, the teleoperator with the higher determined competence may be permitted to transport passengers or vehicle occupants and / or freight in the vehicle, while such transport is not permitted for a teleoperator for whom the lower competence has been determined.

[0033] Preferably, the teleoperator is authorized to perform at least one maneuver, namely parking in a tighter parking space than if the driver had the lower level of competence. This is based on the realization that the competent or experienced teleoperator is capable of maneuvering the vehicle into the tight parking space, while this poses at least a considerable challenge to the inexperienced or less competent teleoperator.

[0034] In particular, if the assessment device determines that the teleoperator's competence is lower, the vehicle can be moved into the parking space using an automated parking function. Accordingly, it can be ensured that the teleoperator with the lower competence is not permitted to maneuver the vehicle into the parking space remotely. Instead, the less experienced teleoperator can be informed that the vehicle's automated parking function must be used to maneuver the vehicle into the tight parking space. This can, in particular, prevent damage to the vehicle, which could occur if the vehicle were to be maneuvered into the tight parking space by the less competent teleoperator.

[0035] Preferably, depending on the determined competence level, different routes to a destination are released for the teleoperator to follow when remotely controlling the vehicle. This is based on the understanding that when selecting available routes, the difficulty of driving the respective route for the teleoperator when remotely controlling the vehicle can be taken into account. Accordingly, the teleoperator with the higher competence level can be offered more challenging routes than the less experienced or less competent teleoperator.

[0036] In particular, depending on the determined competence in relation to traffic volume, different routes to the destination can be authorized for the teleoperator, which are to be driven when remotely controlling the vehicle. This is because it is easier for the less competent teleoperator to remotely control the vehicle on a route with low traffic volume. In contrast, the teleoperator with the higher competence can be able to safely control the vehicle remotely even in a city center with high traffic volume and / or on a motorway with high traffic volume. In contrast, a route to the destination that leads via low-traffic country roads can be authorized as a route with low traffic volume.

[0037] Preferably, the competence determined by the assessment device is communicated to the teleoperator. This can motivate the teleoperator to acquire a higher level of competence if they are not satisfied with the freedom granted to them for remotely controlling the vehicle. This can lead to greater driving safety when teleoperators drive vehicles, as they strive to achieve a high level of competence.

[0038] In the system according to the invention for remotely controlling a vehicle by a teleoperator, at least one operating input can be made by the teleoperator at a remote control station of the system external to the vehicle. The operating input can cause at least one control command for driving the vehicle to be output to the vehicle. A receiving device of the vehicle is designed to receive the at least one control command, wherein the at least one control command can be implemented by a device internal to the vehicle. An evaluation device of the system is designed to determine a competence of the teleoperator with regard to remote control, wherein the system is designed to grant the teleoperator greater freedom regarding remote control of the vehicle if the competence is higher than if the competence is lower.

[0039] Consequently, the system, which is preferably designed to carry out the method according to the invention, enables particularly unimpaired driving of the vehicle when the vehicle is remotely controlled by the teleoperator.

[0040] The evaluation device can be integrated into the vehicle and / or the remote control station. Additionally or alternatively, it is possible for the remote control station and / or the vehicle to access an evaluation device located outside the remote control station and outside the vehicle, which can be provided, for example, by a server or similar computing device, in particular by a server accessible via a cloud, and / or by an infrastructure device. A stationary device, in the vicinity of which the vehicle can be moved during remote control by the teleoperator, is particularly suitable as an infrastructure device.

[0041] In particular, the remote control station and / or the in-vehicle device and / or the evaluation device can be designed to grant the teleoperator greater freedom regarding the remote control of the vehicle at the higher level of competence determined.

[0042] A further aspect relates to a computer program product for the system according to the invention. The computer program product is, in particular, a computer program. The computer program product comprises instructions which, when the program is executed by the system, cause the system to execute at least the method according to the invention and preferably at least one embodiment of the method according to the invention.

[0043] The advantages and preferred embodiments described for the method according to the invention also apply to the system according to the invention and to the computer program product and vice versa.

[0044] The features and feature combinations mentioned above in the description, as well as the features and feature combinations mentioned below in the description of the figures and / or shown alone in the figures, can be used not only in the respective combination specified, but also in other combinations without departing from the scope of the invention. Thus, embodiments are also to be considered encompassed and disclosed by the invention that are not explicitly shown and explained in the figures, but which emerge and can be produced by separate feature combinations from the explained embodiments. Embodiments and feature combinations are also to be considered disclosed that therefore do not have all the features of an originally formulated independent claim.Furthermore, embodiments and combinations of features are to be regarded as disclosed, in particular by the embodiments set out above, which go beyond or deviate from the combinations of features set out in the references to the claims.

[0045] Further features of the invention emerge from the claims, the figures, and the description of the figures. These show: Fig. 1 schematically shows a system for remotely controlling a vehicle by a teleoperator, the system comprising an evaluation device for evaluating a competence of the teleoperator with regard to remote controlling; Fig. 2 a possibility of granting a highly competent teleoperator greater freedom in remote control of the vehicle than a less competent teleoperator, whereby a distance value is reduced for the competent teleoperator, below which a gentle braking of the remote-controlled vehicle is initiated in order to prevent impact with a vehicle in front without performing an emergency braking maneuver; and Fig. 3 schematically shows the release of an assistance function in the form of a distance control function of the vehicle remotely controlled by the teleoperator, whereby the release of this assistance function grants the teleoperator greater freedom than a less experienced teleoperator.

[0046] In the figures, identical or functionally identical elements are provided with identical reference symbols.

[0047] In Fig. 1 schematically shows a system 10 for remotely controlling a vehicle 12 or motor vehicle by a teleoperator 14. The teleoperator 14 is located at a remote control station 16, which is arranged outside the vehicle 12. For example, this vehicle-external and preferably stationary remote control station 16 can be located in a building (not shown) in which an operator, in the form of the teleoperator 14, sits or stands in front of at least one screen of the remote control station 16 (also not shown). At least a portion of the vehicle 12 to be remotely controlled and at least a portion of the surroundings of the vehicle 12 can be displayed on the screen. However, the teleoperator 14 does not need to have direct visual contact with the vehicle 12 in order to control the vehicle 12 teleoperated, i.e., to remotely control it by operating the remote control station 16.

[0048] The remote control station 16 has at least one operating device 18, on which the teleoperator 14 can make operating inputs to effect the remote control of the vehicle 12. Upon making the operating inputs, the remote control station 16 issues control commands to the vehicle 12. The control commands are transmitted wirelessly to a receiving device 20 of the vehicle 12, which in Fig. 1 is shown schematically.

[0049] Furthermore, the vehicle 12 has an in-vehicle device 22 capable of implementing the received control commands. The in-vehicle device 22 can be configured, for example, as a control unit that can control at least one longitudinal guidance unit and at least one lateral guidance unit of the vehicle 12, as well as preferably at least one braking device of the vehicle 12. By implementing the control commands, the in-vehicle device 22 can cause the vehicle 12 to move in the manner intended by the teleoperator 14 by issuing the control commands.

[0050] When moving the vehicle 12 remotely, i.e. by means of the teleoperator 14, it is particularly important to ensure that the vehicle 12 does not collide with obstacles such as a Fig. 2. For this purpose, the vehicle 12 has an emergency braking module (not shown) which automatically brakes the vehicle 12 when a collision with the obstacle is imminent. In systems for remotely controlling vehicles, it can be provided that such an emergency braking device is also activated when the teleoperator 14 performs an action that is permissible per se, for example, when the vehicle 12 comes very close to another vehicle when parking. Such a scenario can result in the unpleasant experience for the teleoperator 14 that the vehicle 12 suddenly stops during the parking process without the teleoperator 14 intending this. The same applies if there are passengers in the vehicle 12 who may also feel impaired or disturbed by the automatic activation of the emergency braking device.

[0051] Furthermore, a limiting unit can be implemented in the in-vehicle device 22, which slows down the vehicle 12 as a precaution if the vehicle 12 remotely controlled by the teleoperator 14 enters a situation in which a collision with an obstacle could occur. Such gentle braking is beneficial to prevent the hard or jerky braking that occurs when the emergency braking system intervenes. However, even gentle braking can be undesirable or disruptive for the teleoperator 14 and / or for passengers of the vehicle 12. This applies in particular if the gentle reduction in the driving speed of the vehicle 12 occurs even though the teleoperator 14 has the vehicle 12 easily under control during remote control.

[0052] The problems described above can be avoided by using the system 10 described with reference to the figures. This is because the system 10 comprises an evaluation device 26 designed to determine the competence of the teleoperator 14 with regard to the remote control of vehicles 12. If the evaluation device 26 determines that the teleoperator 14 is highly skilled in the remote control of vehicles 12, the teleoperator 14 is granted greater freedom regarding the remote control of the vehicle 12 than is the case with a teleoperator 14 for whom the evaluation device 26 determines a lower level of competence. In other words, the experienced teleoperator 14, for whom the evaluation device 26 determines a higher level of competence, is granted greater freedom regarding the remote control of the vehicle 12 than the less skilled or less experienced teleoperator 14.

[0053] The evaluation device 26 can be associated with the vehicle 12 or integrated into the vehicle 12. Additionally or alternatively, the evaluation device 26 can be associated with the remote control station 16 or integrated into the remote control station 16. Furthermore, it is possible for the remote control station 16 and / or the vehicle 12 to access the evaluation device 26 arranged outside the remote control station 16 and outside the vehicle 12, for example via a wireless and / or wired communication link (not shown here).

[0054] The evaluation device 26 evaluates the driving performance of the teleoperator 14 and derives from this the competence of the teleoperator 14, which relates to the remote control of vehicles 12. In doing so, the evaluation device 26 can take into account a variety of parameters. For example, the driving behavior of vehicles 12 that the teleoperator 14 has already controlled can be evaluated. From such observations, a score can be determined, for example, a score relating to the safety of remotely driving the vehicles 12, in order to classify the competence of the teleoperator 14.

[0055] For example, the actual driving speed of the vehicle 12 relative to a permissible driving speed applicable on a route traveled by the vehicle 12 and / or other parameters can be taken into account. The further parameters can include, for example, whether the teleoperator 14, when remotely driving the vehicle 12, negotiates curves correctly or cuts curves and, for example, enters an oncoming lane or the like. Additionally or alternatively, a parameter that can be taken into account is how close the vehicle 12 comes to objects such as obstacles or other vehicles 24 during remote-controlled driving. Furthermore, it can be taken into account how often the emergency braking system of the vehicle 12 intervenes and thus overrides the teleoperator 14.

[0056] Additionally or alternatively, to determine the competence of the teleoperator 14, easily measurable parameters can be taken into account, which correspond to the experience of the teleoperator 14 in remotely controlling vehicles 12. Such parameters can include, for example, the number of kilometers already driven by the teleoperator 14 in remotely controlling vehicles 12 and / or the frequency with which the teleoperator 14 remotely controls vehicles 12. Additionally or alternatively, the evaluation device 26 can consider whether or which certificates of competence the teleoperator 14 has for remotely controlling vehicles 12.

[0057] All of these parameters can, for example, be evaluated with points, so that the competence of the teleoperator 14 can be accurately assessed based on a total score. In particular, depending on such a number of points, the teleoperator 14 can be granted more freedom if the teleoperator 14 demonstrates a higher level of competence than is the case for a teleoperator 14 with a lower assessed level of competence.

[0058] For example, restrictive settings of the system 10 can be changed if the evaluation device 26 determines a high level of competence for the teleoperator 14. For example, when parking in a tight parking space, the teleoperator 14 can be allowed to drive the vehicle 12 at a higher speed if the teleoperator 14 exhibits the higher level of competence.

[0059] Another possibility is to be discussed with reference to Fig. 2 will be explained. In Fig. 2, a distance 28 to the other vehicle 24 driving ahead is indicated, below which the vehicle 12 is automatically braked by the emergency braking system. From a length of the distance 28 plus a length 30 of a further distance, which in Fig. 2 is indicated by a double arrow 32, a distance value 34 results, which indicates the distance of the vehicle 12 from the object approximately in the form of the further vehicle 24. Another in Fig. The arrow 36 shown in Figure 2 illustrates the length of the distance 28. The distance of the vehicle 12 from the object in the form of the further vehicle 24 therefore corresponds to the sum of the length 30 and the distance 28.

[0060] As soon as the distance value 34 is undershot, the driving speed of the vehicle 12 is reduced, in particular by means of a braking device of the vehicle 12. For an inexperienced teleoperator 14, a high safety limit and accordingly a comparatively large distance value 34 applies. This is because it can then be safely achieved that the vehicle 12 is braked so early that the emergency braking device is not triggered in the first place.

[0061] However, the competent or experienced teleoperator 14 has significantly better control over the vehicle 12 and can therefore steer the vehicle 12 very skillfully during teleoperated driving. Therefore, for the experienced teleoperator 14, the distance value 34 below which the vehicle 12 slows down can be reduced. This is because the highly competent and therefore experienced teleoperator 14 remotely controls the vehicle 12 in such a way that the emergency braking system is not, or almost never, triggered.

[0062] Another possibility to grant greater freedom to the teleoperator 14 with the higher determined competence is to be discussed with reference to Fig. 1 and Fig. 3. For example, the vehicle 12 may have a driver assistance system 38 with a plurality of assistance functions 40. As an example, reference is made to a Fig. 3, which makes it easier for the teleoperator 14 to drive the vehicle 12. This assistance function 40 can be designed, for example, as a distance control function of the vehicle 12. Accordingly, by means of at least one sensor device of the vehicle 12, for example by means of at least one camera 42 and / or by means of at least one radar device 44, a distance of the vehicle 12 to other vehicles driving ahead (in Fig. 3 (not shown) vehicles. The assistance function 40 ensures that a certain distance to the vehicle in front is not undercut.

[0063] Such an assistance function 40 makes it easier for the teleoperator 14 to remotely control the vehicle 12. However, it is important to ensure that the teleoperator 14 maintains control of the vehicle 12 and can intervene, for example, if something unforeseen occurs. Such a task can be accomplished more easily by an experienced or highly competent teleoperator 14 than by an inexperienced and therefore less competent teleoperator.

[0064] Assistance functions 40 can thus be enabled for the experienced teleoperator 14, the use of which is not permitted for an inexperienced teleoperator. Such assistance functions 40 can, in particular, be those in which cooperation between the teleoperator 14 and the vehicle 12 is maintained, even if the vehicle 12 is operated in a partially automated driving mode due to the activation of the assistance function 40.

[0065] Since the assistance function 40 at least partially controls the vehicle 12, the teleoperator 14 should take this into account, especially when the teleoperator 14 reacts in a critical situation. In particular, a driving function that is not fully automated can give the teleoperator 14 a false sense of security. This can be avoided if the assistance function 40 is enabled for the teleoperator 14 depending on whether the teleoperator 14's competence has reached a certain level. This is because the experienced teleoperator 14 is well aware of the limitations of the vehicle 12 and of controlling the vehicle 12 via the remote control station 16. Thus, enabling the additional assistance function 40 can provide support for this teleoperator 14 or relieve the teleoperator 14, particularly when performing otherwise laborious driving maneuvers during remote control of the vehicle 12.

[0066] Furthermore, stricter limits may be imposed on the less experienced teleoperator 14, which may, for example, concern a maximum driving speed of the vehicle 12 when performing a driving maneuver of the vehicle 12 or a maximum driving speed in a respective situation during the driving maneuver.

[0067] Likewise, additional safety precautions may apply to the less experienced teleoperator 14. For example, the inexperienced teleoperator 14 may have difficulty maneuvering the vehicle 12 into a tight parking space. If the competence of this teleoperator 14 is assessed as too low for parking in the tight parking space, then the vehicle 12 and / or the evaluation device 26, in particular, may ensure that the teleoperator 14 is not permitted to maneuver the vehicle 12 into the tight parking space by remote control.

[0068] For example, the vehicle 12 can detect, using at least one environmental sensor, that the parking space is too narrow and then prevent the teleoperator 14 from remotely maneuvering the vehicle 12 into the parking space. In particular, the less experienced teleoperator 14 can be prompted to activate an automated parking function of the vehicle 12, which can be used to park the vehicle in the narrow parking space.

[0069] Additionally or alternatively, if the teleoperator 14 achieves a high competence value or if the evaluation device 26 determines a high competence value for the teleoperator 14, the teleoperator 14 may be permitted to receive an assistance function 40 as a kind of reward. For example, an automated parking function may be considered an assistance function 40 that facilitates the remote-controlled driving of the vehicle 12 for the teleoperator 14. Accordingly, activating the assistance function 40 in the form of such an automated parking function may relieve the teleoperator 14 of work involved in remotely driving the vehicle 12.

[0070] By achieving a higher competency score, which the evaluation device 26 determines for the respective teleoperator 14, it is possible, in particular, to unlock additional and / or even more convenient assistance functions 40 for the teleoperator 14 when driving the vehicle 12 remotely. This makes it easier and more convenient for the teleoperator 14 to drive the vehicle 12 remotely.

[0071] This is particularly advantageous than enabling assistance functions 40 for a fee. This is because the competence of the teleoperator 14 is taken into account when enabling the respective assistance function 40. Nevertheless, it can be provided that the experienced teleoperator 14 can purchase assistance functions 40 at a lower price than an inexperienced teleoperator 14.

[0072] Furthermore, it is possible for the evaluation device 26 to initiate or effect an automatic adaptation of the released assistance functions 40 depending on the competence of the teleoperator 14.

[0073] The assessment of the competence of the teleoperator 14 can also be used to encourage the teleoperator 14 to improve their competence through training. Furthermore, providing feedback to the teleoperator 14 can be valuable or helpful in improving the competence of the teleoperator 14 in driving the vehicle 12.

[0074] In certain cases, it is particularly useful to consider the experience of the teleoperator 14 when determining the competence of the teleoperator 14. For example, the teleoperator 14 may regularly remotely control vehicles 12 on a company premises on which production of vehicles 12 takes place. Accordingly, the teleoperator 14 may be accustomed to always covering the same route when remotely controlling the vehicles 12, for example the route from the end of a production line during the manufacture of the vehicles 12 to a parking space in a parking area. Therefore, the teleoperator 14 is very experienced in driving the vehicle 12 along this always identical route. This can be taken into account in order to grant the teleoperator 14 greater freedom for this route regarding the remote control of the vehicle 12.

[0075] Overall, the examples show how, in particular by determining a, preferably safety-based, competence value, the teleoperator 14 can be granted access to extended options or functions when moving the vehicle 12 remotely. QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] WO 2020 / 114785 A1

[0002]

Claims

[1] Method for remotely controlling a vehicle (12) by a teleoperator (14), in which the teleoperator (14) makes at least one operating input at a remote control station (16) external to the vehicle, which causes at least one control command to be output to the vehicle (12) for driving the vehicle (12), and in which a receiving device (20) of the vehicle (12) receives the at least one control command, the at least one control command being implemented by a device (22) internal to the vehicle, characterized by that an evaluation device (26) determines a competence of the teleoperator (14) with regard to remote control, wherein the teleoperator (14) is granted greater freedom with regard to remote control of the vehicle (12) in the case of a higher determined competence than in the case of a lower determined competence. [2] Method according to claim 1, characterized bythat the evaluation device (26) for determining the competence of the teleoperator (14) with regard to remote control takes into account a driving behavior of at least one vehicle (12) remotely controlled by the teleoperator (14). [3] Method according to one of the preceding claims, characterized by that the evaluation device (26) for determining the competence of the teleoperator (14) with regard to remote control takes into account an experience of the teleoperator (14) in remotely controlling vehicles (12) and / or at least one proof of competence for remotely controlling vehicles (12) provided by the teleoperator (14). [4] Method according to one of the preceding claims, characterized by that, depending on the determined competence of the teleoperator (14), at least one threshold value is changed, upon reaching which the remote control carried out by the teleoperator (14) is intervened. [5] Method according to claim 4, characterized bythat, depending on the determined competence of the teleoperator (14), a distance value (34) is reduced as the at least one threshold value, which distance value indicates a distance of the vehicle (12) from an object (24) which can be physically contacted by the vehicle (12) if the vehicle (12) continues to travel unchanged, wherein if the distance value (34) is undershot, a driving speed of the vehicle (12) remotely controlled by the teleoperator (14) is reduced. [6] Method according to one of the preceding claims, characterized by that, depending on the competence determined, at least one assistance function (40) of a driver assistance system (38) of the vehicle (12) is enabled for the teleoperator (14), wherein the at least one assistance function (40) makes it easier for the teleoperator (14) to remotely control the vehicle (12). [7] Method according to claim 6, characterized bythat due to activation of the at least one assistance function (40), the vehicle (12) is operated in a partially automated driving mode. [8] Method according to one of the preceding claims, characterized by that the teleoperator (14) is authorized to carry out at least one more demanding driving maneuver when remotely controlling the vehicle (12) if the higher determined competence is present than if the lower determined competence is present. [9] Method according to claim 8, characterized by that the teleoperator (14) is authorized to park in a narrower parking space as the at least one driving maneuver than when the lower competence determined is present, wherein when the evaluation device (26) determines the lower competence of the teleoperator (14), the vehicle (12) is moved into the parking space by means of an automated parking function. [10] Method according to one of the preceding claims, characterized bythat, depending on the competence determined, different routes to be traveled during the remote control of the vehicle (12), in particular different routes with regard to traffic volume, are released to a destination for the teleoperator (14). [11] Method according to one of the preceding claims, characterized by that the competence determined by the assessment device (26) is communicated to the teleoperator (14). [12] System (10) for remotely controlling a vehicle (12) by a teleoperator (14), wherein at least one operating input can be made by the teleoperator (14) at a vehicle-external remote control station (16) of the system (10), wherein the operating input can cause at least one control command to be output to the vehicle (12) for driving the vehicle (12), wherein a receiving device (20) of the vehicle (12) is designed to receive the at least one control command, and wherein the at least one control command can be implemented by a vehicle-internal device (22), characterized by that an evaluation device (26) of the system (10) is designed to determine a competence of the teleoperator (14) with regard to remote control, wherein the system (10) is designed to grant the teleoperator (14) greater freedom with regard to remote control of the vehicle (12) in the case of a higher determined competence than in the case of a lower determined competence. [13] A computer program product for a system (10) according to claim 12, comprising instructions which, when the program is executed by the system (10), cause the system (10) to carry out the method according to any one of claims 1 to 11.

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