Controlling a semi-autonomous vehicle while reversing

Abstract

A method is provided for controlling a first vehicle and a second vehicle remotely controlled by the first vehicle, which has at least one rearward-mounted camera and which follows the first vehicle controlled by a driver. The method comprises the steps of connecting the camera of the second vehicle to a display of the first vehicle via vehicle-to-vehicle communication, controlling the second vehicle by the driver of the first vehicle such that the second vehicle assumes the role of the towing vehicle and the first vehicle assumes the role of the towed vehicle, and displaying at least one trajectory calculated according to the steering angle on the display. A first vehicle for carrying out the method is also provided.

Description

[0001] The invention relates to a method for controlling a second vehicle by a first vehicle during reversing, as well as a vehicle for carrying out the method.

[0002] The remote-controlled towing of an autonomous vehicle by another vehicle controlled by a driver is known as virtual towing. The advantage of this method is that both vehicles can be operated by a single driver. For example, two vans could be used to transport cargo instead of a truck; this would eliminate the need to take EU load limits into account. The virtual connection of two or more vehicles on country roads is well known. This process is also known as platooning (from the English platoon: train). The towed vehicle is therefore essentially semi-autonomous; it drives without its own driver but is dependent on the first, towing vehicle. The distance between the vehicles should be small enough that no other road users get between the two vehicles.Platooning is therefore somewhat more challenging in built-up areas than outside of them, because buildings and other road users could disrupt the interaction of the virtually connected vehicles.

[0003] Furthermore, the path may be blocked by an obstacle, such as other vehicles or a construction site. In this case, it may be necessary to move the vehicles backwards to find an alternative path. This presents the problem of complicated driving maneuvers or the driver having to change vehicles, or having to uncouple the connection between the vehicles and reverse both vehicles individually. However, changing vehicles by the driver is also time-consuming and impractical because, in addition to the effort involved in changing vehicles, a parking space for the second vehicle must also be found in the immediate vicinity, which can sometimes be complicated. The task is to ensure that the two vehicles can reverse safely while they remain virtually connected to each other and controlled by a driver.

[0004] This object is achieved by a method according to claim 1 and by a vehicle according to claim 9. Further embodiments and refinements of the invention emerge from the subclaims, the figures, and the exemplary embodiments. The embodiments of the invention can be advantageously combined.

[0005] A first aspect of the invention relates to a method for controlling a first vehicle and a second vehicle remotely controlled by the first vehicle, which has at least one rearwardly arranged camera, during a reversing movement of both vehicles, comprising the steps: - Connecting the camera of the second vehicle to a display of the first vehicle via vehicle-to-vehicle communication, - controlling the second vehicle from the first vehicle, so that the second vehicle remotely assumes the role of the towing vehicle and the first vehicle assumes the role of the towed vehicle, - Displaying at least one trajectory on the display, which was calculated according to the steering angle of at least the second vehicle.

[0006] The method according to the invention advantageously makes it easier for a driver to reverse a virtually towed vehicle. Via a connection to a rearward-facing camera of the second vehicle, the driver has a clear view of the current situation to the rear. Via remote control from the first vehicle, the second vehicle takes over the towing role. This enables the driver to maneuver both vehicles backward together in a practical, safe and time-saving manner. The trajectory projected onto the display, i.e. the expected lane, supports the driver in orientation. Primarily the trajectory of the second vehicle is calculated and displayed. However, the trajectories of the first and second vehicles can also be calculated and displayed. This is particularly advantageous if the two vehicles are of different designs, i.e. have different dimensions.

[0007] Preferably, the surroundings captured by the camera are shown on the display from a bird's-eye view. This further facilitates the driver's control of the vehicle. The projected trajectory can also be displayed on the display.

[0008] Preferably, control movements are performed via at least one steering device in the first vehicle, which are transmitted to and executed by the second vehicle. In other words, steering movements in the first vehicle directly control the movement of the second vehicle without directly controlling the movements of the first vehicle (with the first vehicle following the second vehicle semi-autonomously). The steering wheel of the first vehicle can be compared to a game console for controlling the second vehicle.

[0009] In this sense, it is preferred if the first vehicle is controlled using steer-by-wire. Steering commands are recorded by one or more sensors and sent to corresponding electromechanical actuators, i.e., directly from the first vehicle to the corresponding actuators of the second vehicle. The steering wheel of the first vehicle is used as a remote control for the second vehicle. The first vehicle follows the second vehicle, which is controlled by the first vehicle, semi-autonomously.

[0010] Furthermore, the acceleration of the second vehicle is preferably controlled by actuating an accelerator pedal in the first vehicle, and the acceleration of the first vehicle is adapted thereto. The first and second vehicles maintain their distance, ie the acceleration experienced by the second vehicle is also automatically carried out in the first vehicle.

[0011] Preferably, when reversing, the brake pedals are pressed or other braking actions are performed, the braking systems in both the second vehicle and the first vehicle are activated. This advantageously ensures the safety of both vehicles. This also applies when driving forward.

[0012] Preferably, an external input device is used to control the second vehicle. This is particularly advantageous when the vehicles, in particular the first vehicle, are not configured for a steer-by-wire system. The external input system is particularly preferably selected from the group comprising a tablet computer, a mobile phone, a joystick, or a button of an assistance system. An exemplary assistance system is the FORD Pro Trailer Backup Assist™ system.

[0013] A second aspect of the invention relates to a vehicle for controlling another vehicle via vehicle-to-vehicle communication, wherein the vehicle has a control device which is designed to control a method according to the invention.

[0014] The advantages of the vehicle correspond to the advantages of the method according to the invention.

[0015] The invention is explained in more detail with reference to the figures. They show: Fig. 1 a representation of two vehicles for carrying out a method according to the invention. Fig. 2 a schematic representation of an instrument arrangement in an embodiment of a vehicle according to the invention. Fig. 3 a flow diagram of an embodiment of a process according to the invention. Fig. 4 a representation of the vehicles according to claim 1 when carrying out a method according to the invention in plan view.

[0016] In Fig. 1 shows a first vehicle 10 and a second vehicle 20 located on a roadway 50. The two vehicles 10, 20 form a so-called platoon, with the second vehicle 20 following the first vehicle 10 semi-autonomously. The first vehicle 10 is the towing vehicle, and the second vehicle 20 is the towed vehicle. This type of connection is also referred to as virtual towing.

[0017] The first vehicle 10 has a first control device 30. The second vehicle 20 has a second control device 40. The first vehicle 10 is configured to send control commands to the second vehicle 20 by means of a first transmitting and receiving device 31. The second vehicle 20 is configured to receive these control commands by means of a second transmitting and receiving device 41 and to forward them to the second control device 40.

[0018] The second vehicle 20 has a camera 21 in its rear area. The camera 21 is positioned so that it can take pictures of the area behind the second vehicle 20, i.e., away from the second vehicle 20. Images from the camera 21 can be transmitted to the first vehicle 10 via the transmitting and receiving devices 31, 41.

[0019] In Fig. Figure 2 shows a front area of ​​the interior 11 of an embodiment of the first vehicle 10, viewed from the driver's seat. An accelerator pedal 13 and a brake pedal 14 are arranged in the foot area below a steering wheel 12. Images captured by the camera 21, for example, can be shown on a display 15. Control commands from the first vehicle 10 are transmitted to the second vehicle 20 via an input device 16 of an assistance system.

[0020] In Fig. Figure 3 illustrates the sequence of one embodiment of the method according to the invention. The method is initiated either when reverse gear is engaged in the first vehicle or when a manual instruction is given by the driver.

[0021] In a first step S1, the camera 21 of the second vehicle 20 is connected to the display 15 of the first vehicle 20. The connection is established by vehicle-to-vehicle communication, which is established by means of the transmitting and receiving devices 31, 41.

[0022] In a second step S2, the second vehicle 20 is steered by the driver of the first vehicle 10. The second vehicle 20 assumes the role of the towing vehicle. The first vehicle 10 assumes the role of the towed vehicle. The driver of the first vehicle 10 steers the second vehicle 20 using the steering wheel 12, accelerator pedal 13, and brake pedal 14, whose actuation is transmitted to and executed by the second vehicle 20.

[0023] The driver obtains an overview of the route to be driven by means of the display 15. In a third step S3, a trajectory of the second vehicle 20 is displayed on the display 15, ie in the representation of Fig.4 in the form of a lane marking 151, which was calculated according to the steering angle of the second vehicle 20. Trajectories of the first vehicle 10 and the second vehicle 20 can also be displayed. This is useful if the vehicles are different sizes, in particular if they have different turning circles. List of reference symbols 10 first vehicle 11 Interior 12 Steering wheel 13 Accelerator pedal 14 Brake pedal 15 Display 151 lane marking 16 Input device 20 second vehicle 21 Camera 30 Control device of the first vehicle 31 first transmitting and receiving device 40 Control device of the second vehicle 41 second transmitting and receiving device 50 lane

Claims

[1] Method for controlling a first vehicle (10) and a second vehicle (20) remotely controlled by the first vehicle, which has at least one rearwardly arranged camera (21), during a reversing movement of both vehicles, comprising the steps: - connecting the camera (21) of the second vehicle (20) to a display (15) of the first vehicle (10) via vehicle-to-vehicle communication, - controlling the second vehicle (20) from the first vehicle (10) so that the second vehicle (20) assumes the role of the towing vehicle and the first vehicle (10) assumes the role of the towed vehicle, - Displaying at least one trajectory on the display (15) which was calculated according to the steering angle of at least the second vehicle (20). [2] Method according to claim 1, wherein the environment recorded by the camera (21) is displayed on the display (15) from a bird's eye view. [3] Method according to one of the preceding claims, wherein control movements are carried out via at least one steering device (12) in the first vehicle (10), which are transmitted to the second vehicle (20) and carried out by the latter. [4] Method according to one of the preceding claims, wherein the control of the first vehicle (20) is carried out by means of steer-by-wire. [5] Method according to one of the preceding claims, wherein the acceleration of the second vehicle (20) is controlled by actuating an accelerator pedal (13) in the first vehicle (10), and the acceleration of the first vehicle is adapted thereto. [6] Method according to one of the preceding claims, wherein during reversing, when a brake pedal (13) is actuated, the brakes in both the second vehicle (20) and the first vehicle (10) are triggered. [7] Method according to one of the preceding claims, wherein an external input device is used to control the second vehicle (20). [8] Method according to claim 7, wherein the external input device is selected from the group comprising a tablet computer, a mobile phone, a joystick or a button of an assistance system. [9] Vehicle (10) for controlling another vehicle (20) via vehicle-to-vehicle communication, wherein the vehicle (10) has a control device (30) which is designed to control a method according to one of claims 1 to 8.

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