Method for operating an autonomously operated vehicle in a traffic-impaired traffic situation, as well as electronic vehicle system and vehicle

Abstract

The invention relates to a method for operating an autonomously operated vehicle (1) in a traffic situation (3), wherein - a wireless communication connection (5) is established between the mobile terminal (4) and the vehicle (1) using a mobile terminal (4) of an emergency personnel (2) located in an area surrounding the vehicle (1), - authentication information, with which the operational personnel (2) can be authenticated, is transmitted to the vehicle (1) via the communication connection (5), - on the basis of the transmitted authentication information, an authentication of the operational personnel (2) is carried out by the vehicle (1), - depending on the authentication carried out, the vehicle (1) is switched from a self-driving operating mode to an emergency personnel operating mode, in which the vehicle (1) can be partially controlled on the basis of a command from the emergency personnel (2), and - vehicle (1) is operated in the emergency personnel operating mode during the traffic situation (3). Furthermore, the invention relates to an electronic vehicle system (9) and a vehicle (1).

Description

[0001] The invention relates to a method for operating an autonomously operated vehicle in a traffic-impaired traffic situation.

[0002] Furthermore, the invention relates to an electronic vehicle system and a vehicle with a corresponding electronic vehicle system.

[0003] Autonomously operated or self-driving vehicles that meet autonomy levels 4 or 5 according to the SAE J3016 standard can interact independently in complex and dynamic environments. Such fully autonomous vehicles navigate traffic without the intervention of a human driver. However, due to their complexity, scenarios can arise that are particularly difficult for the vehicle to handle. Furthermore, in certain scenarios, it may be particularly challenging for vehicles to respond to emergency personnel, such as a police officer, firefighter, paramedic, or other emergency personnel.

[0004] For example, autonomous vehicles can detect emergency personnel using their on-board sensors. If these emergency personnel, such as emergency services, are not wearing typical clothing such as high-visibility vests or operational clothing, it can be more difficult for the vehicle system to classify the detected person as emergency personnel or emergency worker. This poses challenges for autonomous systems, particularly for learning-capable systems in autonomous vehicles. The detection of people in the vicinity of the vehicle can also lead to problems, as the sensors incorrectly detect an interaction or a command from a different person. In this case, the vehicle would not obey the emergency personnel, but rather an unauthorized person.

[0005] For example, US 2023 / 0 067 538 A1 discloses a control unit for an autonomously operated vehicle in which hand signals, i.e. commands, of an emergency personnel in the vicinity of the vehicle can be detected by means of sensors in order to carry out corresponding maneuvers of the vehicle.

[0006] Furthermore, US 2021 / 0 329 A1 discloses a method for communicating emergency messages from an emergency responder, for example, located in an ambulance, to a target person located in another vehicle. In this case, relevant information, which can be used to assist the person in distress, can be exchanged communicatively.

[0007] One object of the present invention is to enable autonomously driving vehicles to be operated more efficiently and safely in traffic situations in which instructions are given by emergency personnel or emergency services.

[0008] This problem is solved by a method, an electronic vehicle system, and a vehicle according to the independent patent claims. Useful further developments arise from the dependent patent claims.

[0009] One aspect of the invention relates to a method for operating an autonomously operated vehicle in a traffic-impaired traffic situation, wherein - In particular, a wireless communication connection is established between the mobile device and the autonomously operated vehicle using a mobile device belonging to an emergency personnel dealing with the traffic-impaired traffic situation, which is located in the vicinity of the autonomously operated vehicle, - In particular, authentication information with which the operational personnel can be authenticated is transmitted to the autonomously operated vehicle via the wireless communication link, - In particular, on the basis of the transmitted authentication information, authentication of the operational personnel is carried out by the autonomously operated vehicle, - In particular, depending on the authentication carried out, the autonomously operated vehicle is switched from a self-driving operating mode to an emergency personnel operating mode, in which the autonomously operated vehicle can be at least partially controlled on the basis of at least one command from the emergency personnel, and - In particular, the autonomously operated vehicle is operated in the emergency personnel operating mode during the traffic-impaired traffic situation.

[0010] The proposed method enables an autonomously operated vehicle, i.e., a self-driving vehicle, to be operated more efficiently in situations or traffic situations that represent a traffic disruption due to specific incidents. This is particularly true because emergency personnel or emergency services are involved in such traffic situations. The emergency personnel can issue instructions, orders, or commands to road users, so that, for example, traffic control is carried out by the emergency personnel. Since an autonomously operated vehicle may not react, may react too late, or may react incorrectly in such a specific traffic situation, the present invention is advantageous.With the present invention, in such a traffic situation, it is possible to transmit commands from emergency personnel to the autonomously operated vehicle, and for the autonomously driving vehicle to react accordingly. In other words, in a traffic situation such as a traffic jam, an accident, or any other traffic disruption, a safe interaction can take place between the autonomously driving vehicle and the emergency personnel, allowing the autonomously driving vehicle to operate in a manner adapted to the prevailing traffic situation.

[0011] The proposed method can prevent an autonomous vehicle from failing to follow instructions or commands from emergency personnel or emergency services, from following them too late, or from following them incorrectly. Thus, the present method can increase the safety of road users in a traffic situation in which the traffic situation is at least partially controlled by emergency personnel.

[0012] A further advantage of the present invention is that the acceptance of an autonomously driving vehicle in society can be increased, since an autonomously driving vehicle can be safely partially controlled by emergency personnel, such as a police officer.

[0013] The proposed method enables an autonomously driving vehicle to be operated more safely and, in particular, more efficiently in a traffic-endangering situation, such as a traffic jam or an accident or any other special situation, since in this specific case the autonomously driving vehicle can be at least partially controlled and / or at least partially instructed by emergency personnel to operate the autonomously driving vehicle in this traffic situation in such a way that the autonomously driving vehicle does not represent an obstacle for emergency personnel or emergency vehicles and, in turn, the autonomously driving vehicle and passengers of the autonomously driving vehicle can be protected.

[0014] The emergency personnel may be emergency services or rescue workers. It is also conceivable that the emergency personnel may be police officers, firefighters, paramedics, emergency physicians, public order officers, civil servants, or other personnel who are deployed in specific traffic situations to support the situation and are authorized to issue instructions.

[0015] The wireless communication connection can be established automatically between the mobile device and the autonomously operated vehicle when the mobile device is in close proximity to the autonomously operated vehicle. It is also conceivable that the emergency personnel can establish the wireless communication connection by activating it, for example, using an activation function on the mobile device. The mobile devices can be devices that can be carried by the emergency personnel.

[0016] For example, the mobile device could be a communications device specifically designed for emergency personnel, with which signals and / or data can be exchanged between the mobile device and an autonomously operated vehicle. It is also conceivable that the mobile device has a special application, which in turn is specifically designed for communication or interaction between emergency personnel and an autonomously operated vehicle.

[0017] If the emergency personnel are in the immediate vicinity of the autonomously operated vehicle or if the emergency personnel triggers a corresponding activation on the mobile device, one or more pieces of authentication information can be transmitted to the autonomously operated vehicle, in particular to a communication unit of the autonomously operated vehicle, via the established or established communication connection. Using the authentication information, the system, in particular the autonomously operated vehicle, can determine whether the emergency personnel are such and which commands the autonomously operated vehicle must respond to or follow.For example, the transmitted authentication information can be evaluated using an electronic evaluation unit to perform an authentication or authentication process, i.e., a recognition process. This makes it possible to determine whether the emergency personnel to whom the mobile device belongs are authorized to issue commands to the autonomously operated vehicle.

[0018] If authentication is successful, the autonomously operated vehicle can be switched from self-driving mode to emergency personnel mode. In self-driving mode, the autonomous vehicle operates fully autonomously without human intervention. Thus, self-driving mode can be considered the normal operating mode of a fully autonomous vehicle.

[0019] In the emergency personnel operating mode, the autonomously operated vehicle can be controlled at least partially by commands or instructions from the emergency personnel. This means that the autonomously operated vehicle can be controlled at least partially based on commands from the emergency personnel. The commands are then implemented by the autonomously operated vehicle itself, since the autonomously driving vehicle may not have a steering wheel, accelerator pedal, or brake pedal, for example. In other words, depending on the given traffic situation, the emergency personnel can give traffic-regulating instructions, such as commands, to the autonomously operated vehicle, so that the autonomously driving vehicle can be instructed or controlled by the emergency personnel in order to minimize dangers emanating from the autonomously driving vehicle or obstacles to the autonomously driving vehicle.

[0020] In particular, the emergency personnel mode can only be activated by authorized emergency personnel. Once the traffic situation has been resolved or normalized, for example, the accident scene has been cleared, the vehicle can switch back to self-driving mode.

[0021] In particular, the proposed method may be a computer-implemented method.

[0022] For example, a current danger level regarding the traffic situation can also be provided via the communication link from the mobile device to the autonomous vehicle, so that, depending on the danger level of the traffic situation, the extent and / or type of at least partial control can be determined in the emergency personnel operating mode. Depending on the prevailing situation or circumstances, the emergency personnel can thus exercise less or more control as an autonomous vehicle.

[0023] In particular, depending on the commands of the emergency personnel, the vehicle's autonomous systems can generate and provide corresponding control signals for corresponding components of the autonomously operated vehicle.

[0024] In one embodiment, it is provided that in the emergency personnel operating mode of the autonomously operated vehicle, the emergency personnel in the surrounding area are detected by a detection unit, wherein the emergency personnel are detected in such a way that a command executed by the emergency personnel with regard to at least partially controlling the autonomously driving vehicle can be recognized.

[0025] After successful authentication of the emergency personnel, a registration unit, registration device, or registration system can then specifically and specifically register or detect the emergency personnel. Accordingly, executed commands, instructions, or commands can then be recorded or recognized by the system, so that, for example, appropriate configurations, controls, and / or regulations can be implemented in and / or on the autonomously operated vehicle based on the recognized or recorded commands from the emergency personnel. Above all, interaction between the autonomously driving vehicle and the emergency personnel can be achieved.This means that the autonomously driving vehicle can react to the orders or commands of the emergency personnel, so that the autonomously driving vehicle is operated in the traffic situation in such a way that the vehicle is protected from the traffic situation and, for example, emergency personnel are not affected or hindered by the autonomously driving vehicle.

[0026] For example, the detection unit can be a detection system of the autonomously driving vehicle.

[0027] The emergency personnel can give verbal, i.e. acoustic, commands to the vehicle.

[0028] Optionally, emergency personnel can use a hand signal as a gesture. A voice signal is also possible.

[0029] For example, in order to reliably detect or record the emergency personnel, a position determination or location of the mobile device can be carried out in the environmental report so that the recording unit can align or point itself accordingly in the direction of the emergency personnel in order to be able to carry out targeted detection or recording.

[0030] In one embodiment, the command is carried out by the emergency personnel using a gesture, wherein the gesture performed by the emergency personnel is recorded by the recording device and made available to an electronic evaluation unit. This allows the emergency personnel to give corresponding commands or instructions to the autonomously driving vehicle, for example using hand signals. These can in turn be recorded and evaluated or analyzed accordingly using the electronic evaluation unit. In this case, on the basis of the recorded gesture, at least one control signal for at least partially controlling an autonomously operated vehicle can be generated or generated by the evaluation unit. This allows the command executed with the gesture to be evaluated by the computer on the system side in order to convert the command, i.e. the instruction from the emergency personnel, into a corresponding control signal.With this control signal or several control signals, components, systems and / or units of the autonomously operated vehicle can be at least partially controlled, configured and / or adapted.

[0031] In one embodiment, it is provided that immediately after the autonomously operated vehicle is or has been switched to the emergency personnel operating mode, an emergency personnel remote control unit is released by the autonomously operated vehicle, wherein the autonomously operated vehicle can be at least partially remotely controlled or steered using the emergency personnel remote control unit. This makes it possible to provide the emergency personnel with an efficient control option, depending on the prevailing traffic situation and how the autonomously operated vehicle is to be controlled. With the aid of the emergency personnel remote control unit, a quasi-remote control of the autonomously operated vehicle can be carried out, at least temporarily.In other words, for example, emergency personnel can use the emergency personnel remote control unit to protect the autonomously operated vehicle from a traffic hazard by re-parking the autonomously driven vehicle. Likewise, emergency personnel can use the emergency personnel remote control unit to change lanes with the autonomously operated vehicle, for example, to create an emergency lane or to prevent an emergency vehicle from passing that is being obstructed by the autonomously driving vehicle.

[0032] Furthermore, the emergency personnel remote control unit offers the advantage that, in the event that the autonomously driving vehicle cannot or can only partially implement the commands of the emergency personnel, for example, due to the current traffic and / or weather conditions, the autonomously operated vehicle can still be at least partially controlled by the emergency personnel. In particular, the method makes it easier to locate and / or identify the emergency personnel.

[0033] In addition, control commands for at least partially controlling the autonomously operated vehicle by the emergency personnel can be transmitted to the autonomously operated vehicle via the emergency personnel remote control unit. The emergency personnel remote control unit can thus be a "remote controller" with which appropriate control signals can be transmitted to the autonomously driving vehicle via a wireless communication connection, for example, to intervene in the vehicle's driving behavior, lateral guidance, or longitudinal guidance.

[0034] For example, the emergency personnel remote control unit may be a different unit from the mobile terminal.

[0035] In one embodiment, immediately after the autonomously operated vehicle is or has been switched to the emergency personnel operating mode, an opening to a storage device for the emergency personnel remote control unit, which is arranged on or in the autonomously operated vehicle and locked in the self-driving operating mode, is unlocked, making the released emergency personnel remote control unit accessible to the emergency personnel. With the aid of the storage device, which is integrated in or on the autonomous vehicle, the emergency personnel remote control unit can be carried by the autonomously operated vehicle.Should emergency personnel require the emergency personnel remote control unit depending on the current traffic situation, the emergency personnel remote control unit can first be released based on the authentication or authorization performed, in order to be able to perform the corresponding controls on the autonomously operated vehicle. The autonomously operated vehicle can then unlock the opening or access to the storage facility itself or through a corresponding command from the emergency personnel, thus making it accessible. Emergency personnel can then remove the emergency personnel remote control unit from the storage facility in order to at least partially control the autonomously operated vehicle.

[0036] For example, after the emergency personnel have carried out appropriate control of the autonomously operated vehicle, the emergency personnel can then place the emergency personnel remote control unit back into the storage device and after the autonomously operated vehicle is switched back to self-driving operating mode, the storage device can be locked.

[0037] For example, the storage facility can be located in a side area of ​​the vehicle or in an area of ​​the vehicle's rear. In particular, the storage facility is arranged on or in the vehicle in such a way that it is accessible to emergency personnel.

[0038] This means that in a wide variety of traffic situations, the emergency personnel can remove the emergency personnel remote control unit from the storage facility and then put it back again in order to control the autonomously operated vehicle as desired.

[0039] In one embodiment, it is provided that in the emergency personnel operating mode, a driving maneuver, an evasive maneuver, a shunting operation or a lane change of the autonomously operated vehicle is carried out on the basis of the command of the emergency personnel.

[0040] Depending on the prevailing traffic situation and how the autonomous vehicle should behave in that traffic situation, the emergency personnel can instruct or instruct the autonomous vehicle with one or more commands to adjust its driving behavior. For this purpose, the current position of the autonomous vehicle can be adjusted so that the vehicle does not pose an obstruction or impairment to the traffic situation.

[0041] In other words, the emergency personnel may instruct or command the autonomous vehicle to clear the current lane in which the autonomous vehicle is located so that emergency vehicles or, for example, a tow truck can pass.

[0042] It is also conceivable that a vehicle relevant to the traffic situation, such as a vehicle involved in an accident, poses a danger due to a possible explosion or fire. In this case, emergency personnel can order the autonomously operated vehicle to leave the area of ​​the traffic situation as far as possible. In particular, based on the emergency personnel's command, the autonomously operated vehicle can adjust its position and movement behavior so that the emergency personnel's instructions are followed.

[0043] In one embodiment, it is provided that, depending on a current status regarding the traffic-impaired traffic situation, termination information of an autonomously operated vehicle is determined using the mobile device of the emergency personnel. Based on the termination information, the autonomously operated vehicle is automatically switched from the emergency personnel operating mode to the self-driving operating mode. In particular, the emergency personnel operating mode only occurs as long as, for example, traffic in the traffic situation is being regulated by emergency personnel. As soon as the emergency personnel leave the traffic situation or, for example, the emergency personnel clear the accident area as a possible traffic situation, the autonomously operated vehicle can independently start a journey again or continue the journey already started.This allows the vehicle to temporarily respond to commands from emergency personnel in the emergency personnel mode. Otherwise, the autonomously operated vehicle operates in a self-driving mode.

[0044] For example, the emergency personnel can use the mobile device to transmit the termination information to the autonomously operated vehicle via the established wireless communication connection, so that the corresponding operating mode can be switched or provided.

[0045] In one embodiment, it is provided that upon successful authentication of the autonomously operated vehicle, the system automatically switches to the emergency personnel operating mode. Should emergency personnel, such as emergency services, need to give instructions to the autonomously operated vehicle or other road users in the vicinity of the traffic situation due to the current traffic situation, the communication connection between the mobile device and the autonomously operated vehicle can first be established. After the emergency personnel have been authenticated and thus authorized to control an autonomously operated vehicle, the autonomously operated vehicle can automatically be operated in the emergency personnel operating mode.

[0046] A further aspect of the invention relates to an electronic vehicle system with an electronic evaluation and a communication unit, wherein the electronic vehicle system is designed to carry out or carry out a method according to the previous aspect or an advantageous development thereof.

[0047] In particular, a method according to the previous aspect can be carried out with the electronic vehicle system just described.

[0048] An electronic vehicle system can, for example, be a vehicle guidance system or an autonomous system of an autonomously operated vehicle. For example, an autonomously operated or operable vehicle can be operated with the help of the electronic vehicle system. In other words, an autonomously operated vehicle can be controlled with the help of the electronic vehicle system.

[0049] For example, the electronic vehicle system can, with the aid of the communication unit, establish or create a wireless communication connection with a mobile device of an emergency personnel in the surrounding area, so that information and / or data can be exchanged between the mobile device and the electronic vehicle system.

[0050] For example, the electronic vehicle system can consist of several units.

[0051] A further aspect of the invention relates to a case involving an electronic vehicle system according to the previous aspect or an advantageous development thereof. The vehicle can be a highly automated vehicle, such as a fully autonomous vehicle according to Level 4 or 5. With the aid of the electronic vehicle system, which can be integrated into the vehicle, commands from emergency personnel can be converted into corresponding control signals to control, configure, or adapt at least parts of the vehicle, such as individual components and / or subsystems.

[0052] For example, a vehicle can be a passenger car or a truck.

[0053] Advantageous embodiments of one aspect are to be regarded as advantageous embodiments of all other aspects. This also applies in reverse.

[0054] For example, the electronic vehicle system and / or the vehicle may have means to carry out the method.

[0055] For use cases or application situations that may arise during the method and which are not explicitly described here, it may be provided that, in accordance with the method, an error message and / or a request to enter user feedback is issued and / or a default setting and / or a predetermined initial state is set.

[0056] The invention also includes further developments of the electronic vehicle system according to the invention and the vehicle according to the invention that have features already described in connection with the further developments of the method according to the invention. For this reason, the corresponding further developments of the electronic vehicle system according to the invention and the vehicle according to the invention are not described again here.

[0057] The invention also includes combinations of the features of the described embodiments.

[0058] Exemplary embodiments of the invention are described below. Shown are: Fig. 1 a schematic representation of an autonomously operated vehicle interacting with emergency services in a specific traffic situation; Fig. 2 shows a schematic representation of how the emergency services access or how emergency services give commands to the autonomously operated vehicle; Fig. 3 shows starting from the Fig. 2 a successful authentication process of the emergency services with the vehicle so that the vehicle can detect gestures of the emergency services regarding commands: Fig. 4 shows a further representation of the emergency person and the autonomous vehicle 1, wherein the emergency personnel wishes to activate a further function regarding the control of the autonomous vehicle; Fig. 5 shows a storage device on the autonomous vehicle, the storage device comprising an emergency personnel remote control unit for remotely controlling the vehicle; Fig. 6 shows the emergency personnel remote control unit for controlling the vehicle; Fig. 7 shows a further schematic representation of the autonomous vehicle 1 and the emergency personnel, wherein here a termination process with regard to the control or command of the autonomous vehicle by the emergency personnel.

[0059] The exemplary embodiments explained below are preferred exemplary embodiments of the invention. In the exemplary embodiments, the described components each represent individual, independently considered features of the invention, which also further develop the invention independently of one another and are thus also to be considered as components of the invention, either individually or in a combination other than that shown. Furthermore, the described exemplary embodiments can also be supplemented by further features of the invention already described.

[0060] In the figures, functionally identical elements are provided with the same reference numerals.

[0061] In the Fig. 1 shows an example of an autonomously operated vehicle 1. This vehicle 1 can be a highly automated and, in particular, fully autonomous vehicle.

[0062] Vehicle 1 can in particular be trained according to autonomy levels 4 or 5. Accordingly, a human driver is no longer required to operate or control the vehicle. If, for example, people in the vicinity of the vehicle want to give commands to the vehicle, previous autonomous vehicles use on-board sensors to detect this and attempt to evaluate it. However, if the vehicle is not able to evaluate and implement these people and in particular their instructions, the vehicle will not be able to react appropriately to the situation. This is particularly important if the people who want to give instructions to vehicle 1 are rescue workers, such as firefighters, police officers, security officers, or civil servants.In this situation, the vehicle may not be able to distinguish between emergency personnel and, for example, construction workers or tradespeople. This could result in the vehicle making an incorrect decision. To remedy this situation, the present invention offers emergency personnel 2 the possibility of reliably and safely issuing commands to the autonomous vehicle 1 and, depending on the prevailing circumstances or situation, controlling the vehicle 1 at least temporarily.

[0063] For example, this can be the case if the vehicle 1 is in a traffic situation 3 with disruptions or is in the immediate vicinity of one. Such a traffic situation 3 can be, for example, a traffic jam, an emergency situation, an accident, a failure of traffic systems, a rescue operation or any other situation that disrupts the usual or normal flow of traffic. Above all, in this traffic situation 3, the emergency personnel 2 takes over at least some of the traffic control. If, for example, traffic lights have failed due to a power failure or other defect, the emergency personnel 2, who may be police officers, take over traffic control. In another example, an emergency vehicle can approach or move behind the vehicle 1 and is impeded or blocked by the vehicle 1.In order to remedy this situation, emergency personnel 2, i.e. emergency services, can communicate to vehicle 1 via interaction, commands or instructions from emergency personnel 2 that vehicle 1 should, for example, clear the way for the emergency vehicle approaching behind it.

[0064] In order to communicate such instructions, or at least commands, to the vehicle 1, the invention provides that a communication connection 5 is established or set up between the mobile device 4 and the autonomously operated vehicle 1 using a mobile terminal 4 of the emergency personnel 2. For this purpose, the wireless communication connection 5 can be established between the mobile device 4 and a communication unit 6 of the vehicle 1. This communication connection 5 can be established either automatically when the mobile device 4 is at a certain distance from the vehicle 1. Alternatively, the emergency personnel 2 can initiate the establishment of the communication connection 5 by actuating a corresponding control surface or control element, such as a switch.

[0065] The mobile devices 4 can either be a special communication device designed specifically for the emergency personnel 2. For example, the mobile device can be referred to as an "Emergency Master Key." Alternatively, it is also conceivable that a corresponding application is implemented on the mobile device 4, which can be a smartphone or tablet, which in turn is designed for the special interaction between emergency personnel and autonomous vehicles.

[0066] For example, the mobile device can be located in an emergency vehicle or emergency vehicle of the emergency personnel 2 and can be used to transmit commands or instructions to various autonomously operated vehicles.

[0067] Should an emergency or an accident occur, such as in traffic situation 3, it may be necessary for emergency personnel 2 to interact with the autonomously operated vehicle 1 or with several such autonomously operated vehicles. This may be the case, for example, if emergency personnel 2 wants to inform the autonomously operated vehicle 1 that the vehicle 1 must move aside to let an emergency vehicle pass. To do so, emergency personnel 2 can, for example, press a button on the mobile device 4 so that, for example, the communication connection 5 can be established. Authentication information or an authentication signal can be transmitted to the vehicle 1 via the established communication connection 5, either automatically or through initiation by emergency personnel 2.Thus, the vehicle can determine or recognize that there is an authorized or authorized emergency personnel 2 in an area surrounding the vehicle 1 that would like to communicate or interact with the vehicle 1.

[0068] For example, the authentication information can be received using the communication unit 6 and provided to an electronic evaluation unit 8. Authentication can then be performed there. If the authentication is successfully completed, the vehicle 1 can now be prepared for the emergency personnel 2 to communicate instructions, commands, or orders to the vehicle 1.

[0069] Normally, in a self-driving operating mode, the vehicle 1 drives fully autonomously without human intervention. To ensure that the commands or instructions of the emergency personnel 2 are followed and that the emergency personnel 2 can control the vehicle 1 at least partially and at least temporarily, the vehicle 1 can have an additional operating mode, namely an emergency personnel operating mode. If authentication has been successfully completed, the autonomous vehicle 1 can automatically switch from the self-driving operating mode to the emergency personnel operating mode.

[0070] If the vehicle 1 is now operated in this emergency personnel operating mode, the vehicle 1 can be controlled at least partially based on the commands of the emergency personnel 2 and / or its driving behavior, orientation, position or movement sequence can be adapted. In other words, in this special emergency personnel operating mode, the vehicle 1 can be controlled at least temporarily by commands from the emergency personnel 2. This can continue until the emergency personnel 2 informs the vehicle 1 that the traffic situation 3 no longer exists or the danger emanating from this traffic situation 3 no longer exists. This can be the case, for example, if an accident site has been cleared accordingly or a traffic jam has cleared.

[0071] For example, depending on the current status of the traffic situation 3, the vehicle 1 can be informed via the communication link 5 that the emergency personnel 2 will be leaving and will no longer issue any commands or controls with respect to the vehicle 1. For example, using the mobile devices 4, the emergency personnel 2 can transmit termination information to the vehicle 1 at the push of a button, so that the vehicle 1 is informed when the vehicle 1 can return to normal operation.In particular, after the termination information has been transmitted to vehicle 1, vehicle 1 can be automatically switched from the emergency personnel operating mode to the self-driving operating mode, so that vehicle 1 can continue a journey or trip that has already begun or start a new autonomous journey. For example, vehicle 1 can have an electronic control system 9. With the aid of electronic control system 9, vehicle 1 can be controlled and / or components and / or units of vehicle 1 can be configured or adapted based on the commands or control requests of emergency personnel 2. For example, communication unit 6 and evaluation unit 8 can be part of system 9.

[0072] For example, the mobile device 4 can be a cost-effective, small, and simple device with which the emergency personnel 2 can reliably and easily authenticate themselves to the vehicle 1 in order to transmit corresponding commands to the vehicle 1. Furthermore, the mobile device 4 offers the advantage that any emergency worker or the emergency personnel 2 can control or operate an autonomously driving vehicle depending on the circumstances.

[0073] For example, the mobile device 4 can be carried in an emergency vehicle. This means that not every emergency vehicle needs to be specially equipped; instead, emergency personnel 2 can carry the mobile device 4 in their emergency vehicle as needed. Above all, this can simplify the interaction between emergency personnel 2 and vehicle 1. The possibility of authorities or security personnel intervening in the control of autonomous vehicle 1 can increase the acceptance of autonomous vehicles. Due to the state being dependent on the traffic situation 3, emergency personnel 2 can at least partially command and / or control vehicle 1. This can increase the safety of passenger vehicle 1 or other road users.

[0074] In addition to the application of the present invention in an autonomous vehicle, it can also be used for other autonomous and in particular safety-critical autonomous systems.

[0075] In the following figures ( Fig. 2 to 7) various embodiments of the present invention are explained.

[0076] In the Fig. 2, the emergency personnel 2 may wish to interact with the autonomous vehicle 1, which may be a bus in this case, based on the traffic situation 3, which may be an accident or, for example, a traffic check. To do so, as already mentioned, the emergency personnel 2 can transmit the authentication information to the vehicle 1 via the mobile terminal 4, which may be, for example, a radio key, at the push of a button or via the touch function via the wireless communication connection 5.

[0077] In the Fig. 3 can be calculated from the Fig. 2, the authentication or authorization has now been successfully completed, so that the vehicle 1 is now in the emergency personnel operating mode. The emergency personnel 2 can now provide the vehicle 1 with the corresponding commands or instructions. For this purpose, the emergency personnel 2 can give instructions or commands using a gesture 10. As in the Fig. As can be seen in Figure 3, for example, a stop gesture can be performed using a hand signal as gesture 10. In this case, a detection unit 11 (see Fig. 1) the emergency personnel 2 and, in particular, the gesture 10 are recorded. In addition to the gesture 10, the commands can also be executed verbally, visually, and / or haptically. In this case, the gesture 10 can be detected with the help of the recording unit 11, so that the vehicle 1 can follow the commands of the emergency personnel 2. To this end, the recording unit 10 attempts, for example, to record the gestures as completely as possible.

[0078] Based on the mobile terminal 4, for example, a localization or position determination can be carried out so that the detection unit 11 can be aligned accordingly in order to detect the operating personnel 2 as efficiently as possible. Thus, depending on the positioning of the mobile terminal 4, a detection orientation 12 (cf. Fig. 1) of the recording unit 11 must be adjusted so that it is directed towards the operational personnel 2.

[0079] Furthermore, the emergency personnel 2 can use a traffic control rod to signal the commands to the vehicle 1 accordingly.

[0080] When using such a traffic control rod or other signaling element, the detection unit 11 can perform better and more effective detection.

[0081] With the authentication of operational personnel 2 completed, classification of this person is no longer necessary.

[0082] For example, with the help of the vehicle system 9, the detected or recognized gesture 10 can be evaluated accordingly in order to generate a corresponding control signal based on the gesture 10. Based on this control signal, the command signaled or characterized by the gesture 10 can be implemented by the vehicle 1.

[0083] In the Fig. 4 can be calculated from the Fig. 2 and Fig. 3, i.e. if the authentication has been successfully carried out, the emergency personnel 2 may decide, based on the current traffic situation 3, that the emergency personnel 2 must carry out more extensive controls of the vehicle 1. This may be the case, for example, if, based on the Fig. 3, the gesture 10 and thus the commands due to the current traffic situation 3 or the environmental conditions, i.e. the weather situation, the recognition or detection of the gesture 10 or the other commands of the emergency personnel 2 could not be fully or only insufficiently recognized by the vehicle 1 and thus also only insufficiently implemented. In this case, the emergency personnel 2 can now decide that they wish to partially take control of the vehicle 1. In this case, an additional function can also be implemented on the mobile device 4 or in the mobile device 4. For example, the emergency personnel 2 can now select this function using a button, such as an "Emergency Controller Button".

[0084] For the at least temporary control of the vehicle 1 by the emergency personnel 2, the vehicle 1 can have an emergency personnel remote control unit 13 (see Fig. 5). This can, for example, be an "Emergency Controller." With this, the emergency personnel 2 can at least partially control the vehicle 1 remotely or transmit commands directly. For this purpose, Fig. 5 further explains this embodiment. The emergency personnel remote control unit 13 can be located in a storage facility 14 provided for this purpose. Thus, this remote control option is always available on the vehicle 1, so that remote control can be carried out by any authorized emergency personnel in any traffic situation.

[0085] The storage device 14 can be arranged or installed in or on the vehicle 1. During the self-driving operating mode, the storage device 14 is locked and inaccessible. Unlocking can only occur in the emergency personnel operating mode, allowing emergency personnel 2 access to the emergency personnel remote control unit 13. For this purpose, after emergency personnel 2 has signaled that they wish to access the emergency personnel remote control unit 13, an opening in the storage device 14 can be unlocked. Emergency personnel 2 can thus remove the remote control unit 13 and, for example, transmit control commands to the vehicle 1 for at least partially controlling the autonomously operated vehicle 1.Additionally, it can be provided that, upon activation and / or use of the remote control unit 13, the vehicle 1 can be controlled exclusively with this remote control unit 13, in particular at least for a specific period of time. Otherwise, it is also conceivable that at least parts of the vehicle 1 can be controlled with the remote control unit 13.

[0086] In the Fig. 6, the emergency personnel 2 has now removed the emergency personnel remote control unit 13 and can thus control the vehicle 1 themselves. To do so, the emergency personnel 2 can use the remote control unit 13 to control a steering system, an acceleration device, a braking system, a door locking system, a vehicle tailgate, an engine compartment, or any other opening of the vehicle 1. In other words, with the aid of the remote control unit 13, the emergency personnel 2 can control the vehicle 1 in such a way that the vehicle can either be moved away from a dangerous situation or maneuvered away. Should persons in the vehicle 1 be in danger, the emergency personnel 2, who may be a firefighter, can have corresponding openings, such as doors, of the vehicle 1 opened.

[0087] In the Fig. 7 shows again that starting from the Fig.6 the control or monitoring of vehicle 1 by emergency personnel 2 is no longer necessary due to the current status of the traffic situation 2. This can be, for example, after the accident scene has been cleared or after a traffic check has been completed. Emergency personnel 2 can then return the emergency personnel remote control unit 13 to the storage device 14. This can be detected by the system itself or communicated to the system by and from the emergency personnel 2. The storage device 14 can then be locked.

[0088] If, for example, the accident site is now clear, the operating personnel 2 can transmit a corresponding signal or corresponding information to the vehicle 1 via the communication link 5 using the mobile device 4. For example, the operating personnel 2 can activate or operate a corresponding button or function on the mobile device 4 so that the vehicle 1 switches from the emergency personnel operating mode back to the self-driving operating mode and the vehicle 1 can continue its journey fully autonomously and, in particular, independently.

[0089] For example, the mobile terminal 4 can have an authentication button, a remote control unit button for emergency personnel, and / or a normal operation button. Thus, emergency personnel 2 can select the desired functionality or command at the touch of a button. For example, the remote control unit 13 for emergency personnel can be configured as a joystick. List of reference symbols 1 autonomously operated vehicle 2 operational personnel 3 Traffic situation 4 Mobile device 5 Wireless communication connection 6 Communication unit 7 Surrounding area 8 Electronic evaluation 9 Electronic vehicle system 10 gestures 11 Recording unit 12 Detection direction 13 Emergency personnel remote control unit 14 storage unit 15 Opening 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] US 2023 / 0 067 538 A1

[0005] US 2021 / 0 329 A1

[0006]

Claims

[1] Method for operating an autonomously operated vehicle (1) in a traffic-impaired traffic situation (3), wherein - a wireless communication connection (5) is established between the mobile terminal (4) and the autonomously operated vehicle (1) using a mobile terminal (4) of an emergency personnel (2) relating to the traffic-impaired traffic situation (3), which is located in an area surrounding the autonomously operated vehicle (1), - authentication information, with which the operational personnel (2) can be authenticated, is transmitted to the autonomously operated vehicle (1) via the wireless communication connection (5), - on the basis of the transmitted authentication information, an authentication of the operational personnel (2) is carried out by the autonomously operated vehicle (1), - depending on the authentication carried out, the autonomously operated vehicle (1) is switched from a self-driving operating mode to an emergency personnel operating mode, in which the autonomously operated vehicle (1) can be at least partially controlled on the basis of at least one command from the emergency personnel (2), and - the autonomously operated vehicle (1) is operated in the emergency personnel operating mode during the traffic-impaired traffic situation (3). [2] Method according to claim 1, wherein in the operational personnel operating mode of the autonomously operated vehicle (1) the operational personnel (2) in the surrounding area (7) is detected by a detection unit (11), wherein the operational personnel (2) is detected in such a way that a command executed by the operational personnel (2) with regard to at least partially controlling the autonomously operated vehicle (1) can be recognized. [3] Method according to claim 2, wherein the command is executed by means of a gesture (10) by the emergency personnel (2), wherein the executed gesture (10) of the emergency personnel (2) is detected by the detection unit (11) and provided to an electronic evaluation unit (8), wherein on the basis of the detected gesture (10) at least one control signal for at least partially controlling the autonomously operated vehicle (1) is generated by the electronic evaluation unit (8). [4] Method according to one of the preceding claims, wherein immediately after the autonomously operated vehicle (1) is switched to the emergency personnel operating mode, an emergency personnel remote control unit (13) is released by the autonomously operated vehicle (1), wherein the autonomously operated vehicle (1) can be at least partially remotely controlled by means of the emergency personnel remote control unit (13), in particular control commands for at least partially controlling the autonomously operated vehicle (1) by the emergency personnel (2) are transmitted to the autonomously operated vehicle (1) by means of the emergency personnel remote control unit (13). [5] Method according to claim 4, wherein immediately after the autonomously operated vehicle (1) is switched to the emergency personnel operating mode, an opening (15) to a storage device (14) of the emergency personnel remote control unit (13), which is arranged on or in the autonomously operated vehicle (1) and is locked in the self-driving operating mode, is unlocked, whereby the released emergency personnel remote control unit (13) is accessible to the emergency personnel (2). [6] Method according to one of the preceding claims, wherein in the operational personnel operating mode a driving maneuver, an evasive maneuver, a shunting operation or a lane change of the autonomously operated vehicle (1) is carried out on the basis of the command of the operational personnel (2). [7] Method according to one of the preceding claims, wherein, depending on a current status concerning the traffic-impaired traffic situation (3), termination information is transmitted to the autonomously operated vehicle (1) by the mobile terminal (4) of the emergency personnel (2), wherein, on the basis of the termination information, the autonomously operated vehicle (1) is automatically switched from the emergency personnel operating mode to the self-driving operating mode. [8] Method according to one of the preceding claims, wherein, upon successful authentication, the autonomously operated vehicle (1) is automatically switched to the operational personnel operating mode. [9] Electronic vehicle system (9) with an electronic evaluation unit (8) and a communication unit (6), wherein the electronic vehicle system (9) is designed to carry out a method according to one of the preceding claims. [10] Vehicle (1) with an electronic vehicle system (9) according to claim 9.

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