Method and traffic system for controlling a vehicle on a traffic area

Abstract

The invention relates to a method for controlling a vehicle (14) on a traffic surface (12) by a traffic system (10) and to such a traffic system. The traffic system (10) determines a route (28) for the vehicle (14) on the traffic surface (12). The vehicle (14) moves along the route (28) automatically, in particular remotely, controlled by the traffic system (10) on the traffic surface (12). The traffic system (10) determines a route (28) for the vehicle (14) and driving instructions (38) for the vehicle (14) based on the route (28) and sends these to the vehicle (14). The traffic system monitors the movement of the vehicle (14) along the route (28). The method comprises the following steps: - Determining and sending driving instructions (38), wherein the driving instructions (38) contain direction and / or acceleration changes for the vehicle (14) and are only sent when changes to direction and / or acceleration changes of the vehicle (14) sent at an earlier time are required; - Sending safety messages (40) independently of the driving instructions (38) according to a defined time schedule; - Checking by the vehicle (14) whether the safety messages (40) are received according to the defined time schedule, and performing a safety function if the safety messages (40) are not received according to the defined time schedule.

Description

[0001] The invention relates to a method for controlling a vehicle on a traffic surface by means of a traffic system. The invention further relates to a traffic system for carrying out such a method.

[0002] Traffic systems are known from the prior art that can take over the control of a vehicle in order to move the vehicle automatically and / or remotely within the traffic system. The traffic system determines a route for the vehicle on the traffic area controlled by the traffic system and sends driving instructions to the vehicle based on this determined route. For example, the driving instructions might be an immediately upcoming section of the determined route that the vehicle can then drive autonomously or automatically, or direct driving instructions to follow the route. While on the traffic area, the vehicle and its movements are continuously monitored by sensors of the traffic system.Furthermore, updated or new driving instructions are continuously sent to the vehicle, particularly at regular intervals, so that the vehicle can move along the road surface with as little interruption as possible. If the vehicle deviates from the calculated route, the driving instructions can be corrected accordingly. In the event of an unexpected situation, especially a safety-critical condition, appropriately modified driving instructions can be sent to the vehicle, for example, to instruct the vehicle to swerve or to perform an emergency stop.

[0003] To increase the safety of such a traffic system, the vehicle regularly checks whether it is receiving corresponding driving instructions. If no driving instructions are received for a defined period, the vehicle assumes a malfunction, such as an interruption of the communication link to the traffic system or a malfunction of the traffic system itself, and consequently brings the vehicle to a safe state, usually a standstill.

[0004] This method is inefficient, however, because driving instructions must always be sent at predefined intervals, regardless of the route. This increases data traffic and the number of messages sent. On the other hand, it is essential that the vehicle can always verify that the communication connection is reliable.

[0005] The object of the invention is to provide a method for controlling a vehicle on a traffic surface using a traffic system that offers high safety with low data traffic. A further object of the invention is to provide a traffic system for carrying out such a method.

[0006] To solve the problem, a method is provided for controlling a vehicle on a traffic surface using a traffic system. The traffic system determines a route for the vehicle on the traffic surface, and the vehicle moves along this route automatically, in particular remotely, controlled by the traffic system. The traffic system determines a route for the vehicle and generates driving instructions for the vehicle based on this route. The traffic system sends the driving instructions to the vehicle and monitors the vehicle's movement along the route. The method comprises the following steps: - Determining and sending driving instructions, wherein the driving instructions include direction and / or acceleration changes for the vehicle and are only sent when changes to direction and / or acceleration changes of the vehicle sent at an earlier time are required; - Sending safety messages independently of driving instructions according to a defined time schedule; - The vehicle checks whether the safety messages are received according to the defined time schedule, and - Perform a safety function if the safety messages are not received according to the defined time schedule.

[0007] According to the invention, a separation is achieved between the driving instructions and a safety function that checks and monitors the communication link. Driving instructions are only sent when a change in the driving state is required during normal operation, thus minimizing the number of messages containing driving instructions. These driving instructions can also include responses to safety-critical situations. The safety messages sent independently of the driving instructions serve only to check the communication link with the vehicle and to signal to the vehicle that the communication link to the traffic system exists, that the traffic system is functioning correctly, and that the trajectory specified in the driving instructions can be continued.Since these safety messages do not contain driving instructions or other instructions for the vehicle, they can be significantly smaller or contain less data, thus significantly reducing data traffic even with regular transmission of the safety messages.

[0008] If a safety message is not received within the predefined timeframe, a malfunction or loss of the communication link, or a safety-critical situation, is assumed, and the vehicle is brought to a safe state, for example, an emergency stop is performed. In particular, if the driving instructions and the safety messages can be received separately, receiving only the safety message may be sufficient, potentially eliminating the need for complex technology in the vehicle to decode such a message.

[0009] In particular, if the safety messages are sent at a sufficiently high frequency, an emergency stop can also be triggered by the active omission of the safety message, so that the safety message can be used as an emergency stop function even without corresponding driving instructions.

[0010] The timing scheme preferably involves the regular transmission of the safety message, with appropriate time buffers or tolerances provided. Ideally, the frequency is chosen so that if the safety message is not received, the safety function can be activated quickly.

[0011] Preferably, the traffic system includes a vehicle control system that determines the route and calculates and sends driving instructions based on that route. Furthermore, the traffic system preferably includes a safety system that generates and sends safety messages, wherein the safety system is, in particular, separate from and / or independent of the vehicle control system. The separate systems for vehicle control and safety functions provide a higher level of safety for the traffic system, since both systems remain functional and can send messages to the vehicle even if the other system fails.

[0012] In particular, the safety system can monitor the vehicle independently of the vehicle control system and thus detect safety-critical situations independently of the vehicle control system. A safety function can be activated independently of the vehicle control system by stopping the safety messages.

[0013] The vehicle control system and the safety system may include sensors for monitoring the road surface and / or road users on the road surface, wherein the vehicle control system and the safety system may, in particular, include different sensors or different devices for processing the sensor signals. The sensors or the devices for processing the sensor signals may be optimized for their respective functions, i.e., vehicle control or safety functions.

[0014] For example, safety messages can be created individually for each vehicle. Since each vehicle receives an individual safety message, the sending of the safety message can also be stopped separately for each vehicle, so that, for example, the absence of an individual safety message can lead to each vehicle being stopped separately.

[0015] Alternatively, shared safety messages can be created for multiple vehicles to reduce data traffic. In particular, the safety message can be general and sent as a broadcast message, which is sent without a specific recipient list, so that all vehicles within the transmission range can receive this message.

[0016] For example, standardized safety messages are generated for sections of the traffic area and / or the entire traffic area. This allows vehicles within a specific area to be addressed and, if necessary, stopped, even without individualized safety messages.

[0017] In particular, a safety message, especially a global safety message for the entire traffic area, could also contain information or identifiers for the individual sub-areas, so that, for example, if an identifier for an area in which the vehicle is located or through which the route passes is missing, a safety function is triggered.

[0018] To minimize data traffic, the safety messages preferably contain only one verification piece of information. In particular, in this embodiment, the safety messages contain no additional information. This means that no further information or instructions are sent to the vehicle, so the vehicle only needs to check for the presence of the safety message and the corresponding verification information.

[0019] Optionally, all road users on the road surface can be monitored by the traffic system, and the safety information contains relevant details about these road users for the vehicle. This information can be reviewed by the vehicle itself, and appropriate measures can be initiated by the vehicle to detect safety-critical situations or their development.

[0020] In this embodiment, road users can also be monitored by the traffic system on the road surface, and if the emergence of a critical situation for the vehicle is detected, the safety message can contain additional information and / or instructions to avoid the critical situation.

[0021] Preferably, the safety function brings the vehicle into a safe state, wherein the safety function particularly includes stopping the vehicle.

[0022] Preferably, the vehicle registers and / or signs in before entering the traffic area, whereby signing in and / or registering includes an assignment and / or a notification of the safety message scheme to the vehicle.

[0023] To solve the problem, a traffic system with a traffic area is further provided, wherein the traffic system can control a vehicle on the traffic area, the traffic system determines a route for the vehicle on the traffic area, and the vehicle moves along the route automatically, in particular remotely controlled by the traffic system. The traffic system determines a route for the vehicle. The traffic system determines driving instructions for the vehicle based on the route and sends them to the vehicle. Furthermore, the traffic system monitors the vehicle's movement along the route. The vehicle is controlled according to one of the methods described above.

[0024] Further advantages and features will become apparent from the following description in conjunction with the attached drawings. These show: Fig. 1. A schematic representation of a transport system; and Fig. 2 a schematic representation of the functioning of the transport system Fig. 1.

[0025] In Fig. Figure 1 shows a traffic system 10 for controlling and monitoring vehicles 14 on a traffic area 12. In the embodiment shown here, the traffic area 14 is a parking space and the traffic system 10 is a parking system for vehicles 14. However, the traffic area 12 can also be any other area on which road users move or on which road users are to be controlled by the traffic system 10.

[0026] The traffic system 10 has a sensor system 16 with multiple sensors 18 that monitor the entire traffic area 12 as well as all vehicles 14 and road users located on the traffic area 12. The sensors 18 can be any type of sensor, such as cameras, radar sensors, lidar sensors, or ultrasonic sensors, as well as other sensor types suitable for monitoring the traffic area 12. In particular, different sensor types can be used to ensure the most reliable monitoring possible of the entire traffic area and the road users located on it.

[0027] The traffic system 10 also has a vehicle control system 20 for controlling the vehicles 14. The vehicle control system 20 can also, if necessary, take over the control of other road users, provided they are equipped for external control and / or have a suitable communication unit for communicating with the traffic system 10. For the sake of simplicity, the function of the traffic system 10 for vehicles 14 is described below, although the procedure can also be applied analogously to other road users.

[0028] The vehicle control system 20 has a communication device 22 for establishing separate or joint communication links 24 to the vehicles 14, through which driving instructions and / or control commands can be sent for the respective vehicle 14.

[0029] The vehicle control system 20 is connected to the sensor system 16, so that the vehicle control system 20 can receive information required from the sensor system 16 for controlling the vehicles 14, such as location and / or movement information of the vehicles, as sensor signals 26 from the sensor system 16.

[0030] The vehicle control system can determine a driving route 28 within the traffic area 12 for each vehicle 14 based on the sensor signals from the sensor system 16 and generate corresponding driving instructions or control commands for the respective vehicle 14. These driving instructions or control commands can be sent to the respective vehicle 14 via the communication link 24.

[0031] The vehicles 14 each have a communication unit 30 for establishing the communication connection 24 with the communication device 22. For example, when entering the traffic area 12, the vehicle can register with the traffic system 10, whereby a unique identification of the vehicle 14 and an establishment of the communication connection 24 take place.

[0032] Via the communication unit 30 or the communication link 24, the vehicles 14 can receive control commands and forward them to a vehicle control unit. The vehicle control unit can then execute the control commands, enabling the vehicles 14 to be moved through the traffic area 12 by the traffic system 10, in particular remotely.

[0033] The traffic system 10 monitors the vehicles 14 within the traffic area 12 via the sensor system 16 and can, based on the sensor signals 26, correct the control commands or driving instructions for the vehicles 14 if necessary, in order to ensure, for example, that the vehicles 14 move along the determined routes 28 or to be able to react to critical situations or prevent their occurrence.

[0034] The control of the vehicles 14 is preferably carried out in a closed-loop control system in which the position and direction of movement of the vehicles 14 are repeatedly transmitted by the sensor system 16 to the vehicle control system 20, which then checks and compares this information with the control commands and the determined travel distance 28. If the position and / or direction of movement of a vehicle 14 deviates from the determined travel distance 28, or if travel along the travel distance 28 cannot be continued, for example due to obstacles, appropriately corrected control commands can be sent to the vehicle 14. If several vehicles 14 are in the parking system 10, the travel distances 28 are calculated for them so that they do not overlap.

[0035] Alternatively, the traffic system can also send the determined route 28 to the vehicle 12, and the vehicle 12 moves autonomously along this route 28. In this embodiment as well, the vehicle and its movements are continuously monitored by the traffic system 10 using the monitoring sensors 16. If the vehicle 12 deviates from the transmitted route 28, a corrected route 28 is determined and sent to the vehicle 12, or a warning message is sent to the vehicle 12.

[0036] Furthermore, the traffic system 10 includes a safety system 32 that is completely separate from the vehicle control system 20. The safety system 32 monitors the entire traffic area 12, including road users located on the traffic area 12 who cannot be controlled by the vehicle control system 20. The safety system 32 is also connected to the sensor system 16 and can receive sensor signals 34 from it.

[0037] Based on the sensor signals 34 and, where applicable, information from the vehicle control system 20, the movement paths of road users are determined and / or estimated, and it is checked whether critical or dangerous situations may arise, for example, if the movement paths of different road users overlap. If such a critical situation is detected and / or predicted by the safety system 32, the safety system 32 initiates measures to avoid the situation. For example, a signal, such as a warning signal or a behavioral instruction, is sent to at least one road user for whom a critical situation has been detected. The safety system 32 may have separate communication devices or may also access the communication device 22 of the vehicle control system 20.

[0038] The safety system 32 can have a separate communication device or access the communication device 22 of the vehicle control system 20.

[0039] While a vehicle 14 is on the traffic area 12, in particular while such a vehicle 14 is moving on the traffic area 12, it must always be ensured that a communication link exists between the vehicle 14 and the traffic system 12, for example in order to be able to send instructions to the vehicle 14 immediately in the event of a dangerous situation arising or occurring, in order to avoid or resolve the dangerous situation.

[0040] The traffic system 10 typically sends driving instructions from the vehicle control system 20 to the vehicle via the communication device 22 at regular intervals. These driving instructions contain updated control commands for the vehicle 14, such as changes in direction or speed, or an updated route 28. If the vehicle 14 does not receive any driving instructions from the traffic system 10 for a defined period, it is assumed that there is no communication link between the vehicle 14 and the traffic system 10, or that the link is disrupted. After the defined period has elapsed, the vehicle 14 is therefore brought to a safe state, usually to a standstill, until the communication link to the traffic system 10 is re-established and the vehicle 14 receives control commands or an updated route 28.

[0041] The control commands or the updated route 28 are sent to the vehicle according to the predefined scheme, particularly at regular intervals, even if no changes in direction or speed of the vehicle 14 are required based on the route 28. If no change in direction or speed of the vehicle 14 is required, a message with control commands is nevertheless sent to the vehicle, whereby the control commands only include maintaining the direction of travel and / or speed.

[0042] In contrast to this transmission scheme, the vehicle control system determines 20 points in time or positions 36 at which driving instructions 38 are required for the vehicle 14, for example, to change the direction of travel or the speed. Driving instructions or a route 28 are only sent to the vehicle at or immediately before these positions or at these points in time (see also Fig. 2).

[0043] Between driving instructions according to one of the previously described schemes, safety messages 40 are sent to the vehicle 14 via the communication device, in particular the communication device 22 of the vehicle control system 20, according to a defined temporal scheme, in particular at regular intervals, and in particular independently of these schemes. These safety messages 40 serve only to inform the vehicle 14 that the communication link 24 between the vehicle 14 and the traffic system 10 remains active and that the previously transmitted driving instruction can still be followed safely. They do not contain any additional information, in particular no control commands or routes 28. The safety messages 40 should have the smallest possible data volume in order to minimize data traffic within the traffic system.The safety message 40 may contain information that enables the vehicle 14 to uniquely identify the safety message 40, for example, test information that can be verified by the vehicle 14.

[0044] Instead of receiving the driving instructions 38, the vehicle 14 checks for the regular receipt of the safety messages 40 and, if the safety messages 40 are not received, performs a safety function, for example, slowing down or stopping the vehicle.

[0045] The safety messages 40 therefore have a significantly smaller data volume than the driving instructions 38, so that the data traffic between the vehicle 14 and the traffic system 10 can be significantly reduced overall.

[0046] In addition, the communication 40, which is relevant for the safety of the vehicle 14, in particular for the safety of the traffic of the vehicles 14 on the traffic area 12, may contain information relevant, for example about other road users in the immediate vicinity of the vehicle 14.

[0047] In the embodiment shown here, the safety message 40 is generated by the safety system 32, which is separate from the control system 20 of the traffic system 10. However, it is also possible for the safety instructions 40 to be generated by another system, in particular within the control system 20, and sent to the vehicle 14.

[0048] Preferably, a separate, individual communication link is established for each vehicle 14, through which an individual security data 40 is sent to each vehicle. This ensures, particularly from the vehicle 14's perspective, that the individual communication link to the vehicle 14 actually exists.

[0049] Alternatively, a single Safety Message 40 can be created for multiple vehicles to reduce data traffic and transmission effort for Safety Messages 40.

[0050] The safety messages can be created and sent uniformly for the entire traffic area 12, or safety messages can be created for sub-areas of traffic area 12, so that the vehicle can check whether the communication connection required for the respective sub-area of ​​traffic area 12 exists.

Claims

[1] Method for controlling a vehicle (14) on a traffic area (12) by a traffic system (10), wherein the traffic system (10) determines a route (28) for the vehicle (14) on the traffic area (12) and the vehicle (14) moves along the route (28) automatically, in particular remotely controlled by the traffic system (10), wherein the traffic system (10) determines a route (28) for the vehicle (14), and wherein the traffic system (10) determines driving instructions (38) for the vehicle (14) based on the route (28) and sends them to the vehicle (14) and monitors the journey of the vehicle (14) along the route (28), wherein the method comprises the following steps: - Determining and sending driving instructions (38), wherein the driving instructions (38) contain direction and / or acceleration changes for the vehicle (14) and are only sent when changes to direction and / or acceleration changes of the vehicle (14) sent at an earlier time are required; - Sending safety messages (40) independently of the driving instructions (38) according to a defined time schedule; - Checking by the vehicle (14) whether the safety messages (40) are received according to the defined time schedule, and performing a safety function if the safety messages (40) are not received according to the defined time schedule. [2] Method according to claim 1, characterized by, that the traffic system (10) includes a vehicle control system (20) that determines the route (28) and determines and sends the driving instructions (38), and that the traffic system (10) includes a safety system (34) that generates and sends the safety messages (40), wherein in particular the safety system (34) is separate from and / or independent of the vehicle control system (20). [3] Method according to claim 2, characterized by , that the vehicle control system (20) and the safety system (34) have sensors (18) for monitoring the traffic area (12) and / or the road users on the traffic area (12), wherein the vehicle control system (20) and the safety system (34) in particular have different sensors (18) or different devices for processing the sensor signals. [4] Method according to any one of the preceding claims, characterized by, that the safety notices (40) are created individually for each vehicle (14). [5] Method according to any one of claims 1 to 3, characterized by , that joint safety notices (40) are created for several vehicles (14). [6] Method according to any one of claims 1 to 3, characterized by , that uniform safety notices (40) are prepared for parts of the traffic area (12) and / or the entire traffic area (12). [7] Method according to any one of the preceding claims, characterized by , that the safety notices (40) contain test information. [8] Method according to any one of the preceding claims, characterized by , that all road users on the road surface (12) are monitored by the traffic system (10) and the safety message (40) for the vehicle (14) contains relevant information about the road users. [9] Method according to claim 8, characterized by, that all road users on the road surface (12) are monitored by the traffic system (10) and if the emergence of a critical situation for the vehicle (14) is detected, the safety message (40) contains additional information and / or instructions to avoid the critical situation. [10] Method according to any one of the preceding claims, characterized by , that the safety function brings the vehicle (14) into a safe state, wherein the safety function in particular includes stopping the vehicle (14). [11] Method according to any one of the preceding claims, characterized by , that the vehicle (14) logs on to and / or registers with the traffic system (10) before entering the traffic area (12), the logging on and / or registration comprising an assignment and / or a notification of the safety notification scheme (40) to the vehicle (14). [12] Traffic system (10) with a traffic area (12), wherein the traffic system (10) can control a vehicle (14) on the traffic area (12), wherein the traffic system (10) determines a route (28) for the vehicle (14) on the traffic area (12) and the vehicle (14) moves along the route (28) automatically, in particular remotely controlled by the traffic system (10), on the traffic area (12), wherein the traffic system (10) determines a route (28) for the vehicle (14), and wherein the traffic system (10) determines driving instructions (38) for the vehicle (14) based on the route (28) and sends them to the vehicle (14) and monitors the journey of the vehicle (14) along the route (28), wherein the control of the vehicle (14) is carried out according to a method according to one of the preceding claims.

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