Control unit for controlling autonomous driving operation for a vehicle

Abstract

The invention relates to a control unit. The control unit is designed to control autonomous driving operation for a vehicle, in particular for a truck. The control unit is designed to control autonomous driving operation of the vehicle, at least depending on an image signal captured by a camera. The control unit has an input for a rest time signal representing a rest period, in particular a rest period of a driver. The control unit is designed to prevent intervention in the autonomous driving operation depending on the rest time signal.

Description

State of the art

[0001] The invention relates to a control unit. The control unit is designed to control autonomous driving operation for a vehicle, in particular for a truck. The control unit is designed to control autonomous driving operation of the vehicle at least as a function of an image signal captured by a camera.

[0002] From DE10 2018 000 486 a method for recording the driving and rest times of a driver of an autonomously driving motor vehicle is known, wherein a state of readiness to take over of the driver is recorded, and wherein a time period is recorded depending on the driving operating state and the readiness to take over state. Disclosure of the invention

[0003] According to the invention, the control unit of the type mentioned above has an input for a rest time signal representing a rest period, in particular a rest period of a vehicle driver. The control unit is designed to prevent intervention in the autonomous driving operation depending on the rest time signal.

[0004] In this way, driving procedures can be correctly observed, particularly with regard to legally mandated rest periods for the driver. The control unit can thus be configured to effectively prevent the driver, who is still on rest, from taking over the vehicle in a manner that deviates from autonomous driving mode.

[0005] Preferably, the control unit is configured to detect intervention based on a steering signal representing a steering handle. The control unit is further preferably configured to prevent intervention in the steering handle and / or the vehicle control system based on the steering signal, such that movement of the steering handle can be braked or blocked, or vehicle control can be prevented by blocking the transmission of the steering signal. Braking can be generated, for example, by a counter-steering torque applied by a servo motor. Intervention in the steering handle can be achieved, for example, by means of a force sensor or steering angle sensor connected to the steering handle. Advantageously, a vehicle equipped with the control unit can thus continue its autonomous driving based on the lane departure warning signal generated by the vehicle's lane keeping assist system, and preferably also on other sensor signals.

[0006] The vehicle control system is preferably a steer-by-wire system or a combination of steer-by-wire and mechanical steering. In the case of mechanical and / or steer-by-wire steering, interference with autonomous driving can be advantageously prevented by the counter-steering torque applied by the servo motor, which acts against the steering input. This prevents a driver from experiencing panic due to an easily rotatable steering wheel without affecting the vehicle's lane keeping if they attempt to intervene during autonomous driving.

[0007] In an advantageous embodiment, interference with autonomous driving can be detected by a braking signal, in particular generated by pressing a brake pedal, an acceleration signal, in particular by pressing an accelerator pedal, or a turn signal, in particular by engaging a steering column switch, especially a turn signal lever. Advantageously, this can effectively prevent interference with autonomous driving that would lead, in particular, to a change in the vehicle's lane, a change in the vehicle's speed, or the transmission of a signal that can be perceived externally, in particular the aforementioned turn signal or a flashing headlight signal.

[0008] In a preferred embodiment, the control unit is configured to generate a warning signal depending on the detected intervention and to output this signal. The warning signal can be sent, for example, to a central control unit, particularly via a network, such as a wireless network, especially a 3G, 4G, or 5G network, or the World Wide Web. More preferably, the warning signal can be sent to the driver in the form of an optical or acoustic signal, thus indicating to the driver that intervention in the autonomous driving operation is not possible during their rest period.

[0009] In a preferred embodiment, the control unit is configured to receive a warning signal, in particular generated by activating a hazard warning system, and to stop the vehicle, especially during autonomous driving, depending on the warning signal. To stop the vehicle during autonomous driving, the surrounding situation, in particular the lane, the distance to surrounding objects and / or vehicles, or road users, can be taken into account, and the nearest possible safe stopping point can be approached, depending on the situation.

[0010] In a preferred embodiment, the control unit is configured to activate a time interval for autonomous driving and / or driver-controlled driving, and to generate the rest time signal depending on the time interval. In this way, the control unit can monitor the driving times and / or rest times for the driver. The time interval can, for example, be represented by a data set stored in a trip memory.

[0011] In a preferred embodiment, the control unit can be configured to automatically drive a vehicle to a rest area and / or switch to autonomous driving mode, depending on the rest period signal, and to disable the aforementioned controls, in particular the steering handle, brake signal, accelerator pedal signal, or steering column switches. For example, when the driver's driving time is approaching its end, the control unit can instruct the vehicle to drive to the rest area and, after reaching the rest area, or during a seamless handover of vehicle control, switch to autonomous driving mode.

[0012] In a preferred embodiment, the control unit has an input for a driver identification signal and is configured to generate the idle time signal and / or to perform autonomous driving operation depending on the driver identification signal. The driver identification signal can be provided, for example, by a radio frequency identification device for detecting an RFID tag or RFID transponder (RFID = Radio Frequency Identification).

[0013] In a preferred embodiment, the control unit has an input for a position signal representing a geographical location and is configured to generate the rest time signal based on the position signal. Advantageously, this allows, for example, the detection of a vehicle crossing a border, and the application of applicable regulations for rest periods and / or driver-controlled driving time in the respective country, depending on the border crossing.

[0014] The invention also relates to a control system with a control unit of the type described above. The control system includes a driver identification unit configured to detect the presence of a driver in a predetermined detection area, in particular in a passenger or driver compartment of the vehicle, and to generate the driver identification signal depending on the detection result. Advantageously, the identity of the driver can thus be reliably detected, and a reliable allocation to actual driving and / or rest periods can be made.

[0015] In a preferred embodiment, the driver identification unit is configured to detect a previously mentioned radio frequency identification device. The radio frequency identification device can, for example, be designed as a tamper-evident wristband that a driver can wear around their wrist.

[0016] In another advantageous embodiment, the driver identification unit is configured to detect a biometric feature, in particular an eye pattern and / or a fingerprint, and to generate the driver identification signal based on this biometric feature. Advantageously, this allows the driver's identity to be reliably detected, either additionally or independently of the aforementioned radio frequency identification device.

[0017] The driver identification unit for capturing the biometric feature, in particular the eye pattern, may, for example, include a camera designed to be installed in a driver's compartment of a vehicle, and designed to capture and store an eye pattern of the driver's eye and / or compare it with a stored eye pattern data set.

[0018] In a preferred embodiment of the control system, the control unit has a trip memory and is configured to record the state of autonomous driving and / or non-autonomous driving, and thus driver-controlled driving, during a time interval – in particular by means of a data record representing the time interval and / or the state – as a function of time, especially operating time, and to store this information in the trip memory. In this way, the control system can reliably monitor driving times and / or rest periods.

[0019] Preferably, the control unit is designed to store a position, in particular depending on a GPS signal generated by a GPS receiver (GPS = Global Positioning System), a time, the driver ID, in the trip memory depending on the time, in particular the operating time.

[0020] In a preferred embodiment, the control unit is configured to transmit the aforementioned operating states, in particular the operating states stored in the trip memory, to a network, especially the internet, and there to a central control unit for autonomous driving operation. In this way, the central control unit can advantageously monitor when which driver is performing, or has performed, a driving or rest period in which vehicle. In this way, it is advantageously possible to differentiate between active and passive time, in particular the total time of the driver, so that a direct link to available driving time for a driver can be advantageously established, independent of the vehicle.

[0021] In a preferred embodiment, the control system includes a radio signal receiver or radio signal transceiver configured to receive a radio remote control signal for remotely controlling the vehicle and to control the vehicle based on this signal. Advantageously, this allows autonomous operation to be supported in such a way that, during autonomous driving, the vehicle can be taken over by the aforementioned central control unit, particularly via the network. This enables safer autonomous driving, especially pseudo-autonomous driving, even in particularly critical situations where vehicle sensors might be overwhelmed by the task of detecting driving conditions.

[0022] The invention also relates to a vehicle, in particular a truck, with a control unit or a control system of the type described above. The vehicle is designed for autonomous driving and is configured to be controlled by the control unit, at least for the execution of driving functions. The vehicle control by the control unit preferably includes computer-controlled, in particular microprocessor-controlled, steering, the activation of electrical components of the vehicle, and the processing of sensor signals, in particular image signals and / or yaw rate signals.

[0023] The control unit preferably comprises a processing unit, in particular a microprocessor and / or a microcontroller. The control unit is preferably configured to execute a computational program for autonomous driving of the vehicle, which is stored, in particular, in a memory of the control unit.

[0024] The invention also relates to a method for autonomously controlling a vehicle designed for autonomous driving. In this method, autonomous driving mode is activated depending on a rest time signal representing a rest period, and during autonomous driving mode, at least one control element, several control elements, or all control elements for guiding and / or controlling the vehicle are disabled. The control elements are preferably selected from a vehicle control group, in particular excluding a switch for a hazard warning system, further comprising an accelerator pedal, a brake pedal, a clutch pedal, a direction lever, a windshield wiper, a gear selector, in particular for an automatic transmission, a reverse gear, a parking switch, in particular for a parking brake, and a steering handle, in particular a steering wheel.

[0025] The invention will now be described below with reference to figures and further exemplary embodiments. Further advantageous embodiments result from a combination of the features described in the dependent claims and in the figures. Fig. Figure 1 shows an embodiment of a control system with which a vehicle can be controlled for autonomous driving operation by means of a control unit, wherein the autonomous driving operation can be blocked during a rest time interval by means of a control locking unit in such a way that intervention in the autonomous driving operation by means of a control element for operating the vehicle can be blocked depending on a rest time signal.

[0026] Fig. Figure 1 shows – schematically – an embodiment of a control system 1. The control system 1 can be part of a vehicle, in particular a truck. The control system 1 includes a control unit 2. The control unit 2 is configured to control a vehicle, in particular a truck, for autonomous driving.

[0027] The control unit preferably has a processing unit designed for signal processing, in particular a microprocessor and / or microcontroller or a SIP (SIP = System-in-Package).

[0028] The control unit 2 includes a control unit 3 for autonomous driving, in particular for autonomous driving control. The control unit 3 has an input 60 for a driver assistance signal. The control unit 3 is configured to generate at least one control signal for steering the vehicle, depending on the driver assistance signal, in particular a camera signal, or a distance signal to an obstacle, and to output this signal. In this embodiment, the control unit 3 is connected to a steering device 9 of the vehicle, which is configured to adjust a steering angle, in particular a toe angle, of the wheels, in particular the front wheels of the vehicle.

[0029] Fig. Figure 1 also shows wheels 11 connected to the steering device 9, in particular front wheels 11 of the vehicle.

[0030] The control system 1 also includes a lane keeping assistant 16, which has a camera configured to generate an image signal representing at least one object, in particular a vehicle environment of the vehicle, and wherein the lane keeping assistant 16 is configured to detect, depending on the image signal, at least one road line represented by the image signal, in particular a solid line or a dashed line, or a traffic sign, and to output the lane signal representing the line and / or the traffic sign, and to make it available at the input 60 of the control unit.

[0031] The control unit 3 also has an input 61 for a position signal, in particular a GPS signal, and is connected there to a position detection device 17, in particular a GPS receiver, which is designed to determine a position depending on a satellite signal and to provide a position signal representing the position at the output side at input 61.

[0032] The control unit 3 is connected to the steering device 9 via a connecting line 44 on its output side and is configured to generate a control signal, in particular a steering signal, depending on the lane signal received at input 60 and the position signal received at input 61, and to send this signal to the steering device 9 via the connecting line 44. In this way, the vehicle can be controlled by the control unit 3 for autonomous driving, at least depending on the aforementioned input signals, or depending on further input signals.

[0033] The steering device 9 is connected to the control unit 3 via a connecting line 45 on its output side and is configured to generate a speed signal representing the rotational speed of at least one of the wheels and to transmit this signal to the control unit 3 via the connecting line 45. In this way, the control unit 3 can detect the vehicle's speed – in addition to or independently of the position signal received at input 61 – and control the autonomous driving operation depending on the speed signal.

[0034] The control unit 3 is also connected on its output side to a vehicle drive 10, in particular an electric motor or internal combustion engine, by means of a connecting line 62 and is configured to generate a control signal for rotating the vehicle drive and to send this signal to the vehicle drive 10. Depending on the control signal, the vehicle drive 10 can drive the vehicle, in particular the wheels 11, to rotate. For this purpose, the vehicle drive 10 is operatively connected to the wheels 11 – in particular by means of a transmission 63.

[0035] In this embodiment, the control unit 2 also includes a control locking unit 8. The control locking unit 8 is connected to the vehicle's operating elements at its input and is configured to either transmit or block control signals from these elements to the control unit 3 for autonomous driving. For this purpose, the control locking unit 8 is connected to the control unit 3 via a connection 43, in particular a multi-channel connection or a data bus. In this embodiment, the control locking unit 8 is also connected to a steering handle 28 at its input and is configured to receive a steering angle signal 36 from the steering handle 28. Furthermore, the control locking unit 8 is also connected at its input to a direction sensor 27, a windshield wiper sensor 29, a light switch 30, a brake pedal 31, an accelerator pedal 32, a gear selector 33, and a hazard warning flasher 34.

[0036] The control locking unit 8 is also connected on its output side by means of a connecting line 66 to a direction indicator 15, in particular a turn signal, and on its output side by means of a connecting line 46 to a windshield wiper 14, in particular the windshield wiper motor, and on its output side by means of a connecting line 47 to at least one headlight 13, in particular a front headlight, and on its output side by means of a connecting line 48 to a vehicle brake 12. The vehicle brake 12 is mechanically connected to the vehicle drive, in particular the wheels 11, and is designed to brake the wheels 11.

[0037] The control interlock unit 8 is also connected to the vehicle drive 10 on the output side via a connecting line 49. The control interlock unit 8 has an input 5 for a standby signal 64. The control interlock unit 8 is configured to block or enable the transmission of a control signal for controlling or operating the vehicle to a vehicle component, in particular the vehicle drive or at least one or more other vehicle components, depending on a standby signal 64. The control signal for controlling or operating the vehicle can be generated by a control element.

[0038] In this embodiment, the control locking unit 8 is configured to enable or disable a steering angle signal 36 generated by the steering handle 28 for transmission to the control unit 3 via the connecting line 43, depending on the idle time signal 64 received at the input. In this embodiment, the control locking unit 8 is also configured to enable or disable, depending on the idle time signal 64, a direction signal 35 generated by the direction sensor 27, an activation signal 37 generated by the windshield wiper sensor 29, a switching signal 38 generated by the light switch 30, a brake signal 39 generated by the brake pedal 31, an acceleration signal 40 generated by the accelerator pedal 32, or a gear selection signal 41 generated by the gear selector 33, each for transmission.

[0039] The direction sensor 27, the steering handle 28, the windscreen wiper sensor 29, the light switch 30, the brake pedal 31, the accelerator pedal 32 and the gear selector 33 each form a control element for operating the vehicle.

[0040] The control unit 2 also includes a control time recording device 4, which is designed to record the control time of the vehicle control system and to generate the rest time signal 64 depending on the control time. In this way, a rest time prescribed for driving the vehicle can be observed by means of the control time recording device.

[0041] The control time recording device 4 comprises a control time discriminator 24 and a timer 25. The control time recording device 4 is also connected on its input side to a trip memory 21 via a bidirectional connecting line 51. Data records for the driving time specification are stored in the trip memory 21. A data record 22, which is stored in the trip memory 21, represents, for example, a rest period interval or a time interval for a maximum driving duration. The control time recording device 4 generates the rest period signal 64, in particular representing a rest period and thus a break time for driving, and makes it available at the input 5.

[0042] Depending on the time signal generated by the timer 25 and the time interval represented by the data record 22, the control time discriminator 24 can generate the idle time signal 64 after the time interval has elapsed.

[0043] The control time recording device 4 also has an input 6 for an RFID signal (RFID = Radio Frequency Identification), an input 7 for an eye pattern signal, and an input 26 for a fingerprint signal.

[0044] In this embodiment, the control system 1 also includes an eye pattern sensor 55, an RFID sensor 56, and a fingerprint sensor 57. The fingerprint sensor 57 is configured to detect a fingerprint, particularly from an adult's hand 58, and to generate a fingerprint signal representing the fingerprint and provide this signal at input 26. The RFID sensor 56 is configured to detect an RFID transponder 59, and to generate a transponder signal representing the RFID transponder 59 and provide this signal at input 6.

[0045] In this embodiment, the RFID transponder 59 is designed to be connected to the wrist of a hand, in particular the hand 58 of a vehicle driver, and thus to be worn by a vehicle driver.

[0046] The eye pattern sensor 55 is designed to detect an eye pattern of a driver's eye and to generate an eye pattern signal, output this signal and make it available at the input 7 of the control time recording device 4.

[0047] In this embodiment, the fingerprint sensor 57, the eye pattern sensor 55, and the RFID receiver 56 are arranged in a driver's cab 54. The driver's cab 54 can be part of a truck.

[0048] The control time recording device 4 is designed to generate a data record 23, which represents a driver's identity, depending on the fingerprint signal received at input 26, the RFID signal received at input 6, or depending on the eye pattern signal received at input 7, or depending on at least one or all of the aforementioned signals, and to store this data record in the trip memory 21 via the bidirectional connecting line 51.

[0049] The transponder 59 can, for example, have a trip memory in which driving times and rest times, in particular driving time intervals and rest time intervals of the driver, are stored. In this way, the control time recording device 4 can monitor the individual allocation of the prescribed driving and rest times for the driver. The data record 23 can, for example, represent not only the individual characteristics that represent the driver's identity, but also driving time intervals or rest time intervals that have already been completed.

[0050] The control time recording device 4 is also connected on the input side to the position recording device 17, in particular a GPS receiver, by means of a connecting line 50. In this way, the control time recording device 4 can take into account a rest period prescribed in the respective country after the vehicle crosses the border, or a maximum driving time, when recording driving time and / or rest time.

[0051] The control unit 3 for autonomous driving operation is also connected on the input side to a radio transceiver 18, which is designed to receive a radio control signal 53 for remote control of the vehicle.

[0052] Fig.Figure 1 also shows a control unit 20, which can be part of the control system. This unit is connected to a transmitter for a radio remote control signal 52 and is configured to generate the radio remote control signal for remotely controlling the vehicle. The remote control unit 20 can, for example, receive a radio control signal 53, in particular a call signal, generated by the control unit 3 and transmitted by the transceiver 18, and generate the radio remote control signal 52 for remotely controlling the vehicle based on this signal. In this way, the remote control unit 20 can be used to remotely control the vehicle, which, for example, is operating autonomously under the control unit 3, thus replacing the autonomous driving mode.

[0053] Such a handover can occur, for example, when the control time recording device 4 has detected that the driver is still in his rest period - in particular represented by the rest period interval - so that it is not yet possible for the driver to resume control of the vehicle at such a time.

[0054] The functionality of tax system 1 will now be explained using an example below: To commence driving operations of a vehicle which has the control system 1, a driver can enter the driver's compartment 54 and signal his presence in the driver's compartment 54 with his RFID transponder 59, or by recording his eye pattern, or his fingerprint, which can be recorded by the control time recording device 4 by providing corresponding signals at the inputs 6, 7 or 26.

[0055] The control time recording device 4 is configured to receive a user interaction signal from the control locking unit 8 via a connecting line 67, which corresponds to at least one signal from the aforementioned vehicle controls. The control time recording device 4 is configured to generate the rest time signal 64 for releasing the vehicle to the driver when sufficient control time remains for the driver, who has identified himself upon entering the driver's compartment 54, and to make this signal available at the input 5 of the control locking unit 8.

[0056] For example, the rest time signal to release the vehicle for anthropogenic operation, especially operation controlled by the driver, can represent a logical "high", and to block anthropogenically controlled vehicle operation, a logical "low".

[0057] Depending on the release signal, the control locking unit 8 can release at least one or more of the aforementioned signals, in particular the steering angle signal 36, the direction signal 35, the activation signal 37 for the windshield wiper 14, the switching signal 38 for the headlight 13, the brake signal 39 for the brake 12, the acceleration signal 40 for the vehicle drive 10, the gear selection signal 41 for a gear to be selected in the vehicle, so that the vehicle can be fully controlled and driven - controlled by the steering handle 28, the brake pedal 31, the accelerator pedal 32, the light switch 30, the windshield wiper sensor 29, or the direction signal 27.

[0058] Depending on the driving time already elapsed, in particular depending on the time signal generated by the timer 25, and depending on the output signal generated by the control time discriminator 24, the control time recording device 4 can make the rest time signal 64 available at input 5 for blocking, in particular as a blocking signal, for example a logical “low” signal, so that the control blocking unit 8 can block the forwarding of the aforementioned signals, generated by the controls for driving the vehicle, to the control unit 3, the direction indicator 15, the windscreen wiper 14, the headlight 13, or the brake 12, the steering device 9, or the drive device 10.

[0059] The control unit 3 can then take over the further driving operation for autonomous driving operation, so that the vehicle can be driven by the control unit 3 depending on the input signals, in particular the lane keeping signal of the lane keeping assistant 16, or the position signal generated by the position detection device 17.

[0060] The control unit 3 is operatively connected to the brake 12 via a connecting line 65 and a connecting node, so that the brake 12 can be activated and thus actuated by the control unit 3 even during autonomous driving operation. The control unit 3 is also connected to the direction indicator 15 via a connecting line 66, so that the direction indicator 15 can also be activated by the control unit 3 during autonomous driving operation.

[0061] The control unit 3 is also connected to the connecting line 49 via a connecting node by means of a connecting line 62, so that the control unit 3 is also operatively connected to the vehicle drive 10. In this way, autonomous driving operation can be carried out by the control unit 3 by accelerating the vehicle, by braking the vehicle, or by giving externally visible effective signals by means of the direction indicator - in particular in the form of a flashing light signal.

[0062] In the event that autonomous driving operation is interrupted depending on the input signals - for example due to a technical fault, or driving on a section of the route which is not suitable or not permitted for autonomous driving, the vehicle can be remotely controlled by the remote control center 20, or stopped by means of the control unit 3, or driven to a parking space where the end of the driver's rest period can be awaited, after which the driver can resume driving operation to manually control the vehicle.

[0063] In this embodiment, the control system 1 also includes a hazard warning flasher 34, which is designed – particularly when manually activated – to generate a warning signal 42 and output this signal to the control locking unit 8. Depending on the warning signal 42, the control unit 3 can activate the direction indicators 15 to flash the hazard lights and / or generate a brake signal to activate the brakes 12.

[0064] The warning signal 42 can, for example, also be forwarded to the control unit 3 during autonomous driving operation, specifically when the rest time signal 64, representing a rest period, is present at input 5, so that the control unit 3 can receive a warning signal indicating a hazardous condition. The control unit 3 can then send the warning signal—in particular by means of a corresponding radio control signal 53 representing the warning signal—to the control center 20. This allows the control center 20, for example, to intervene in the driving operation by generating the radio remote control signal 52 using the transceiver 19, or to stop the vehicle immediately. QUOTES INCLUDED IN THE DESCRIPTION

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

[0000] DE 10 2018 000 486

[0002]

Claims

[1] Control unit (2) for controlling autonomous driving operation for a vehicle, in particular a truck, wherein the control unit (2) is configured to control autonomous driving operation of the vehicle at least depending on an image signal captured by a camera (16), characterized by , that the control unit has an input (5) for a rest time signal (64) representing a rest time, in particular of a driver (58), and is designed to prevent interference with autonomous driving operation depending on the rest time signal (64). [2] Control unit (2) according to claim 1, characterized by , that the control unit (2) is designed to detect the intervention depending on a steering signal (36) representing a movement of a steering handle (28). [3] Control unit (2) according to claim 1 or 2, characterized by, that the control unit (2) is configured to activate a time interval (22) for autonomous driving operation and / or driver-controlled driving operation and to generate the idle time signal (64) depending on the time interval (22). [4] Control unit (2) according to any of the preceding claims, characterized by , that the control unit (2) has an input (6, 7, 26) for a driver identification signal and is designed to generate the rest time signal (64) depending on the driver identification signal and / or to carry out autonomous driving operation. [5] Control unit (2) according to any one of the preceding claims, characterized by , that the control unit (2) has an input (61) for a position signal representing a geographical position and is configured to generate the idle time signal (64) depending on the position signal (61). [6] Control system (1) with a control unit (2) according to one of the preceding claims, characterized by, that the control system (1) includes a driver identification unit (55, 56, 57) which is designed to detect the presence of a driver (58) in a predetermined detection area (54) and to generate the driver identification signal depending on the detection result. [7] Tax system (1) according to claim 6, characterized by , that the driver identification unit (56) is trained to detect an RFID transponder (59). [8] Tax system (1) according to claim 6, characterized by , that the driver identification unit (55, 57) is designed to detect a biometric feature, in particular an eye pattern and / or a fingerprint, and to generate the driver identification signal depending on the biometric feature. [9] Tax system (1) according to any one of the preceding claims 6 to 8, characterized by , that the control unit (2) has a trip memory (21) and is designed, to record the state of autonomous driving operation and / or non-autonomous driving operation during the time interval by means of a data set (22) representing the time interval and / or the state as a function of time, in particular operating time, and to store it in the driving memory (21). [10] Tax system (1) according to any one of the preceding claims, characterized by , that the control system (1) has a radio signal receiver which is configured to receive a radio remote control signal (52) for remote control of the vehicle and to control the vehicle depending on the radio remote control signal (52). [11] Vehicle, in particular a truck, with a control unit (2) or a control system (1) of the type described above, wherein the vehicle is designed for autonomous driving operation and the vehicle is designed to be controlled by the control unit (2) at least for the execution of driving functions. [12] Method for autonomously controlling a vehicle trained for autonomous driving operation, in which, depending on a rest time signal (64) representing a rest time, autonomous driving operation of a vehicle is activated and during autonomous driving operation at least one control element (27, 28, 29, 30, 31, 32, 33) is blocked, several control elements or all control elements (27, 28, 29, 30, 31, 32, 33) are blocked for driving the vehicle.

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