Method for operating an automated vehicle, and automated vehicle

Abstract

The present invention relates to a method for operating an automatically driving vehicle (1), comprising: - determining predefined vehicle parameters of the automatically driving vehicle (1) by a determination device (2) of the automatically driving vehicle (1), - determining a first vehicle parameter of the automatically driving vehicle (1) by a control device (3) of the automatically driving vehicle (1), - determining a first surroundings parameter of surroundings (U) of the automatically driving vehicle (1) by the control device (3), - determining, by the control device (3), whether a predefined trigger criterion is met by the combination of the first vehicle parameter and the first surroundings parameter, and - further processing the determined predefined vehicle parameters by the control device (3) if the trigger criterion is met. The invention further relates to an automatically driving vehicle (1).

Description

[0001] Description

[0002] Method for operating an automated vehicle and automated vehicle

[0003] The present invention relates to a method for operating an automatically driving vehicle. Furthermore, the invention relates to an automatically driving vehicle.

[0004] Due to their high complexity, the legislator requires that self-driving or automated vehicles (e.g., through the AFGBV or Section 1g StVG) supplement the performance requirements and tests of EU Regulation 2022 / 1426 with additional documentation that demonstrates that the automated vehicle does not pose disproportionate safety risks to vehicle occupants and other road users in the relevant scenarios and during its operational lifetime.

[0005] In order to meet these requirements and to enable error analyses based on data collection for reasons such as quality assurance, it is necessary to record operating data of the automated vehicle, particularly in relevant traffic scenarios, for automated driving and to transmit it to an external server for further processing and analysis.

[0006] Due to limited storage capacity and limited transmission bandwidth, it is not practical to continuously collect all of the automated vehicle's data and transmit it to the external server. Furthermore, vehicle-specific vehicle parameters are often unusable in their raw data form for external data processing centers.

[0007] It is therefore an object of the present invention to remedy, or at least partially remedy, the disadvantages described above in a method for operating an automated vehicle. In particular, the object of the present invention is to provide a method for operating an automated vehicle and an automated vehicle that meet the requirements of EU Regulation 2022 / 1426 in a simple and cost-effective manner while avoiding the excessive collection and transmission of vehicle data.

[0008] The above object is achieved by the patent claims. Accordingly, the object is achieved by a method for operating an automatically driving vehicle having the features of independent claim 1 and by an automatically driving vehicle having the features of independent claim 10. Further features and details of the invention emerge from the subclaims, the description, and the drawings. Features and details described in connection with the method according to the invention naturally also apply in connection with the vehicle according to the invention, and vice versa, so that with regard to the disclosure of the individual aspects of the invention, reference is always made to each other.

[0009] According to a first aspect of the invention, the object is achieved by a method for operating an automatically driving vehicle. The method comprises:

[0010] - Determining predefined vehicle parameters of the automatically driving vehicle by a determination device of the automatically driving vehicle,

[0011] - Determining a first vehicle parameter of the automatically driving vehicle by a control device of the automatically driving vehicle,

[0012] - Determining a first environmental parameter of an environment of the automatically driving vehicle by the control device,

[0013] - Determining by the control device whether a predefined trigger criterion is met by the combination of the first vehicle parameter and the first environmental parameter, and

[0014] - Further processing of the determined predefined vehicle parameters by the control device if the trigger criterion is met.

[0015] The determination device determines predefined vehicle parameters. For this purpose, the determination device can comprise sensors such as speed sensors, temperature sensors, acceleration sensors, pressure sensors, cameras, radar, lidar, or the like. Alternatively or additionally, the predefined vehicle parameters can also be read out completely or partially by a control device of the vehicle, for example, for controlling an engine for driving the vehicle, a steering system for steering the vehicle, a braking system for braking the vehicle, a navigation system for navigating the vehicle, or the like. The determination device can also be configured as part of the control device.Predefined vehicle parameters that can be determined include, for example, vehicle speed, vehicle acceleration, engine speed, operating temperatures of one or more vehicle systems, brake pressure, steering angle, direction of travel, position, steering angle, yaw movement, roll movement, pitch movement, vehicle inclination or the like.

[0016] The vehicle's control device determines the first vehicle parameter. The first vehicle parameter can, for example, be selected from the predefined vehicle parameters. Alternatively, a vehicle parameter that is not one of the predefined vehicle parameters can be specified as the first vehicle parameter. The first vehicle parameter can, for example, be determined continuously or intermittently.

[0017] Preferably, the control device determines, in addition to the first vehicle parameter, a second vehicle parameter that is different from the first vehicle parameter. Further preferably, the control device determines, in addition to the first vehicle parameter and second vehicle parameter, a third vehicle parameter that is different from the first vehicle parameter and second vehicle parameter. The determination of the second vehicle parameter and / or third vehicle parameter can, for example, be carried out continuously or intermittently.

[0018] To determine the first vehicle parameter and / or second vehicle parameter and / or third vehicle parameter, the control device can have sensors such as speed sensors, temperature sensors, acceleration sensors, pressure sensors, cameras, radar, lidar, or the like. Alternatively or additionally, the predefined vehicle parameters can also be read out completely or partially by the control device of the vehicle, for example, to control an engine for driving the vehicle, a steering system for steering the vehicle, a braking system for braking the vehicle, a navigation system for navigating the vehicle, or the like. The control device can also be designed as part of the control device. According to the invention, the control device can also be implemented by the determination device.

[0019] Furthermore, the control device determines the first environmental parameter of the environment of the automatically driving vehicle. Within the scope of the invention, an environmental parameter of the environment of the vehicle is understood to include, for example, moving, movable, and stationary objects that can influence the movement of the vehicle. The first environmental parameter is preferably an environmental parameter that lies in front of the vehicle in the direction of travel.

[0020] Preferably, in addition to the first environmental parameter, the control device determines a second environmental parameter that is different from the first environmental parameter. Further preferably, in addition to the first environmental parameter and the second environmental parameter, the control device determines a third environmental parameter that is different from the first environmental parameter and the second environmental parameter. The determination of the second environmental parameter and / or third environmental parameter can, for example, be carried out continuously or intermittently.

[0021] To determine the first environmental parameter and / or the second environmental parameter and / or the third environmental parameter, the control device can comprise sensors such as cameras, radar, lidar, or the like. Alternatively or additionally, the control device can also read the first environmental parameter and / or the second environmental parameter and / or the third environmental parameter from a navigation system for navigating the vehicle or the like.

[0022] Furthermore, the control device determines whether the predefined trigger criterion is met by the combination of the first vehicle parameter and the first environmental parameter. Preferably, the control device determines whether a further predefined trigger criterion is met by the combination of the second vehicle parameter and the second environmental parameter. Further preferably, the control device determines whether a further predefined trigger criterion is met by the combination of the third vehicle parameter and the third environmental parameter. Alternatively, the vehicle parameters and / or environmental parameters can be linked to determine whether the predefined trigger criterion is met.

[0023] If the predefined trigger criterion is met, the determined predefined vehicle parameters are further processed by the control device. Within the scope of the invention, further processing is understood, for example, to mean at least preventing deletion of the determined predefined vehicle parameters, so that this collected data is not lost and can be made available for analysis to a backend remote from the vehicle. A method according to the invention for operating an automatically driving vehicle has the advantage over conventional methods that the collection and further processing of vehicle parameters is carried out more precisely and cost-effectively, using simple means.By linking the further processing of the vehicle parameters to the predefined trigger criterion, the further processed vehicle parameters are particularly relevant for analyzing the operation of the autonomous vehicle. The storage space and transmission bandwidth required for transmitting the vehicle parameters can thus be significantly reduced compared to conventional methods.

[0024] According to a preferred further development of the invention, a method can be provided in which the determined predefined vehicle parameters are stored in a ring buffer, wherein the determined vehicle parameters are read out from the ring buffer during further processing of the determined vehicle parameters. In the context of the invention, a ring buffer is understood to be a memory which is designed to store data, wherein the stored data is overwritten according to a predetermined principle, for example after a predefined storage period or when the ring buffer is full. The ring buffer is preferably configured such that the oldest stored predefined vehicle parameters are deleted or overwritten. The ring buffer can, for example, be configured such that the stored data is overwritten again after approximately 30 seconds.By reading the predefined vehicle parameters from the ring buffer, the read data is protected from deletion or overwriting. Preferably, the predefined vehicle parameters that were stored in the ring buffer before the predefined trigger criterion was met are also read. Even more preferably, the predefined vehicle parameters are further determined and processed over a longer period of time after the predefined trigger criterion was met, so that the most meaningful data set possible is available for a comprehensive analysis. This has the advantage of further improving the efficiency of the process using simple and cost-effective means.

[0025] According to the invention, it is preferred that the predefined vehicle parameters be determined continuously. Alternatively, the predefined vehicle parameters can also be determined intermittently, for example, at a predefined sampling rate. Continuously determining the predefined vehicle parameters ensures that sufficient data about the vehicle is always available for subsequent analysis. This has the advantage of further improving the efficiency of the method using simple means and in a cost-effective manner.

[0026] Further preferably, during further processing of the determined predefined vehicle parameters, the determined predefined vehicle parameters are collected and stored in a storage device. The storage device is preferably designed to store the determined predefined vehicle parameters over a longer period of time, for example, several days or indefinitely. The storage device is preferably decoupled from the ring buffer or decoupleable. Further preferably, the storage device is large enough to store the determined predefined vehicle parameters for several minutes. Preferably, the storage device is designed to store the determined predefined vehicle parameters even in the event of a failure of an on-board power system of the vehicle. Preferably, the storage device is designed for the targeted overwriting or deletion of the stored data.The storage device is preferably readable via a data interface, for example, via a wired data interface, for example, by a backend for analyzing the determined predefined vehicle data. Preferably, the determined predefined vehicle parameters are processed by the control device before being stored in the storage device, for example, for data reduction or for better readability by the backend. This has the advantage of further improving the efficiency of the method using simple means and in a cost-effective manner.

[0027] In a particularly preferred embodiment of the invention, a method can be provided that, during further processing of the determined predefined vehicle parameters, the determined predefined vehicle parameters are transmitted wirelessly via a transmission interface of the automatically driving vehicle. The transmission interface can, for example, be designed to transmit the determined predefined vehicle parameters via a mobile network, via WiFi, or the like. Preferably, the determined predefined vehicle parameters are processed by the control device before transmission, for example, to reduce data or to improve readability by the backend. This has the advantage that the efficiency of the method is further improved using simple means and in a cost-effective manner.

[0028] Preferably, the trigger criterion is adapted depending on the determined vehicle parameters. The trigger criterion can be adapted, for example, by the control device or the backend. The trigger criterion is preferably adapted using artificial intelligence. The trigger criterion is preferably adapted in such a way that an analysis of the determined predefined vehicle parameters is preferentially carried out for those driving situations in which the automatically driving vehicle has an increased need for optimization, for example, due to driving maneuvers that are too abrupt and / or extreme and / or executed too early and / or too late.For example, if the analysis of the determined predefined driving parameters shows that the response of the automated vehicle to a specific driving situation meets predefined operating criteria, the triggering criterion can be modified, as there is no need for further analysis for this specific driving situation. Should it turn out that the response of the automated vehicle to a specific driving situation does not meet predefined operating criteria, the triggering criterion can be modified so that more similar driving situations can be analyzed. This has the advantage of further improving the efficiency of the process using simple and cost-effective means.

[0029] According to a preferred embodiment of the invention, the first vehicle parameter is determined by the control device from the vehicle parameters determined by the determination device. Thus, no further detection of the first vehicle parameter via sensors is required to determine the first vehicle parameter. Preferably, the first vehicle parameter is read by the control device from a ring buffer in which the predefined vehicle parameters of the vehicle are stored by the determination device. This has the advantage of further improving the efficiency of the method using simple means and in a cost-effective manner.

[0030] Particularly preferably, a possible collision participant for the vehicle and / or a road course is used as the first environmental parameter. In the context of the invention, a collision participant is understood to be an object, such as a road user, animal, object or the like, with which a collision probability is increased, for example due to a relative position and / or a relative direction of movement and / or a relative speed and / or a relative acceleration or the like. In the context of the invention, a road course is understood to be a curve, road narrowing, road incline, road gradient, road surface condition or the like, which are directly in front of the automatically driving vehicle in the direction of travel. This has the advantage that the efficiency of the method is further improved using simple means and in a cost-effective manner.According to a second aspect of the invention, the object is achieved by an automatically driving vehicle. The vehicle has a determination device for determining predefined vehicle parameters and a control device for further processing the determined predefined vehicle parameters. According to the invention, the vehicle is designed to carry out a method according to the invention.

[0031] The determination device is designed to determine the predefined vehicle parameters. For this purpose, the determination device can comprise sensors such as speed sensors, temperature sensors, acceleration sensors, pressure sensors, cameras, radar, lidar, or the like. Alternatively or additionally, a control device of the vehicle, for example, for controlling an engine for driving the vehicle, a steering system for steering the vehicle, a braking system for braking the vehicle, a navigation system for navigating the vehicle, or the like, can be designed to read the predefined vehicle parameters. The determination device can also be designed as part of the control device.

[0032] The vehicle's control device is designed to determine the first vehicle parameter. The first vehicle parameter can be selected, for example, from the predefined vehicle parameters. Alternatively, a vehicle parameter that is not one of the predefined vehicle parameters can be specified as the first vehicle parameter. The first vehicle parameter can be determined, for example, continuously or intermittently.

[0033] To determine the first vehicle parameter and / or a second vehicle parameter and / or a third vehicle parameter, the control device can comprise sensors such as speed sensors, temperature sensors, acceleration sensors, pressure sensors, cameras, radar, lidar, or the like. Alternatively or additionally, the control device can be configured to read the first vehicle parameter. The control device can also be configured as part of the control device. According to the invention, the control device can also be implemented by the determination device.

[0034] Furthermore, the control device is designed to determine the first environmental parameter of the environment of the automatically driving vehicle. Within the scope of the invention, an environmental parameter of the environment of the vehicle is understood to mean, for example, moving, movable, and stationary objects that can influence the movement of the vehicle. The first environmental parameter is preferably an environmental parameter that lies in front of the vehicle in the direction of travel.

[0035] To determine the first environmental parameter and / or a second environmental parameter and / or a third environmental parameter, the control device can have sensors such as cameras, radar, lidar, or the like. Alternatively or additionally, the control device can also be configured to read the first environmental parameter and / or the second environmental parameter and / or the third environmental parameter from a navigation system for navigating the vehicle or the like.

[0036] Furthermore, the control device is configured to determine whether a predefined trigger criterion is met by the combination of the first vehicle parameter and the first environmental parameter. Preferably, the control device is further configured to determine whether a further predefined trigger criterion is met by the combination of the second vehicle parameter and the second environmental parameter. Further preferably, the control device is configured to determine whether a further predefined trigger criterion is met by the combination of the third vehicle parameter and the third environmental parameter.

[0037] Furthermore, the control device is designed to further process the determined predefined vehicle parameters if the predefined trigger criterion is met.

[0038] The automated vehicle according to the invention provides all of the advantages already described for a method for operating an automated vehicle according to the first aspect of the invention. Accordingly, the automated vehicle according to the invention has the advantage over conventional automated vehicles that vehicle parameters can be collected and further processed more effectively, using simple means and in a cost-effective manner. By linking the further processing of the vehicle parameters to the predefined trigger criterion, the further processed vehicle parameters are particularly relevant for analyzing the operation of the automated vehicle. The storage space required and the transmission bandwidth required to transmit the vehicle parameters can thus be significantly reduced compared to conventional automated vehicles.A method according to the invention for operating an automatically driving vehicle and an automatically driving vehicle according to the invention are explained in more detail below with reference to drawings. They show schematically:

[0039] Figure 1 shows a flowchart of a preferred first embodiment of a method according to the invention for operating an automatically driving vehicle,

[0040] Figure 2 shows a flowchart of a preferred second embodiment of a method according to the invention for operating an automatically driving vehicle, and

[0041] Figure 3 shows a side view of a preferred embodiment of an automatically driving vehicle according to the invention.

[0042] Elements with the same function and mode of operation are provided with the same reference numerals in Figures 1 to 3.

[0043] Fig. 1 schematically illustrates a flowchart of a preferred first embodiment of a method according to the invention for operating an automatically driving vehicle 1 (cf. Fig. 3). In a first method action 100, a determination device 2 (cf. Fig. 3) of the automatically driving vehicle 1 determines predefined vehicle parameters of the automatically driving vehicle 1. In a second method action 200, the determined predefined vehicle parameters are stored in a ring buffer 4 (cf. Fig. 3). The predefined vehicle parameters stored the longest in the ring buffer 4 are continuously overwritten with newly determined predefined vehicle parameters. In a third method action 300, a control device 3 (cf. Fig. 3) of the automatically driving vehicle 1 determines a first vehicle parameter from the determined predefined vehicle parameters.

[0044] In a fourth procedural action 400, the control device 3 determines a first environmental parameter of an environment U (see Fig. 3) of the automatically driving vehicle 1. In a fifth procedural action 500, the control device 3 determines whether a predefined trigger criterion is met by the combination of the first vehicle parameter and the first environmental parameter. If the predefined trigger criterion is met, the determined predefined vehicle parameters are further processed by the control device 3 in a sixth procedural action 600, for example, stored in a storage device 5 of the vehicle 1 that is different from the ring buffer 4 or transmitted to a backend via a transmission interface 6 of the vehicle 1.

[0045] Fig. 2 shows a preferred second embodiment of a method according to the invention for operating an automatically driving vehicle 1 schematically in a flow chart.

[0046] The preferred second embodiment of the method according to the invention differs from the preferred first embodiment in that, in the third method action 300, the control device 3 no longer determines the first vehicle parameter from the determined predefined vehicle parameters, but rather in an alternative manner. This can be done, for example, via sensors 10, communication interfaces, or the like.

[0047] Fig. 3 schematically depicts a side view of a preferred embodiment of an automatically driving vehicle 1 according to the invention. The vehicle 1 has an engine 9 for driving the vehicle 1. To control the engine 9 and to carry out the method according to the invention, the vehicle 1 has a control device 7, which is also designed as a determination device 2 and a control device 3. To determine the predefined vehicle parameters and environmental parameters of an environment U of the vehicle 1, the vehicle 1 has a plurality of sensors 10.

[0048] List of reference symbols

[0049] 1 vehicle

[0050] Investigation device

[0051] Control device

[0052] Ring buffer

[0053] storage device

[0054] Send interface

[0055] Control device

[0056] Data interface

[0057] Motor

[0058] 10 Sensor

[0059] 100 first procedural action 00 second procedural action

[0060] 300 third procedural action

[0061] 400 fourth procedural action

[0062] 500 fifth procedural action

[0063] 600 sixth procedural action

[0064] U environment

Claims

Patent claims 1. A method for operating an automatically driving vehicle (1), comprising: Determining predefined vehicle parameters of the automatically driving vehicle (1) by a determination device (2) of the automatically driving vehicle (1), Determining a first vehicle parameter of the automatically driving vehicle (1) by a control device (3) of the automatically driving vehicle (1), Determining a first environmental parameter of an environment (U) of the automatically driving vehicle (1) by the control device (3), Determining by the control device (3) whether a predefined triggering criterion is met by the combination of the first vehicle parameter and the first environmental parameter, and further processing of the determined predefined vehicle parameters by the control device (3) if the triggering criterion is met.

2. Method according to claim 1, characterized in that the determined predefined vehicle parameters are stored in a ring buffer (4), wherein during further processing of the determined vehicle parameters the determined vehicle parameters are read out from the ring buffer (4).

3. Method according to claim 1 or 2, characterized in that the determination of the predefined vehicle parameters takes place continuously.

4. Method according to one of the preceding claims, characterized in that during further processing of the determined predefined vehicle parameters, the determined predefined vehicle parameters are collected and stored in a storage device (5).

5. Method according to one of the preceding claims, characterized in that during further processing of the determined predefined vehicle parameters, the determined predefined vehicle parameters are transmitted wirelessly via a transmission interface (6) of the automatically driving vehicle (1).

6. Method according to one of the preceding claims, characterized in that the triggering criterion is adapted depending on the determined vehicle parameters.

7. Method according to one of the preceding claims, characterized in that the first vehicle parameter is determined by the control device (3) from the determined vehicle parameters of the determination device (2).

8. Method according to one of the preceding claims, characterized in that a deceleration of the vehicle (1) is used as the first vehicle parameter and the reaching of a predefined deceleration level is used as the triggering criterion and / or an acceleration of the vehicle (1) is used as the first vehicle parameter and the reaching of a predefined acceleration level is used as the triggering criterion and / or a trajectory of the vehicle (1) is used as the first vehicle parameter and the deviation from a predefined trajectory is used as the triggering criterion.

9. Method according to one of the preceding claims, characterized in that a possible collision participant for the vehicle (1) and / or a road course is used as the first environmental parameter.

10. Automatically driving vehicle (1), comprising a determination device (2) for determining predefined vehicle parameters of the vehicle (1) and a control device (3) for further processing the determined predefined vehicle parameters, characterized in that the vehicle (1) is designed to carry out a method according to one of the preceding claims.

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