A vehicle comprising an autonomous driving unit and a method for operating a vehicle with an autonomous driving unit

Abstract

A vehicle 10 comprising an autonomous driving unit 12 comprising an intelligent driving controller 14, which is configured to provide at least one control signal for at least one control unit 18 of the vehicle, and a plurality of sensor units 16, by which an environment of the vehicle is capable of being detected by using sensor data and the at least one control signal is capable of being provided by the intelligent driving controller in dependence on the sensor data, and the at least one control unit is configured to provide a vehicle function in dependence on the control signal, wherein the intelligent driving controller is connected for communication with the sensor units and the at least one control unit, characterized in that the respective connection between the respective sensor unit and the intelligent driving controller and the at least one control unit and the intelligent driving controller is configured to be wireless and direct. The autonomous driving unit and / or at least one of the sensor units and / or the at least one control unit may be configured redundantly.

Description

FIELD OF THE INVENTION

[0001] The present invention relates to the field of vehicles, in particular automobiles, such as a van, car, or truck. More specifically, the present invention relates to vehicles comprising an autonomous driving unit which is configured at least partially for autonomous driving of the vehicle. Furthermore, the present invention relates to a corresponding method for operating a vehicle with an autonomous driving unit. BACKGROUND INFORMATION

[0002] In the vehicle capable of autonomous driving a growing number of sensor units and control units have to be connected to communicate. With the level of autonomous driving capabilities the installation complexity grows. If the wiring is not correct or too complex, a risk of communication drop occurs. This problem also occurs in case of improper connector and wrong connection. In addition, the raw materials for the physical cabling and connectors are costly and the design and manufacturing costs as well as the costs for the fault protection mechanisms are high. SUMMARY OF THE INVENTION

[0003] It is an object of the present invention to provide a vehicle and a method for a cost-efficient, reliable communication between control units and sensors in a vehicle, which is capable or prepared for autonomous driving at least at the levels 2 to 4.

[0004] This object is solved by a vehicle and a method according to the present invention. Advantageous embodiments are presented in the dependent claims, the description and the drawings.

[0005] A first aspect of the invention relates to a vehicle comprising an autonomous driving unit, which is in particular configured at least partially for autonomous driving (AD) of the vehicle, comprising an intelligent driving controller (IDC), which is configured to provide at least one control signal for a control unit of the vehicle, and a plurality of sensor units, by which an environment of the vehicle is capable of being detected by using sensor data and the at least one control signal is capable of being provided by the intelligent driving controller in dependence on the sensor data, and the control unit is configured to provide or execute a vehicle function, for example acceleration or braking, in dependence on or of the control signal, wherein the intelligent driving controller is connected for communication with the sensor units and the at least one control unit.

[0006] To solve the object of the invention, the respective connection between the respective sensor unit or each of the sensor units and the intelligent driving controller and / or the at least one control unit and the intelligent driving controller is configured to be wireless and direct, which means without a gateway, in particular hardware gateway, between one of the sensor units and the IDC or between the IDC and the at least one control unit.

[0007] The vehicle is in particular a motor vehicle, such as an automobile, for example a car, van, or truck. The sensor unit may be a camera, a Radar, an ultrasonic sensor, and / or a Lidar for example. The main function of the IDC includes transmitting sensor signals, processing signals, and messages, and monitoring system health. A control unit may be a chassis domain control unit, body control unit, connectivity and entertainment control unit. Therefore, the IDC wirelessly communicates with for example basic vehicle platform consisting of, but not only, the chassis, the body, the connectivity and entertainment control units. The IDC may transmit vehicle signals and driver’s requests.

[0008] The wireless connection or communication works without a wire and / or a line for example such as a fiber. Here wireless means via radio frequency, for example, via Wi-Fi.

[0009] An advantage of the vehicle according to the invention is that wiring costs and costs for hiring engineers for debugging are not necessary. It simplifies the wiring design and easy sensor notes or unit and signal measurement tools installation is possible without communication wiring. A flexible layout for autonomous driving components, such as sensor notes, main controller unit, signal measurement tools etc. is possible.

[0010] In an embodiment according to the invention, the autonomous driving unit and / or at least one of the sensor units and / or the at least one control unit is configured redundantly.

[0011] In still another embodiment of the present invention, at least one of the sensor units is configured as a camera, which is in particular to perform the communication by GMSL protocol, and the at least one of the sensor units is configured as an ultrasonic sensor, which is in particular capable to perform the communication by LIN protocol.

[0012] In yet another embodiment of the present invention, one of the sensor units is configured as a Lidar and / or Radar, which are in particular capable to perform the communication by Ethernet protocol.

[0013] In a further embodiment of the present invention, the control unit is part of a chassis domain control unit, and / or a body domain control unit, and / or connectivity and entertainment domain control unit and therefore part of the basic vehicle platform.

[0014] A second aspect of the present invention relates to a method for operating a vehicle with an autonomous driving unit comprising an intelligent driving controller, which provides at least one control signal for a control unit of the vehicle, and a plurality of sensor units by which in an environment of the vehicle detected via sensor data and the at least one control signal is provided by the intelligent driving controller independent of the sensor data, and the control unit executes a vehicle function dependent on the control signal, the intelligent driving controller communicates with the sensor units and the at least one control unit.

[0015] To perform the method with low risk for a communication failure, the respective connection between the respective sensor unit and the intelligent driving controller and / or the at least one control unit and the intelligent driving controller is configured to be wireless and direct.

[0016] Advantages and advantageous embodiments of the first aspect of the invention are to be regarded as advantages and advantageous embodiments of the second aspect of the invention and vice versa.

[0017] In an embodiment of the present invention, the respective wireless connection is formed by high-speed radio based wireless transmitting and receiving technology, for example Wi-Fi, and / or has encryption mechanism and / or security protection.

[0018] In still another embodiment of the present invention, at least one of the sensor units and / or a sensor unit of a further vehicle make sensor data available as a broadcast to the respective other vehicle as external sensor data for the connection and the communication.

[0019] In still another embodiment of the present invention, the external sensor data is verified and forwarded and the control signal is provided as a function of the external sensor data. SUMMARY OF THE INVENTION

[0020]

[0021] Further advantages, features, and details of the invention derive from the following description of preferred embodiments as well as from the drawings. The features and feature combinations previously mentioned in the description as well as the features and feature combinations mentioned in the following description of the figures and / or shown in the figures alone can be employed not only in the respectively indicated combination but also in any other combination or taken alone without leaving the scope of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The novel features and characteristic of the disclosure are set forth in the appended claims. The accompanying drawings, which are incorporated in and constitute a part of this disclosure, illustrate exemplary embodiments and together with the description, serve to explain the disclosed principles. The same numbers are used throughout the figures to reference like features and components. Some embodiments of system and / or methods in accordance with embodiments of the present subject matter are now described below, by way of example only, and with reference to the accompanying figures.

[0023] The drawings show in:

[0024] Fig. 1 a schematic view of a vehicle comprising an autonomous driving unit and a basic vehicle platform;

[0025] Fig. 2 a schematic view of a redundant embodiment of the autonomous driving unit;

[0026] Fig. 3 a schematic view of an embodiment of an intelligent driving controller of the autonomous driving unit;

[0027] Fig. 4 a schematic view of another embodiment of the intelligent driving controller with redundant components; and

[0028] Fig. 5. a schematic view of two vehicles exchanging sensor data messages.

[0029] In the figures the same elements or elements having the same function are indicated by the same reference signs. DETAILED DESCRIPTION

[0030] In the present document, the word "exemplary" is used herein to mean "serving as an example, instance, or illustration". Any embodiment or implementation of the present subject matter described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.

[0031] While the disclosure is susceptible to various modifications and alternative forms, specific embodiments thereof have been shown by way of example in the drawing and will be described in detail below. It should be understood, however, that it is not intended to limit the disclosure to the particular forms disclosed, but on the contrary, the disclosure is to cover all modifications, equivalents, and alternatives falling within the scope of the disclosure.

[0032] The terms “comprises”, “comprising”, or any other variations thereof, are intended to cover a non-exclusive inclusion so that a setup, device or method that comprises a list of components or steps does not include only those components or steps but may include other components or steps not expressly listed or inherent to such setup or device or method. In other words, one or more elements in a system or apparatus preceded by “comprises” or “comprise” does not or do not, without more constraints, preclude the existence of other elements or additional elements in the system or method.

[0033] In the following detailed description of the embodiment of the disclosure, reference is made to the accompanying drawing that forms part hereof, and in which is shown by way of illustration a specific embodiment in which the disclosure may be practiced. This embodiment is described in sufficient detail to enable those skilled in the art to practice the disclosure, and it is to be understood that other embodiments may be utilized and that changes may be made without departing from the scope of the present disclosure. The following description is, therefore, not to be taken in a limiting sense.

[0034] Fig. 1 shows a schematic view of a vehicle 10 comprising an autonomous driving unit 12, which comprises an intelligent driving controller 14, which is configured to provide at least one control signal for at least one control unit 18 of the vehicle 10. A plurality of sensor units 16, by which an environment of the vehicle is capable of being detected by using sensor data and the at least one control signal is capable of being provided by the intelligent driving controller 14 in dependence on the sensor data. The at least one control unit 16 is configured to provide or execute a vehicle function in dependence on the control signal, wherein the intelligent driving controller 14 is connected for communication unit 16 and the at least one control unit 18. The at least one control unit 18 is in particular part of the basic vehicle platform 20.

[0035] To reduce physical wiring and connectors, decrease installation complexity, cut of costs, sufficiently distribute computing resources, and / or literally expand detection distance and improve autonomous driving safety, the respective connection for communication between the respective sensor unit 16 and the intelligent driving controller 14 and the at least one control unit 18 and the intelligent driving controller 14 is configured to be wireless and direct, which means without a gateway or lines or wires. The vehicle 10 is capable of performing a method for operation, wherein the respective connection between the respective sensor unit 16 and the intelligent driving controller 14 or the at least one control unit 18 and the intelligent driving controller 14 is configured to wireless and direct and wherein the control unit executes a vehicle function dependent on the control signal provided by the intelligent driving controller 14 by communication with sensor units 16 and the at least one control unit 18.

[0036] One of the sensor units 16 may be configured as a camera 22, which in particular communicates with the intelligent driving controller 14 or IDC via the GMSL protocol. Furthermore, one of the sensor units 16 is configured as an ultrasonic sensor 24, which in particular communicates to the IDC by LIN protocol.

[0037] One of the sensor units 16 may be configured as a Lidar 26 and another one as a Radar 28, which are both capable to perform the communication to the I DC 14 in particular by Ethernet protocol.

[0038] At least one control unit 18 is in particular part of the basic vehicle platform 20 and may be a chassis domain control unit 30 and a body domain control unit 32 and a connectivity and entertainment control unit 34.

[0039] Fig. 2 shows a second embodiment of the autonomous driving unit 12, which is configured for autonomous driving of the vehicle. The embodiment of an autonomous driving unit in Fig. 2 is configured redundantly, therefore has redundant sensors 16’. Furthermore, a signal measurement tool and data storage device 36 is provided as well as a head unit display 38.

[0040] Fig. 3 and Fig. 4 show two embodiments of the intelligent driving controller 14, wherein Fig. 3 shows a non-redundant design and Fig. 4 shows a redundant design. Both have a power connection 40 with antennas 42, a controller 44, an FSI 46, a processor 48, a signal measurement tool and data storage device 50, and a wireless RX / TX module 52. The redundant part of the embodiment in Fig. 4 is always marked with an apostrophe.

[0041] To summarize the shown vehicle 10 and the method provided, it is possible with the wireless technology to provide a signal strength enhancement solution. For example, when the car or vehicle 10 is driven with high speed, for example, 70 mph, Radar detections and signals are important to active and passive safety. In this case, the wireless technology enhances the Radar signal strength to make sure IDC 14 can process signals sufficiently and properly on time.

[0042] The shown vehicle 10 and the provided method have an intelligent feature, actively monitoring and managing signal enhancement, which helps IDC 14 save energy consumption, distribute computing resource sufficiently, and improve autonomous driving (AD) function experience. For example, when the car is parking, Lidar is not important for parking feature. Then the IDC 14 may eliminate Lidar signal computing threads and rearrange it on proceeding camera, Radar, and ultrasonic sensor data.

[0043] The IDC 14 wirelessly communicates with autonomous driving sensors, the sensor units 16, including the camera 22, the Radar 28, ultrasonic sensor 24, and Lidar 26 and other helpful sensors. The main function of the IDC 14 includes transmitting sensor signals, processing signals and messages and monitoring system health. The camera 22 wirelessly communicates with IDC 14 by GMSL protocol, it should meet automotive grade requirement and be eligible to all view field (fish eye, wide range, tele range, etc.).

[0044] Radar and Lidar wirelessly communicates with IDC 14 with automotive Ethernet protocol. Both of Radar and Lidar should be eligible to all detection range (short range, middle range, and long range).

[0045] USS, in particular, wirelessly communicates with IDC 14 by LIN protocol. This wireless technology passes EMC (electrical magnetic conflict) test and no severe and insufficient impact during communication occurs or is needed.

[0046] The IDC also wirelessly communicates with basic vehicle platform consisting of, but not only of chassis, body, connectivity and / or entertainment domain control unit 18, wherein the IDC 14 transmits vehicle live signals and driver’s request. The IDC 14 is in particular capable to execute ADAS Level 2 up to Level 4 features. The wireless communication can be encrypted and therefore has encryption mechanism and / or security protection, which protect the car or vehicle 10 from hacking or being hacked.

[0047] Since sensor nodes or sensor unit 16 are capable of broadcast messages, every car or vehicle, which is built as a vehicle 10, is capable to receive and process another car’s sensor data or sensor messages within valid distance. For example the vehicle’s 10 IDC 14 can receive the camera Radar Lidar message from the car in front of the vehicle 10. Sensor shareable features as claimed above are preferred to have driver authentication. The vehicle 10 and / or the method is also capable to forward sensor shared messages, for example, the vehicle 10 can provide the sensor data messages 54 from the front car to the car at the back, which is shown in Fig. 5.

[0048] Fig. 5 shows the forwarding from sensor data or the sensor data message 54 from a first vehicle 10 to a second vehicle 10, this external sensor data for the second vehicle 10 may be verified and / or forwarded to another not shown vehicle and / or the control signal is provided as a function of this external sensor data received via the sensor data message 54.

[0049] Every IDC 14 has the capability to verify the messages from another vehicle via wireless communication. The IDC 14 further is able to actively react after processing another vehicle’s sensor messages regarding an active safety protection. Based on the CPU or processor 15 load of the IDC 14 the IDC 14 may stop forwarding other cars’ sensor messages by the shown method. Wireless communication is compatible to both of non-redundant system and redundant system shown in Fig. 1 to Fig. 4. signs vehicle autonomous driving unit intelligent driving control sensor unit control unit basic vehicle platform camera ultrasonic sensor LIDAR radar chassis domain control unit body domain control unit connectivity and entertainment control unit data storage device head unit display power connector antenna controller FSI processor storage memory wireless RX / TX module sensor data message

Claims

1. A vehicle (10) comprising an autonomous driving unit (12) comprising an intelligent driving controller (14), which is configured to provide at least one control signal for at least one control unit (18) of the vehicle, and a plurality of sensor units (16), by which an environment of the vehicle is capable of being detected by using sensor data and the at least one control signal is capable of being provided by the intelligent driving controller (14) in dependence on the sensor data, and the at least one control unit (18) is configured to provide a vehicle function in dependence on the control signal, wherein the intelligent driving controller (14) is connected for communication with the sensor units (16) and the at least one control unit (18), characterized in thatthe respective connection between the respective sensor unit (16) and the intelligent driving controller (14) and the at least one control unit (18) and the intelligent driving controller (14) is configured to be wireless and direct.

2. The vehicle (10) according to claim 1, characterized in thatthe autonomous driving unit (12) and / or at least one of the sensor units (16) and / or the at least one control unit (18) is configured redundantly.

3. The vehicle (10) according to claim 1 or 2, characterized in thatone of the sensor units (16) is configured as a camera (22), which is in particular capable to perform the communication by GMSL protocol, and / or one of the sensorunits (16) is configured as a ultrasonic sensor (24), which is in particular capable to perform the communication by LIN protocol.

4. The vehicle (10) according to any one of claims 1 to 3, characterized in thatone of the sensor units (16) is configured as Lidar (26) and / or Radar (28) which are in particular capable to perform the communication by Ethernet protocol.

5. The vehicle (10) according to any one of the preceding claims characterized in thatthe at least one control unit (18) is part of a chassis domain control unit (30) and / or a body domain control unit (32) and / or a connectivity and entertainment domain control unit (34).

6. A method for operating a vehicle (10) with an autonomous driving unit (12) comprising an intelligent driving controller (14), which provides at least one control signal for at least one control unit (18) of the vehicle (10), and a plurality of sensor units (16), by which an environment of the vehicle (10) is detected via sensor data and the at least one control signal is provided by the intelligent driving controller (14) in dependence on the sensor data, and the at least one control unit (18) executes a vehicle function in dependence on the control signal, the intelligent driving controller (14) communicates with the sensor units (16) and the at least one control unit (18), characterized in thatthe respective connection between the respective sensor unit (16) and the intelligent driving controller (14) and the at least one control unit (18) and the intelligent driving controller (14) is configured to be wireless and direct.

7. The method according to claim 6, characterized in thatthe respective wireless connection is formed by high-speed radio based wireless transmitting and receiving technology and / or has encryption mechanism and / or security protection.

8. The method according to claim 6 or 7, characterized in thatat least one of the sensor units (16) and / or a sensor unit of a further vehicle makes its sensor data available as a broadcast to the respective other vehicle (10) as external sensor data for the connection and / or communication.

9. The method according to claim 8, characterized in thatthe external sensor data is verified and / or forwarded and / or the control signal is provided as a function of the external sensor data.

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