Method for Automatically Controlling a Vehicle

Abstract

The invention relates to a method for automatically controlling a vehicle, whereby a driving specification is received from an external infrastructure, whereby in a normal driving mode the vehicle is controlled along a trajectory thus specified, and whereby in a test mode the vehicle is controlled along a test trajectory different from the trajectory specified by the driving specification and / or is controlled using test parameters, in this way making it possible to test the operational reliability of the infrastructure.

Description

Technical Field

[0001] The present invention relates to a method for automatically controlling a vehicle, and more particularly to a method for automatically controlling a vehicle based on a driving specification.

Background Art

[0002] Automatically controlling a vehicle as part of a driving specification can be implemented, for example, as automatic valet parking (AVP). AVP is a system as follows. In AVP, when a vehicle is parked in a parking lot, the passengers can get out of the vehicle. Thereafter, the vehicle is guided to an available parking space by automatic control and parked in the parking space. The automatic control is at least substantially based on an infrastructure and a sensor system installed in the parking lot. When the passengers return and want to pick up the vehicle, the vehicle is similarly returned to a handover space.

[0003] Currently, corresponding systems are being developed and standardized, for example, in relation to the ISO23374 standard. In this case, it is specifically stipulated that the vehicle itself does not necessarily have to have an environmental sensor to participate in the system. Therefore, the vehicle has to rely on an infrastructure that receives the driving specification. For example, when there are also other vehicles or people in the parking lot, it is important that the automatic control of the vehicle is highly reliable, and it is also important that it can quickly react to unexpected events caused by, for example, inattentive people.

Summary of the Invention

Means for Solving the Problems

[0004] Therefore, an object of the present invention is to provide a method for automatically controlling a vehicle that is of an alternative or superior design compared to known versions. According to the present invention, the above object is achieved by the method according to claim 1. Advantageous embodiments can be read, for example, from the dependent claims. The content of the claims is incorporated into the content of this specification by express reference.

[0005] The present invention relates to a method for automatically controlling a vehicle, the method comprising: - receiving driving specifications from an external infrastructure; - in normal mode, controlling the vehicle along a trajectory specified by the driving specifications; - in test mode, controlling the vehicle along a test trajectory deviating from the trajectory specified by the driving specifications and / or using test parameters and relates to a method.

[0006] Using such a method, a state deviating from the driving specifications can be intentionally brought about, and thus it is possible to test whether the external infrastructure detects this state. Thus, it is possible to verify whether the infrastructure is suitable for fault detection.

[0007] For example, the vehicle may be a motor vehicle such as a passenger car. However, the method can also be used for other vehicles. The driving specifications can be received, for example, via wireless communication. In particular, the driving specifications can be continuously updated while the vehicle is in motion. The external infrastructure may have, for example, sensors and / or cameras, and based on these sensors and / or cameras, create driving specifications and transmit the driving specifications to the vehicle.

[0008] The normal mode is generally the mode used by the vehicle when the vehicle can be normally controlled by the infrastructure. The vehicle can switch to the test mode at a specific time, for example, as described later. The test trajectory can deviate from the trajectory specified in a suitable manner for verifying detection. The test parameters can be related to specific functions of the vehicle, such as an electric rear door or a lighting system, and these should generally also be detected by the external infrastructure.

[0009] In the test mode, it is preferably verified whether an error signal has been received from the infrastructure. Thereby, it is possible to identify whether the infrastructure deviates from a specified trajectory and / or responds to test parameters.

[0010] The error signal may in particular include a fault report and / or a stop signal and / or a new trajectory and / or a new waypoint. By way of example, the fault report may be an electronic message indicating a fault in the vehicle. The stop signal may request an immediate stop. By way of example, the new trajectory may be such as to correct a deviation. The same applies to the new waypoint, in that the vehicle can follow the new waypoint or the new waypoint can define a new trajectory.

[0011] In particular, if no error signal is received within a specified period in the test mode, the vehicle may be stopped and / or an error message may be output. If no such error signal is received, this generally indicates that the infrastructure is not functioning correctly because it has not correctly detected a deviation from the specified trajectory and / or the use of test parameters. In this case, since it is clear that the infrastructure is not functioning reliably, it is appropriate to stop the vehicle immediately.

[0012] In particular, the error message may be transmitted to the infrastructure via a wireless connection and / or output by operating a visual and / or audible warning device. By transmitting via a wireless connection, the infrastructure can be informed of a fault in the infrastructure. Then, for example, appropriate measures can be taken. The visual warning device may be, for example, an emergency warning light or another lighting device. The audible warning device may be, for example, a horn.

[0013] The error message may in particular include information regarding the position of the vehicle and / or regarding the course of the vehicle and / or regarding the track and / or regarding the test track. Thereby, information regarding the obstacle can be further specified and troubleshooting can be facilitated. Any combination or subcombination of the indicated values is possible and other values may also be used.

[0014] Preferably, the vehicle switches to the normal mode after an error signal has been received. If an error signal is received, this means that the infrastructure has correctly detected an intentional abnormal behavior of the vehicle. Thus, the infrastructure is reliable and can continue as normal.

[0015] It is stated here that according to the terms used in this specification, the error signal is a signal transmitted from the infrastructure to the vehicle. In contrast, the error message is a message transmitted from the vehicle to the infrastructure.

[0016] The test parameters may specify, for example, the opening of a rear door or another element in the vehicle, the extinguishing of one or more lighting devices in the vehicle, and / or the activation of the emergency warning light or one or more lighting devices in the vehicle. This can also generally be detected by the infrastructure depending on the version, and thus it is possible to verify whether the detection is functioning correctly. The rear door may in particular be opened in an area of the parking lot where the height required to open the rear door cannot be ensured. Usually, at this time, the opening of the rear door is stopped within a time sufficient to prevent damage. However, in such a location, the infrastructure should pay particular attention to the fact that the opening of the rear door has actually been detected.

[0017] In particular, the vehicle can be controlled without using data from its own environmental sensors. Thus, such sensors related thereto as well as their use and programming can be omitted.

[0018] According to one version, the vehicle is controlled using data from its own environmental sensors. In particular, the reaction of the infrastructure to the test mode serves as a basis for changing the control with respect to the weighting of the environmental sensors and the infrastructure. Thereby, the weighting can be adapted to the reliability of the infrastructure. For example, it is possible to provide adjustable parameters that specify the degree to which the environmental sensors are taken into account and the degree to which the infrastructure is taken into account when controlling the vehicle.

[0019] In particular, the test track can be defined using random deviations from the track. This can be achieved, for example, by using a random number generator. The test track can also be defined using a specified deviation from the track. For example, this specified deviation may be stored permanently.

[0020] In particular, the vehicle can switch from the normal mode to the test mode at randomly selected times and / or at regular intervals.

[0021] It is also possible to use the data from the vehicle's own environmental sensors as a basis for determining when to switch to the test mode. This can be done, for example, in the following situations. - Narrow places. In such places, a fast reaction from the infrastructure is particularly expected. - Places with poor visibility for the vehicle. A fast reaction is also expected in such places. - Wide and traffic-free places. In such places, a slow reaction may be acceptable in some cases. - Areas with people around. In such areas, a fast reaction is expected because of the high risk of causing danger. - Areas with poor lighting. In such areas, in particular, the camera system can be checked, or it is possible to check whether there is sufficient redundancy by other detection systems. In particular, this variant can be extended such that the parking lot turns off the lighting at random intervals and the reaction is verified.

[0022] The travel specification can specifically specify the track by including the track and / or waypoints. This enables practical specifications of the track.

[0023] The present invention further relates to a vehicle control module configured to execute the methods described herein. The present invention further relates to a non - volatile computer - readable storage medium in which program code is stored and the processor executes the methods described in the present invention during program execution. All versions and variations of each method described herein can be used.

[0024] As an example, an AVP type 2 system in a vehicle without environmental sensors, or a system design that does not require sensors in the vehicle, can be regarded as the starting position. The infrastructure generally continuously detects the vehicle, determines the vehicle's position, and transmits appropriate waypoints to the vehicle so that the vehicle can be maneuvered to a planned parking position without danger.

[0025] As an example, here the vehicle can intentionally deviate from the designated course at irregular intervals. If the infrastructure functions as planned, new specifications for waypoints for the vehicle, or other vehicle guidance commands such as stop signals, are provided within the specified time. If the infrastructure does not function as planned, for example, the vehicle automatically stops because it can be assumed that the infrastructure is not functioning as planned or as required. And a signal reporting the malfunction can be transmitted. The signal, for example, a wireless signal, can be transmitted using, in particular, V2X (vehicle - to - X) communication or 3G / 4G / 5G, etc., or using Bluetooth, UWB (ultra - wideband), or WLAN, or another wireless technology. The signal can also be transmitted by visual or auditory means (e.g., a horn or an emergency warning light). In the case of a wireless signal, additionally, information regarding the location where the intentional deviation occurred can be transmitted in a form that facilitates subsequent troubleshooting.

[0026] When a vehicle is provided with an environmental sensor, the vehicle may choose to deviate from a specified route so as to more accurately check specific boundary conditions. In this regard, it is appropriate to refer to the examples already described above.

[0027] Instead of or in addition to deviating from the route, in order to check for reactions from the infrastructure, further deviations from the target state may also be performed by the vehicle. For example, the vehicle can open an electric rear door, but ideally not only in a location where there will not be enough height to drive with the rear door open. It is expected that the infrastructure system will send a stop signal. The vehicle can also turn off the lighting, and it is expected that the infrastructure system will send a stop signal. The vehicle can also activate the emergency warning lights, and here too it is expected that the infrastructure system will send a stop signal.

[0028] The system can also be used in an AVP type 3 system where the vehicle and the infrastructure share a guiding task. Here, the check can additionally be used to determine to what extent the vehicle incorporates information from the infrastructure into the vehicle's guidance and to what extent the vehicle relies only on environmental sensors.

[0029] In particular, it is possible to check the correct operation of the infrastructure system without additional sensors.

[0030] Apart from vehicles designed as ordinary passenger cars, the methods described in this specification can be used, for example, in port logistics, at airports, in logistics in factory buildings or sites using autonomously moving platforms, and with mobile robots or other units.

[0031] Next, the present invention will be described with reference to the drawings.

Brief Description of the Drawings

[0032]

Figure 1

Mode for Carrying Out the Invention

[0033] Figure 1 shows a vehicle 10 and infrastructure 20. Figure 1 is a purely schematic representation and is used hereinafter to explain the mode of function.

[0034] The vehicle 10 has a communication module 15, and an antenna 17 is connected to the communication module 15. Thereby, the vehicle 10 can communicate with the infrastructure 20. According to at least one version, the environmental sensors in the vehicle 10 are not essential. The infrastructure 20 has a central computing unit 21, and the central computing unit 21 performs centralized control tasks. The infrastructure 20 has a camera 22, and the camera 22 observes the vehicle 10. Generally, a plurality of such cameras and / or other sensors further exist. The camera 22 is used here only as an example. The infrastructure 20 further has a communication module 25, and an antenna 27 is also connected to the communication module 25. The vehicle 10 moves within an area controlled by the infrastructure 20. For this purpose, the vehicle 10 receives driving specifications via the communication modules 25, 15, and the driving specifications include a trajectory, or at least a trajectory can be extracted from the driving specifications. The vehicle 10 follows these trajectories in the normal mode and is monitored by the infrastructure 20 during this process.

[0035] At a specific time, for example, a time specified by a random number generator, vehicle 10 randomly deviates from the specified track. Then, vehicle 10 waits for a specified period to check whether it has received a fault report from infrastructure 20. The fault report may include, for example, a stop signal or a new track. If such a fault report is received, vehicle 10 checks that infrastructure 20 is functioning properly and returns to the normal mode. If such a fault report is not received within a predetermined time, vehicle 10 must consider that infrastructure 20 is not correctly performing the monitoring task. Therefore, the vehicle generally stops and sends an error message containing information about the fault. This enables protection against possible physical damage or personal injury that could result if vehicle 10 continued to move forward as it was.

[0036] Other parameters can also be changed by vehicle 10. For example, the emergency warning lights can be switched on or the rear door can be opened. In this case, the correct response of infrastructure 20 can also be verified.

[0037] Generally, it should be pointed out that V2X communication is understood to mean direct communication, especially between vehicles and / or between a vehicle and an infrastructure device. Thus, by way of example, V2X communication may be vehicle-to-vehicle communication or communication between a vehicle and an infrastructure. By way of example, V2X communication can be achieved using the IEEE802.11p or IEEE1609.4 standards. Other examples of communication technologies include LTE-V2X, 5G-V2X, C-V2X, WLAN, WiMax, UWB, or Bluetooth. V2X communication may also be referred to as C2X communication. The sub-area may be referred to as C2C (vehicle-to-vehicle) or C2I (vehicle-to-infrastructure). However, the present invention does not explicitly exclude V2X communication by switching via, for example, a mobile radio network.

[0038] The steps of the method according to the invention described so far can be executed in the order shown. However, if technically useful, they can be executed in a different order. One of the versions of the method according to the invention can be executed, for example, in a particular combination of steps in such a way that no further steps are executed. However, in principle, even steps not mentioned can also execute further steps.

[0039] For example, for ease of understanding, in the claims and the description of this specification, each feature may be described in combination, but it should be noted that these can be used separately from each other. Those skilled in the art will also recognize that such features can be combined with other features or combinations of features independently of each other.

[0040] The references to dependencies in the dependent claims can characterize the preferred combinations of the respective features, but do not exclude other combinations of features. Although this application relates to the invention described in the claims, it also includes the following from other perspectives. 1. A method for automatically controlling a vehicle (10), the method comprising: Receiving a driving specification from an external infrastructure (20); In normal mode, controlling the vehicle (10) along the trajectory specified by the driving specification; In test mode, controlling the vehicle (10) along a test trajectory deviating from the trajectory specified by the driving specification and / or using test parameters. 2. The method according to item 1 above, wherein in the test mode, a check is performed to determine whether an error signal has been received from the infrastructure (20). 3. The method according to item 2 above, wherein the error signal includes a fault report and / or a stop signal and / or a new trajectory and / or a new waypoint. 4. The method according to item 2 or 3 above, wherein if no error signal is received within the period specified in the test mode, the vehicle (10) is stopped and / or an error message is output. 5. The method according to item 4 above, wherein the error message is transmitted to the infrastructure (20) via a wireless connection and / or is output by operating a visual and / or audible warning device. 6. The method according to item 4 or 5 above, wherein the error message includes information regarding the position of the vehicle (10) and / or the course of the vehicle (10) and / or the trajectory and / or the test trajectory. 7. The method according to any one of items 1 to 6 above, wherein the vehicle switches to the normal mode after the error signal is received. 8. The test parameters are: Opening a rear door or another element in the vehicle (10); Turning off one or more lighting devices of the vehicle (10); and / or Activating an emergency warning light or one or more lighting devices of the vehicle (10). The method according to any one of items 1 to 7 above, which specifies. 9. The method according to any one of items 1 to 8 above, wherein the vehicle (10) is controlled without using data from the vehicle's own environmental sensors. 10. The method according to any one of 1 to 8 above, wherein the vehicle (10) is controlled using data from its own environmental sensors of the vehicle, and the reaction of the infrastructure (20) to the test mode is used as a basis for changing the control with respect to the weighting of the environmental sensors and the infrastructure (20). 11. The method according to any one of 1 to 10 above, wherein the test trajectory is defined using a random deviation from the trajectory. 12. The method according to any one of 1 to 11 above, wherein the test trajectory is defined using a specified deviation from the trajectory. 13. The method according to any one of 1 to 12 above, wherein the vehicle switches from the normal mode to the test mode at randomly selected times and / or at regular intervals. 14. The method according to any one of 1 to 13 above, wherein data from the vehicle's own environmental sensors is used as a basis for determining the time to switch to the test mode. 15. The method according to any one of 1 to 14 above, wherein the driving profile specifies the trajectory by including the trajectory and / or waypoints.

Explanation of Symbols

[0041] 10 Vehicle 15 Communication Module 17 Antenna 20 Infrastructure 21 Computing Unit 22 Camera 25 Communication Module 27 Antenna

Claims

A method for automatically controlling a vehicle (10) when moving within an area controlled by an external infrastructure (20), the method comprising: Receiving driving specifications from the external infrastructure (20); In normal mode, controlling the vehicle (10) along a trajectory specified by the driving specifications; In test mode, controlling the vehicle (10) along a test trajectory deviating from the trajectory specified by the driving specifications and / or using test parameters; In the method, The infrastructure (20) comprises a central computing unit (21) for performing centralized control tasks, a camera (22) for observing the vehicle (10), and a communication module (25) having an antenna (27); In the test mode, a check is performed to determine whether an error signal has been received from the infrastructure (20); The error signal includes a fault report and / or a stop signal and / or a new trajectory and / or a new waypoint; If no error signal is received within a specified period in the test mode, the vehicle (10) is stopped and / or an error message is output, and the error message is transmitted from the vehicle (10) to the infrastructure (20); Method.

2. The method according to claim 1, wherein the error message is transmitted to the infrastructure (20) via a wireless connection and / or is output by operating a visual and / or audible warning device.

3. The method according to claim 1 or 2, wherein the error message includes information regarding the position of the vehicle (10) and / or the course of the vehicle (10) and / or the trajectory and / or the test trajectory.

4. The method according to any one of claims 1 to 3, wherein the vehicle switches to the normal mode after the error signal is received.

5. The test parameters are Opening a rear door or another element in the vehicle (10), Turning off one or more lighting devices of the vehicle (10), and / or Actuating an emergency warning light or one or more lighting devices of the vehicle (10) The method according to any one of claims 1 to 4, which specifies.

6. The method according to any one of claims 1 to 5, wherein the vehicle (10) is controlled without using data from the vehicle's own environmental sensors.

7. The method according to any one of claims 1 to 5, wherein the vehicle (10) is controlled using data from the vehicle's own environmental sensors, and the reaction of the infrastructure (20) to the test mode is used as a basis for changing the control with respect to the weighting of the environmental sensors and the infrastructure (20).

8. The method according to any one of claims 1 to 7, wherein the test track is defined using a random deviation from the track.

9. The method according to any one of claims 1 to 8, wherein the test track is defined using a specified deviation from the track.

10. The method according to any one of claims 1 to 9, wherein the vehicle switches from the normal mode to the test mode at a randomly selected time and / or at regular intervals.

11. The method according to any one of claims 1 to 10, wherein the data from the vehicle's own environmental sensors is used as a basis for determining the time to switch to the test mode.

12. The method according to any one of claims 1 to 11, wherein the driving specification designates the track by including the track and / or waypoints.

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