Method for remotely controlling a motor vehicle and vehicle controller therefor

Abstract

The invention relates to a method for operating a motor vehicle (1) that is driven in an at least partially autonomous manner in a driving mode by means of a vehicle controller (2) by determining operating data for driving the motor vehicle (1) and by the vehicle controller controlling the motor vehicle on the basis of the operating data, wherein the vehicle controller interrupts the driving mode when a predefined traffic situation occurs and transmits a corresponding first interruption message (4) to a distant remote control location (3), said message containing first environmental and operating data relating to a current traffic situation triggering the first interruption, wherein the remote control location evaluates (6) the first environmental and operating data and, on the basis of the evaluation, determines first control data (5) for continuing the driving mode, transmits the first control data to the vehicle controller, and the vehicle controller continues the driving mode on the basis of the first control data. According to the invention, the vehicle controller stores (7) the first environmental and operating data relating to the current traffic situation triggering the first interruption as well as the first control data associated with this traffic situation.

Description

[0001] Method for remotely controlling a motor vehicle and vehicle control therefor

[0002] The invention relates to a method for operating a motor vehicle which is driven at least partially autonomously in a designated ferry operation by means of a vehicle control of the motor vehicle, in that for a respective current traffic situation at least environmental data are determined by the vehicle control on the basis of environmental properties detected by environmental sensors of the motor vehicle, operating data for driving the motor vehicle are determined at least depending on the environmental data and the vehicle control controls the motor vehicle at least depending on the operating data, wherein the vehicle control interrupts the ferry operation of the motor vehicle when a predetermined traffic situation occurs during the designated ferry operation and transmits a corresponding first interruption message to a remote remote control station, wherein the first interruption message contains at least first environmental and operating data with respect to a current,The remote control station receives the first interruption message and evaluates at least the first environmental and operating data. Depending on the evaluation, the remote control station determines first control data for continuing the ferry operation, transmits the first control data to the vehicle control system of the motor vehicle, and the vehicle control system continues the ferry operation based on the first control data. Furthermore, the invention relates to a computer program product with program code means and a computer-readable data carrier with program code instructions. Finally, the invention also relates to a vehicle control system for operating a motor vehicle, which is designed to guide the motor vehicle at least partially autonomously in a designated ferry operation.in that the vehicle control system determines at least environmental data for a respective current traffic situation on the basis of environmental properties detected by environmental sensors of the motor vehicle, determines operating data for driving the motor vehicle at least depending on the environmental data and controls the motor vehicle at least depending on the operating data, wherein the vehicle control system is designed to interrupt the ferry operation of the motor vehicle when a predetermined traffic situation occurs during the intended ferry operation and to transmit a corresponding first interruption message to a remote remote control station, wherein the first interruption message contains at least first environmental and operating data relating to a current traffic situation triggering the first interruption, wherein the vehicle control system is designed to receive first control data for a continuation of the ferry operation from the remote control station,which the remote control station determines for a continuation of the ferry operation depending on the evaluation of the first environmental and operating data transmitted with the first interruption message, wherein the vehicle control is designed to continue the ferry operation based on the first control data.

[0003] Generic methods and vehicle control systems, as well as computer program products and computer-readable data storage devices, are extensively known in the prior art, so that separate written documentation is not required. Among other things, they serve to drive the motor vehicle at least partially, preferably completely, autonomously during normal ferry operation. This means that the motor vehicle can, in particular, also be designed to be driverless. However, it is also possible, particularly with partially autonomous control of the motor vehicle, to partially assist a driver or operator in driving the motor vehicle. For example, it can be provided that the driver or operator of the motor vehicle transfers his or her control task to the vehicle control system, at least temporarily, or vice versa.

[0004] With autonomous or fully automatic control of the motor vehicle by means of the vehicle control system, situations or traffic conditions may arise in which the vehicle control system alone is no longer able to control the motor vehicle, no longer reliably and / or not sufficiently safely, in its intended operation. Such a situation or traffic condition may arise, for example, if other vehicles are controlled contrary to traffic regulations and intervene in the trajectory of the motor vehicle controlled by the vehicle control system, for example in the event of an accident, an unforeseen traffic situation, such as a traffic jam, an unclear traffic situation, or the like. A generic method and a generic vehicle control system are known, for example, from DE 10 2020 211 181 A1.

[0005] Such traffic situations are also referred to as blockage situations or deadlock situations. In such a situation or in such a traffic situation, it is generally provided that the vehicle control system interrupts the intended ferry operation of the motor vehicle. In order to resume ferry operation, it is further known for the vehicle control system to transmit an interruption message to a remote remote control station, which contains at least first environmental and operating data relating to a current traffic situation triggering the interruption. The remote control station receives the first interruption message and evaluates the first environmental and operating data. Depending on the evaluation, the remote control station determines first control data for continuing ferry operation and transmits it to the vehicle control system of the motor vehicle.The vehicle's control system then resumes ferry operation based at least on the initial control data. This makes it possible to overcome the blockage situation, particularly without requiring intervention by the vehicle's driver.

[0006] Even if the state of the art has proven itself in principle, disadvantages still remain. In particular, it proves problematic if, in a blockage situation, the communication option to the remote control station is limited in terms of communication capacity or the evaluation capacity of the remote control station. This can lead to significant delays in resuming ferry operations, whereby the vehicle itself can become an obstruction to traffic flow. In addition, the problem can arise that the remote control station experiences a capacity bottleneck due to a large number of operational requests, for example from other vehicles, and is therefore only able to process the first interruption message with a significant delay. This can also result in an undesirably long delay.Furthermore, it should be considered that vehicle occupants may become unsettled during the interruption of ferry operations, which may reduce the acceptance of at least partially autonomous vehicles.

[0007] The invention is based on the object of reducing, among other things, a time delay during an interruption of the intended ferry operation and / or better supporting the remote remote control station by means of improved vehicle control and improved process control.

[0008] As a solution, the invention proposes a method, a computer program product and a computer-readable data carrier as well as a vehicle control according to the independent claims.

[0009] Advantageous further developments are provided by the features of the dependent claims. With regard to a generic method, the invention proposes, in particular, that the vehicle control system stores the first environmental and operating data relating to the current traffic situation triggering the first interruption, as well as the first control data associated with this traffic situation.

[0010] With regard to a generic computer program product, it is proposed in particular that the computer program product comprises program code means which are stored in particular in a computer-readable medium in order to at least partially carry out the method for operating a motor vehicle which is controlled at least partially autonomously in a designated ferry operation by means of a vehicle control of the motor vehicle, according to the invention, when the computer program product is processed on a computer unit.

[0011] With regard to a generic computer-readable data carrier, it is particularly proposed that the computer-readable data carrier has program code instructions which, when executed by a computer unit, cause the computer unit to at least partially carry out the method for operating a motor vehicle, which is driven at least partially autonomously in a designated ferry operation by means of a vehicle control system of the motor vehicle, according to the invention.

[0012] With regard to a generic vehicle control, the invention proposes in particular that the vehicle control is designed to store the first environmental and operating data relating to the current traffic situation triggering the first interruption as well as the first control data associated with this traffic situation.

[0013] The invention is based, among other things, on the idea that simplified remote control or support of ferry operations can be achieved by storing the first control data in conjunction with the first environmental and operating data. In particular, effort can be saved, so that response times can be at least partially reduced. The control data can be stored in a memory unit that is preferably at least partially integrated into the vehicle control system. Thus, essentially no extensive control data need to be transmitted from the remote remote control station to the motor vehicle or its vehicle control system in the event that the current traffic situation triggering the interruption can be resolved using the already stored first control data.The remote remote control station therefore only needs to transmit a message as a continuation message to the vehicle control system that ferry operation is to be continued based on the first control data. The complex process of determining control data can be avoided. Particularly in the case of a poor communication connection between the vehicle control system and the remote remote control station, this can achieve a high level of reliability for the continuation of ferry operation, which at the same time also enables a rapid response even with a low data capacity to be transmitted. Rather, the invention makes it possible to apply already existing control data, namely the first control data, to the current traffic situation triggering further interruption to continue normal ferry operation and to resume or continue ferry operation based on the first control data.

[0014] The specified traffic situation is a traffic situation in which the vehicle control system is unable to determine operating data for driving the motor vehicle with sufficient reliability and therefore interrupts the driving of the motor vehicle, in particular its ferry operation. The specified traffic situation is, in particular, a traffic situation that affects non-regular traffic operations, for example, in the event of an accident, a police operation, but also an unexpected, unavoidable event or obstacle located in the area of ​​a lane to be used by the motor vehicle, an unclear or not clearly resolvable right-of-way situation at an intersection or junction, and / or the like.Predetermined traffic situations can be stored in the vehicle control system or can also arise if the vehicle control system is unable to determine operating data with sufficient reliability for a specific current traffic or driving situation during normal ferry operation. The operating data serves, among other things, to supply suitable control signals to the motor vehicle's devices required to operate the motor vehicle during ferry operation. Such devices can be a drive device, a steering device, a braking device, and / or the like.

[0015] The remote control station, from which, for example, personnel such as a teleoperator can, on the one hand, monitor the execution of the control function of the vehicle control and, on the other hand, cause the control commands or control data required to drive the motor vehicle to be output to the motor vehicle, is preferably a stationary station, which is, for example, located in a building. Such a remote control station or remote control point is therefore designed differently from a portable remote control or a remote control device by means of which an operator can control a motor vehicle while having the motor vehicle directly in view. When controlling the motor vehicle remotely in this way using the remote control, it is imperative that the operator is in close proximity to the motor vehicle and constantly has the motor vehicle in view.Furthermore, due to relevant regulations, remote control or maneuvering of the motor vehicle using the remote control device is only permitted if the operator is in close proximity to the vehicle and the vehicle is within the operator's direct field of vision. Furthermore, such a remote control device is a portable device, whereas the fixed remote control station is at least essentially immobile.

[0016] For the teleoperator, who makes the operating inputs at the remote control station, it is not necessary, however, to have the motor vehicle directly in view. Rather, the teleoperator can view the motor vehicle, for example, on a screen or the like associated with the remote control station. Additionally or alternatively, the surroundings of the motor vehicle controlled by the teleoperator can be displayed on such a screen, for which purpose, in particular, at least one detection device of the motor vehicle, for example in the form of at least one camera or similar environmental sensor, can be used. However, this is not permissible or sufficient if driving maneuvers of the motor vehicle are to be effected using the portable remote control device or the portable remote control.Rather, when using the remote control or remote control device, direct visual contact of the operator with the motor vehicle is required and mandatory.

[0017] To transmit the interruption message and / or the control data, the vehicle controller communicates with the remote control station, in particular via a wireless communication connection. The communication connection can at least partially use a mobile radio network, a short-range radio network, and / or the like. The vehicle controller can have a communication unit for this purpose. An interruption of ferry operations by the vehicle controller generally results in the motor vehicle stopping and typically essentially not changing its position during the interruption. The motor vehicle itself can therefore represent an obstacle to traffic flow during the interruption of ferry operations, which is why it is desirable for the interruption of ferry operations to take as little time as possible.

[0018] The vehicle control system may include a computer unit that at least partially implements the functions of the vehicle control system. This may, in particular, relate to determining the operating data, interrupting the intended ferry operation, transmitting an interruption message to the remote control station, as well as receiving control data, determining the operating data based on the control data and / or based on the environmental data, determining the environmental data, and / or continuing the ferry operation. A computer unit may, in particular, be understood to mean a data processing device that contains a processing circuit. The computer unit can therefore, in particular, process data to perform arithmetic operations. This may also include operations for performing indexed access to a data structure, for example a look-up table (LUT).

[0019] The computing unit may in particular contain one or more computers, one or more microcontrollers and / or one or more integrated circuits, for example one or more application-specific integrated circuits (ASICs), one or more field-programmable gate arrays (FPGAs), and / or one or more single-chip systems (SoCs). The computing unit may also contain one or more processors, for example one or more microprocessors, one or more central processing units (CPUs), one or more graphics processing units (GPUs), and / or one or more signal processors, in particular one or more digital signal processors (DSPs).The computer unit may also include a physical or virtual network of computers or other of the aforementioned units. In various embodiments, the computer unit includes one or more hardware and / or software interfaces and / or one or more memory units. A memory unit may be a volatile data memory, for example, a dynamic random access memory (DRAM) or a static random access memory (SRAM), or a non-volatile data memory, for example, a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory,EEPROM (electrically erasable programmable read-only memory), as flash memory or flash EEPROM, as ferroelectric random access memory (FRAM), as magnetoresistive random access memory (MRAM), or as phase-change random access memory (PCRAM).

[0020] The vehicle control system may comprise an electronic vehicle guidance system. An electronic vehicle guidance system may be understood as an electronic system configured to control a motor vehicle fully automatically or autonomously, in particular without requiring driver intervention. The motor vehicle automatically performs all required functions, such as steering, braking, and / or acceleration maneuvers, monitoring and detecting road traffic, and corresponding reactions. In particular, the electronic vehicle guidance system may implement a fully automatic or fully autonomous driving mode of the motor vehicle according to Level 5 of the SAE J3016 classification.An electronic vehicle guidance system can also be understood as an advanced driver assistance system (ADAS), which supports a motor vehicle driver in partially automated or semi-autonomous driving. In particular, the electronic vehicle guidance system can implement a partially automated or semi-autonomous driving mode according to levels 1 to 4 of the SAE J3016 classification. Here and below, "SAE J3016" refers to the corresponding standard in the April 2021 version.

[0021] The at least partially automatic vehicle guidance can therefore preferably guide the vehicle according to a fully automatic or fully autonomous driving mode of level 5 according to SAE J3016. The at least partially automatic vehicle guidance can also include guiding the motor vehicle according to a partially automated or semi-autonomous driving mode according to levels 1 to 4 according to SAE J3016. The at least one control signal can, for example, be provided for one or more actuators of the motor vehicle, including, for example, one or more brake actuators and / or one or more steering actuators and / or one or more drive motors of the motor vehicle. The one or more actuators can influence a longitudinal and / or lateral control of the motor vehicle in order to guide the motor vehicle at least partially automatically.The assistance information can be output via an output device of the motor vehicle, for example a display and / or an audio output system and / or a haptic output system.

[0022] The vehicle control system preferably comprises an autonomous driving module and a traffic situation detection and maneuver prediction module. The autonomous driving module is preferably configured to transmit support messages, such as interruption messages, to the remote control unit. A corresponding communication unit can be provided for this purpose. Likewise, the autonomous driving module is preferably configured to receive maneuvering data, such as control data or a continuation message, from the remote control unit. The autonomous driving module can evaluate the control data or the continuation message and continue ferry operations based on this.

[0023] The autonomous driving module communicates with the traffic situation detection and maneuver prediction module and receives the environmental and operational data, which can also be stored in this module. Alternatively or additionally, this data can also be stored, at least in part, in a separate storage unit that communicates with the traffic situation detection and maneuver prediction module. The traffic situation detection and maneuver prediction module can also have a comparison unit with which traffic situations can be compared. This can be done, among other things, based on the respective environmental and operational data. Preferably, respective control data can be stored for the respective environmental and operational data, thus enabling assignment.

[0024] The invention is particularly distinguished by the fact that it does not require a neural network, which would have to be trained by means of machine learning to carry out the method according to the invention. It is therefore advantageous, in particular, for the vehicle control to be implemented without a neural network or the like. The motor vehicle is preferably a motor vehicle that can be driven without a driver. However, the invention is not limited to application in a driverless motor vehicle, but can also be used when a driver of the motor vehicle is not driving the motor vehicle, at least temporarily.

[0025] It is further proposed that the vehicle control system interrupts ferry operation upon the occurrence of a further predetermined traffic situation during normal ferry operation, determines second environmental and operating data relating to the current traffic situation triggering the second interruption, and transmits a corresponding second interruption message to the remote remote control station, wherein the second interruption message contains at least the second environmental and operating data relating to the current traffic situation triggering the second interruption. This enables the remote remote control station to compare the second environmental and operating data with the first environmental and operating data and to check whether the first control data can be used to continue ferry operation even in this traffic situation.If the first control data is usable, the remote control unit can transmit a corresponding continuation message to the vehicle control system to continue ferry operations based on the first control data. In this case, no new control data needs to be determined for the current second interruption.

[0026] The vehicle control system preferably compares the second environmental and operating data with the first environmental and operating data. This makes it possible, for example, to determine whether the traffic situation triggering the first interruption essentially corresponds to the traffic situation triggering the second interruption. In this case, it is even possible for the vehicle control system to additionally transmit information to the remote control unit in the interruption message, requesting that the first control data be used to continue ferry operations. The remote control unit then only needs to transmit a continuation message to the vehicle control system, which approves the suggestion. Otherwise, the remote control unit can transmit corresponding second control data to the vehicle control system, and the vehicle control system can then continue ferry operations based on the second control data. Overall, this can also reduce effort.

[0027] It is further proposed that the first and second environmental and operating data comprise respective first and second position data, and that, as part of the comparison, a distance between positions determined by the first and second position data is compared with a comparison distance. This makes it possible, for example, to determine whether the traffic situation triggering the first interruption occurs within the position range of the traffic situation triggering the second interruption. Such a situation can occur, for example, at an intersection, at a bus stop, or the like. The comparison distance can be, for example, one or several meters or the like. The comparison distance is preferably selected to match the traffic situation.If the traffic situation involves, for example, a traffic jam at the end of a construction site or a narrowed lane, which occurs regularly and for varying lengths in this area, the vehicle control system can also determine this and, for example, suggest a lane change again, as was previously resolved based on the initial control data. Based on the initial control data, adjusted initial control data can be determined, which can then be transmitted to the remote control station to resume ferry operations. For example, an earlier lane change can be scheduled. This can also reduce the overall effort required for the procedure.

[0028] Preferably, depending on the comparison of the distance with the reference distance, the first control data are transmitted to the remote remote control station with the corresponding second interruption message. The vehicle control system can thus transmit a proposal for continuing ferry operations to the remote control station. The remote control station can then release this data to continue ferry operations or, based on this data, determine self-adapted first control data and transmit it to the vehicle control system. This also allows for simplified process control overall.

[0029] It is further proposed that, depending on the comparison of the distance with the reference distance, a continuation message be transmitted to the remote control station to continue ferry operation based on the initial control data. In this case, no new control data needs to be determined. The continuation message can have a very small data volume, and consequently, only a communication connection with a low data rate is required to continue ferry operation.

[0030] According to a further development, it is suggested that comparing the second

[0031] Environmental and operational data with the first environmental and operational data at least includes that the traffic situation triggering the second interruption corresponds to the traffic situation triggering the first interruption with regard to traffic routing. This proves to be particularly advantageous if an unclear traffic situation repeatedly occurs in an intersection or junction area. It is therefore no longer necessary to analyze the essentially possibly identical traffic situation again in detail in order to be able to continue ferry operations. This also makes it possible to further reduce the effort required for process management. In addition, it is proposed that the vehicle control system determines second control data depending on the first control data.This design proves particularly advantageous when a simple adjustment of the control data is possible, such as in the previously described situation in the area of ​​a construction site or road narrowing. This also enables a further simplification of the effort involved in the process.

[0032] It is further proposed that the vehicle controller transmit the second control data to the remote control station with the second continuation message. This allows the remote control station to check the second control data with regard to the continuation of ferry operation. This can further improve reliability.

[0033] It is further proposed that the control data transmitted from the remote remote control station to the vehicle control system include remote control data for remotely controlling the motor vehicle by the remote remote control station. The remote control data can be used for direct remote control of the motor vehicle by the vehicle control system and can preferably be used directly for driving the motor vehicle. This allows the motor vehicle to be directly controlled by the remote control station, for example, by a personnel.

[0034] It is further proposed that the control data transmitted from the remote control station to the vehicle control system include trajectory data, on the basis of which the vehicle control system continues ferry operations. The vehicle control system is then preferably configured to process the trajectory data and, based on the trajectory data, to determine operating data for driving the motor vehicle. Ferry operations can then be continued based on the operating data.

[0035] Furthermore, it is proposed that the vehicle control system issue a message to persons in the vehicle regarding the resumption of ferry service. The message can be, for example, a signal, a voice output, or the like. The signal can be an acoustic signal, a visual signal, a haptic signal, and / or the like. This allows the persons to be informed about the status of ferry service, for example, that the interruption will last for a specified period of time, that ferry service will resume at a specific time, that a reason for the interruption of ferry service will be communicated, and / or the like.

[0036] The advantages and effects stated for the method according to the invention naturally also apply to the same extent to the vehicle control system according to the invention, where applicable, the sensor device according to the invention, as well as the computer program product according to the invention and the computer-readable data carrier, and vice versa. In particular, method features can therefore also be formulated as device features, and vice versa.

[0037] Further features of the invention emerge from the claims, the figures and the description of the figures. The features and combinations of features mentioned above in the description, as well as the features and combinations of features mentioned below in the description of the figures and / or shown alone in the figures can be used not only in the respective combination specified, but also in other combinations without departing from the scope of the invention. Thus, embodiments are to be regarded as encompassed and disclosed by the invention that are not explicitly shown and explained in the figures, but which emerge and can be produced by separate combinations of features from the explained embodiments. Embodiments and combinations of features are also to be regarded as disclosed that therefore do not have all the features of an originally formulated independent claim.Furthermore, embodiments and combinations of features are to be regarded as disclosed, in particular by the embodiments set out above, which go beyond or deviate from the combinations of features set out in the reliances of the claims.

[0038] For use cases or application situations that may arise during the method and which are not explicitly described here, it may be provided that, in accordance with the method, an error message and / or a request to enter user feedback is issued and / or a default setting and / or a predetermined initial state is set.

[0039] Shown are: Fig. 1 a schematic block diagram of a process sequence for remotely controlling an autonomously driven motor vehicle,

[0040] Fig. 2 is a schematic block diagram like Fig. 1, in which control data of a remote control station located away from the motor vehicle for remotely controlling the motor vehicle in a blockage situation are stored on the motor vehicle side associated with environmental and operating data by a vehicle control system of the motor vehicle,

[0041] Fig. 3 is a schematic block diagram like Fig. 2, in which the vehicle control system of the motor vehicle proposes a continuation of a ferry operation based on stored control data for release by the remote control unit in the event of a further blockage situation,

[0042] Fig. 4 is a schematic representation of a first traffic situation during a ferry operation of the motor vehicle on a multi-lane road with respect to a change of a lane of the road, wherein the road in the area shown widens in the direction of travel from two lanes to three lanes,

[0043] Fig. 5 is a schematic representation like Fig. 4, wherein in the area of ​​a beginning of the third lane there is a traffic jam of a plurality of other motor vehicles, and the motor vehicle carries out a lane change based on control data received from the remote control unit and stores these,

[0044] Fig. 6 is a schematic representation like Fig. 5, wherein the motor vehicle proposes a continuation of the ferry operation as shown in Fig. 5 to the remote control station in the event of a new traffic jam, and Fig. 7 is a schematic representation of a further second traffic situation during a ferry operation of the motor vehicle on a two-lane road with oncoming traffic in the area of ​​a bus stop at which a bus is stopping.

[0045] Fig. 1 shows a schematic block diagram of a method sequence for remotely controlling an autonomously driven motor vehicle 1. The motor vehicle 1 is embodied as a driverless motor vehicle. However, the invention is not limited to this and can, in principle, be adapted to be used equally well in at least partially driver-controlled motor vehicles.

[0046] The motor vehicle 1 has a vehicle controller 2 that is designed to drive the motor vehicle 1 autonomously in a normal ferry operation. The motor vehicle 1 has environmental sensors (not shown) that can be used to detect properties of an environment or an environment of the motor vehicle 1. The environmental sensors deliver corresponding sensor signals to the vehicle controller 2. By evaluating the sensor signals from the environmental sensors using the vehicle controller 2, a current traffic situation with regard to the normal ferry operation of the motor vehicle 1 can be determined. Depending on the sensor signals supplied by the environmental sensors, the vehicle controller 2 determines operating data. The operating data is used by the vehicle controller 2 to drive the motor vehicle 1. The vehicle controller 2 thus controls the motor vehicle 1 at least depending on the operating data.

[0047] The vehicle control system 2 continuously monitors the current traffic situation during ferry operation of the motor vehicle 1. If a predetermined traffic situation occurs during normal ferry operation, the vehicle control system 2 interrupts the ferry operation. The predetermined traffic situation can, for example, be a traffic jam in the lanes of a road available for the direction of travel of the motor vehicle 1. However, the predetermined traffic situation can also be an obstacle in an area of ​​a lane to be used by the motor vehicle 1, an unclear right-of-way regulation, and / or the like. If such a current traffic situation corresponding to a predetermined traffic situation occurs, the vehicle control system 2 interrupts the normal ferry operation of the motor vehicle 1 and transmits a first interruption message 4 to a remote remote control station 3.The interruption message 4 contains at least first environmental and operating data relating to a current traffic situation that triggered the first interruption. The remote control unit 3 receives the first interruption message 4 and evaluates at least the first environmental and operating data in a method step 6. Depending on the evaluation, the remote control unit 3 determines first control data 5 for continuing the ferry operation, which is transmitted from the remote control unit 3 to the vehicle control unit 2 of the motor vehicle 1. The vehicle control unit 2 continues the ferry operation based on the first control data 5.

[0048] In this embodiment, it is therefore necessary to transmit respective control data 5 for each individual interruption message 4 by the remote control station 3. This proves to be complex, particularly if the traffic situation triggering the interruption message 4 is the same for several autonomously operated motor vehicles traveling the same route, or if the motor vehicle 1 travels the same route several times in succession and accordingly transmits the interruption message 4 to the remote control station 3 several times.

[0049] The remote control station 3 can be designed as a control center that serves to remotely support the motor vehicle 1. Such a control center can also be referred to as a teleoperation control center. In the remote control station 3, personnel or a computer-assisted evaluation unit can determine the required control data to be transmitted to the motor vehicle 1, or in particular to its vehicle control system 2. A combination of these is also conceivable.

[0050] Fig. 2 shows a schematic block diagram similar to Fig. 1, in which the vehicle control system 2 is shown in more detail and comprises an autonomous driving module 8 and a traffic situation detection and maneuver prediction module 9 that is communicatively connected to the autonomous driving module 8. The autonomous driving module 8 serves to autonomously drive the motor vehicle 1 based, among other things, on the operating data. For this purpose, it provides control signals (not shown in detail) that serve to control devices (not shown) of the motor vehicle 1 by means of which the driving operation of the motor vehicle 1 is realized, such as, for example, a drive unit, a steering unit, a braking unit, and / or the like.

[0051] The autonomous driving module 8 transmits the operating data used for the currently intended ferry operation of the motor vehicle 1 to the traffic situation detection and maneuver prediction module 9. Corresponding environmental data is also transmitted, so that the current data on a current traffic situation are available to the traffic situation detection and maneuver prediction module 9, preferably at any time. The function of the process control is based on the process control as already explained with reference to Fig. 1, which is why reference is made to the relevant explanations.

[0052] In contrast to the embodiment according to Fig. 1, the remote control unit 3 transmits, in addition to the control data 5, continuation maneuver data 11 to the traffic situation detection and maneuver prediction module 9, which are dependent on the control data 5 and which can preferably correspond to the control data 5. However, the continuation maneuver data 11 can alternatively or additionally also include, for example, trajectory data or the like.

[0053] From Fig. 2 it can also be seen that the traffic situation detection and maneuver prediction module 9 stores the continuation maneuver data 11 in conjunction with the current environmental and operational data that led to the interruption of the intended ferry operation in a memory unit of the module in a method step 7.

[0054] Fig. 3 shows a schematic block diagram similar to Fig. 2, in which the motor vehicle 1 is interrupted from its intended ferry operation by the vehicle control system 2 due to a second current traffic situation, which also corresponds to a predetermined traffic situation. The vehicle control system 2 then transmits a second interruption message 15 to the remote control station 3 in accordance with the first interruption message 4. The second interruption message 15 contains at least second environmental and operating data 10 relating to the current traffic situation that triggered the second interruption.

[0055] The second environmental and operational data 10 are also transmitted to the traffic situation detection and maneuver prediction module 9. The traffic situation detection and maneuver prediction module 9 compares the second environmental and operational data 10 with the first environmental and operational data. In this case, the first and second environmental and operational data include, among other things, respective first and second position data, and, as part of the comparison, a distance between positions determined by the first and second position data is compared with a comparison distance. In this case, the comparison distance is specified, for example, by one or two meters. This enables the traffic situation detection and maneuver prediction module 9 to determine whether a substantially comparable triggering traffic situation for the second interruption exists.

[0056] If the comparison is positive, the traffic situation detection and maneuver prediction module 9 transmits the stored first control data 5 as maneuver suggestion data 12 to the remote control station 3 as a suggestion for continuing the intended ferry operation. The remote control station 3 checks the maneuver suggestion data 12 and the second environmental and operating data in a step 13. Depending on the check, the remote control station 3 determines whether the ferry operation can be continued based on the first control data 5. If this decision is positive, the remote control station 3 determines a continuation message as second control data 14 and transmits it to the vehicle controller 2, in particular the autonomous driving module 8. The autonomous driving module 8 can then continue the ferry operation based on the first control data 5. Therefore, no new control data needs to be generated by the remote control station.

[0057] If, however, the decision of the remote control unit 3 is negative, second control data 14 is determined and transmitted to the vehicle controller 2 or its autonomous driving module 8 instead of the continuation message. The autonomous driving module 8 then continues ferry operation based on this data.

[0058] Fig. 4 shows a schematic representation of a traffic situation during ferry operation of the motor vehicle 1, which - as explained above - is operated autonomously in ferry operation by means of the vehicle control system 2. The motor vehicle 1 is located on a road 19 that is continuously two-lane with a right-hand lane 16 and, in some areas, a middle or left-hand lane 17. In an area 20, the road 19 is extended by a third lane 18, which in the present case is arranged as a third lane 18 adjacent to the second lane 17, so that in this area the lane 17 provides a middle lane.

[0059] In order for motor vehicle 1 to be able to change from lane 16 to lane 18, changeover areas 21, 22 are provided for each lane change, in which changeover areas the motor vehicle 1 can autonomously carry out a lane change by means of the vehicle control system 2. In undisturbed ferry operation, the vehicle control system 2 can guide the motor vehicle 1 in two successive stages from lane 16 to lane 18, as can be seen from Fig. 4. Fig. 5 shows a schematic representation like Fig. 4, wherein lanes 16 and 17 are blocked by a traffic jam of other motor vehicles 23. Lane 18, on the other hand, is not occupied by motor vehicles 23. Contrary to the situation according to Fig. 4, the motor vehicle 1 can no longer reach area 21 - as provided in the embodiment according to Fig. 4 - because it is blocked by vehicles.In fact, there is even a risk that additional following motor vehicles 23 will block lane 17 to such an extent that motor vehicle 1 has virtually no chance of reaching lane 18. Due to the current traffic situation, motor vehicle 1 is now in a situation where the ferry operation of motor vehicle 1 cannot be maintained. The vehicle control system 2 thus interrupts the ferry operation and stops motor vehicle 1.

[0060] Since it is not apparent from the perspective of the vehicle control system 2 how the lane 18 can be reached, the vehicle control system 2 sends a first interruption message 4 to the remote control station 3 in accordance with the method explained in Figs. 2 and 3. The vehicle control system 2 receives first control data 5 from the remote control station 3, which contains trajectory data for a trajectory 24 and has corresponding control data for the vehicle control system 2. The vehicle control system 2 can determine corresponding operating data based on the control data, i.e., it can then continue the ferry operation at least partially based on the trajectory data for the trajectory 24 or the control data 5 and execute a lane change from the lane 16 to the lane 17 well before the area 21.This allows the motor vehicle 1 to join the motor vehicles 23 already lined up on the lane 17 until the motor vehicle 1 reaches the area 22 and can then change from the lane 17 to the lane 18, as already explained with reference to Fig. 4.

[0061] The vehicle control system 2 stores these first control data 5 together with the associated environmental and operating data.

[0062] Fig. 6 now shows a schematic representation like Fig. 5 at a later time, for example on a subsequent day, at which the motor vehicle 1 again travels the road 19 under the conditions already explained for Fig. 5. In area 26, a traffic jam with motor vehicles 23 has again formed. Here, too, the vehicle control system 2 of the motor vehicle 1 interrupts the ferry operation of the motor vehicle 1 for the same reasons as previously explained and transmits a second interruption message 15 to the remote control station 3. The interruption message 15 in this case additionally comprises maneuver suggestion data 12 for a preferred maneuver, which is based on the first control data 5 that the traffic situation detection and maneuver prediction module 9 has stored for this traffic situation. The remote control station 3 checks the traffic situation and approves the suggestion to continue the ferry operation based on the first control data 5.The vehicle control 2 then carries out the maneuver by means of the motor vehicle 1, which was already explained in Fig. 5.

[0063] It is therefore clear that for the second interruption message 15, the remote control unit 3 only needs to evaluate the available data and, depending on the evaluation, issue a release signal or a continuation signal or a continuation message to the vehicle controller 2. No new control data needs to be generated based on an analysis of the traffic situation. This proves particularly advantageous if the release only needs to be generated by an operator of the remote control unit 3, because this can be achieved with a single button press without any further action being required on the part of the remote control unit 3. This can save time in the process. Second control data only need to be determined by the remote control unit 3 if the evaluation shows that the first control data would not be suitable for continuing ferry operation.

[0064] Fig. 7 shows a further embodiment of the method according to the invention, wherein Fig. 7 shows a road 29 with two lanes 30, 31, which are used by oncoming traffic. Motor vehicle 1 travels on lane 31. At the outer edge of lane 31 is a bus stop 28, where a bus 27 stops so that passengers can board and disembark.

[0065] The vehicle control system 2 of the motor vehicle 1 guides the motor vehicle 1 towards the bus 27, and the ferry service is interrupted because the bus 27 continues to stop at the bus stop 28. The vehicle control system 2 transmits a corresponding first interruption message 4 to the remote control unit 3, which evaluates the data and transmits corresponding first control data 5 to the vehicle control system 2 of the motor vehicle 1. The motor vehicle 1 then overtakes the bus 27 stopped at the bus stop 28 along a trajectory 32. This function assumes that there is no traffic on the roadway 30 during this time period. At a later point in time, for example on a subsequent day, the same traffic situation occurs, so that the motor vehicle 1 is stopped again behind the bus 27 at the bus stop 28, i.e., the ferry service is interrupted by the vehicle control system 2.The vehicle controller 2 then transmits a second interruption message 15 to the remote control station 3, in which the first control data 5 are also transmitted. The remote control station 3 evaluates the second environmental and operating data as well as the first control data 5 and transmits a continuation message as second control data 14, so that the vehicle controller 2 can continue ferry operation based on the first control data 5. Here, too, it is therefore not necessary to generate completely new second control data because the process or traffic situation corresponds to the traffic situation for which the first control data 5 was already determined. This also saves effort here. If the blockage situation is resolved, for example because the bus 27 continues its journey, the vehicle controller 2 can determine this and resume ferry operation on its own without the need for control data from the remote control station 3.

[0066] The embodiments serve solely to explain the invention and are not limiting thereof.

Claims

Patent claims 1. A method for operating a motor vehicle (1) which is driven at least partially autonomously in a designated ferry operation by means of a vehicle control system (2) of the motor vehicle (1), in which, for a respective current traffic situation, at least environmental data are determined by the vehicle control system (2) on the basis of environmental properties detected by environmental sensors of the motor vehicle (1), operating data for driving the motor vehicle (1) are determined at least as a function of the environmental data, and the vehicle control system (2) controls the motor vehicle (1) at least as a function of the operating data, wherein the vehicle control system (2) interrupts the ferry operation of the motor vehicle (1) upon the occurrence of a predetermined traffic situation during the designated ferry operation and transmits a corresponding first interruption message (4) to a remote remote control station (3),wherein the first interruption message (4) contains at least first environmental and operating data relating to a current traffic situation triggering the first interruption, wherein the remote control station (3) receives the first interruption message (4) and evaluates (6) at least the first environmental and operating data, wherein the remote control station (3) determines, depending on the evaluation, first control data (5) for a continuation of the ferry operation, transmits the first control data (5) to the vehicle control system (2) of the motor vehicle (1), and the vehicle control system (2) continues the ferry operation based on the first control data (5), characterized in that the vehicle control system (2) stores (7) the first environmental and operating data relating to the current traffic situation triggering the first interruption as well as the first control data (5) associated with this traffic situation.

2. Method according to claim 1, characterized in that the vehicle control (2) stops the ferry operation when a further predetermined traffic situation occurs during the interrupts normal ferry operation, determines second environmental and operational data relating to the current traffic situation triggering the second interruption, and transmits a corresponding second interruption message (15) to the remote remote control station (3), wherein the second interruption message (15) contains at least the second environmental and operational data relating to the current traffic situation triggering the second interruption.

3. Method according to claim 2, characterized in that the vehicle control (2) compares the second environmental and operating data with the first environmental and operating data.

4. Method according to claim 3, characterized in that the first and second environmental and operating data comprise respective first and second position data and, as part of the comparison, a distance between positions determined by the first and second position data is compared with a comparison distance.

5. Method according to claim 4, characterized in that depending on the comparison of the distance with the comparison distance, the first control data (5) with the corresponding second interruption message (15) are transmitted to the remote remote control station (3).

6. The method according to claim 4 or 5, characterized in that the second interruption message (15) comprises data depending on the comparison of the distance with the comparison distance to continue the ferry operation on the basis of the first control data (5).

7. Method according to one of the preceding claims 3 to 6, characterized in that the comparison of the second environmental and operating data with the first environmental and operating data at least comprises that the traffic situation triggering the second interruption corresponds to the traffic situation triggering the first interruption with regard to traffic routing.

8. The method according to claim 7, characterized in that the vehicle control (2) determines second control data (14) depending on the first control data (5).

9. The method according to claim 8, characterized in that the vehicle control (2) transmits the second control data with the second interrupt message (15) to the remote remote control station (3).

10. Method according to one of the preceding claims, characterized in that the control data transmitted from the remote remote control station (3) to the vehicle control (2) comprise remote control data for remotely controlling the motor vehicle (1) by the remote remote control station (3).

11. Method according to one of the preceding claims, characterized in that the control data transmitted from the remote control station (3) to the vehicle control (2) comprise trajectory data on the basis of which the vehicle control (2) continues the ferry operation.

12. Method according to one of the preceding claims, characterized in that the vehicle control (2) sends a message to persons arranged in the motor vehicle (1) regarding the continuation of the ferry operation.

13. Computer program product with program code means, which is particularly partially autonomous in a computer, according to one of the preceding claims at least partially carried out when the computer program product is processed on a computer unit.

14. Computer-readable data carrier with program code instructions which, when executed by a computer unit, cause the computer unit to carry out the method for operating a motor vehicle (1) which is used in a normal ferry operation by means of a vehicle control system (2) of the Motor vehicle (1) is driven at least partially autonomously, according to one of the preceding claims 1 to 12.

15. Vehicle control (2) for operating a motor vehicle (1), which is designed to drive the motor vehicle (1) at least partially autonomously in a designated ferry operation, in that the vehicle control (2) determines at least environmental data for a respective current traffic situation on the basis of environmental properties detected by means of environmental sensors of the motor vehicle (1), determines operating data for driving the motor vehicle (1) at least as a function of the environmental data and controls the motor vehicle (1) at least as a function of the operating data, wherein the vehicle control (2) is designed to interrupt the ferry operation of the motor vehicle (1) when a predetermined traffic situation occurs during the designated ferry operation and to transmit a corresponding first interruption message (4) to a remote remote control station (3), wherein the first interruption message (4) contains at least first environmental and operating data with respect to a current,contains the traffic situation triggering the first interruption, wherein the vehicle control (2) is designed to receive first control data (5) for a continuation of the ferry operation from the remote control station (3), which the remote control station (3) determines for a continuation of the ferry operation depending on the evaluation of the first environmental and operating data transmitted with the first interruption message (4), wherein the vehicle control (2) is designed to continue the ferry operation based on the first control data (5), characterized in that the vehicle control (2) is designed to store the first environmental and operating data with regard to the current traffic situation triggering the first interruption as well as the first control data (5) assigned to this traffic situation.

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