Method and apparatus for detecting an emergency situation of an autonomous vehicle, and autonomous vehicle

Abstract

The invention relates to a method and to an apparatus for detecting an emergency situation of an autonomous vehicle (1), the method comprising: operating an autonomous vehicle (1); detecting an emergency situation of the autonomous vehicle (1); transmitting a request for assistance; receiving a control request from a control device (20); authorising the control device (20); and receiving control signals from the control device (20).

Description

[0001] Method and device for detecting an emergency situation of an autonomous vehicle and autonomous vehicle

[0002] DESCRIPTION:

[0003] The invention relates to a method and a device for detecting an emergency situation of an autonomous vehicle and to an autonomous vehicle with such a device.

[0004] Autonomous vehicles are becoming increasingly common, but they can get into emergency situations that can be difficult to detect.

[0005] It is therefore an object of the present invention to provide an improved method and an improved apparatus for detecting an emergency situation of an autonomous vehicle.

[0006] This problem is solved by the subject matter of the independent claims. Advantageous further developments are specified in the dependent claims.

[0007] According to a first aspect, a method for detecting an emergency situation of an autonomous vehicle is provided.

[0008] The method comprises the steps of operating an autonomous vehicle, detecting an emergency situation of the autonomous vehicle, sending an assistance request, receiving a control request from a control device, authorizing the control device, and receiving control signals from the control device. The method serves, in particular, to detect an emergency situation of an autonomous vehicle and initiate appropriate remedial measures.

[0009] The autonomous vehicle can be a manned or unmanned vehicle. For example, it can be a transport vehicle and / or a goods delivery vehicle that transports objects and / or goods to a delivery location. Alternatively or additionally, it can be a passenger vehicle that transports one or more passengers to one or more destinations. Alternatively or additionally, it can also be a patrol and / or reconnaissance vehicle that monitors or reconnoiters a specific area. The vehicle can be powered by electricity, combustion engine, or both, i.e., it can be a hybrid vehicle.

[0010] The autonomous vehicle, which can also be referred to as a vehicle or motor vehicle, moves at least partially, in particular completely, autonomously, i.e., without human influence, and operates, in particular, acceleration, braking, and / or steering independently, for example, via a driving computer and / or a driving algorithm. In particular, the vehicle itself does not have any control means with which a driver or third party could directly intervene in the control.

[0011] When an emergency occurs, the method according to the invention is intended to enable, in particular, external control, for example by rescue services such as the police, fire brigade, medical personnel and / or the technical relief organization, and / or the owner or operator of the vehicle, who are informed of the emergency and, for example, come close to the vehicle.

[0012] In a first step of the method according to the invention, the autonomous vehicle is initially operated. In this case, "operating" refers in particular to driving, i.e., accelerating, braking, and / or steering the vehicle. In particular, the vehicle is controlled along a planned route and / or to a destination and moves along a planned trajectory, which may also take the surroundings and other vehicles into account.

[0013] The vehicle can, for example, be driven autonomously along a road, a sidewalk and / or across a meadow or a path, which can also be referred to as off-road. This operating state can also be referred to as the normal state or target state and serves the conventional operation to fulfill the purpose of the vehicle, as described above.

[0014] In a further step, an emergency situation of the autonomous vehicle is detected.

[0015] An emergency situation of the autonomous vehicle is a situation or condition in which the vehicle is or has occurred, and in which the vehicle requires assistance. The emergency situation, which can also be referred to as an emergency and / or distress situation, can relate in particular to the autonomous driving mode and / or the vehicle's drive system, as will be explained below. In particular, the emergency situation includes a defect or deficiency in the autonomous driving mode and / or the vehicle's drive system.

[0016] The fact that the vehicle is in an emergency situation can be determined by suitable sensors, as will also be explained later.

[0017] If it is detected that the autonomous vehicle is in an emergency situation, an assistance request is sent in a subsequent step. The assistance request can include both the abstract existence of the emergency situation and further information and / or circumstances of the emergency situation. For example, the assistance request can include a position, such as coordinates and / or an address, a direction, in particular a direction of travel, a planned destination, a vehicle type, a drive type, a number and / or weight of passengers and / or goods. Additionally or alternatively, the assistance request can also include drive information, such as speed, acceleration and / or steering angle, in particular at the time before or when the emergency situation occurs.

[0018] This assistance request can be sent, in particular, to a device remote from the autonomous vehicle, such as a remote computing device, which can also be referred to as a data center, and / or to one or more devices in the vicinity of the vehicle. In particular, the assistance request can be sent as a broadcast, as a beacon, and / or as a message. In particular, the assistance request is sent wirelessly via a communication protocol, such as Bluetooth, WLAN, mobile communications, in particular 3G, 4G, 5G, and / or Car2X, in particular Car2Car. The assistance request can be sent, in particular, periodically, regularly, and / or continuously.

[0019] In a further step, a control request is received from a control device.

[0020] A control device is a device separate from the autonomous vehicle that enables control of the vehicle. For example, it is a remote control and / or a remote controller. This can be either a proprietary device designed solely for this purpose or a generic device, such as a mobile phone, in particular a smartphone, a phablet, a tablet and / or a computer, in particular a laptop, with corresponding control software and / or app. In particular, the control device can also be the device that previously received the assistance request, with the control request then being sent in response to receiving the assistance request, but this does not have to be the case.Alternatively or additionally, for example, a remote computing device may first receive the assistance request, whereupon one of several control devices is then selected, in particular based on the characteristics of the emergency situation or of the vehicle in the emergency situation, such as a position and / or a vehicle type.

[0021] In particular, the control device is a device located near or within the perimeter of the vehicle. For example, the control device is less than 500m, 100m, 50m, or 10m from the vehicle. In particular, a near-field communication protocol is used to send the control request.

[0022] In a subsequent step, the control device is authorized in response to the control request.

[0023] In this case, authorization includes, in particular, authenticating and / or activating the control device for the autonomous vehicle. This can be done, for example, via a key exchange and / or through the use of one or more certificates. In particular, additional facilities and / or devices or infrastructure can also be used for this purpose.

[0024] Authorization can be performed via the same communication channel or the same communication protocol as the sending of the help request and / or the receiving of the control request, or via a different communication protocol.

[0025] For example, authorization can be performed via direct communication between the control device and the autonomous vehicle. This can be done, in particular, via a Car2Car protocol. For this purpose, special certificates can be issued and used by the vehicle manufacturer and / or a central authority or entity, such as a government agency and / or a private provider, allowing a user or owner of the control device to authorize or authenticate themselves. In particular, standardized message types, such as Maneuver Coordination Messages (MCM), can also be used for this purpose.

[0026] Alternatively or additionally, direct communication can be enabled via a Wi-Fi hotspot. For this purpose, the control unit can connect to a Wi-Fi hotspot in the vehicle, particularly one that is only generated in an emergency situation. There, the control unit can authorize or authenticate itself using a login or access code. The access codes can be assigned, for example, by a manufacturer, operator, and / or a central location. For this purpose, the login or code for authorizing the control unit can be stored in various ways. For example, a dynamic database of access data can be maintained in a remote computing device, which is compared when an authorization attempt is made using a communication protocol, such as mobile communications.

[0027] Alternatively or additionally, a dynamic database with access data can be maintained on the autonomous vehicle. Alternatively or additionally, a static database can be maintained on the autonomous vehicle, in which several keys classified as trustworthy are stored using an encryption method such as a Number Verification System or blockchain. Identification could be achieved, for example, via the network name or SSID.

[0028] Alternatively or additionally, indirect communication between the vehicle and the control unit can also be enabled. This can be done, for example, via an edge cloud. In this case, access is managed by an edge cloud located near a base station of the vehicle and / or the control unit. This can again be done via cellular communication.

[0029] Alternatively or additionally, indirect communication can be enabled entirely via a remote computing device, such as a cloud service. This can involve both registration or authorization on the vehicle and forwarding of control commands to the vehicle, as will be described below.

[0030] In a further step, control signals are received from the control device.

[0031] In particular, control signals or control commands are received in response to the control device's authorization. The control signals serve to control the autonomous vehicle, in particular manually, for example, by an operator of the control device.

[0032] In particular, the control device enables or provides manual control of the autonomous vehicle. This is, in particular, the only way to control the vehicle manually or by a human.

[0033] The control signals can, in particular, include instructions or commands regarding the extent to which acceleration, braking, and / or steering should be activated. For example, means enabling control, such as one or more driving and / or steering devices, can be provided on the control device. These can be provided both on the software side, for example via a touch input, and on the hardware side, for example via one or more joysticks, slide controls, and / or steering wheels. The method according to the invention makes it possible to detect an emergency situation of an autonomous vehicle and to provide particularly effective remedial measures.

[0034] According to a further development, the autonomous vehicle is controlled based on the control signals.

[0035] The vehicle is therefore accelerated, braked, and / or steered according to the control signals generated by or from the control device and provided to the vehicle. In particular, the control signals have a similar or identical effect to that of a driving computer.

[0036] For this purpose, the control signals received by the control device are converted into signals or control commands designed to cause acceleration, braking and / or steering of the vehicle.

[0037] This training makes it possible to steer the autonomous vehicle particularly well out of an emergency situation.

[0038] According to a further development, the detection of an emergency situation includes the detection of an inability of the autonomous vehicle to maneuver.

[0039] Inability to maneuver can also be referred to as inability to drive and describes or includes a condition in which the vehicle can no longer be controlled or operated.

[0040] The inability to maneuver can be caused by the vehicle itself or by external circumstances.

[0041] For example, one or more components of the autonomous vehicle are only partially operational or have failed completely, in particular those relating to a drive and / or steering system, for example due to a defect, error or failure of one or more components.

[0042] Alternatively or additionally, the vehicle has maneuvered itself into a state of immobilization, for example because it has driven into a dead end and / or into an obstacle and cannot see or find a way out, in particular without damaging itself or other objects.

[0043] Alternatively or additionally, an unforeseeable event has occurred, such as severe weather such as heavy rain, a landslide and / or sudden snow and ice, which makes it impossible for the vehicle to move safely.

[0044] Alternatively or additionally, the vehicle was involved in an accident, for example with another vehicle and / or another object, and was therefore damaged and / or rendered inoperable.

[0045] In particular, the vehicle is jammed, trapped, overturned and / or has hit or run into an obstacle and is therefore unable to maneuver.

[0046] This inability to maneuver can be determined using suitable sensors. For example, the inability to maneuver can be determined using odometry sensors, such as wheel speed sensors and / or acceleration sensors, feedback sensors, and / or imaging sensors, such as one or more camera, lidar, and / or radar sensors.

[0047] This training makes it possible to identify the emergency situation particularly well and to initiate appropriate remedial measures.

[0048] According to a further development, detecting an emergency situation includes detecting a communication failure of the autonomous vehicle. A communication failure can also be referred to as unreachability and describes or encompasses a state in which the vehicle has lost a communication connection. This loss or failure can also indirectly result in the vehicle no longer being able to maneuver, for example, because it receives its control signals or control commands and / or destination or route from a remote processing unit.

[0049] The communication failure can be caused by the vehicle itself or by external circumstances.

[0050] For example, the vehicle may be in a location or position with poor or nonexistent network coverage, making it impossible to establish or operate a communication protocol. This could occur, for example, in a tunnel, a parking garage, or a remote area. This could also occur if a power outage occurs near the vehicle and one or more cell towers are no longer available.

[0051] Alternatively or additionally, one or more components of the autonomous vehicle are only partially operational or have failed completely, in particular those that enable communication, such as one or more communication modules of the vehicle.

[0052] Alternatively or additionally, one or more components of the remote computing device may only be able to function to a limited extent or may have failed completely, for example because one or more servers are defective and / or because there is a power failure at the remote computing device.

[0053] The communication failure can be detected using suitable sensors and / or monitoring mechanisms, such as pings or timeouts. In this case, the control signals are received via a different communication channel or protocol than the one that failed or is unavailable. For example, mobile communications may be down, particularly due to insufficient network coverage, but car-to-car communication continues to function, allowing the control signals to be received.

[0054] This training also makes it possible to identify the emergency situation particularly well and to initiate appropriate remedial measures.

[0055] According to a further development, the method further comprises the steps of determining environmental characteristics of the autonomous vehicle and providing the environmental characteristics to the control device.

[0056] Environmental characteristics are properties or features that describe the vehicle's surroundings. In particular, these environmental characteristics include one or more of the detections required for autonomous driving, such as odometry sensors, such as wheel speed sensors and / or acceleration sensors, feedback sensors, and / or imaging sensors, such as one or more camera, lidar, and / or radar sensors.

[0057] These data will continue to be recorded regularly, periodically, and / or continuously, as far as the vehicle is still capable of doing so, and then transmitted to the control unit. There, they can be displayed and / or used to control the vehicle.

[0058] This training makes it possible to control the vehicle with particular precision.

[0059] 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.

[0060] According to a further aspect, a device is provided. The device may comprise a data processing device or a processor device configured to carry out an embodiment of the method according to the invention.

[0061] In particular, the device is configured to communicate and / or cooperate with the remote computing device and / or the control device, as described above, to carry out or at least effect the above-described embodiments of the method. In particular, the device may also comprise the remote computing unit and / or the control device, thereby forming a system for carrying out embodiments of the method according to the invention.

[0062] For this purpose, the processor device can have at least one microprocessor and / or at least one microcontroller and / or at least one FPGA (Field Programmable Gate Array) and / or at least one DSP (Digital Signal Processor). In particular, a CPU (Central Processing Unit), a GPU (Graphical Processing Unit) or an NPU (Neural Processing Unit) can be used as the microprocessor. Furthermore, the processor device can have program code which, when executed by the processor device, is configured to carry out the embodiment of the method according to the invention. The program code can be stored in a data memory of the processor device. The processor device can, for example, be based on at least one circuit board and / or on at least one SoC (System on Chip).

[0063] According to a further aspect, a vehicle is specified that includes such a device. As a further solution, the invention also includes a computer-readable storage medium comprising program code which, when executed by a computer or computer network, causes the computer to carry out an embodiment of the method according to the invention. The storage medium can be provided at least partially as a non-volatile data memory (e.g., as a flash memory and / or as an SSD - solid state drive) and / or at least partially as a volatile data memory (e.g., as a RAM - random access memory). The storage medium can be arranged in the computer or computer network. However, the storage medium can also be operated on the Internet, for example, as a so-called app store server and / or cloud server. The computer or computer network can provide a processor circuit with, for example, at least one microprocessor.The program code may be provided as binary code and / or as assembly code and / or as source code of a programming language (e.g. C) and / or as a program script (e.g. Python).

[0064] The invention also encompasses combinations of the features of the described embodiments. The invention therefore also encompasses implementations that each comprise a combination of the features of several of the described embodiments, unless the embodiments are described as mutually exclusive.

[0065] With regard to the embodiments of the device, the vehicle and the storage medium as well as the associated advantages, reference is made to the previously described embodiments of the method and the associated advantages.

[0066] Exemplary embodiments of the invention are described below. Figure 1 shows a schematic view of an embodiment of a method and a device for controlling an autonomous vehicle.

[0067] The exemplary embodiments explained below are preferred embodiments of the invention. In the exemplary embodiments, the described components of the embodiments each represent individual features of the invention that can be considered independently of one another, each of which also develops the invention independently of one another. Therefore, the disclosure is intended to encompass combinations of the features of the embodiments other than those shown. Furthermore, the described embodiments can also be supplemented by further features of the invention already described.

[0068] In the figures, the same reference symbols designate elements with the same function.

[0069] Fig. 1 shows a schematic view of an embodiment of a method and a device 10 for controlling an autonomous vehicle 1 .

[0070] The device is encompassed by the vehicle 1 and is designed to carry out or at least effect the steps described below.

[0071] In a first step, the autonomous vehicle 1 is operated in an autonomous driving mode.

[0072] In a further step, an emergency situation of the autonomous vehicle 1 is detected. This Fig. 1 shows, by way of example, how the vehicle 1 has maneuvered itself onto an elevation in autonomous driving mode and is consequently unable to maneuver, which is determined by suitable sensors. The emergency situation can also include a communication failure of the autonomous vehicle 1, for example with a remote computing device 30, shown here as an example as a cloud service, to which the vehicle 1 is regularly connected for the purpose of autonomous ferry operation.

[0073] In a further step, a request for assistance is sent. This is done, as shown here by way of example, by sending a broadcast message, which is received by a nearby control device 20 operated by a representative of the rescue services 2.

[0074] In a further step, a control request is received from the control device 20 and authorized.

[0075] After authorization, control signals are received by the control device 20 and the autonomous vehicle 10 is controlled based on the control signals.

[0076] Environmental characteristics of the autonomous vehicle 1 can be determined and provided to the control device 20 in order to support the rescue force 2 in controlling it.

[0077] Overall, the examples show how a device and a method for controlling autonomous systems in an emergency situation can be provided.

Claims

PATENT CLAIMS: 1 . A method for detecting an emergency situation of an autonomous vehicle (1 ), comprising: Operating an autonomous vehicle (1 ); Detecting an emergency situation of the autonomous vehicle (1 ); Sending a request for help; Receiving a control request from a control device (20); Authorizing the control device (20); and Receiving control signals from the control device (20).

2. The method according to claim 1, further comprising: Controlling the autonomous vehicle (10) based on the control signals.

3. Method according to one of the preceding claims, wherein the detection of an emergency situation comprises detection of an inability to maneuver of the autonomous vehicle (1).

4. Method according to one of the preceding claims, wherein the detection of an emergency situation comprises detection of a communication failure of the autonomous vehicle (1).

5. Method according to one of the preceding claims, further comprising: Determining environmental characteristics of the autonomous vehicle (1 ); and Providing the environmental characteristics to the control device (20).

6. A device (10) for detecting an emergency situation of an autonomous vehicle (1), wherein the device is configured to carry out a method according to one of the preceding claims.

7. A motor vehicle (1) comprising a device according to claim 6.

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