Vehicle for a system for teleoperated control of the vehicle and system for teleoperated control of the vehicle
Patent Information
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- RHEINMETALL TECHNOLOGY CENTER GMBH
- Filing Date
- 2026-01-29
- Publication Date
- 2026-08-06
Smart Images
Figure EP2026052336_06082026_PF_FP_ABST
Abstract
Description
[0001] Vehicle for a system for teleoperated vehicle control and system for teleoperated vehicle control
[0002] The invention relates to a vehicle for a system for teleoperated control of the vehicle with the features of the preamble of claim 1 and a system for teleoperated control of the vehicle.
[0003] Such vehicles can be controlled by an operator using control signals generated by the operator and transmitted to the vehicle by a control unit located separately from the vehicle. The vehicle has at least one camera. Image data acquired by the camera can be transmitted to the control unit. The control signals and image data can be transmitted wirelessly between a vehicle antenna system and a transmission antenna system. The control signals and image data can be transmitted wirelessly and / or via a wired connection between the transmission antenna system and the control unit.
[0004] The system for remotely controlling the vehicle described above includes a control unit located separately from the vehicle. The vehicle can be controlled by an operator using control signals generated by the operator and transmitted to the vehicle by the control unit. During remote control, the operator is physically disconnected from the vehicle. Driving tasks are performed remotely. The vehicle is equipped with at least one camera. The control unit has a display device. Image data acquired by the camera can be transmitted to the control unit and displayed to the operator for controlling the vehicle. The operator can thus recognize obstacles, road conditions, or traffic signs and control the vehicle accordingly.The control signals and image data can be transmitted wirelessly between a vehicle antenna system of the passenger vehicle and a transmission antenna system.
[0005] Wireless transmission between the vehicle antenna system and the transmission antenna occurs via a communication network provided by a service provider. Such a communication network has a defined coverage area. Wireless transmission between the vehicle antenna system and the transmission antenna allows the vehicle to move freely. Control signals and image data can be transmitted wirelessly and / or via wired connections between the transmission antenna system and the control unit. Wired transmission preferably occurs via the internet, particularly using fiber optic cables.
[0006] If the control signals are not transmitted or are transmitted incorrectly due to an interruption or malfunction in the transmission, the vehicle may enter uncontrolled driving states. Similarly, if no or distorted image data is displayed to the operator due to an interruption or malfunction in the transmission of image data, safe vehicle control is at least significantly impaired. The vehicle and the system for its remote control are only used in areas with uninterrupted or interference-free data transmission, and these areas are limited by the available network coverage. Therefore, the vehicle and the system for its remote control have limited availability due to the available network coverage.
[0007] To improve data transmission, the vehicle antenna system can have several individual antennas, with a first group and a second group of individual antennas each arranged in a ring around a central axis, the individual antennas of the first group being spaced along the central axis from the individual antennas of the second group. Depending on the available network coverage, however, such a vehicle antenna system is not yet sufficient to ensure uninterrupted or interference-free data transmission.
[0008] The invention is therefore based on the objective of designing and / or further developing the vehicle and the system for remote vehicle control in such a way that uninterrupted and interference-free transmission of control signals and image data between the vehicle and the control unit is ensured. Furthermore, the areas of uninterrupted and interference-free data transmission are to be increased while maintaining the same network coverage, thereby increasing the availability of the system for remote vehicle control, so that the vehicle can be remotely controlled in larger areas.
[0009] This problem underlying the invention is now first solved by a vehicle for a system for teleoperated control of the vehicle with the features of claim 1.
[0010] The individual antennas form a directional antenna configured as a group antenna. The direction of view and / or beamwidth of the directional antenna can be adjusted by generating a phase shift between the individual antennas using an antenna control unit.
[0011] By adjusting the viewing direction, the transmission bandwidth between the array antenna and a specific transmission antenna of the transmission antenna system is further increased, with the transmission of control signals and image data taking place between this specific transmission antenna and the array antenna. For this purpose, the viewing direction is preferably aligned with this specific transmission antenna. The viewing direction is particularly trackable, so that the directional antenna is always aligned with this specific transmission antenna, regardless of the vehicle's position / orientation relative to this specific transmission antenna.
[0012] By precisely adjusting the phase at each individual antenna, the viewing direction of the array antenna can be adjusted, and in particular, swiveled. Advantageously, this allows the viewing direction of the array antenna to be adjusted without having to mechanically move the array itself, thus enabling adjustment of the viewing direction with minimal equipment complexity. Furthermore, particularly rapid adjustment of the viewing direction is possible.
[0013] Furthermore, it is preferred that the viewing direction of the directional antenna be swivelled by means of the antenna control unit in a plane perpendicular to the central axis and in a plane parallel to the central axis.
[0014] Array modulation is preferably used to adjust the phases. This allows the directional antenna to be aligned with the specific transmission antenna with exceptional precision. The ring-shaped arrangement of the individual antennas enables the viewing direction to be shifted in the plane perpendicular to the central axis. The division of the individual antennas into two groups spaced apart along the central axis allows the viewing direction to be shifted in the plane parallel to the central axis.
[0015] The individual antennas are each designed as directional antennas with a fixed line of sight. A directional antenna is an antenna with pronounced directivity; that is, electromagnetic waves are radiated from the antenna into a specific area, or electromagnetic waves originating from this area can be received particularly well by the antenna. The line of sight is represented by an imaginary straight line extending from the directional antenna, which lies in the center of this specific area. As a transmitting antenna, the directional antenna concentrates the energy of the transmitted electromagnetic waves in the line of sight, thereby focusing the energy into a directional radiation pattern. As a receiving antenna, the directional antenna's maximum sensitivity is located in the line of sight.The advantage is that the signal from the target direction is improved by the directional gain. An antenna pattern of the directional antenna has a pronounced, so-called main lobe, in which the line of sight lies.
[0016] Because the individual antennas are arranged in a ring around a central axis and each antenna is angled to that axis, it is ensured that at least one of the individual antennas is directed towards a specific transmission antenna of the transmission antenna system. This allows for a high transmission bandwidth between the vehicle antenna system and a specific transmission antenna of the transmission antenna system with minimal control system complexity. Uninterrupted and interference-free transmission of control signals and image data between the vehicle and the control unit is guaranteed. The risk of transmission interference is minimized. Furthermore, the areas are uninterrupted and...The special arrangement of the individual antennas and the associated improved data transmission increase the interference-free data transmission with consistent network coverage, thus expanding the possible area of application of the vehicle.
[0017] One aspect of the invention is essentially that the viewing directions of the individual antennas each have an angle to the central axis, in particular two individual antennas opposite each other with respect to the central axis have the smallest distance to each other at the end leading away from the vehicle in the direction of the central axis.
[0018] According to an advantageous embodiment of the vehicle, the line of sight of the individual antennas is oriented perpendicular to the lateral surface of a conical or truncated cone shape. Such an arrangement of the individual antennas can be implemented with minimal equipment effort. The individual antennas are positioned on the lateral surface of the conical shape.
[0019] According to a further embodiment of the vehicle, the line of sight of the individual antennas is oriented perpendicular to the lateral surface of an ellipsoidal shape, in particular a sphere, especially a hemisphere. The individual antennas are positioned along the lateral surface of the ellipsoidal shape, in particular the lateral surface of the sphere or hemisphere. This arrangement of the individual antennas can also be implemented with minimal equipment effort. By arranging the individual antennas along the lateral surface of a sphere, a high transmission bandwidth can also be achieved in the direction of the central axis, so this arrangement is particularly suitable when, during operation of the vehicle, the central axis is expected to be aligned with a transmission antenna.
[0020] To protect the individual antennas from external influences such as rain and / or dirt, the individual antennas are preferably arranged within a random enclosure. Such an enclosure is thus a housing for the individual antennas, which is transparent to the electromagnetic waves emitted and received by the individual antennas.
[0021] Advantageously, the vehicle is designed as a ground-based passenger vehicle. This allows for comfortable passenger transport. In this passenger vehicle, the individual antennas are specifically aligned parallel to a conical surface, since the vehicle's central axis is not expected to align with a transmission antenna during operation.
[0022] It can be advantageous if the car body has mounting areas on its upper surface for connecting the individual antennas. In this case, the car body can be used as a carrier for the individual antennas. However, it is also conceivable that a separate carrier is provided for the individual antennas, in which case the separate carrier is connected to the vehicle, e.g., to the car body.
[0023] In particular, the individual antennas are arranged along an upper edge of the passenger vehicle's body. It should be noted here that arranging the individual antennas "in a ring around a central axis" can mean, in particular, that the individual antennas lie on a circular path whose center lies on the central axis, with the central axis being perpendicular to the plane of the circular path. Within a certain tolerance range around this circular path, however, a ring-shaped arrangement of the individual antennas around the central axis can still be assumed, which is particularly relevant when the individual antennas are arranged along the upper edge of the passenger vehicle's body. For example, the individual antennas could be spaced at a distance of, say, up to approximately 10%, approximately 15%, or approximately...The antennas must be arranged at 20% of the diameter of the circular path, where the circular path is specifically the path in which the sum of all distances of the individual antennas to the circular path is minimal. These distances can be in all directions perpendicular to the circular path. For example, it is conceivable that the individual antennas lie on an elliptical path.
[0024] According to a further embodiment of the vehicle, the vehicle is designed as an aircraft, in particular as a drone. In the aircraft, the individual antennas are aligned, in particular, parallel to a spherical surface, especially a hemispherical surface, since during operation of the vehicle, it can be expected that the central axis will be aligned with a transmission antenna.
[0025] The problem underlying the invention is also solved by a system for teleoperated control of a previously described vehicle with the features of claim 10.
[0026] One aspect of the invention essentially lies in the fact that the system for remotely controlling the vehicle comprises the vehicle and a control unit spatially separated from the vehicle, wherein the vehicle can be controlled by an operator by means of control signals generated by the operator and transmitted to the vehicle by the control unit, wherein the control unit has a display device, wherein image data acquired by means of the camera can be transmitted to the control unit and displayed to the operator for controlling the vehicle by means of the display device, wherein the control signals and the image data can be transmitted wirelessly between a vehicle antenna system of the vehicle and a transmission antenna system, and wherein the control signals and the image data can be transmitted wirelessly and / or via wired connections between the transmission antenna system and the control unit.
[0027] The advantages described above for the vehicle also apply analogously to the system for remotely controlling the vehicle.
[0028] Advantageously, a mobile communication system, particularly according to the 4G or 5G standard, can be implemented using the transmission antenna system. The image data and control signals can preferably be transmitted in real time via the mobile communication system, which is ensured in particular by the 4G or 5G standard.
[0029] In particular, because the individual antennas are angled relative to the central axis, a maximum possible, or at least a sufficiently high, data transmission rate or throughput between the specific transmission antenna and the directional antenna can be achieved. Furthermore, low latency is achieved in data transmission between the specific transmission antenna and the directional antenna. The latency is so low that it can be described as real-time data transmission.
[0030] There are now numerous possibilities for advantageously designing and further developing the vehicle and system according to the invention. Reference may first be made to the claims subordinate to claims 1 and 10. Preferred embodiments of the vehicle and system according to the invention will now be explained and described in more detail below with reference to the drawing and the accompanying description. The drawing shows:
[0031] Fig. 1 schematically represents an embodiment of a system for the teleoperated control of a vehicle according to the invention, shown in a top view, in combination with a schematic signal flow diagram.
[0032] Fig. 2a schematically shows a separate embodiment of a vehicle antenna system of the vehicle without random selection.
[0033] Fig. 2b schematically represents the vehicle antenna system from Fig. 2a with Random,
[0034] Fig. 3a schematically shows a vehicle according to the invention with a further embodiment of the vehicle antenna system in a side view,
[0035] Fig. 3b shows a schematic representation of the vehicle from Fig. 3a in a rear view,
[0036] Fig. 3c shows a schematic representation of the vehicle from Fig. 3a in a front view, and
[0037] Fig. 4 shows a schematic representation of another vehicle according to the invention in a three-dimensional view.
[0038] Fig. 1 shows a system for the remote control of a vehicle 1. The vehicle 1 is shown separately in Figs. 3a, 3b, 3c, and 4 in two different embodiments. The vehicle 1 can be controlled by an operator using control signals generated by the operator and transmitted to the vehicle 1 by a control unit 2 located spatially separate from the vehicle 1. The vehicle 1 has at least one camera 3. Image data acquired by the camera 3 can be transmitted to the control unit 2. The control signals and the image data can be transmitted wirelessly between a vehicle antenna system (AFS) of the vehicle 1 and a transmission antenna system (AUS). Figs. 2a and 2b each show an embodiment of the vehicle antenna system (AFS) separately.The control signals and image data can be transmitted wirelessly and / or via wired connections between the transmission antenna system AUS and the control unit 2. Wired transmission is preferred to achieve the lowest possible latency. The vehicle antenna system AFS comprises several individual antennas EF. A first group G1 and a second group G2 of individual antennas EF are each arranged in a ring around a central axis M. The individual antennas EF of the first group G1 are spaced along the central axis M from the individual antennas EF of the second group G2. The ring-shaped arrangement of the individual antennas EF provides 360° azimuth coverage of the area surrounding the vehicle antenna system AFS. Dividing the individual antennas EF into two groups G1 and G2 also increases the elevation coverage of the area surrounding the vehicle antenna system AFS accordingly.
[0039] The viewing directions BR of the individual antennas EF each have an angle α to the central axis M. Fig. 2a shows an example of one of these viewing directions BR from one of the individual antennas. In particular, two individual antennas EF opposite each other with respect to the central axis M have the smallest distance between them at their ends leading away from the vehicle 1 in the direction of the central axis M. The viewing directions BR of the individual antennas EF point away from the vehicle 1. A space spanned by the individual antennas EF tapers away from the vehicle in the direction of the central axis M.
[0040] The individual antennas EF form a directional antenna AR configured as a group antenna. The viewing direction and / or beamwidth of the directional antenna AF can be adjusted by a phase shift between the individual antennas EF, generated by an antenna control unit 5 of the directional antenna AF. In contrast, the viewing directions of the individual antennas EF are fixed by the position of each individual antenna EF. The individual antennas EF can therefore also be considered directional antennas, but with a fixed viewing direction BR. The individual antennas, considered separately, typically have a wider beamwidth than the group antenna and thus do not exhibit a pronounced directivity themselves. The viewing direction of the directional antenna AF configured as a group antenna is symbolized in Fig. 1 by the electromagnetic waves represented by curved lines adjacent to the directional antenna AF.By adjusting the viewing direction, data transmission of control signals and image data between the directional antenna AF and a specific transmission antenna AU of the transmission antenna system AUS is possible. This specific transmission antenna AU can be the one located closest to vehicle 1 or one located further away. The directional antenna AF is a highly directional antenna, meaning that electromagnetic waves are radiated by the directional antenna AF into a specific area, or rather, electromagnetic waves originating from this area can be received particularly well by the directional antenna AF. The viewing direction is represented by an imaginary straight line extending away from the directional antenna, which lies in the center of this specific area.As a transmitting antenna, the directional antenna AF concentrates the energy of the transmitted electromagnetic waves in the line of sight, thereby generating directional radiation. As a receiving antenna, the directional antenna AF's maximum sensitivity lies in the line of sight. By adjusting the line of sight, this direction can be aligned with the specific transmitting antenna AU, thus enabling data transmission with a high data rate and low latency.
[0041] The phase shift between the individual antennas allows interference to focus the signal and thus achieve a pronounced directional effect. The energy of the electromagnetic waves is amplified in the desired direction, while unwanted directions are canceled out by destructive interference.
[0042] The viewing direction of the directional antenna AF can be adjusted by means of the antenna control unit 5 in a plane perpendicular to the central axis M and in a plane parallel to the central axis M.
[0043] Preferably, each individual antenna is assigned a separate phase shifter for adjusting the respective phase shift. It is also conceivable to provide a group phase shifter for several individual antennas, by means of which several phase shifters can then be controlled.
[0044] According to Fig. 2a, the individual antennas EF are oriented perpendicular to a conical surface and positioned on this surface. The individual antennas EF are preferably of identical construction. The first group G1 comprises, for example, 6 to 18, in particular 8 to 16, individual antennas EF. The second group G2 comprises, for example, 12 to 24, in particular 14 to 22, individual antennas EF. The group antenna is then connected to the vehicle 1 on the side of the cone's base.
[0045] According to Fig. 4, the individual antennas EF are aligned parallel to a lateral surface of a sphere, in particular a hemisphere. Fig. 4 shows a total of six groups of individual antennas EF, wherein the individual antennas EF of three groups are aligned perpendicular to a lateral surface of a hemisphere and are positioned on the lateral surface. The individual antennas EF of groups G1 to G3 are aligned perpendicular to a lateral surface of a first hemisphere. The individual antennas EF of groups G4 to G6 are aligned perpendicular to a lateral surface of a second hemisphere. The first hemisphere is mirror-symmetrical and spaced apart from the second hemisphere. The first hemisphere and the second hemisphere share a common central axis M. The individual antennas EF of each group G1 to G6 are preferably arranged at equal intervals from each other. The individual antennas EF according to Fig. 2a are arranged within a random array 6 according to Fig.2b ordered.
[0046] Vehicle 1, as shown in Figs. 1, 3a, 3b, and 3c, is designed as a ground-based passenger vehicle. The passenger vehicle can also be referred to as a car. The Random 6 could, for example, be connected to the roof of the passenger vehicle, as strongly symbolically shown in Fig. 1.
[0047] Vehicle 1 is primarily a road vehicle. All vehicle functions in Vehicle 1 can be controlled via an integrated drive-by-wire system (DbW). The vehicle functions are thus electrically controllable. Control of the vehicle functions is achieved via a central vehicle control unit (F) and CAN bus data connections. The drive-by-wire system (DbW) incorporates servo motors and / or actuators, which can be used to implement braking and acceleration impulses, as well as steering movements. The control signals sent from control unit 2 to Vehicle 1 via the transmission antenna system (AUS) are converted into control signals for the servo motors and / or actuators in the vehicle control unit (F) while driving.
[0048] According to Figures 3a, 3b, and 3c, the body 8 of the passenger vehicle has receiving areas on its upper surface for connection to the individual antennas EF. The individual antennas EF are arranged along an upper edge of the body 8 of the passenger vehicle. The individual antennas EF are arranged, in particular, on the roof or adjacent to the roof of the passenger vehicle. The individual antennas EF preferably form at least a partial common outer surface with the body 8 in order to achieve low air resistance of the passenger vehicle. Alternatively or additionally, a group antenna according to Figures 2a and 2b can also be arranged on the passenger vehicle according to Figures 3a, 3b, and 3c.
[0049] The vehicle 1, as shown in Fig. 4, is designed as an aircraft, specifically a drone. Due to the varying vertical distances between the aircraft and the transmission antennas AU during operation, it is advantageous to arrange the individual antennas EF parallel to a spherical surface, particularly a hemispherical one. This arrangement is also beneficial because significant yaw movements of the aircraft are to be expected during operation, which are accompanied by corresponding yaw movements of the central axis M.
[0050] The system for remotely controlling vehicle 1 according to Fig. 1 comprises vehicle 1 and a control unit 2, which is spatially separated from vehicle 1. Vehicle 1 can be controlled by an operator using control signals generated by the operator and transmitted to vehicle 1 by the control unit 2. The control unit 2 has a display device 4. Image data acquired by the camera 3 can be transmitted to the control unit 2 and displayed to the operator for controlling vehicle 1 using the display device 4. The control signals and image data can be transmitted wirelessly between a vehicle antenna system (AFS) of vehicle 1 and a transmission antenna system (AUS). The control signals and image data can be transmitted wirelessly and / or via a wired connection between the transmission antenna system (AUS) and the control unit 2.
[0051] The image data and control signals can be transmitted via cable between the transmission antenna system AUS and a data interface DE of the control unit 2. This wired transmission is achieved, for example, via a wired internet connection GL, specifically a fiber optic cable, which is shown as an example in Fig. 1 between one of the transmission antennas AU of the transmission antenna system AUS and the data interface DE. It is also conceivable to use a logically decoupled line for wired transmission to enable lower latency data transfer, while still allowing internet access for the vehicle 1 and the control unit 2. In particular, at least large parts of the wired transmission are implemented via a fiber optic cable.The image data and control signals can be transmitted between the transmission antenna system AUS and the data interface DE, or wirelessly via a control unit antenna AK of control unit 2. The control unit antenna AK and the adjacent double arrow are therefore shown with dashed lines as optional. The control unit antenna AK then becomes part of the data interface DE of control unit 2.
[0052] The AUS transmission antenna system enables the implementation of a 5G mobile communication system, particularly according to the 4G or 5G standard. The 5G standard is preferred to ensure real-time data transmission. A suitable technology is then selected for the AF directional antenna.
[0053] The array antenna has several connections for power supply, high-frequency data exchange, and / or control data exchange. A LAN connection is preferably provided for exchanging control data.
[0054] The described arrangement of the individual antennas EF enables intelligent control of these antennas. During system operation, a specific transmission antenna AU of the transmission antenna system AUS is selected by adjusting the viewing direction of the directional antenna AF using the antenna control unit 5 and / or a total control unit 7 coupled to the control unit 2. This selection is made to achieve the maximum possible, or at least a sufficiently high, transmission bandwidth between the specific transmission antenna AU and the directional antenna AF. Data throughput or data transmission rate is also referred to as transmission bandwidth. Furthermore, the viewing direction of the directional antenna AF is precisely aligned with the specific transmission antenna AU to maximize the possible data transmission rate.In particular, the viewing direction of the directional antenna AF is tracked according to the movement of vehicle 1.
[0055] The intelligent control of the individual antennas EF can also include the formation of two or more separate transmission paths to one or more specific transmission antennas AU of the transmission antenna system AUS.
[0056] The intelligent control of the individual antennas EF can also take into account effects during the teleoperation of multiple vehicles. The intelligent control of the individual antennas EF can also include scanning the area around vehicle 1 for transmission antennas AU of the transmission antenna system AUS that are not currently being used to transmit the control signals and / or image data.
[0057] The antenna control unit and / or the overall control unit can each be implemented in hardware and / or software. In a hardware implementation, the respective unit can be designed as a device or as part of a device, for example, as a computer, microprocessor, or FPGA. In a software implementation, the respective unit can be designed as a computer program product, a function, a routine, part of program code, or an executable object. Reference symbol list
[0058] 1 vehicle
[0059] 2 Control unit
[0060] 3 cameras
[0061] 4 Display device
[0062] 5 antenna control unit
[0063] 6 Random
[0064] 7 Total control unit
[0065] 8 Bodywork
[0066] AFS Vehicle Antenna System
[0067] EF single antenna
[0068] G1 to
[0069] G6 groups of individual antennas EF
[0070] M Central axis
[0071] BR Viewing direction
[0072] a angle
[0073] AF directional antenna
[0074] F Vehicle computing unit
[0075] DbW Drive-by-Wire System
[0076] AUS transmission antenna system
[0077] AU transmission antenna
[0078] AK Control Unit Antenna
[0079] DE data interface of the control unit 2
[0080] 5G (5G-) mobile communication system
[0081] GL wired internet connection (fiber optic cable)
Claims
Patent claims 1. Vehicle (1) for a system for remotely controlling the vehicle (1), wherein the vehicle (1) can be controlled by an operator by means of control signals generated by the operator and transmitted to the vehicle (1) by a control unit (2) arranged spatially separate from the vehicle (1), wherein the vehicle (1) has at least one camera (3), wherein image data acquired by means of the camera (3) can be transmitted to the control unit (2), wherein the control signals and the image data can be transmitted wirelessly between a vehicle antenna system (AFS) of the vehicle (1) and a transmission antenna system (AUS), wherein the control signals and the image data can be transmitted wirelessly and / or via wired connections between the transmission antenna system (AUS) and the control unit (2), wherein the vehicle antenna system (AFS) has several individual antennas (EF),wherein a first group (G1) and a second group (G2) of individual antennas (EF) are each arranged in a ring around a central axis (M), wherein the individual antennas (EF) of the first group (G1) are spaced along the central axis (M) from the individual antennas (EF) of the second group (G2), characterized in that the individual antennas (EF) form a directional antenna (AF) configured as a group antenna, wherein a viewing direction and / or beamwidth of the directional antenna (AF) can be adjusted by a phase shift of the individual individual antennas (EF) relative to each other, which can be generated by means of an antenna control unit (5) of the directional antenna (AF).
2. Vehicle (1) according to claim 1 , characterized in that the viewing direction of the directional antenna (AF) can be pivoted by means of the antenna control unit (5) in a plane perpendicular to the central axis (M) and in a plane parallel to the central axis (M).
3. Vehicle (1 ) according to claim 2, characterized in that the viewing directions (BR) of the individual antennas (EF) each have an angle (a) to the central axis (M), in particular two individual antennas (EF) opposite each other with respect to the central axis (M) have the smallest distance to each other at the ends leading away from the vehicle (1) in the direction of the central axis (M).
4. Vehicle (1) according to one of the preceding claims, characterized in that the individual antennas (EF) are aligned on a lateral surface of a conical or truncated conical shape and the viewing directions of the individual antennas are each aligned perpendicular to the lateral surface.
5. Vehicle (1) according to one of claims 1 to 3, characterized in that the individual antennas (EF) are positioned on a lateral surface of an ellipsoidal shape, in particular a sphere, in particular a hemispherical shape, and the viewing directions of the individual antennas are each aligned perpendicular to the lateral surface.
6. Vehicle (1) according to one of the preceding claims, characterized in that the individual antennas (EF) are arranged within a random (6).
7. Vehicle (1) according to one of the preceding claims, characterized in that the vehicle (1) is designed as a ground-based passenger vehicle.
8. Vehicle (1) Claim 7, characterized in that a body (8) of the passenger vehicle has receiving areas on an upper surface for connection with the individual antennas (EF).
9. Vehicle (1) according to one of claims 1 to 6, characterized in that the vehicle (1) is designed as an aircraft, in particular as a drone.
10. System for remotely controlling a vehicle (1) according to any one of claims 1 to 9, comprising the vehicle (1) and a control unit (2) arranged spatially separate from the vehicle (1), wherein the vehicle (1) can be controlled by an operator by means of control signals generated by the operator and transmitted to the vehicle (1) by the control unit (2), wherein the control unit (2) has a display device (4), wherein image data acquired by means of the camera (3) can be transmitted to the control unit (2) and displayed by means of the display device (4) for the operator to control the vehicle (1), wherein the control signals and the image data can be transmitted wirelessly between a vehicle antenna system (AFS) of the vehicle (1) and a transmission antenna system (AUS), wherein the control signals and the image data can be transmitted wirelessly and / or via a wired connection between the transmission antenna system (AUS) and the control unit (2). are.
11. System according to claim 10, characterized in that a mobile communication system (5G), in particular according to the 4G or 5G standard, can be configured by means of the transmission antenna system (AUS).