DE102019200986A1 - Method for automated driving of motor vehicles - Google Patents

Abstract

The invention relates to a method for the automated driving operation of at least two motor vehicles (12, 14). It is provided that both motor vehicles (12, 14) are merged in terms of control technology to form a single motor vehicle viewed from a control point of view.

Description

The invention relates to a method for automated driving operation of at least two motor vehicles according to the preamble of claim 1, a program code according to the preamble of claim 7, a control device according to the preamble of claim 8, a motor vehicle according to the preamble of claim 9 and a system according to the preamble of claim 10.

There is a trend in the field of motor vehicles to increasingly automate driving functions.

There are recognized standards for the description of the degree of automation, for example those of the Society of Automotive Engineers (SAE), which divides the degree of automation into discrete expansion levels.

At the moment, motor vehicles are mainly of the level 2nd widespread, indicative of a partial automation. By level 2nd the driving mode-specific execution of steering, acceleration and braking processes is carried out by one or more driver assistance systems using information about the driving environment, provided that a person carries out all remaining aspects of the dynamic driving task. Here man controls the environmental conditions.

Levels of automation from higher levels up to fully autonomous driving are still a technical challenge, which, if at all feasible, translates into high costs.

It is to be expected that it will take a correspondingly long time for higher-level vehicles to become established in the private sector as well.

Currently, commercial use in the private sector is on the threshold of level 3 vehicles, which means conditional automation. A driving mode-specific execution of all aspects of dynamic driving tasks is carried out by an automated driving system, provided that a person will respond appropriately when requested by the system. The technical system already controls the environmental conditions here.

Furthermore, different approaches to automating driving functions are state of the art.

From the WO 2017/148516 A1 For example, a vehicle with an autonomous driving function is known which can be operated in different driving modes, the driving modes comprising an autonomous driving mode and a driving mode in which the vehicle follows a leading vehicle.

The US 2014/0309836 A1 discloses techniques for positioning in an autonomous convoy from multiple vehicles.

Furthermore describes the US 9 355 423 B1 a system and method in which communication between vehicles can determine whether the vehicles are operating in an autonomous leadership-follow mode.

It is an object of the invention to provide a technical solution with which the usability of driving functions, which is at least level 3rd correspond, is made possible and improved in a large number of motor vehicles and the technical complexity is kept as low as possible. In particular, the technical complexity should be less than in the event that all motor vehicles have a corresponding degree of automation.

The object is solved by the subject matter of independent claims 1, 7, 8, 9 and 10. Further preferred embodiments of the invention result from the other features mentioned in the subclaims.

• - Kommunikation zwischen einem Führungsfahrzeug und einem Folgefahrzeug unter Austausch von technischen Systeminformationen des jeweiligen Fahrzeugs;
• - Steuerung des Fahrbetriebs beider Kraftfahrzeuge durch das Führungsfahrzeug, unter Verarbeitung von Systeminformationen beider Kraftfahrzeuge.

A first aspect of the invention relates to a method for the automated driving operation of at least two motor vehicles, comprising at least the following steps:

• - Communication between a leading vehicle and a following vehicle with the exchange of technical system information of the respective vehicle;
• - Control of the driving operation of both motor vehicles by the leading vehicle, processing system information of both motor vehicles.

In other words, the control technology merges the two motor vehicles into a single motor vehicle viewed from a control point of view.

In this case, the leading vehicle preferably determines all control measures that affect the uniform motor vehicle as a whole. The trajectory of the uniform motor vehicle can be mentioned here as an example.

Control measures that do not affect the single motor vehicle as a whole can also be determined independently by the leading vehicle and the following vehicle. The control of in-vehicle comfort functions can be mentioned here as an example.

The power limit of the drive of the following vehicle can be mentioned as an example for the processing of system information of both motor vehicles. The leading vehicle will preferably not specify any driving maneuvers that exceed this performance limit, even if it is, for example, more motorized than the following vehicle. As a further example, measured sensor data of the following vehicle can be mentioned during, for example, overtaking or classification maneuvers. For example, data from rearward-facing distance sensors of the following vehicle can be evaluated by the leading vehicle in order to control re-reeving after an overtaking maneuver or a classification of the uniform motor vehicle from an acceleration lane into a freeway lane. If the following vehicle is to be tracked, the leading vehicle itself may not be able to detect the environment in a sufficiently sensory manner in the rearward direction. Here it switches to the data of the following vehicle. This example well underlines the character as a structurally separate, but technically uniform motor vehicle. The amalgamation of the environmental recording of both motor vehicles for control as a single motor vehicle represents an important aspect.

The method of the invention offers the advantage that both motor vehicles can use the driving functions with the higher degree of automation of the leading vehicle without the following vehicle itself also having to have a corresponding degree of automation. Motor vehicles with a high and equally high degree of automation can also couple and together achieve improved sensory perception. This also results in greater reliability, for example, through increased redundancy, the presence of different installation positions of the sensors and the like.

The method is also particularly safe since the leading vehicle performs the control taking into account the system information of the following vehicle. This represents a technical advantage of the method according to the invention over known methods in which a vehicle only attaches to a vehicle in front, for example. In the method of the invention, the leading vehicle takes into account the following vehicle and at the same time uses its technical resources.

The method of the invention is also particularly flexible and economical and can contribute to a saving in resource consumption.

The system information can include the system quality and the system status in the present, past and future in the sense of planning data.

The system quality can include, for example, elements present in the respective motor vehicle, such as mechanical, electrical and software components. Examples of this are existing types of sensors, actuators, navigation devices, driver assistance systems and their technical specifications. The range of services, the installation position and the alignment of sensors as well as the range of services of drives, chassis and control devices can be named as concrete examples.

The system status can include, for example, the operating status of the system elements, such as the readiness of sensors or measured data, or also include planned trajectories, driving maneuvers and fuel levels. The system state can also include user specifications, such as navigation data in the form of travel destination, speed and route. Error events in the past can also be included, for example.

Communication between the motor vehicles can take place directly or indirectly, for example via an exchange. While the driving operation of both motor vehicles is being controlled by the leading vehicle, communication takes place, which also includes the exchange of control signals, preferably directly, for example by wireless near-field communication.

Regarding the concept of communication, it should be noted that system information is transmitted from the leading vehicle to the following vehicle and vice versa, the term “exchange” not implying that the system information must be of the same type. For example, the following vehicle can send sensor data to the leading vehicle and receive control signals from the leading vehicle.

In a preferred embodiment of the method of the invention it is provided that the leading vehicle decides on the basis of the technical system information of the following vehicle and at least one acceptance criterion whether it takes over the control of both motor vehicles.

The acceptance criterion can concern, for example, the question of whether a common route or partial route can be determined with sufficient agreement on the basis of the respective navigation data. The question of whether the following vehicle is technically capable of performing the planned driving maneuvers of the leading vehicle. Here, for example, the engine, the chassis and the presence of certain assistance systems and the available fuel of the following vehicle play a role. If, for example, the leading vehicle were to select the highest possible cruising speed on a section of the route without a speed limit, a weakly motorized following vehicle would be restrictive.

An error event in the past, for example, can also be identified on the basis of data from the error memory of the following vehicle. This can be an error that has occurred in the ignition behavior of the following vehicle, for example. On the basis of this, the leading vehicle can decide whether the merger into a single motor vehicle is safe enough or whether the following vehicle is not operationally reliable.

Furthermore, the acceptance criterion can take environmental conditions such as weather, time of day, lighting conditions and the like into account. For example, the risk of slippage or poor visibility can pose too great a risk of merging into a single motor vehicle, possibly also in the context of the technical requirements of the following vehicle, such as assistance systems that stabilize the driving operation. Furthermore, a user of the leading vehicle can also decide on the acceptance by manual input.

All of this further increases the security and flexibility of the process.

In a further preferred embodiment of the method of the invention, it is provided that the leading vehicle determines at the beginning of the method on the basis of at least one standby criterion whether communication with the following vehicle is to be permitted.

It is unilaterally determined whether the leading vehicle is even ready to establish communication with a following vehicle. The readiness criterion can include, for example, the existence of a user agreement of the leading vehicle.

In this way, technical resources of the lead vehicle are not used for communication if taking control is out of the question.

In a further preferred embodiment of the method of the invention, it is provided that if the readiness criterion is met, a ready signal is output directly or indirectly, and if the readiness criterion is not met, an unavailability signal is issued or the possibility of communication is deactivated.

For example, the leading vehicle can signal its readiness for communication to nearby vehicles located nearby, for example by wireless near-field communication.

The readiness signal can also be conveyed indirectly to the following vehicle, for example via a central switching center outside the motor vehicles. The following vehicle can use the exchange, for example, to specifically search for guidance vehicles signaling readiness on its route. Via the switching center, communication and amalgamation to form a uniform motor vehicle can be planned, controlled in whole or in part, or, for example, a queue can be generated for several following vehicles which, for example, want to be tracked by the leading vehicle on different route sections. The switching center can comprise, for example, a stationary server with corresponding control functions, which communicates wirelessly with the motor vehicles, possibly also over longer distances.

Basically, the concept of the invention encompasses that communication and between one or more potential or actual lead vehicles and one or more potential or actual follow-up vehicles can be made possible at any time. The same applies to the takeover of control by a leading vehicle. Follow-on vehicles can thus also search for better-suited lead vehicles at any time and change them, and such a change to another lead vehicle may already be prepared, for example, while the lead vehicle in question is still being controlled by a lead vehicle.

A business method is also disclosed in connection with the present invention. This records the time, distance or the like over which the leading vehicle has taken over the leadership of a following vehicle and uses a gratification model based thereon. The same can also be done in relation to the following vehicle, based on the time, distance or the like that the following vehicle has driven.

An exchange can be used to implement the business method. For example, a type of mileage account can be similar to what is known from airlines, but is new in the present application.

Direct communication between the motor vehicles can also take place to implement the business method and, for example, new technologies such as Bitcoin can be used directly for remuneration. If the bonus contains a monetary benefit, it can be quantified, for example, according to the time saved by the following vehicle, the fuel saved or the additional comfort. It is also possible to integrate other service providers, for example through discounted conditions for the purchase of multimedia entertainment offers that can be used in the following vehicle.

Such gratification models can be mediated server-based or negotiated decentrally between the individual motor vehicles and their occupants via a possibly cloud-based peer-2-peer approach. The latter is preferred because there are lower barriers to entry.

The costs incurred, for example the restriction of the driving function of the lead vehicle, the additional communication effort, possibly non-availability of individual functions compared to the benefits, such as increased safety, energy savings, better sensor view, releasing the driver from the driving task or also saving travel time specifically, context-sensitive and individually considered, for example depending on location, time, weather, traffic, number and preferences of the occupants, availability of other driving systems and the like.

The guaranteed bonuses can include incentives on the part of the manufacturer itself, for example functions on demand, provision of information or online services, preferred customer service, cheaper leasing, insurance or maintenance terms, mobility-as-a-service offers, mobility system offers, such as access to Charging infrastructure, use of regulated roads such as "car pool lanes", access to parking infrastructure, local transport services and the like as well as digital entertainment and office offers such as video or audio service providers, news services, games, access to office applications, video telephony and the like.

The guaranteed bonuses can also include private services, such as providing your own services for the other vehicle, offering your own parking space, such as a parking space in an underground garage, the right to use your own mobility-as-service services for third parties, as well as offers from other service providers, such as telephone service providers, online shops, event agencies, insurance companies and the like.

• Teilnehmer, die viele Fahrten anbieten oder annehmen können beispielsweise bessere Stati (Level) erhalten, die beispielsweise wiederum mit Zugang zu neuen Funktionen der Plattform belohnt werden können (z. B. Vermittlung und gemeinsame Planung von Fahrten, bessere Gratifikationen, etc.). Es ist weiter möglich, die Plattform zu einem sozialen Netzwerk zu erweitern, in dem einzelne Mitglieder sich zu Interessengruppen vereinigen können, um sich bestimmte Gratifikationsbedingungen einzuräumen oder Daten zu teilen.

Furthermore, a playful application of the business method and the method according to the invention (“gamification”) is possible as part of the peer-2-peer platform:

• Participants who offer or accept many journeys can, for example, receive better statuses (levels), which in turn can be rewarded with access to new functions of the platform (e.g. arranging and joint planning of journeys, better bonuses, etc.). It is also possible to expand the platform to a social network, in which individual members can unite to form interest groups in order to grant themselves certain bonus conditions or to share data.

These platforms increase the attractiveness of the method according to the invention and likewise open a lock-in effect in which it becomes more attractive to consistently commit oneself to products from the same provider. This promotes and motivates increased traffic penetration with functions of increased safety and efficiency.

In a further preferred embodiment of the method of the invention, it is provided that the leading vehicle is at least a partially automated motor vehicle and the following vehicle has a lower degree of automation.

The leading vehicle can preferably have an even higher degree of automation, up to a fully autonomous motor vehicle. In this constellation, the method of the invention has an increasingly advantageous effect with regard to the use of more automated driving functions by the following vehicle. It should be noted, however, that the method of the invention is of course technically also the level of automation of the guide vehicle below level 3rd is executable and this idea is also encompassed by the invention.

In a further preferred embodiment of the method of the invention, it is provided that when an error occurs in the control of the driving operation of both motor vehicles by the leading vehicle, automated driving functions present in the following vehicle are used as the fallback level.

Such an error can consist, for example, of an unexpected termination of the communication connection. The following vehicle can then again be operated manually, preferably after a transfer time or also sequentially.

Another aspect of the invention relates to a program code which can be installed on a control device and contains algorithms with which a method according to the invention can be carried out according to the preceding description.

The program code is preferably located on a digital data carrier.

Another aspect of the invention relates to a control device comprising a program code according to the invention as described above.

Another aspect of the invention relates to a motor vehicle, comprising a control device according to the preceding description.

Another aspect of the invention relates to a system comprising at least two motor vehicles according to the preceding description, wherein a control device of one motor vehicle is configured such that one motor vehicle can be operated as a lead vehicle and a control device of the other motor vehicle is configured such that the other Motor vehicle can be operated as the following vehicle of the leading vehicle.

Further preferred embodiments of the invention result from the other features mentioned in the subclaims.

Unless otherwise stated in the individual case, the various embodiments of the invention mentioned in this application can advantageously be combined with one another.

• 1 einen schematischen Ablauf eines erfindungsgemäßen Verfahrens anhand eines erfindungsgemäßen Systems.

The invention is explained below in exemplary embodiments with reference to the accompanying drawings. It shows:

• 1 a schematic sequence of a method according to the invention using a system according to the invention.

1 shows a system according to the invention 10th . The system 10th comprises two motor vehicles in this example 12th , 14 , according to the invention. The motor vehicles 12th , 14 each have a control device according to the invention 16 on. One motor vehicle takes on the role of a leading vehicle here 12th while the other motor vehicle as a follow-up vehicle 14 acts.

The lead vehicle 12th has a level of automation 3rd according to the SAE standard. In other exemplary embodiments, the degree of automation can also be higher. The following vehicle 14 shows a level of automation in this example 2nd on. The motor vehicles 12th , 14 each include a communication interface, not shown, which systematically controls the control device 16 assigned. The motor vehicles can use the communication interface 12th , 14 , via the control device 16 controlled, communicate with each other at close range. The close range can extend, for example, up to 100 m.

Both motor vehicles 12th , 14 include a variety of sensors for environmental detection, including short-range sensors 20 and long-range sensors 22 , indicated in the figure by their directions of action. These are sensors known per se to the person skilled in the art in motor vehicles with the named degree of automation, for example distance sensors, brightness sensors, lane recognition, traffic sign recognition, object recognition and the like. Also include the motor vehicles 12th , 14 for driver assistance systems corresponding to their degree of automation, such as a lane assistant, a distance assistant, automated route guidance and the like.

The system 10th in the present example also includes a switching center 18th , which is localized at a greater distance. The communication interfaces of the lead vehicle 12th and the following vehicle 4th can with the exchange 18th communicate. In other examples, the communication interface can also be omitted.

The control devices 16 of motor vehicles 12th , 14 comprise a program code according to the invention which contains algorithms with which the motor vehicles 12th , 14 with appropriate configuration of the control devices 16 in a method according to the invention as a lead vehicle 12th and follow-up vehicle 14 operate.

In a first step, the leader vehicle 12th based on a readiness criterion, checks whether it is basically ready to take over the driving of a following vehicle. In the present case, the readiness criterion includes, by way of example, the existence of suitable environmental conditions, road conditions and the consent of a user of the lead vehicle 12th . The readiness criterion is fulfilled here as an example. The communication interface is thus activated and allows a following vehicle to communicate with the leading vehicle 12th to manufacture. Furthermore, in this example, a ready signal 26 to the exchange 18th sent and through the exchange 18th indirectly sent to potential follow-up vehicles. Potential follow-up vehicles can, for example, at the exchange 18th inquire whether a leading vehicle with an active ready signal is on your planned route 26 is present.

As soon as the lead vehicle 12th , as shown in the figure, in the vicinity of the following vehicle 14 is located, in a second method step there is direct communication in this example 24th between the motor vehicles 12th , 14 established via the communication interfaces. In the present example, the following vehicle has 14 in advance through the exchange 18th in the lead vehicle 14 announced and now immediately sends a signal to prove itself as the announced follow-up vehicle 14 to identify.

In a third step, the communication 24th between the lead vehicle 12th and the following vehicle 14 a lot of technical system information exchanged that the respective motor vehicle 12th , 14 affect. So the following vehicle shares 14 the lead vehicle 12th for example, its technical nature, the planned route section to be covered together, as well as its current position, speed and the like.

The lead vehicle 12th checks, for example, the technical system information of the following vehicle 14 , verifies the environmental conditions and decides on the basis of an acceptance criterion, for example the technical compatibility of the motor vehicles 12th , 14 as well as environmental safety aspects may include whether there is a common control of both motor vehicles 12th , 14 want to take over.

If the decision is positive, the lead vehicle takes over 12th the control of the driving of both motor vehicles 12th , 14 . This takes place under permanent communication 24th continuous processing of the system information of both motor vehicles 12th , 14 . In particular, the following vehicle represents 14 the lead vehicle 12th sensory data ready so the lead vehicle 12th his perception around that of the following vehicle 14 can expand. The lead vehicle 12th represents the following vehicle 14 in particular control signals are available with which the driver assistance systems of the following vehicle 14 by the lead vehicle 12th executes predetermined maneuvers.

As long as the lead vehicle 12th and the following vehicle 14 In this way, the lead vehicle is operated as a control-technically uniform motor vehicle 12th an unavailability signal 28 to the exchange 18th ready. Other following vehicles can thus receive the information that the leading vehicle 12th is not currently available.

Reference list

10th

system

12th

Leader vehicle

14

Following vehicle

16

Control device

18th

Exchange

20

Short-range sensors

22

Long-range sensors

24th

communication

26

Ready signal

28

Unavailability signal

QUOTES INCLUDE IN THE DESCRIPTION

This list of documents listed by the applicant has been generated automatically and is only included for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent literature cited

• WO 2017/148516 A1 [0009]
• US 2014/0309836 A1 [0010]
• US 9355423 B1 [0011]

Claims (10)

Method for the automated driving operation of at least two motor vehicles (12, 14), comprising at least the following steps: - Communication (24) between a leading vehicle (12) and a following vehicle (14) while exchanging technical system information of the respective motor vehicle (12, 14); - Control of the driving operation of both motor vehicles (12, 14) by the leading vehicle (12), processing system information of both motor vehicles (12, 14). Procedure according to Claim 1 , characterized in that the leading vehicle (12) decides on the basis of the technical system information of the following vehicle (14) and at least one acceptance criterion whether it takes over the control of both motor vehicles (12, 14). Method according to one of the preceding claims, characterized in that, at the beginning of the method, the leading vehicle (12) determines at least one standby criterion as to whether communication with the following vehicle (14) should be permitted. Procedure according to Claim 3 , characterized in that if the readiness criterion is met, a readiness signal (26) is output directly or indirectly, and if the readiness criterion is not met, an unavailability signal (28) is issued or the possibility of communication (24) is deactivated. Method according to one of the preceding claims, characterized in that the leading vehicle (12) is at least a conditionally automated motor vehicle and the following vehicle (14) has a lower degree of automation. Method according to one of the preceding claims, characterized in that when an error occurs in the control of the driving operation of both motor vehicles (12, 14) by the leading vehicle (12) in the following vehicle (14) existing automated driving functions are used as the fallback level. Program code which can be installed on a control device (16) and contains algorithms with which a method according to one of the preceding claims can be carried out. Control device (16) comprising a program code according to Claim 7 . Motor vehicle (12, 14) comprising a control device (16) according to Claim 8 . System (10) comprising at least two motor vehicles (12, 14) according to Claim 9 , wherein a control device (16) of the one motor vehicle (12, 14) is configured such that the one motor vehicle (12) can be operated as a leading vehicle (12) and a control device (16) of the other motor vehicle (14) is configured such that the other motor vehicle (14) can be operated as the follower vehicle (14) of the leading vehicle (12).

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