DE102020211095A1 - Method, computer program and device for controlling a means of transportation - Google Patents

Abstract

The present invention relates to methods, a computer program with instructions and devices for controlling a means of transportation. The invention further relates to a means of transportation in which a method according to the invention or a device according to the invention is used. In a first step, an object in the vicinity of the means of transportation is detected (10), which requires intervention by a control center. The means of transportation then sends (11) a request to the control center that includes information about the object. The control center receives (12) the request and evaluates the information contained therein about the object (13). Following the evaluation (13), the control center sends (14) a response to the request to the means of transport. This receives (15) the answer and can then react accordingly.

Description

The present invention relates to methods, a computer program with instructions and devices for controlling a means of transportation. The invention further relates to a means of transportation in which a method according to the invention or a device according to the invention is used.

Telecontrolled driving is attracting ever greater interest. In the present context, telecontrolled driving means that an external operator controls a vehicle remotely. The external operator is located in a control center. There may be a long distance between the control center and the vehicle. The control center and the vehicle are connected to one another via a radio communication system and its return channel. The radio communication system is primarily part of a public mobile communication system such as LTE (Long Term Evolution) or 5G.

Telecontrolled driving is one of the safety-relevant, time-critical applications. The main requirements for information exchange are low latency times, high data rates and high reliability.

• • Level 0: „Nur Fahrer“, der Fahrer fährt selbst, lenkt, beschleunigt, bremst usw.
• • Level 1: Bestimmte Assistenzsysteme helfen bei der Fahrzeugbedienung, darunter ein Geschwindigkeitsregelungssystem wie ACC (Automatic Cruise Control).
• • Level 2: Teilweise Automatisierung. Dabei werden automatisches Einparken, Spurführung, allgemeine Längsführung, Beschleunigung, Verzögerung usw. von den Assistenzsystemen übernommen, einschließlich der Kollisionsvermeidung.
• • Level 3: Hohe Automatisierung. Der Fahrer muss das System nicht ständig überwachen. Das Fahrzeug führt selbständig Funktionen wie das Auslösen des Blinkers, den Spurwechsel und die Spurführung aus. Der Fahrer kann sich anderen Dingen zuwenden, muss aber auf Anforderung innerhalb einer Vorwarnzeit die Kontrolle übernehmen.
• • Level 4: Vollständige Automatisierung. Die Führung des Fahrzeugs wird permanent vom System übernommen. Ist das System nicht mehr in der Lage, die Aufgaben zu bewältigen, kann der Fahrer aufgefordert werden, die Steuerung zu übernehmen.
• • Level 5: Kein Fahrer erforderlich. Abgesehen vom Setzen des Ziels und Starten des Systems ist kein menschliches Eingreifen erforderlich.

Automated driving, also known as automatic driving or controlled driving, is the movement of vehicles, mobile robots and driverless transport systems that are largely autonomous. There are different degrees of automated driving. In Europe, various transport ministries, e.g. in Germany the Federal Highway Research Institute, have defined the following automation levels:

• • Level 0: "Driver only", the driver drives himself, steers, accelerates, brakes, etc.
• • Level 1: Certain assistance systems help with vehicle operation, including a cruise control system such as ACC (Automatic Cruise Control).
• • Level 2: Partial automation. Automatic parking, lane guidance, general longitudinal guidance, acceleration, deceleration, etc. are taken over by the assistance systems, including collision avoidance.
• • Level 3: High level of automation. The driver does not have to constantly monitor the system. The vehicle independently carries out functions such as triggering the turn signal, changing lanes and lane guidance. The driver can attend to other matters, but must take control within a warning period if requested.
• • Level 4: Full automation. The vehicle is permanently controlled by the system. If the system is no longer able to cope with the tasks, the driver can be asked to take control.
• • Level 5: No driver required. Apart from setting the target and starting the system, no human intervention is required.

A slightly different definition of levels is known from the Society of Automotive Engineers (SAE). In this context, reference is made to the SAE J3016 standard. Such definitions may alternatively be used in place of the definition given above.

Tele-controlled driving could become a key technology to solve problems with level 4 or 5 vehicles. A vehicle that drives automatically makes its decisions based on its perception of its surroundings and on predefined traffic rules. However, it may happen that an automatically driving vehicle is no longer able to continue on its planned route, e.g. due to an incorrect interpretation of the surroundings, sensor failures, bad road conditions or unclear traffic conditions, e.g. in the event of an accident or a roadworks. In such situations, in order to resolve the situation, the vehicle needs external instructions from someone else, e.g. the external operator in the control room. The vehicle is controlled remotely by the external operator during a telecontrolled trip until the vehicle can resume automatic driving.

In this context describes US2019/0019349A1 a method for providing remote assistance to an autonomous vehicle. In the method, it is determined that the automatic driving vehicle has stopped based on data received from the automatic driving vehicle. In addition, it is determined that one or more verification criteria are met. If so, at least one image is provided to an operator. An operator input is then received and, in response to the operator input, an instruction is issued over a network to the automated vehicle for execution by the vehicle.

An example of a blockage situation is a traffic light signal at an intersection that cannot be evaluated by the vehicle, for example because the sun is low in the sky and it is not possible to see which light the traffic light is on. In such a case, the vehicle triggers a telecontrolled drive. That's what it sends Sensor data together with map data to the control center. The human operator in the control center can see the problem caused by the sunlight and resolve the situation by identifying the traffic light signal and controlling the vehicle accordingly.

However, this solution requires a large amount of resources for communication as well as deployment time in the control center. In addition, the vehicle throughput at the intersection is reduced by the blockage situation.

It is an object of the invention to provide more efficient solutions for controlling a means of transportation that is equipped with an automated driving function.

This object is achieved by a method having the features of claim 1 or 2, by a computer program with instructions according to claim 7 and by a device having the features of claim 8 or 9. Preferred developments of the invention are the subject matter of the dependent claims.

• - Erkennen eines Objekts im Umfeld des Fortbewegungsmittels, das einen Eingriff einer Leitstelle erforderlich macht;
• - Senden einer Anfrage an die Leitstelle, die Informationen zum Objekt umfasst; und
• - Empfangen einer Antwort der Leitstelle auf die Anfrage.

According to a first aspect of the invention, a means of controlling a means of transportation that is equipped with an automated driving function comprises the steps:

• - Recognition of an object in the vicinity of the means of locomotion that requires intervention by a control center;
• - Sending a request to the control center containing information about the object; and
• - Receiving a response from the control center to the request.

• - Erkennen eines Objekts im Umfeld des Fortbewegungsmittels, das einen Eingriff einer Leitstelle erforderlich macht;
• - Senden einer Anfrage an die Leitstelle, die Informationen zum Objekt umfasst; und
• - Empfangen einer Antwort der Leitstelle auf die Anfrage.

According to a further aspect of the invention, a computer program contains instructions which, when executed by a computer, cause the computer to carry out the following steps for controlling a means of transport equipped with an automated driving function:

• - Recognition of an object in the vicinity of the means of locomotion that requires intervention by a control center;
• - Sending a request to the control center containing information about the object; and
• - Receiving a response from the control center to the request.

The term computer is to be understood broadly. In particular, it also includes control units, embedded systems and other processor-based data processing devices.

The computer program can be provided for electronic retrieval, for example, or it can be stored on a computer-readable storage medium.

• - eine Auswerteeinheit zum Erkennen eines Objekts im Umfeld des Fortbewegungsmittels, das einen Eingriff einer Leitstelle erforderlich macht;
• -eine Sendeeinheit zum Senden einer Anfrage an die Leitstelle, die Informationen zum Objekt umfasst; und
• - eine Empfangseinheit zum Empfangen einer Antwort der Leitstelle auf die Anfrage.

According to a further aspect of the invention, a device for controlling a means of transportation that is equipped with an automated driving function has:

• - An evaluation unit for detecting an object in the vicinity of the means of locomotion, which requires the intervention of a control center;
• - a transmission unit for sending a request to the control center, which includes information about the object; and
• - a receiving unit for receiving a response from the control center to the request.

From the point of view of the means of transport, the solution according to the invention is characterized in that the means of transport determines in the event of a blockage whether the blockage is caused by an object in the vicinity of the means of transport and only additional information is required to resolve the blockage situation. For this purpose, the means of transportation can access data from its sensors or map data, for example. Instead of triggering a telecontrolled journey through a control center and transmitting the complete sensor data to the control center, the means of transport sends a simple request to the control center that includes information about the object. This request can be evaluated and answered by the control center. The answer allows the means of transport to resolve the blockage situation. The solution according to the invention has the advantage that the amount of data to be transmitted can be reduced to a minimum. In addition, the vehicle throughput at the location of the blockage is optimized because the blockage situation can be resolved more quickly.

• - Empfangen einer Anfrage des Fortbewegungsmittels, die Informationen zu einem Objekt im Umfeld des Fortbewegungsmittels umfasst, das einen Eingriff einer Leitstelle erforderlich macht;
• - Auswerten der Informationen zum Objekt; und
• - Senden einer Antwort auf die Anfrage an das Fortbewegungsmittel.

According to a further aspect of the invention, a means of controlling a means of transport that is equipped with an automated driving function comprises the steps:

• - Receiving a request from the means of locomotion, which includes information about an object in the vicinity of the means of locomotion that requires intervention by a control center;
• - Evaluate information about the object; and
• - Sending a response to the request to the vehicle.

• - Empfangen einer Anfrage des Fortbewegungsmittels, die Informationen zu einem Objekt im Umfeld des Fortbewegungsmittels umfasst, das einen Eingriff einer Leitstelle erforderlich macht;
• - Auswerten der Informationen zum Objekt; und
• - Senden einer Antwort auf die Anfrage an das Fortbewegungsmittel.

According to a further aspect of the invention, a computer program contains instructions which, when executed by a computer, cause the computer to carry out the following steps for controlling a means of transport equipped with an automated driving function:

• - Receiving a request from the means of locomotion, which includes information about an object in the vicinity of the means of locomotion that requires intervention by a control center;
• - Evaluate information about the object; and
• - Sending a response to the request to the vehicle.

The term computer is to be understood broadly. In particular, it also includes workstations, distributed systems and other processor-based data processing devices.

The computer program can be provided for electronic retrieval, for example, or it can be stored on a computer-readable storage medium.

• - eine Empfangseinheit zum Empfangen einer Anfrage des Fortbewegungsmittels, die Informationen zu einem Objekt im Umfeld des Fortbewegungsmittels umfasst, das einen Eingriff einer Leitstelle erforderlich macht;
• - eine Auswerteeinheit zum Auswerten der Informationen zum Objekt; und
• - eine Sendeeinheit zum Senden einer Antwort auf die Anfrage an das Fortbewegungsmittel.

According to a further aspect of the invention, a device for controlling a means of transportation that is equipped with an automated driving function has:

• - A receiving unit for receiving a request from the means of transport, which includes information about an object in the vicinity of the means of transport that requires intervention by a control center;
• - an evaluation unit for evaluating the information on the object; and
• - A transmission unit for sending a response to the request to the means of transportation.

From the point of view of the control center, the solution according to the invention is characterized in that the means of transport does not immediately request a telecontrolled journey through the control center in the event of a blockage situation that is triggered by an object in the vicinity of the means of transport. Rather, the control center receives a simple request from the means of transport that includes information about the object. This request is evaluated and answered by the control center. The answer allows the means of transport to resolve the blockage situation. The solution according to the invention has the advantage that the amount of data to be processed in the control center and the required operating time in the control center can be reduced to a minimum. In addition, the vehicle throughput at the location of the blockage is optimized because the blockage situation can be resolved more quickly.

According to one aspect of the invention, the object in the vicinity of the means of transportation is an object that cannot be evaluated, or cannot be clearly evaluated, by the automated driving function. In particular, the object can be a traffic light, a traffic sign or a lane marking. For example, the sunlight can make it difficult to see which traffic light is on. Traffic signs can be dirty or twisted. Lane markings may be worn, incomplete, ambiguous or displaced, particularly in the case of temporary lane markings in road works areas. In such situations, blockages can be cleared by the control center even without tele-controlled travel.

According to one aspect of the invention, the information about the object includes an image of the object or a location of the object. As a rule, an image of the object is sufficient for a human operator or a high-performance algorithm running on a control center computer to assess the blockage situation and generate an appropriate response. Indicating the location of the object can be helpful, since the location information opens up the possibility of determining necessary information from a digital map.

According to one aspect of the invention, the information about the object includes a recording time of the image of the object. The timing of the capture is particularly useful when the subject changes over time, such as a traffic light. Based on the recording time, the control center can check whether the transmitted image is up-to-date or whether a noticeable time delay has occurred. Such a time delay is advantageously taken into account when generating a response.

According to one aspect of the invention, the request to the control center includes information about a planned direction of travel of the means of transportation. The information on the planned direction of travel can be transmitted, for example, as a simple indication of the direction or in the form of a planned trajectory. The meaning of traffic lights, traffic signs or lane markings can depend on the direction in which a means of transport is moving. It therefore makes sense to take the planned direction of travel into account in order to be able to make a clear statement.

In accordance with one aspect of the invention, the dispatcher's response triggers a telecontrolled trip. Alternatively, the response from the control center can include permission to move, information about the object, or a request to send more information. If the control center determines that the blocking situation is more complex, e.g. in the case of a defective traffic light, the control center can trigger a normal telecontrolled journey with the answer. If, on the other hand, the response includes permission to drive, e.g. a green traffic light, or the necessary information about the object, e.g. a speed limit given by a traffic sign, the means of transport can continue its journey independently with the support of the control center. A request for further information can consist in the information of further sensors being requested or in the means of transport being requested to resend the previously sent request with current information on the object. For example, an image of a traffic light that is sent first can show a yellow or red light, so that it is not possible to release the vehicle. The means of transport is therefore requested to transmit another image of the traffic light a short time later.

A method according to the invention or a device according to the invention is used particularly advantageously in a (partially) autonomously controlled means of transportation. The means of transportation can in particular be a motor vehicle, but also a ship, an aircraft, e.g. a Volocopter, etc.

• 1 zeigt schematisch ein Verfahren zur Steuerung eines Fortbewegungsmittels, das mit einer automatisierten Fahrfunktion ausgestattet ist;
• 2 zeigt eine erste Ausführungsform einer Vorrichtung zur Steuerung eines Fortbewegungsmittels, das mit einer automatisierten Fahrfunktion ausgestattet ist, die im Fortbewegungsmittel genutzt werden kann;
• 3 zeigt eine zweite Ausführungsform einer Vorrichtung zur Steuerung eines Fortbewegungsmittels, das mit einer automatisierten Fahrfunktion ausgestattet ist, die im Fortbewegungsmittel genutzt werden kann;
• 4 zeigt eine erste Ausführungsform einer Vorrichtung zur Steuerung eines Fortbewegungsmittels, das mit einer automatisierten Fahrfunktion ausgestattet ist, die in einer Leitstelle genutzt werden kann;
• 5 zeigt eine zweite Ausführungsform einer Vorrichtung zur Steuerung eines Fortbewegungsmittels, das mit einer automatisierten Fahrfunktion ausgestattet ist, die in einer Leitstelle genutzt werden kann;
• 6 veranschaulicht eine grundlegende Architektur eines V2V- und V2X-Kommunikationssystems;
• 7 zeigt ein Blockdiagramm einer Bordelektronik eines Fahrzeugs; und
• 8 zeigt beispielshaft eine Blockadesituation aufgrund einer nicht erkennbaren Ampel als Anwendungsfall einer erfindungsgemäßen Lösung.

Further features of the present invention will become apparent from the following description and the appended claims in conjunction with the figures.

• 1 shows schematically a method for controlling a means of transportation that is equipped with an automated driving function;
• 2 shows a first embodiment of a device for controlling a means of transportation that is equipped with an automated driving function that can be used in the means of transportation;
• 3 shows a second embodiment of a device for controlling a means of transportation that is equipped with an automated driving function that can be used in the means of transportation;
• 4 shows a first embodiment of a device for controlling a means of transportation that is equipped with an automated driving function that can be used in a control center;
• 5 shows a second embodiment of a device for controlling a means of transportation that is equipped with an automated driving function that can be used in a control center;
• 6 illustrates a basic architecture of a V2V and V2X communication system;
• 7 shows a block diagram of on-board electronics of a vehicle; and
• 8th shows an example of a blockage situation due to an unrecognizable traffic light as an application of a solution according to the invention.

For a better understanding of the principles of the present invention, embodiments of the invention are explained in more detail below with reference to the figures. It is understood that the invention is not limited to these embodiments and that the features described can also be combined or modified without leaving the scope of protection of the invention as defined in the appended claims.

1 shows schematically a method for controlling a means of transportation that is equipped with an automated driving function. In a first step, an object in the vicinity of the means of transportation is detected 10, which requires the intervention of a control center. The object can in particular be an object that cannot be evaluated or cannot be clearly evaluated by the automated driving function, for example a traffic light, a traffic sign or a lane marking. The means of transportation then sends 11 a request to the control center, which includes information about the object. The information about the object can include, for example, an image of the object, optionally with a time when the image was recorded, or a location of the object. The query preferably includes information about a planned direction of travel of the means of transportation. The control center receives 12 the request and evaluates the information contained therein about the object 13. Following the evaluation 13, the control center sends 14 a response to the request to the means of transport. This receives the answer and can then react accordingly. For example, the response can trigger a telecontrolled drive or include a drive release, information about the object, or a request to send more information. Steps 10, 11 and 15 of the method are thus carried out by the means of transport, steps 12, 13 and 14 by the control center.

2 shows a simplified schematic representation of a first embodiment of a device 20 for controlling a means of transportation, which is equipped with an automated driving function. The device 20 can be used in the means of locomotion and has an input 21 via which data UD relating to the environment of the locomotion can be received by means of For example, the data UD is image data from a camera, data from a navigation device or sensor data from a LIDAR sensor or a RADAR sensor. On the basis of the information received, an evaluation unit 22 recognizes an object in the vicinity of the means of transport, which requires intervention by a control center 320 . The object can in particular be an object that cannot be evaluated or cannot be clearly evaluated by the automated driving function, for example a traffic light, a traffic sign or a lane marking. In this case, a transmission unit 23 sends a query AF to the control center 320 via an interface 27, which query includes information about the object. The information about the object can include, for example, an image of the object, optionally with a time when the image was recorded, or a location of the object. The query AF preferably includes information about a planned direction of travel of the means of transportation. A response AW from the control center 320 to the query AF is received by a receiving unit 24 via the interface 27 . For example, the response AW can trigger a telecontrolled drive or a drive release, information about the object or a request to send more information. The response AW can then be used to control the means of transportation accordingly.

The evaluation unit 22, the transmission unit 23 and the reception unit 24 can be controlled by a control unit 25. If necessary, settings of the evaluation unit 22, the transmission unit 23, the reception unit 24 or the control unit 25 can be changed via a user interface 28. If required, the data occurring in device 20 can be stored in a memory 25 of device 20, for example for later evaluation or for use by the components of device 20. The evaluation unit 22, the transmitter unit 23, the receiver unit 24 and the control unit 25 can be implemented as dedicated hardware, for example as integrated circuits. Of course, they can also be partially or fully combined or implemented as software running on a suitable processor, such as a CPU or a GPU. The input 21 and the interface 27 can be implemented as separate interfaces or as a combined interface.

3 shows a simplified schematic representation of a second embodiment of a device 30 for controlling a means of transportation, which is equipped with an automated driving function. The device 30 can be used in the means of transportation and has a processor 32 and a memory 31 . For example, the device 30 is a computer or a control device. Instructions are stored in the memory 31 which, when executed by the processor 32, cause the device 30 to carry out the steps according to one of the methods described. The instructions stored in the memory 31 thus embody a program which can be executed by the processor 32 and implements the method according to the invention. The device 30 has an input 33 for receiving information, for example responses from a control center. Data generated by the processor 32 , for example requests to the control center, are made available via an output 34 . In addition, data can be stored in memory 31. The input 33 and the output 34 can be combined to form a bidirectional interface.

Processor 32 may include one or more processing units, such as microprocessors, digital signal processors, or combinations thereof.

The memories 26, 31 of the described embodiments can have both volatile and non-volatile memory areas and can include a wide variety of memory devices and storage media, for example hard disks, optical storage media or semiconductor memories.

4 shows a simplified schematic representation of a first embodiment of a device 340 for controlling a means of transportation 40, which is equipped with an automated driving function that can be used in a control center. The device 340 has an interface 341 via which a receiving unit 342 can receive a request AF from the means of transport 40 . The query AF includes information about an object in the vicinity of the means of transportation 40, which requires intervention by the control center. The object can in particular be an object that cannot be evaluated or cannot be clearly evaluated by the automated driving function, for example a traffic light, a traffic sign or a lane marking. The information about the object can include, for example, an image of the object, optionally with a time when the image was recorded, or a location of the object. The query AF preferably includes information about a planned direction of travel of the means of transportation. An evaluation unit 343 is set up to evaluate the information about the object. For this purpose, the evaluation unit 343 can, if necessary, obtain input from an operator. A transmission unit 344 is set up to send a response AW to the request AF to the means of transportation 40 after evaluating the information via the interface. For example, the response AW can trigger telecontrolled driving or driving-free an offer to provide information about the object or a request to send more information.

The receiving unit 342, the evaluation unit 343 and the transmitting unit 344 can be controlled by a control unit 345. If necessary, settings of the receiving unit 342, the evaluation unit 343, the transmitting unit 344 or the control unit 345 can be changed via a user interface 347. Inputs from an operator for use by the evaluation unit 343 can also be accepted via the user interface 348 . If required, the data occurring in device 340 can be stored in a memory 346 of device 340, for example for later evaluation or for use by the components of device 340. Receiving unit 342, evaluating unit 343, transmitting unit 344 and the control unit 345 can be implemented as dedicated hardware, for example as integrated circuits. Of course, they can also be partially or fully combined or implemented as software running on a suitable processor, such as a CPU or a GPU.

5 shows a simplified schematic representation of a second embodiment of a device 350 for controlling a means of transportation that is equipped with an automated driving function that can be used in a control center. The device 350 has a processor 352 and a memory 351 . For example, device 350 is a computer or workstation. Instructions are stored in the memory 351 which, when executed by the processor 352, cause the device 350 to carry out the steps according to one of the methods described. The instructions stored in the memory 351 thus embody a program which can be executed by the processor 352 and implements the method according to the invention. The device 350 has an input 353 for receiving information, for example requests for a means of transport. Data generated by the processor 352 , for example responses to the vehicle, is provided via an output 354 . In addition, data can be stored in memory 351. The input 353 and the output 354 can be combined to form a bidirectional interface.

Processor 352 may include one or more processing units, such as microprocessors, digital signal processors, or combinations thereof.

The memories 346, 351 of the described embodiments can have both volatile and non-volatile memory areas and can include a wide variety of memory devices and storage media, for example hard disks, optical storage media or semiconductor memories.

6 illustrates a basic architecture of a V2V (Vehicle-to-Vehicle) and V2X (Vehicle-to-Everything) communication system. Numeral 40 designates a vehicle, which in this example is a motor vehicle, particularly a passenger car. The vehicle 40 is equipped with an on-board connectivity module 160 and a corresponding antenna such that the vehicle 40 can participate in any form of mobile communication service. As in 6 As illustrated, the vehicle 40 may send and receive signals to and from a base station 210 of a mobile communication service provider using a V2N (vehicle-to-network) communication link Uu.

Such a base station 210 may be an eNodeB (Evolved Node B) base station of an LTE mobile communication provider or a gNB (Next Generation Node B) base station of a 5G mobile communication provider. The base station 210 and associated equipment is part of a mobile communications network having a plurality of network cells, each cell being served by a base station 210.

The base station 210 in 6 is near a main road on which the vehicle 40 is traveling. Of course, other vehicles 41 can also drive on the road. In LTE terminology, a mobile terminal corresponds to a user equipment that enables a user to access network services and is connected to the UTRAN (UMTS (Universal Mobile Telecommunications System) Terrestrial Radio Access Network) or Evolved-UTRAN via the air interface. Typically, such a user device corresponds to a smartphone. Of course, mobile terminals in the form of the on-board connectivity modules 160 mentioned are also used in the vehicles 40 , 41 . These on-board connectivity modules 160 are LTE, 5G, or other communication modules that enable the vehicles 40, 41 to receive mobile data in the downlink and send that data in the uplink or direct device-to-device direction.

In terms of an LTE mobile communication system, the Evolved-UTRAN consists of a multitude of eNodeBs that implement the E-UTRA protocol terminations at the user level, i.e. PDCP (Packet Data Convergence Protocol), RLC (Radio Link Control), MAC (Medium Access Control ) and PHY (Phy physical layer), and provide protocol termination on the control plane, ie RRC (Radio Resource Control), to the user devices. The eNodeBs are connected to each other via the so-called X2 interface. The eNodeBs are also connected to an EPC (Evolved Packet Core) 200 via the so-called S1 interface, more precisely to a MME (Mobility Management Entity) via an S1-MME interface and to a serving gateway via an S1-U- Interface.

Regarding this general architecture shows 6 that the eNodeB is connected to the EPC 200 via the S1 interface and that the EPC 200 is connected to the Internet 300. The control center computer 330 to which the vehicles 40, 41 send messages and from which the vehicles 40, 41 receive messages is also connected to the Internet 300. In the area of cooperative and automated driving, the control center computer 330 is typically located in a control center 320, where the operators work for the telecontrolled trips requested by the vehicles 40, 41. Finally, a component of the infrastructure network is also shown, in this case a roadside unit 310. For ease of implementation, it is assumed that all components have an Internet address assigned, typically in the form of an IPv6 address, so that the packets carrying messages between transport the components, can be forwarded accordingly.

The various interfaces of the LTE network architecture are standardized. In this context, reference is made to the various LTE specifications that are publicly available and describe further implementation details.

The vehicles 40, 41 can also be equipped with means for observing their surroundings. Depending on the application, their sensor systems, which are used to record surrounding objects, are based on different measurement methods. Common technologies include RADAR, LIDAR, cameras for 2D and 3D imaging, and ultrasonic sensors.

As automated driving becomes more widespread, a great deal more data has to be exchanged between the vehicles 40, 41, e.g. via V2V communication links PC5, but also between the vehicles 40, 41 and the network. The communication systems for V2V and V2X communication must be adapted accordingly. The 3GPP standardization organization has released and will continue to release features for the new generation 5G cellular system, including V2X features. A wide range of in-vehicle use cases have been designed, ranging from infotainment to cooperative driving. Depending on the application, the requirements for the communication connection Uu change drastically in the area of V2N communication. In the case of safety-relevant, time-critical applications such as telecontrolled driving, in which a control center takes over certain driving functions of the vehicle, these requirements are information exchange with low latency, high data rates and high reliability.

7 schematically shows a block diagram of on-board electronics of a vehicle. Part of the on-board electronics is an infotainment system, which consists of a touch-sensitive display unit 50, a computing unit 60, an input unit 70 and a memory 80. The display unit 50 is connected to the computing unit 60 via a data line 55 and comprises both a display area for displaying variable graphical information and an operator interface (touch-sensitive layer) arranged above the display area for the input of commands by a user. The input unit 70 is connected to the computing unit 60 via a data line 75 . Numeral 71 designates a push button enabling a driver to manually request a tele-controlled drive when the vehicle is blocked and the driver desires the assistance of an external operator to find a way out of the blockage situation. A special push button 71 is not required if other manual control techniques are used. This includes selecting an option in a user menu displayed on the display unit 50, recognizing the command with speech recognition or using gesture control means.

The memory 80 is connected to the processing unit 60 via a data line 85 . A pictogram index and/or symbol index with pictograms and/or symbols for possible overlays of additional information is stored in memory 80 .

The other components of the infotainment system, such as camera 150, radio 140, navigation device 130, telephone 120 and combination instrument 110, are connected to processing unit 60 via a data bus 100. The high-speed variant of the CAN bus (Controller Area Network) according to ISO standard 11898-2 can be used as the data bus 100 . Alternatively, an Ethernet-based bus system such as IEEE 802.03cg can be used. Bus systems that implement data transmission via fiber optic cables can also be used. at games are the MOST bus (Media Oriented System Transport) or the D2B bus (Domestic Digital Bus). The vehicle is equipped with an on-board connectivity module 160 for inbound and outbound wireless communication. It can be used for mobile communication, e.g. for mobile communication based on the 5G standard.

Numeral 172 denotes an engine controller. Numeral 174 denotes an ESC (Electronic Stability Control) controller, while numeral 176 denotes a transmission controller. Such control units, which are all assigned to the drive train category, are typically networked using a CAN bus 104. Since various sensors are installed in the motor vehicle and these are no longer connected to individual control units, the sensor data are also transmitted via the bus system 104 distributed to the individual control units.

Modern vehicles may contain additional components such as additional sensors for sensing the surroundings, such as a LIDAR sensor 186 or a RADAR sensor 182 and additional video cameras 151, e.g. a front camera, a rear view camera or side cameras. Such sensors are increasingly used in vehicles to monitor the environment. Other control devices such as an ADC unit 184 (ADC: Automatic Driving Control) etc. can be provided in the vehicle. The RADAR and LIDAR sensors 182, 186 can have a scanning range of up to 250 m, while the cameras 150, 151 can cover a range of 30 m to 120 m. Due to their higher bandwidth for the data transport, the components 182 to 186 are connected to another communication bus 102, e.g. an Ethernet bus. An Ethernet bus that is adapted to the special needs of vehicle communication is standardized in the IEEE 802.1Q specification. In addition, a lot of information about the surroundings can be received from other vehicles via the V2V communication. Especially for vehicles that are not in line of sight to the observing vehicle, it is very beneficial to get the information about their position and movement via V2V communication.

Numeral 190 denotes an onboard diagnostic interface connected to another communication bus 106 .

A gateway 90 is provided for the purpose of transmitting the vehicle-relevant sensor data via an on-board connectivity module 160 to another vehicle or to a control center computer. This gateway 90 is connected to the various bus systems 100, 102, 104 and 106. The gateway 90 is designed to convert the data it receives over one bus into the transmission format of another bus so that it can be distributed with the packets specified for the other bus. For forwarding this data to the outside, i.e. to another vehicle or to the control center computer, the on-board connectivity module 160 is equipped with a communication interface to receive these data packets and convert them in turn into the transmission format of the corresponding mobile radio standard.

8th shows an example of a blockage situation due to an unrecognizable traffic light as an application of a solution according to the invention. A means of transportation 40 with an automated driving function of level 4 or 5 is approaching an intersection with a traffic light control. The automated driving function must obey all traffic rules, including road signs and traffic lights, etc. Because the sun is low in the sky, the automated driving function cannot tell which light is on at the traffic light. The automated journey can therefore not be continued. However, the automated driving function uses data from the vehicle sensor system or map data to determine that the blockage situation is being triggered by an object 45 in the vicinity of the means of transportation 40 . Instead of triggering a telecontrolled journey through a control center via a connection using a roadside unit 310 and the Internet 300 and to transmit the complete sensor data to a control center computer 330, the means of transport 40 sends a simple request to the control center that includes information about the object. This query preferably includes an image of the unrecognizable traffic light, the time the image was taken, the planned direction of travel through the intersection and the location of the blockage situation.

After receiving this request, the control center can send a response stating that the means of transportation 40 can continue its journey as desired, since the traffic light for the desired direction is turning green. In this case, the vehicle can continue its journey through the intersection on its own thanks to the support of the control center, which helped to interpret the situation. If driving clearance is not possible, for example because the transmitted image of the traffic light shows a yellow or red light, the response can be used to prompt the means of transport to resend the previous message within a few seconds. If the situation is more complex than just an unrecognizable traffic light, eg at a defective traffic light or if further information is required, etc., a normal telecontrolled journey can be triggered with the answer.

Reference List

10

Recognition of an object in the vicinity of a means of transport that requires external intervention

11

Sending a request with information about the object to a control center

12

receiving the request

13

Evaluating the information about the object

14

Sending a response to the vehicle

15

receiving the response

20

contraption

21

entry

22

evaluation unit

23

transmitter unit

24

receiving unit

25

control unit

26

Storage

27

interface

28

user interface

30

contraption

31

Storage

32

processor

33

entry

34

exit

40

vehicle

41

different vehicle

45

object

50

display unit

55

Data line to the display unit

60

unit of account

70

input unit

71

push button

75

Data line to the input unit

80

Storage

85

Data line to memory

90

Gateway

100

First data bus

102

Second data bus

104

Third data bus

106

Fourth data bus

110

instrument cluster

120

phone

130

navigation device

140

radio

150

camera

151

More cameras

160

On-board connectivity module

172

engine control unit

174

Electronic stability control unit

176

transmission control unit

182

RADAR sensor

184

Automatic driving control

186

LIDAR sensor

190

On-board diagnostic interface

200

Evolved Packet Core

210

base station

300

Internet

310

Street-side unit

320

control center

330

control center computer

340

contraption

341

interface

342

receiving unit

343

evaluation unit

344

transmitter unit

AF

inquiry

AW

reply

PC5

V2V communication link

S1

S1 interface

U.D

environment data

wow

V2N communication link

345

control unit

346

Storage

347

user interface

350

contraption

351

Storage

352

processor

353

entry

354

exit

QUOTES INCLUDED IN DESCRIPTION

This list of documents cited by the applicant was generated automatically and is included solely 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

• US 2019/0019349 A1 [0007]

Claims (10)

Method for controlling a means of transportation (40) that is equipped with an automated driving function, with the steps: - Recognition (10) of an object (45) in the vicinity of the means of locomotion (40) which requires the intervention of a control center (320); - Sending (11) a request (AF) to the control center (320), which includes information about the object (45); and - Receiving (15) a response (AW) from the control center (320) to the request (AF). Method for controlling a means of transportation (40) that is equipped with an automated driving function, with the steps: - Receiving (12) an inquiry (AF) of the means of locomotion (40) that includes information about an object (45) in the vicinity of the means of locomotion (40) that requires intervention by a control center (320); - Evaluation (13) of the information about the object (45); and - Sending (14) a response (AW) to the request (AF) to the means of transportation (40). procedure according to claim 1 or 2 , wherein the object (45) is a traffic light, a traffic sign or a lane marking. A method according to any one of the preceding claims, wherein the information about the object (45) comprises an image of the object (45) or a location of the object (30). Method according to one of the preceding claims, wherein the request (AF) to the control center (320) includes information on a planned direction of travel of the means of transport (40). Method according to one of the preceding claims, in which the response (AW) from the control center (320) triggers a telecontrolled journey or a driving release, information about the object (45) or a request to send further information. A computer program comprising instructions which, when executed by a computer, enable the computer to carry out the steps of a method according to any one of Claims 1 until 6 to control a means of transportation (40) which is equipped with an automated driving function. Device (20) for controlling a means of transportation (40), which is equipped with an automated driving function, with: - An evaluation unit (22) for detecting (10) an object (45) in the vicinity of the means of locomotion (40) which requires intervention by a control center (320); - a transmission unit (23) for sending (11) a request (AF) to the control center (320) which includes information about the object (45); and - A receiving unit (24) for receiving (15) a response (AW) from the control center (320) to the request (AF). Device (340) for controlling a means of transportation (40) that is equipped with an automated driving function, with: - A receiving unit (342) for receiving (12) an inquiry (AF) of the means of locomotion (40) which includes information about an object (45) in the vicinity of the means of locomotion (40) which requires intervention by a control center (320); - An evaluation unit (343) for evaluating (13) the information on the object (45); and - A transmission unit (344) for sending (14) a response (AW) to the request (AF) to the means of transportation (40). Means of transportation (40) with an automated driving function, wherein the means of transportation (40) according to a device (20). claim 8 has or is set up, a method according to one of Claims 1 or 3 until 6 to execute.

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