DE102020211478A1 - Concept for supporting an at least partially automated motor vehicle - Google Patents

Abstract

The invention relates to a method for at least partially automated driving of a motor vehicle, comprising the following steps: determining that there is a need for infrastructure-supported, at least partially automated driving of the motor vehicle, sending via a communication network a request to send infrastructure data, based on which the motor vehicle at least can be performed partially automatically, in response to determining that there is a need for infrastructure-supported, at least partially automated driving of the motor vehicle, sending motor vehicle-specific data via the communication network, receiving via the communication network of motor vehicle-specific infrastructure data in response to the sending of the request, based on which the motor vehicle can be guided at least partially automatically,Generating control signals for at least partially automated control of a transverse and/or longitudinal guidance of the motor vehicle eugs based on the motor vehicle-specific infrastructure data, outputting the generated control signals. The invention further relates to a method for infrastructure-based support of an at least partially automated motor vehicle, a device, a computer program and a machine-readable storage medium.

Description

The invention relates to a method for at least partially automated driving of a motor vehicle. The invention further relates to a method for infrastructure-supported support of an at least partially automated motor vehicle. The invention relates to a device, a computer program and a machine-readable storage medium.

State of the art

The disclosure document DE 10 2013 001 326 A1 discloses a motor vehicle which is designed to exchange operating data with a traffic object located in the vicinity of the motor vehicle and thereby coordinate a driving maneuver of the motor vehicle with the traffic object.

Disclosure of Invention

The object on which the invention is based is to be seen as providing a concept based on which a motor vehicle can be driven efficiently, at least in a partially automated manner.

This object is solved by means of the respective subject matter of the independent claims. Advantageous configurations of the invention are the subject matter of the dependent subclaims.

• Bestimmen, dass ein Bedarf für ein infrastrukturgestütztes, zumindest teilautomatisiertes Führen des Kraftfahrzeugs besteht,
• Senden über ein Kommunikationsnetzwerk einer Aufforderung zum Senden von Infrastrukturdaten, basierend auf welchen das Kraftfahrzeug zumindest teilautomatisiert geführt werden kann, in Reaktion auf das Bestimmen, dass ein Bedarf für ein infrastrukturgestütztes, zumindest teilautomatisiertes Führen des Kraftfahrzeugs besteht,
• Senden von kraftfahrzeugspezifischen Daten über das Kommunikationsnetzwerk, Empfangen über das Kommunikationsnetzwerk von kraftfahrzeugspezifischen Infrastrukturdaten in Reaktion auf das Senden der Aufforderung, basierend auf welchen das Kraftfahrzeug zumindest teilautomatisiert geführt werden kann, Erzeugen von Steuersignalen zum zumindest teilautomatisierten Steuern einer Quer- und/oder Längsführung des Kraftfahrzeugs basierend auf den kraftfahrzeugspezifischen Infrastrukturdaten,
• Ausgeben der erzeugten Steuersignale.

According to a first aspect, a method for at least partially automated driving of a motor vehicle is provided, comprising the following steps:

• Determining that there is a need for infrastructure-supported, at least partially automated driving of the motor vehicle,
• Sending via a communication network a request to send infrastructure data, based on which the motor vehicle can be driven at least partially automatically, in response to determining that there is a need for infrastructure-supported, at least partially automated driving of the motor vehicle,
• Sending motor vehicle-specific data via the communication network, receiving via the communication network of motor vehicle-specific infrastructure data in response to the sending of the request, based on which the motor vehicle can be guided at least partially automatically, generating control signals for at least partially automated control of a lateral and/or longitudinal guidance of the motor vehicle based on the vehicle-specific infrastructure data,
• Outputting the generated control signals.

• Empfangen einer Aufforderung zum Senden von Infrastrukturdaten über ein Kommunikationsnetzwerk, basierend auf welchen das Kraftfahrzeug zumindest teilautomatisiert geführt werden kann,
• Empfangen von kraftfahrzeugspezifischen Daten über das Kommunikationsnetzwerk,
• Ermitteln von kraftfahrzeugspezifischen Infrastrukturdaten basierend auf den empfangenen kraftfahrzeugspezifischen Daten,
• Senden der ermittelten kraftfahrzeugspezifischen Infrastrukturdaten in Reaktion auf das Empfangen der Aufforderung über das Kommunikationsnetzwerk, basierend auf welchen das Kraftfahrzeug zumindest teilautomatisiert geführt werden kann.

According to a second aspect, a method for infrastructure-supported support of an at least partially automated motor vehicle is provided, comprising the following steps:

• Receiving a request to send infrastructure data via a communication network, based on which the motor vehicle can be guided at least partially automatically,
• receiving motor vehicle-specific data via the communication network,
• Determination of vehicle-specific infrastructure data based on the received vehicle-specific data,
• Sending the determined motor vehicle-specific infrastructure data in response to receiving the request via the communication network, based on which the motor vehicle can be guided at least partially automatically.

According to a third aspect, a device is provided which is set up to carry out all steps of the method according to the first aspect and/or according to the second aspect.

According to a fourth aspect, a computer program is provided which comprises instructions which, when the computer program is executed by a computer, for example by the device according to the third aspect, cause it to carry out a method according to the first aspect and/or according to the second aspect.

According to a fifth aspect, there is provided a machine-readable storage medium on which the computer program according to the fourth aspect is stored.

The invention is based on and includes the knowledge that the above object can be achieved by sending the motor vehicle vehicle-specific infrastructure data which are used for at least partially automated driving of the motor vehicle. This brings about the technical advantage, for example, that the motor vehicle can be driven efficiently, at least in a partially automated manner.

Due to the fact that the motor vehicle is provided with vehicle-specific infrastructure data for the at least partially automated driving of the motor vehicle, the motor vehicle is provided with this data Driving task, ie for the at least partially automated driving, via information generated internally in the vehicle, additional vehicle-external information is available.

It is usually the case that a motor vehicle that is driven at least partially automatically detects its surroundings using one or more surroundings sensors and, based on this detection of the surroundings, controls a lateral and/or longitudinal guidance of the motor vehicle at least partially automatically.

According to the concept described here, the vehicle-specific infrastructure data can be used in addition to the vehicle-internal environment detection in order to at least partially automatically control the lateral and/or longitudinal guidance of the vehicle. More knowledge is therefore available for this driving task compared to the case in which the motor vehicle is guided in an at least partially automated manner solely on the basis of data or information generated internally in the motor vehicle.

The fact that the infrastructure data is motor vehicle-specific infrastructure data results in the technical advantage in particular that infrastructure data adapted to the motor vehicle or optimally suitable for the motor vehicle are sent.

Motor vehicle-specific means in particular that the associated data, ie the motor vehicle-specific data and the infrastructure data, are related to the motor vehicle requesting the infrastructure data. Motor vehicle-specific infrastructure data is in particular data that is or was determined specifically for a specific motor vehicle or for a number of specific motor vehicles (see also the explanations below).

Motor vehicle-specific data include, for example, data generated internally in the motor vehicle. Such in-vehicle generated data includes, for example, data from one or more automotive sensors. According to one embodiment, a motor vehicle sensor is an element selected from the following group of sensors: surroundings sensor, temperature sensor, pressure sensor, position sensor, in particular GPS sensor, GLONASS sensor, Galileo sensor.

In one embodiment, an environment sensor in the sense of the description is one of the following environment sensors: lidar sensor, radar sensor, ultrasonic sensor, magnetic field sensor, infrared sensor and/or movement sensor. In particular, different environment sensors can be used.

Data from an environment sensor characterizes or describes, for example, an environment of the motor vehicle. Data from an environment sensor can in particular be referred to as environment data or environment sensor data.

Motor vehicle-specific data include, for example, a motor vehicle identifier.

Motor vehicle-specific data include, for example, one or more properties of the motor vehicle. Such a property is, for example, an element selected from the following group of properties: maximum possible steering angle, maximum possible acceleration, maximum possible deceleration, maximum possible speed, height, length, width, vehicle weight, presence of a predetermined level of safety integrity.

Motor vehicle-specific data includes, for example, one or more properties of one or more motor vehicle sensors. Such a property is, for example, an element selected from the following group of properties: range of a surroundings sensor, resolution of a surroundings sensor, viewing angle of a surroundings sensor.

Motor vehicle-specific data include, for example, a target trajectory or target route that the motor vehicle is to follow. Motor vehicle-specific data include, for example, an indication of which driving task the motor vehicle should or will perform next. Motor vehicle-specific data include, for example, information about the weight of a motor vehicle load. Motor vehicle-specific data include, for example, a target position of a navigation system to which the navigation system is intended to navigate the motor vehicle.

To determine the motor vehicle-specific infrastructure data, a large number of useful pieces of information can thus be used in an advantageous manner in order to determine infrastructure data that are particularly suitable for the motor vehicle or are particularly useful for the motor vehicle.

It may be more useful for the motor vehicle to be provided with environmental sensor data from an environmental sensor of the infrastructure, which is in front of the motor vehicle and not behind the motor vehicle in relation to a target trajectory and a direction of travel of the motor vehicle.

The terms "environment" and "environment" can be used interchangeably.

One embodiment provides that position signals are received which represent a position of the motor vehicle, with the determination that there is a need for infrastructure-supported, at least partially automated driving of the motor vehicle being carried out based on the position of the motor vehicle.

This brings about the technical advantage, for example, that the determination can be performed efficiently.

Based on the position, one embodiment provides for the motor vehicle to be localized, in particular localized on a digital map. According to one embodiment, the digital map includes information about the locations or positions at which there is a need for infrastructure-supported, at least partially automated driving of a motor vehicle. If, for example, it is determined based on the localization of the motor vehicle in the digital map that a distance of the motor vehicle from such a place or such a position is less than or less than or equal to a predetermined threshold value, it is determined according to one embodiment that a There is a need for infrastructure-supported, at least partially automated driving of the motor vehicle.

For example, one embodiment provides that it is determined that there is a need for infrastructure-supported, at least partially automated driving of the motor vehicle if a target route of the motor vehicle includes such a position or such a location.

For example, according to one embodiment it is provided that it is determined that there is a need for infrastructure-supported, at least partially automated driving of the motor vehicle if it is determined that the motor vehicle is in a predetermined traffic situation. The determination that the motor vehicle is in a predetermined traffic situation can be carried out, for example, on the basis of environmental signals that represent an area surrounding the motor vehicle.

A predetermined traffic situation includes, for example, one of the following traffic situations: the presence of a construction site, a bridge, a freeway entrance, a freeway triangle, a dangerous and/or a complicated road section, a traffic jam, a roundabout, a bus stop, a parking lot.

In one embodiment, the determination of whether there is a need for infrastructure-supported, at least partially automated driving of the motor vehicle is carried out depending on receipt of a communication message from the infrastructure server, the communication message comprising the information that infrastructure support is available at a predetermined position. The predetermined position is included in a target route of the motor vehicle, for example.

This means in particular that, for example, the infrastructure server sends the communication message, in particular to the motor vehicle.

The communication message includes, for example, information as to whether the infrastructure-supported, at least partially automated driving of the motor vehicle is optional or mandatory, ie mandatory. Mandatory can result from a legal provision, for example.

According to one embodiment, the communication network comprises a wireless communication network. According to one embodiment, a wireless communication network comprises a cellular network and/or a WLAN network. According to one embodiment, the communication network comprises the Internet.

In one specific embodiment, the method according to the first aspect includes at least partially automated control of the lateral and/or longitudinal guidance of the motor vehicle based on the output control signals.

In one embodiment it is provided that a position of the motor vehicle is determined. In one embodiment it is provided that the motor vehicle is localized based on the position of the motor vehicle, in particular localized on a digital map.

In one embodiment it is provided that in response to the determination that there is a need for infrastructure-supported, at least partially automated driving of the motor vehicle, registration data are sent via the communication network in order to register the motor vehicle on a remote infrastructure server and a communication connection between the infrastructure server and the Build registered motor vehicle, the vehicle-specific infrastructure data are received from the infrastructure server via the established communication link.

This brings about the technical advantage, for example, that the infrastructure can efficiently obtain information about which motor vehicle requesting infrastructure data. Furthermore, registering the motor vehicle on the remote infrastructure server has the particular technical advantage that the vehicle-specific infrastructure data is only sent to an authorized motor vehicle.

This means, in particular, that in the course of the registration, authorization can be checked in particular for vehicle-specific infrastructure data to be determined and sent at all for the motor vehicle.

According to one embodiment, it is provided that the motor vehicle-specific data is sent to the remote infrastructure server after successful registration.

This brings about the technical advantage, for example, that the motor vehicle-specific data is sent to the correct addressee, in this case the remote infrastructure server.

According to one specific embodiment, it is provided that the received vehicle-specific infrastructure data is checked, with the control signals being generated based on a result of the checking of the received vehicle-specific infrastructure data.

This brings about the technical advantage, for example, that the control signals can be generated efficiently. In particular, this brings about the technical advantage that errors in the vehicle-specific infrastructure data can be efficiently detected. For example, provision is made for the received vehicle-specific infrastructure data to be checked for plausibility.

In one embodiment it is provided that motor vehicle data signals are received which represent motor vehicle data generated by the motor vehicle, the received vehicle-specific infrastructure data being merged with the motor vehicle data in order to determine merged infrastructure-motor vehicle data, the control signals being based on the infrastructure-motor vehicle data are generated.

This brings about the technical advantage, for example, that the control signals can be generated efficiently.

Motor vehicle data include, for example, surroundings sensor data from one or more surroundings sensors of the motor vehicle. Environment sensor data represent, for example, an environment or surroundings of the motor vehicle. For example, vehicle data includes speed data indicative of vehicle speed. For example, automotive data includes diagnostic data from one or more automotive systems. Motor vehicle data includes, for example, tire pressure data that indicates a tire pressure of one or more tires of the motor vehicle. Motor vehicle data includes, for example, status data that indicates a respective status of one or more motor vehicle systems of the motor vehicle. A motor vehicle system is, for example, one of the following systems: drive system, steering system, clutch system, brake system, lighting system, driver assistance system.

The motor vehicle data above are examples of motor vehicle-specific data within the meaning of the description.

In one embodiment, it is provided that a check is made as to whether at least one safety condition for infrastructure-supported, at least partially automated driving of the motor vehicle is met, with the control signals being generated based on a result of the check as to whether the at least one safety condition for infrastructure-supported, at least partially automated driving is met of the motor vehicle is fulfilled.

This brings about the technical advantage, for example, that the control signals can be generated efficiently. In particular, this results in the technical advantage that it can be efficiently ensured that certain prerequisites, in this case the safety condition, are met for using the motor vehicle-specific infrastructure data for at least partially automated driving of the motor vehicle. Thus, in particular, the technical advantage is brought about that, if the safety condition is met, the vehicle-specific infrastructure data can then be safely used for at least partially automated driving of the motor vehicle.

According to one embodiment, a prerequisite for using the vehicle-specific infrastructure data for at least partially automated driving of the motor vehicle is that using the vehicle-specific infrastructure data is safe. In the context of the description, "safe" means in particular "safe" and "secure". Although these two English terms are usually translated into German as "safe", they have a partially different meaning in English.

The term "safe" is aimed in particular at the topic of accidents and accident avoidance. Using the vehicle-specific infrastructure turdaten for the at least partially automated driving of the motor vehicle, which is "safe", has the effect, in particular, that a probability of an accident or a collision is less than or less than or equal to a predetermined probability threshold value. "Safe" in this sense means in particular that the correct functioning of the safety-related system is ensured by measures.

The term "secure" is aimed in particular at the topic of computer protection or hacker protection, i.e. in particular: How secure is an infrastructure or a computer infrastructure and/or a communication infrastructure, in particular a communication link between the vehicle and infrastructure server, against unauthorized access or against data manipulation Secured by third parties ("hackers"). The use of motor vehicle-specific infrastructure data for the at least partially automated driving of the motor vehicle, which is "secure", is based in particular on appropriate and sufficient computer protection or hacker protection.

In one embodiment, it is provided that the at least one safety condition is an element selected from the following group of safety conditions: positive identity check of the motor vehicle and/or the infrastructure, presence of a predetermined safety integrity level (in English: "Safety Integrity Level" SIL or " Automotive Safety Integrity Level" ASIL) in the motor vehicle and/or in the infrastructure, presence of a predetermined safety integrity level in one or more communication links between motor vehicle and infrastructure, presence of a predetermined safety integrity level in a communication component for establishing the communication link between motor vehicle and infrastructure, presence of a predetermined safety integrity level in the overall system of motor vehicle and infrastructure and in particular communication, presence of a predetermined safety integrity level at one or he several parts, in particular component, algorithm, interface, of the motor vehicle and/or the infrastructure, existence of a maximum latency of a communication between the motor vehicle and the infrastructure, existence of a predetermined computer protection level of a device for carrying out the steps of the method according to the first and/or according to the second aspect, presence of a predetermined component and/or a predetermined algorithm and/or a predetermined communication possibility, which are used to carry out the steps of the method according to the first and/or according to the second aspect, presence of redundancy and/or diversity at least one predetermined component and/or at least one predetermined algorithm and/or at least one predetermined communication option, which are used to carry out the steps of the method according to the first and/or according to the second aspect, presence of at least one v predetermined availability information, which indicates the availability of at least one predetermined component and/or at least one predetermined algorithm and/or at least one predetermined communication option, the presence of at least one predetermined quality criterion of the at least one predetermined component and/or the at least one predetermined algorithm and/or the at least a predetermined communication option, existence of at least one plan, which measures to reduce errors and/or measures in the event of failures of at least one predetermined component and/or at least one predetermined algorithm and/or at least one predetermined communication option and/or which measures for error analysis and/or which Measures in the case of misinterpretations includes the presence of one or more fallback scenarios, the presence of at least one predetermined function, the presence of a predetermined traffic situation, the presence of a pre certain weather, maximum possible time for a respective execution or execution of a step or several steps of the method according to the first and / or according to the second aspect, presence of at least one test result which indicates that elements or functions, which are necessary for the execution of the method according to first and / or used according to the second aspect, currently working properly.

This brings about the technical advantage, for example, that particularly suitable safety conditions are provided.

In one embodiment, it is provided that registration data is received via the communication network in order to register the motor vehicle on an infrastructure server and to set up a communication connection between the infrastructure server and the registered motor vehicle, with the vehicle-specific infrastructure data being sent from the infrastructure server via the established communication connection.

According to one embodiment, it is provided that the vehicle-specific infrastructure data are only sent to the infrastructure server via the established communication link after the vehicle has been successfully registered, so that the vehicle-specific infrastructure data is not sent to a to send the vehicle registered to the infrastructure server.

This brings about the technical advantage, for example, that motor vehicles that are not registered on the infrastructure server do not receive any motor vehicle-specific infrastructure data. This means in particular that the motor vehicle-specific infrastructure data are preferably only sent to motor vehicles that are registered, that is to say registered on the infrastructure server.

According to one embodiment, it is provided that a check is made as to whether at least one safety condition for infrastructure-supported support of an at least partially automated motor vehicle is met, with the vehicle-specific infrastructure data being determined based on a result of the check as to whether the at least one safety condition for infrastructure-supported support of at least semi-automatically guided motor vehicle is met. For example, the motor vehicle-specific infrastructure data is only generated if the at least one security condition is met.

The above statements in connection with the at least one safety condition for the method according to the first aspect apply analogously to the at least one safety condition according to an embodiment according to the method according to the second aspect and vice versa.

In general, technical functionalities and technical advantages, as they are mentioned in connection with the method according to the first aspect, also apply analogously to the method according to the second aspect and vice versa.

According to one embodiment, it is provided that motor vehicle-specific data is received from a plurality of motor vehicles, with the determination of the motor vehicle-specific infrastructure data comprising a determination of common motor vehicle-specific infrastructure data for at least some of the plurality of motor vehicles based on the received motor vehicle-specific data, the common motor vehicle-specific infrastructure data being sent to the at least some of the multiple motor vehicles are sent.

This brings about the technical advantage, for example, that the motor vehicle-specific infrastructure data can be determined efficiently. In particular, computing time, computing capacity and/or hardware resources can be used efficiently in this way. This is because at least some of the motor vehicle-specific infrastructure data are the same for at least some of the multiple motor vehicles.

The phrase "at least some" includes in particular the following phrases "one or more" or "all". This means in particular that, for example, common vehicle-specific infrastructure data is determined for all of the several motor vehicles and is sent to them, for example.

According to one specific embodiment, it is provided that based on the vehicle-specific data, it is determined for which of the multiple motor vehicles common vehicle-specific infrastructure data is to be determined, so that the motor vehicles determined are the same as at least some of the multiple motor vehicles.

This brings about the technical advantage, for example, that those motor vehicles for which common motor vehicle-specific infrastructure data are to be determined can be determined efficiently.

This means in particular that at least some of the several motor vehicles are grouped in order to define a group of motor vehicles, with common vehicle-specific infrastructure data being determined for the defined group of motor vehicles and sent to this group.

For example, those of the multiple automobiles are grouped into a group that share one or more characteristics. Such a property can be, for example, one of the properties described above.

One specific embodiment provides for the vehicle-specific infrastructure data to be sent as a multicast message to at least some of the multiple vehicles.

This brings about the technical advantage, for example, that the vehicle-specific infrastructure data can be sent efficiently via the communication network.

A multicast message designates a message which is sent from the infrastructure server to a group of participants in the communication network. The members of the group are in particular the grouped motor vehicles, ie at least some of the several motor vehicles.

Infrastructure-supported, at least partially automated driving of a motor vehicle means in particular that the motor vehicle is driven at least partially automatically based on vehicle-specific infrastructure data. Infrastructure-based means in particular support from an infrastructure server.

These motor vehicle-specific infrastructure data are made available to the motor vehicle, in particular by means of an infrastructure server.

Motor vehicle-specific infrastructure data include, for example, instructions to the motor vehicle.

Motor vehicle-specific infrastructure data include, for example, information about the environment or surroundings of the motor vehicle.

Motor vehicle-specific infrastructure data include, for example, sensor data from one or more environment sensors that are spatially distributed within the infrastructure.

In one embodiment, an environment sensor or multiple environment sensors are arranged on a respective infrastructure element of the infrastructure. An infrastructure element is, for example, one of the following infrastructure elements: street lamp, traffic sign, traffic sign bridge, power pole, bridge, building, tunnel, roundabout, junction, in particular intersection, in particular freeway entrance, freeway triangle, construction site, road section, in particular a dangerous and/or complicated road section.

In one embodiment, an environment sensor in the sense of the description is one of the following environment sensors: lidar sensor, radar sensor, ultrasonic sensor, magnetic field sensor, infrared sensor and/or movement sensor. In particular, different environment sensors can be used. In particular, this has the technical advantage of redundancy and diversity.

Motor vehicle-specific infrastructure data include, for example, a target trajectory that the motor vehicle is to follow in an at least partially automated manner.

Motor vehicle-specific infrastructure data include, for example, weather data in an environment or in an area surrounding the motor vehicle.

Infrastructure-based means in particular that the infrastructure server provides the motor vehicle with data, in this case the vehicle-specific infrastructure data, based on which the motor vehicle is or can be managed at least partially automatically.

Motor vehicle-specific infrastructure data include, for example, control commands for at least partially automated control of a lateral and/or longitudinal guidance of the motor vehicle.

This therefore means that using such control commands, the motor vehicle is or can be remotely controlled by means of the infrastructure server.

This means in particular that the infrastructure server remotely controls or can remotely control the motor vehicle using such control commands.

This therefore means that the motor vehicle can be or is being driven by the infrastructure server based on such control commands.

The phrase "at least partially automated driving" includes one or more of the following cases: assisted driving, partially automated driving, highly automated driving, fully automated driving.

Assisted driving means that a driver of the motor vehicle continuously carries out either the lateral or the longitudinal guidance of the motor vehicle. The respective other driving task (that is, controlling the longitudinal or lateral guidance of the motor vehicle) is carried out automatically. This means that when driving the motor vehicle with assistance, either the lateral or the longitudinal guidance is controlled automatically.

Partly automated driving means that in a specific situation (for example: driving on a motorway, driving within a parking lot, overtaking an object, driving within a lane defined by lane markings) and/or for a certain period of time, a longitudinal and a Lateral guidance of the motor vehicle are controlled automatically. A driver of the motor vehicle does not have to manually control the longitudinal and lateral guidance of the motor vehicle. However, the driver must constantly monitor the automatic control of the longitudinal and lateral guidance in order to be able to intervene manually if necessary. The driver must be ready to take full control of the vehicle at any time.

Highly automated driving means that for a certain period of time in a specific situation (for example: driving on a freeway, driving within a parking lot, overtaking an object, driving within a lane, the is defined by lane markings) a longitudinal and a lateral guidance of the motor vehicle are automatically controlled. A driver of the motor vehicle does not have to manually control the longitudinal and lateral guidance of the motor vehicle. The driver does not have to constantly monitor the automatic control of the longitudinal and lateral guidance in order to be able to intervene manually if necessary. If necessary, a takeover request is automatically issued to the driver to take over control of the longitudinal and lateral guidance, in particular with a sufficient time reserve. The driver must therefore potentially be able to take over control of the longitudinal and lateral guidance. Limits of the automatic control of the lateral and longitudinal guidance are recognized automatically. With highly automated guidance, it is not possible to automatically bring about a risk-minimum state in every initial situation.

Fully automated driving means that in a specific situation (for example: driving on a freeway, driving within a parking lot, overtaking an object, driving within a lane that is defined by lane markings), longitudinal and lateral guidance of the motor vehicle are controlled automatically. A driver of the motor vehicle does not have to manually control the longitudinal and lateral guidance of the motor vehicle. The driver does not have to monitor the automatic control of the longitudinal and lateral guidance in order to be able to intervene manually if necessary. Before the automatic control of the lateral and longitudinal guidance is ended, the driver is automatically prompted to take over the driving task (controlling the lateral and longitudinal guidance of the motor vehicle), in particular with a sufficient time reserve. If the driver does not take over the task of driving, the system automatically returns to a risk-minimum state. Limits of the automatic control of the lateral and longitudinal guidance are recognized automatically. In all situations it is possible to automatically return to a risk-minimum system state.

According to one embodiment it is provided that one or more steps of the method according to the first and/or according to the second aspect are documented, in particular documented in a blockchain.

This brings about the technical advantage, for example, that even after the corresponding method has been carried out or executed, it can be subsequently analyzed on the basis of the documentation. In particular, the documentation in a blockchain has the technical advantage that the documentation is tamper-proof and forgery-proof.

A blockchain is in particular a continuously expandable list of data sets, called "blocks", which are linked together using one or more cryptographic processes. Each block contains in particular a cryptographically secure hash (scatter value) of the previous block, in particular a time stamp and in particular transaction data.

In one embodiment it is provided that the infrastructure server is part of a cloud infrastructure. In one embodiment it is provided that the infrastructure server is arranged on an infrastructure element of the infrastructure.

In one embodiment, it is provided that the infrastructure server is arranged adjacent, in particular immediately adjacent, ie in the vicinity, to the current traffic situation, for example on/in the tunnel.

In one embodiment it is provided that a first infrastructure server is part of a cloud infrastructure and that a second infrastructure server is arranged adjacent, in particular immediately adjacent, ie close to the current traffic situation, for example on/in the tunnel.

In one embodiment, it is provided that the infrastructure server is both part of a cloud infrastructure and is arranged adjacent, in particular immediately adjacent, ie in the vicinity, to the current traffic situation, for example at/in the tunnel.

According to one embodiment it is provided that the method according to the first aspect and/or according to the second aspect is a computer-implemented method.

According to one embodiment it is provided that the method according to the first aspect and/or according to the second aspect is executed or carried out by means of the device according to the third aspect.

Device features result analogously from corresponding process features and vice versa. This means in particular that technical functions of the device according to the third aspect result analogously from corresponding technical functionalities of the method according to the first aspect and/or according to the second aspect and vice versa.

Characteristics of the method according to the first aspect result analogously from corresponding ones Features of the method according to the second aspect and vice versa.

An embodiment includes features of the method according to the first aspect and features of the method according to the second aspect. This means in particular that, for example, one or more combinations of the method according to the first aspect and the method according to the second aspect are preferably provided.

The phrase "at least one" means in particular "one or more". The abbreviation "bzw." stands for "respectively", which specifically stands for "respective". The wording "respective" stands in particular for "and/or".

Support by the infrastructure within the meaning of the description is or includes, in particular, support by a (remote) infrastructure server. If the infrastructure server is in the singular, the plural should always be read and vice versa. For example, an infrastructure server is located within the infrastructure.

The terms “vehicle” and “motor vehicle” can be used synonymously in the context of the description. The abbreviation "AD" stands for "automated driving". An AD vehicle refers to an automated motor vehicle. When using the phrase “AD vehicle”, an at least partially automated motor vehicle should always be read as well.

• 1 ein Ablaufdiagramm eines Verfahrens nach dem ersten Aspekt.,
• 2 eine Vorrichtung,
• 3 ein maschinenlesbares Speichermedium,
• 4 einen ersten Tunnel,
• 5 einen zweiten Tunnel,
• 6 ein Ablaufdiagramm von Verfahrensschritten, wie sie beim Verfahren nach dem ersten und/oder dem zweiten Aspekt verwendet werden können,
• 7 ein Ablaufdiagramm von Verfahrensschritten, wie sie beim Verfahren nach dem ersten und/oder dem zweiten Aspekt verwendet werden können,
• 8 mehrere Kraftfahrzeuge innerhalb einer Infrastruktur,
• 9 ein Ablaufdiagramm von Verfahrensschritten, wie sie beim Verfahren nach dem ersten und/oder dem zweiten Aspekt verwendet werden können,
• 10 ein Ablaufdiagramm von Verfahrensschritten, wie sie beim Verfahren nach dem ersten und/oder dem zweiten Aspekt verwendet werden können, und
• 11 ein Ablaufdiagramm eines Verfahrens nach dem zweiten Aspekt.

Embodiments of the invention are shown in the drawings and explained in more detail in the following description. Show it:

• 1 a flowchart of a method according to the first aspect.,
• 2 a device
• 3 a machine-readable storage medium,
• 4 a first tunnel
• 5 a second tunnel
• 6 a flowchart of method steps as they can be used in the method according to the first and/or the second aspect,
• 7 a flowchart of method steps as they can be used in the method according to the first and/or the second aspect,
• 8th several motor vehicles within one infrastructure,
• 9 a flowchart of method steps as they can be used in the method according to the first and/or the second aspect,
• 10 a flowchart of method steps as can be used in the method according to the first and/or the second aspect, and
• 11 a flow chart of a method according to the second aspect.

The same reference symbols can be used below for the same features.

1 shows a flowchart of a method for at least partially automated driving of a motor vehicle, comprising the following steps: determining 101 that there is a need for infrastructure-supported, at least partially automated driving of the motor vehicle,
Sending 103 via a communication network a request to send infrastructure data, based on which the motor vehicle can be driven at least partially automatically, in response to determining that there is a need for infrastructure-supported, at least partially automated driving of the motor vehicle,
Sending 105 motor vehicle-specific data via the communication network,
Receiving 107 via the communication network of motor vehicle-specific infrastructure data in response to the sending of the request, based on which the motor vehicle can be guided at least partially automatically,
Generating 109 control signals for at least partially automated control of a lateral and/or longitudinal guidance of the motor vehicle based on the motor vehicle-specific infrastructure data,
Outputting 111 the generated control signals.

One specific embodiment provides for the lateral and/or longitudinal guidance of the motor vehicle to be controlled at least partially automatically based on the control signals that are output.

In one embodiment it is provided that the request is sent to a remote infrastructure server. One embodiment provides for the vehicle-specific infrastructure data to be received from a remote infrastructure server.

2 shows a device 201.

The device 201 is set up to carry out all the steps of the method according to the first aspect.

3 shows a machine-readable storage medium 301.

A computer program 303 is stored on the machine-readable storage medium 301 . The computer program 303 comprises instructions which, when the computer program 303 is executed by a computer, cause the latter to execute a method according to the first aspect and/or according to the second aspect.

4 shows a first tunnel 401 through which a road 403 leads.

The road 403 has a first lane 405 , a second lane 407 and a third lane 409 .

A first motor vehicle 411 is driving in the middle lane 407. A direction of travel of the first motor vehicle 411 is identified by an arrow with reference number 413.

A second motor vehicle 415 drives ahead in the left lane 405 of the first motor vehicle 411.

A first video camera 419, a second video camera 421, a third video camera 423 and a fourth video camera 425 are spatially distributed in the vicinity of an entrance 417 of the first tunnel 401.

The first video camera 419 and the third video camera 423 capture the entrance 417 and, for example, at least an area in the first tunnel 401 which lies behind the entrance 417 .

The second video camera 421 and the fourth video camera 425 capture an environment of the entrance 417, these two video cameras are directed away from the entrance 417, whereas the first video camera 419 and the third video camera 423 are directed towards the entrance 417.

There is also a first traffic signal system 427 to the left of entrance 417 and a second traffic signal system 429 to the right of entrance 417.

In the first tunnel 401 itself there is a fifth video camera 431 and a sixth video camera 433 which, although not visible from outside the first tunnel 401, these two video cameras 431, 433 are drawn for better illustration. These two video cameras 431, 433 are aligned in the direction of the entrance 417 and capture a corresponding area within the first tunnel 401.

The corresponding video signals or video images from these cameras can be sent, for example, to the first motor vehicle 411 and/or to the second motor vehicle 415 as an example of vehicle-specific infrastructure data.

Furthermore, according to one embodiment, it can be provided that the video images of these video cameras are analyzed in order to identify potential problems, for example collision objects, for example a traffic jam within the first tunnel 401 .

According to one embodiment, a result of this analysis can be sent to the first or second motor vehicle 411, 415 as an example of motor vehicle-specific infrastructure data.

Furthermore, according to one embodiment, it can be provided that the two light signal systems 427, 429 are operated based on an analysis of the video images.

For example, provision can be made to control the two light signal systems 427, 429 in such a way that they emit a red signal image if a problem, for example a collision object, for example a traffic jam inside the first tunnel 401, has been detected.

For example, according to one embodiment, it can be provided that an instantaneous signal image of the two light signal systems 427, 429 is sent to the first motor vehicle 411 or to the second motor vehicle 415 as an example of vehicle-specific infrastructure data.

The fact that this infrastructure data is referred to as motor vehicle-specific infrastructure data means in particular that the infrastructure data is not sent to any motor vehicle that wants to pass or is currently passing through tunnel 401, but to one or more specific motor vehicles. Thus, an instantaneous signal image need not be sent to a motor vehicle located within the tunnel 401. The same applies to the video images from the video cameras 419, 421, 423, 425, which record images from outside the tunnel 401. For motor vehicles that are inside the tunnel 401, it makes more sense to receive video images from inside the tunnel. Therefore, according to one embodiment, it is provided that infrastructure data adapted for the respective motor vehicle are determined for motor vehicles that pass or want to pass through the tunnel and are sent to the respective motor vehicle.

Based on the exemplary vehicle-specific infrastructure data, as above executed, the two motor vehicles 411, 415 can be guided, for example, at least partially automatically.

In this respect, these two motor vehicles 411, 415 can be guided at least partially automatically when driving through a tunnel with the support of the infrastructure.

Instead of a tunnel, the following infrastructure elements can be provided, for example, through which a motor vehicle is to be guided in an analogous manner with infrastructure support, at least partially automatically: construction site, bridge, freeway junction, freeway entrance, freeway exit, intersection, general junction, in particular junction in urban areas.

The six video cameras as well as the light signal system 427 and the light signal system 429 are thus part of an infrastructure 435, by means of which a motor vehicle can be guided through the first tunnel 401 in an at least partially automated manner.

In an embodiment that is not shown, one or more of the following surroundings sensors can be used instead of or in addition to the respective video cameras: lidar sensor, radar sensor, ultrasonic sensor and/or motion sensor. In particular, different environment sensors can be used. In particular, this has the technical advantage of redundancy and diversity.

5 shows a second tunnel 501.

A road 503 leads through the second tunnel 501.

The road 503 has a first lane 505 , a second lane 507 and a third lane 509 .

A direction of travel for motor vehicles driving on the road 503 through the second tunnel 501 runs from left to right in relation to the plane of the paper.

In relation to this direction of travel, the first lane 505 is the left lane and the second lane 507 is the middle lane and the third lane 509 is the right lane.

A first motor vehicle 511 and a second motor vehicle 513 are driving in the right lane 509.

A third motor vehicle 515 and a fourth motor vehicle 516 are driving in the middle lane 507.

The first motor vehicle 511 has the following components or systems, for example: communication device 517, video camera 519 on the roof, front radar sensor 521, rear radar sensor 523.

Reference number 524 points to a plurality of squares, which are encompassed by the first motor vehicle 511, these multiple squares being intended to symbolize other components of the motor vehicle 511, for example actuators, sensors, control devices that are required, for example, so that the motor vehicle 511 is at least partially automated can.

Further, in the vicinity of an entrance 526 of the second tunnel 501, a first street lamp 525, a second street lamp 527 and a third street lamp 529 are arranged.

A first video camera 531 is arranged on the first street lamp 525 . A second video camera 533 is arranged on the second street lamp 527 . A third video camera 535 is arranged on the third street lamp 529 .

In an embodiment that is not shown, the three video cameras are arranged on a respective infrastructure element. An infrastructure element is, for example, one of the following infrastructure elements: street lamp, traffic sign, traffic sign bridge.

In an embodiment that is not shown, one or more of the following surroundings sensors can be used instead of or in addition to the respective video cameras: lidar sensor, radar sensor, ultrasonic sensor and/or motion sensor. In particular, different environment sensors can be used. In particular, this has the technical advantage of redundancy and diversity.

These three video cameras record video images of the entrance 526 or an area surrounding the entrance 526 outside of the second tunnel 501 .

The corresponding video images are sent to a data processing device 539 via a first encrypted communication link 437 . The data processing device 539 analyzes these video images or video signals and, for example, sends a result of this analysis to the first motor vehicle 511 using a second communication device 541 via an encrypted connection 542.

The result of the analysis is symbolically marked with reference number 543 .

For example, it includes an object list of objects that were recognized by the three video cameras.

For example, the recognized or detected objects are shown in a digital environment model of the area surrounding the driveway 526 .

The result of this analysis is therefore an example of motor vehicle-specific infrastructure data that is sent to the first motor vehicle 511, so that the first motor vehicle 511 can drive through the second tunnel 501 in an at least partially automated manner based on this data and in particular also based on motor vehicle data. Correspondingly adapted object lists can be determined for the other motor vehicles and sent to them. The adapted object lists contain, for example, only objects that are in front of the motor vehicles in relation to a respective direction of travel.

The data processing device 539 communicates with a cloud infrastructure 545, for example, via a third communication connection 544.

The third communication link 544 can also be an encrypted communication link.

Analysis steps of an analysis of the video images can be carried out in the cloud infrastructure 545, for example.

For example, the cloud infrastructure 545 can provide storage for storing the video images.

In this respect, the three video cameras 531, 533, 535, the data processing device 539 and the second communication device 541 are part of an infrastructure 547 which can assist or support the first motor vehicle 511 in at least partially automated driving.

6 shows a flowchart of method steps as they can be used in the method according to the first and/or the second aspect.

According to a step 601, it is provided that a motor vehicle logs on to an infrastructure server of the infrastructure in order to request support for at least partially automated driving of the motor vehicle through the infrastructure. This means that in step 601 registration data are sent from the motor vehicle to the infrastructure server in order to register with the infrastructure server and establish a communication connection to it.

According to a step 603 it is provided that a check for a secure registration or communication connection is carried out. For example, in step 603 it is checked whether one or more safety conditions are met so that the vehicle may or may be supported by the infrastructure in the at least partially automated driving task using vehicle-specific infrastructure data.

According to a step 605, it is determined whether the checking according to step 603 has determined a positive or negative result. A positive result indicates that the login or the communication connection is secure. A negative result indicates that the registration or communication connection is not secure, i.e. insecure.

If the result is negative, the method continues at step 601. In particular, the background is that support from the infrastructure is a particularly preferred goal. Therefore, in particular, it should be tried again to get this support.

If the result is positive, the method continues at step 607, according to which an analysis of the surroundings or surroundings is provided on the infrastructure side. That means in particular that according to step 607 environment sensors, which are spatially distributed within an infrastructure, detect their respective environment and provide environment sensor data corresponding to the respective detection. The environment or environment analysis includes an analysis of this environment sensor data. This environmental analysis is carried out, for example, continuously or periodically.

In a step 609, motor vehicle-specific data are sent from the registered motor vehicle to the remote infrastructure server. Such data include, for example, environment data, localization data (position data), planning data (planning of a next driving task).

In a step 611 the infrastructure server analyzes the vehicle-specific data and in a step 613 determines vehicle-specific infrastructure data based on the analyzed vehicle-specific data.

According to a step 615 it is provided that the infrastructure server sends the motor vehicle-specific infrastructure data to the registered motor vehicle.

If several motor vehicles are registered on the infrastructure server, step 615 provides, for example, for the respective vehicle-specific infrastructure data to be sent to all registered motor vehicles.

Infrastructure data include, for example, information about the environment that was determined based on the analysis of the environment according to step 607 .

According to a step 617, it is provided that the motor vehicle merges the received vehicle-specific infrastructure data with its own data. This data includes, for example, the motor vehicle-specific data described above and includes, for example, surroundings sensor data from surroundings sensors of the motor vehicle. This means that the received vehicle-specific infrastructure data are processed with the vehicle-specific data. The processing includes, in particular, using a position of the motor vehicle or a localization of the motor vehicle.

That means, for example, that the localization of the motor vehicle can be checked based on the fusion of the data from the infrastructure and the motor vehicle.

The processing also includes or in particular the analysis of the environment based on the merged data (motor vehicle and infrastructure) - e.g. for other motor vehicles and objects on the route / on the road - which could lead to a dangerous situation (e.g. accident).

A step 619 follows, according to which a planning and then a corresponding implementation of the at least partially automated driving task is carried out based on the merged data. The implementation of the at least partially automated driving task includes generating corresponding control signals for the at least partially automated control of a lateral and/or longitudinal guidance of the motor vehicle. This means, for example, that the motor vehicle is accelerated, decelerated, steered, for example an evasive maneuver is carried out.

According to a step 621, it is checked whether further support from the infrastructure is necessary for the at least partially automated driving task. If this is the case, the method continues at step 603.

• Prüfen, ob eine Kommunikation (noch) zwischen Kraftfahrzeug und Infrastruktur noch vorhanden ist. Denn diese könnte ja zwischendurch abgebrochen sein.
• Prüfen, ob die bzw. sind die Sicherheitsbedingungen noch eingehalten.
• Prüfen, ob die empfangenen kraftfahrzeugspezifischen Infrastrukturdaten (noch) korrekt sind.

The background here is in particular that as long as the support from the infrastructure or is used, according to one embodiment, in particular always, one or more of the following steps are carried out again, in particular until the current traffic situation no longer makes it possible or necessary and/or the infrastructure support is no longer necessary or possible:

• Check whether there is (still) communication between the motor vehicle and the infrastructure. Because this could have broken off in the meantime.
• Check whether the safety conditions are still being met.
• Check whether the received vehicle-specific infrastructure data is (still) correct.

Retrieve or use the infrastructure data.

The fusing step described above.

The step 619 described above (determination of planning/action data and implementation of action).

If no further support is required for the at least partially automated driving task by the infrastructure, the method ends at block 623.

7 shows a flowchart of method steps as they can be used in the method according to the first and/or the second aspect.

Step 701 corresponds to step 601 according to the flow chart of FIG 6 . Step 703 corresponds to step 603 of the flow chart of FIG 6 . Step 705 corresponds to step 605 of the flow chart of FIG 6 . Step 707 corresponds to step 607 of the flow chart of FIG 6 . The arrow with the reference number 709 according to the flowchart of FIG 7 is intended to symbolize that this environment analysis is carried out continuously or periodically. It is noted at this point that the flow chart does not show a separate block for sending the vehicle-specific data from the vehicle to the remote infrastructure server, as is still the case in 6 was the case (block 609). Nevertheless, provision is also made here for motor vehicle-specific data to be sent from the motor vehicle to the infrastructure server. This can be done together with the login data, for example. This can be done, for example, after successful registration. This can, for example, only after receiving a request to send vehicle-specific infrastructure data servers. Since the point in time at which the motor vehicle-specific data is sent from the motor vehicle to the infrastructure server can be flexible, a corresponding block was not drawn in at a specific point in the flowchart. Block 707 is intended to correspond to blocks 611 and 613 6 include, even if not explicitly drawn.

The ascertained motor vehicle-specific infrastructure data are made available for further use or provision to the registered motor vehicle or motor vehicles, which is indicated symbolically by an arrow with the reference number 711.

Step 713 corresponds to step 615 of the flow chart of FIG 6 . Step 715 corresponds to step 617 of the flow chart of FIG 6 . Step 717 corresponds to step 619 of the flowchart of FIG 6 . Step 719 corresponds to step 621 of the flow chart of FIG 6 . Block 721 corresponds to block 623 of the flow chart of FIG 6 .

8th shows a road 801 on which a first motor vehicle 803, a second motor vehicle 805, a third motor vehicle 807 and a fourth motor vehicle 809 are driving.

Two video cameras, a first video camera 811 and a second video camera 813, are provided, which are located in the vicinity of the road 801 and monitor sections of the road 801. It is noted that the two video cameras 811, 813 are examples of surroundings sensors. In an embodiment that is not shown, further environment sensors are provided instead of or in addition to the two video cameras 811, 813.

The two video cameras 811, 813 communicate with a cloud infrastructure 815, which includes a first infrastructure server 816.

A traffic signal system 817 is also arranged on the road 801, on which a second infrastructure server 818 is arranged.

A communication between the first video camera 811 and the cloud infrastructure 815 is identified symbolically with a double arrow with the reference number 819 . A communication link between the second video camera 813 and the cloud infrastructure 815 is identified symbolically by a double arrow with the reference number 821 . The two video cameras 811, 813 can, for example, send recorded video images to the cloud infrastructure 815, in particular to the first infrastructure server 816, via these two communication connections 819, 821. Based on these video images, for example, the first infrastructure server 816 can perform an environmental analysis.

The second motor vehicle 805 and the fourth motor vehicle 809 log on to the first infrastructure server 816 and/or to the second infrastructure server 818, for example. A communication link that is then set up accordingly between these motor vehicles and the second infrastructure server 818 is identified symbolically by a double arrow with reference number 823 . It is noted that, for the sake of clarity, no double arrow is drawn in for a communication connection between these two motor vehicles 805, 809 and the first infrastructure server 816. Nevertheless, such a communication connection is provided between these two motor vehicles 805, 809 and the first infrastructure server 816 according to one embodiment.

The second infrastructure server 818 can use the communication link 823 to send or communicate information about a current and/or future signaling status of the light signal system 817 to the two registered motor vehicles 805, 809, for example. This information is an example of vehicle-specific infrastructure data within the meaning of the description.

For example, the second infrastructure server 818 sends a remaining time of a current green or red phase of the traffic signal system 817.

Symbolic are in 8th Drawn symbols with the reference number 825, which are intended to represent a lock in order to make it clear that the individual communication links or the transmitted information or data are encrypted. This means that an encrypted communication connection is set up between the individual communication participants or partners. This means that the individual information or data is stored in encrypted form.

In one embodiment, the “key symbol” not only means secure (secure or encrypted), but can also mean that the communication or the entire process is safe. So a "summary" of the steps secure login, secure communication, secure / correct data, safe issues (the security conditions described here), etc. This can mean that the key symbol 825 is intended to indicate that one or more predetermined or predetermined safety conditions are met.

According to the 8th shown embodiment are only the two vehicles 805, 809 registered at the two infrastructure servers 816, 818. Only these two motor vehicles 805, 809 receive vehicle-specific infrastructure data from the infrastructure servers 816, 818 to support an at least partially automated driving task.

The first motor vehicle 803 and the third motor vehicle 807 are not registered and therefore do not receive any infrastructure data.

In an embodiment that is not shown, it can be provided that, although the first motor vehicle 803 and the third motor vehicle 807 are not registered, these are nevertheless motor vehicle-specific, i.e. not optimally adapted to the first and second motor vehicle 803, 807 or for the first and second motor vehicle 803, 807 receive infrastructure data from the first infrastructure server 816 and the second infrastructure server 818 that was determined separately, it being provided in particular that the use of this vehicle-unspecific infrastructure data in the corresponding motor vehicles 803, 807 is restricted. The restriction can include, for example, that the vehicle-unspecific infrastructure data are not used for the at least partially automated driving task, but only serve information purposes or warning purposes. For example, it is provided that for the unregistered motor vehicles 803, 807, the correspondingly transmitted vehicle-unspecific infrastructure data is marked as non-secure, i.e. as unsafe, so that a control unit in the motor vehicle 803 or 807 does not use this data marked as unsafe for the at least partially automated driving task will use. The reason for this is, in particular, that this data is flagged as unsafe because the motor vehicles 803, 807 are not registered and insofar there has been no check as to whether at least one safety condition has been met.

9 shows a flowchart of method steps as they can be used in the method according to the first and/or the second aspect. The flowchart is essentially identical to that in 6 shown flowchart. An additional step 901 between step 615 and step 617 is provided.

According to step 901, the received vehicle-specific infrastructure data is checked for correctness. This checking takes place in particular in the motor vehicle. For example, the received vehicle-specific infrastructure data are checked for plausibility.

10 shows a flowchart of method steps as they can be used in the method according to the first and/or the second aspect. The flow chart according to 10 is essentially identical to the in 6 shown flowchart.

After step 611, a step 1001 is additionally provided. According to step 1001, it is provided that current requirements or conditions to which the registered motor vehicle is exposed or subject are analyzed on the infrastructure side. Such defaults or conditions include, for example, a tunnel closure, a closure of lanes or similar driving restrictions.

Corresponding analysis results are also sent to the registered motor vehicle in step 615 .

Furthermore, after step 1001, a step 1003 is provided.

Step 1003 includes the features of step 613 of the flow chart of FIG 6 , With vehicle-specific specifications being determined for the registered motor vehicles as an example of vehicle-specific infrastructure data which the motor vehicles have to implement in each case. Such specifications include, for example, driving tasks.

In a step 1005, which follows the features of step 609 of the flowchart of FIG 6 includes, it is additionally provided that the transmitted specifications or conditions are taken into account for the planning and implementation of the at least partially automated driving task.

• Empfangen 1101 einer Aufforderung zum Senden von Infrastrukturdaten über ein Kommunikationsnetzwerk, basierend auf welchen das Kraftfahrzeug zumindest teilautomatisiert geführt werden kann,
• Empfangen 1103 von kraftfahrzeugspezifischen Daten über das Kommunikationsnetzwerk,
• Ermitteln 1105 von kraftfahrzeugspezifischen Infrastrukturdaten basierend auf den empfangenen kraftfahrzeugspezifischen Daten,
• Senden 1107 der ermittelten kraftfahrzeugspezifischen Infrastrukturdaten in Reaktion auf das Empfangen der Aufforderung über das Kommunikationsnetzwerk, basierend auf welchen das Kraftfahrzeug zumindest teilautomatisiert geführt werden kann.

11 shows a flow chart of a method for infrastructure-supported support of an at least partially automated motor vehicle, comprising the following steps:

• Receiving 1101 a request to send infrastructure data via a communication network, based on which the motor vehicle can be guided at least partially automatically,
• Receiving 1103 motor vehicle-specific data via the communication network,
• Determining 1105 vehicle-specific infrastructure data based on the received vehicle-specific data,
• Sending 1107 the determined motor vehicle-specific infrastructure data in response to receiving the request via the communication network, based on which the motor vehicle can be guided at least partially automatically.

One embodiment provides that an AD vehicle should drive safely into a tunnel. For this purpose, the AD vehicle receives data specially prepared for the AD vehicle (motor vehicle-specific infrastructure data) in good time before entering through the infrastructure, which it uses, for example, as an additional sensor and, for example, merges into its vehicle-local environment model. The decision about the use and meaning of the received environment model remains in the AD vehicle. For example, the infrastructure merges the data from the sensors installed in the area of the tunnel entrance (e.g. cameras, radars, lidars) into an infrastructure-based environment model. The environment model is distributed, for example, by a so-called "Roadside Unit (RSU)", i.e. a communication unit arranged in the vicinity of the road, preferably in the form of a list of all relevant objects and obstacles in the area of the tunnel entrance to certain AD vehicles in the area in front of the tunnel entrance .

This is preferably done cyclically via wireless direct communication, so that every AD vehicle in the area before the entrance to the tunnel receives vehicle-specific information. That is to say, in particular, different information is sent to different vehicles. The tunnel infrastructure will preferably not guide the AD vehicle (e.g. by specifying a safe driving corridor) and will also not take control of the vehicle, for example. Decisions on driving strategy and driving maneuvers remain in the AD vehicle, for example. The basis for motor vehicle-specific infrastructure data being able to be determined on the infrastructure side is, in particular, that the infrastructure knows properties of the motor vehicles. This in particular because the motor vehicles transmit vehicle-specific data to the infrastructure, ie in particular to the remote infrastructure server.

In one embodiment, each motor vehicle is addressed individually, ie unicast communication is carried out with each motor vehicle. In one embodiment, several motor vehicles with common properties are addressed together. A multicast communication is thus carried out with the plurality of motor vehicles. A common property can be, for example, that the multiple motor vehicles have the same level of safety integrity.

In one embodiment, in addition to the embodiment described above with regard to the entrance to the tunnel, the information about the signaling states of a tunnel traffic light is transmitted to the AD vehicle (for example via unicast and/or multicast). This is preferably done cyclically via wireless direct communication through an RSU positioned locally near the entrance to the tunnel. For tests, for example, a situation analogous to the tunnel closure or release is generated by the traffic control center. Similarly, the decision about the influence and use of the signaling states of a traffic signal system, for example, remains in the AD vehicle at all times.

The concept described here includes a procedure with which, for example, the tunnel scenario (drive in, drive through and/or drive out) can be carried out safely - also with safety-critical actions - and with assumption of responsibility. For example, the concept can also be applied to one or more of the following traffic situations, e.g. E.g. in construction sites, bridges, freeway entrances, freeway triangles, dangerous/complicated road sections. The tunnel is a prime example.

In one embodiment, an “analysis environment” step is provided, according to which the environment is analyzed by the infrastructure. That is, the infrastructure analyzes the environment with regard to all road users (e.g. vehicles, motorcycles, pedestrians, etc.) as well as the presence of objects on and next to the road, including their effects on road traffic. In one embodiment, the infrastructure creates an environment model, e.g. B. in the form of an object list. In this case, the object information preferably includes data regarding the change over time (speed, acceleration) in addition to the positions and dimensions.

In a further embodiment, the infrastructure for the objects predicts the probable further movements (trajectory, further/future speed, further/future acceleration).

The analysis of the environment is preferably repeated again and again. That is, the step can be performed, for example, as a parallel process that is repeated over and over again.

• Sind die Kommunikationspartner, die für die sie sich ausgeben und für das Verfahren geeignet/zugelassen? Dies kann z. B. über Zertifikate durchgeführt werden.
• Sind notwendige Rahmenbedingungen für den Support eingehalten? Z. B.: Arbeiten die Systeme (Fahrzeug, Infrastruktur) korrekt? Haben die Systeme ausreichend sichere Komponenten (z.B. ASIL C oder D)? Sind alle Sicherheitsbedingungen (z. B. Wetter, Geschwindigkeiten) eingehalten? Ist der Support aktuell erlaubt?

For example, when checking for a secure login/transmission, the following is checked:

• Are the communication partners they claim to be suitable/approved for the procedure? This can e.g. B. be carried out via certificates.
• Have the necessary framework conditions for support been met? For example: Are the systems (vehicle, infrastructure) working correctly? To have the systems sufficiently safe components (e.g. ASIL C or D)? Are all safety conditions (e.g. weather, speeds) observed? Is support currently allowed?

In one embodiment it is provided that the vehicle-specific infrastructure data is only sent from the infrastructure to registered AD vehicles. In particular, the reason for this is that the "Registration/Check" step analyzes whether the AD vehicle can or may use the vehicle-specific infrastructure data for safety-critical actions (without having a driver as a fallback level or as the responsible person/system). .

The vehicle-specific infrastructure data that are sent to the vehicle are preferably up-to-date, since the infrastructure updates them continuously, for example (see above).

In order to increase security even further, the process can be extended with an additional step "Checking for correctness". Here z. For example, the vehicle-specific infrastructure data in the vehicle is checked for "Is that possible at all / makes sense?".

The step or steps “registration/verification” or “correctness” are preferably documented in order to be able to provide evidence in the event of product liability issues, preferably using a forgery-proof method (e.g. blockchain).

In a further embodiment, further relevant data is documented in a forgery-proof manner.

The concept described here is based in particular on the fact that the infrastructure receives information, for example, which vehicle is which vehicle - i. i.e.: which is a registered vehicle and which is not a registered vehicle, which of the registered vehicles is, for example, where (lane, position in the lane, etc.), which of the registered vehicles is, for example, how (speed, next actions, etc.) Is on the way. This information is used on the infrastructure side to determine data adapted for the vehicles, based on which the vehicles can be guided at least partially automatically.

• - Position und/oder
• - Geschwindigkeiten und/oder
• - Geplante Trajektorie und/oder.

In one embodiment, the registered infrastructure vehicles send their own data, such as

• - Location and/or
• - speeds and/or
• - Planned trajectory and/or.

This allows the infrastructure to clearly identify the registered vehicles.

Furthermore, in a further embodiment, the infrastructure can also form groups of similar vehicles (see above; e.g. grouped according to the respective safety integrity level), which are then preferably informed together again by multicast.

This additional information (vehicle-specific data) is used in particular to determine support data (e.g. planning data), generally the vehicle-specific infrastructure data, specifically for each vehicle.

In a further embodiment, the vehicle also sends environmental information from the vehicle to the infrastructure, ie in particular to the remote infrastructure server, which the infrastructure can include in an environmental analysis.

In one embodiment, the infrastructure can additionally, in particular motor vehicle-specific, specifications, z. B. Tunnel is blocked, lane is blocked, driving specifications (e.g. speed), analyze or determine and also send.

The specifications must then be implemented by the registered AD vehicle(s), for example (e.g. stop in front of the tunnel). The AD vehicle analyzes and plans itself, for example, how the implementation is to be carried out.

In a further embodiment, vehicle-unspecific infrastructure data is also sent to other vehicles (non-safe/approved vehicles or non-AD vehicles).

One difference is, for example, that these vehicles may/can only use the data for information/comfort/warning functions. I.e. that e.g. B. a driver is present in the driving process and he is responsible. This process is again preferably documented in a forgery-proof manner.

In summary, vehicle-specific infrastructure data are sent from the infrastructure, in particular from the remote infrastructure server, to each individual registered AD vehicle. This means that the vehicles receive, for example, environment data that is specifically relevant and/or optimized for this vehicle from the infrastructure. Based on the data, the vehicles decide their own actions, for example based on the fusio ned information from the infrastructure and your own vehicle.

In one embodiment, the vehicles are registered, but not sufficiently SAFE / SECURE (which means in particular that these vehicles do not have a predetermined safety integrity level or that their respective safety integrity level is below a predetermined minimum safety integrity level). In this embodiment, the transferred data can be vehicle-specific.

In one embodiment, the vehicles are not registered. In this embodiment, infrastructure data that is not specific to a motor vehicle is transmitted, for example, by broadcast communication. This means that all these vehicles can, for example, receive the same information (not vehicle-specific).

For example, the concept can be applied to one or more of the following traffic situations, e.g. E.g. in construction sites, bridges, freeway entrances, freeway triangles, dangerous/complicated road sections.

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

• DE 102013001326 A1 [0002]

Claims (18)

Method for at least partially automated driving of a motor vehicle (803, 805, 807, 809), comprising the following steps: Determining (101) that there is a need for infrastructure-supported, at least partially automated driving of the motor vehicle (803, 805, 807, 809), Sending (103) via a communication network a request to send infrastructure data, based on which the motor vehicle (803, 805, 807, 809) can be guided at least partially automatically, in response to determining that there is a need for infrastructure-supported, at least partially automated driving of the motor vehicle (803, 805, 807, 809), Sending (105) motor vehicle-specific data via the communication network, Receiving (107) via the communication network of motor vehicle-specific infrastructure data in response to the sending of the request, based on which the motor vehicle (803, 805, 807, 809) can be guided at least partially automatically, Generating (109) control signals for at least partially automated control of a lateral and/or longitudinal guidance of the motor vehicle (803, 805, 807, 809) based on the motor vehicle-specific infrastructure data, Outputting (111) the generated control signals. procedure after claim 1 , wherein position signals are received which represent a position of the motor vehicle (803, 805, 807, 809), wherein the determination that there is a need for infrastructure-supported, at least partially automated driving of the motor vehicle (803, 805, 807, 809) is based is carried out on the position of the motor vehicle (803, 805, 807, 809). procedure after claim 1 or 2 , wherein in response to the determination that there is a need for infrastructure-supported, at least partially automated driving of the motor vehicle (803, 805, 807, 809), registration data are sent via the communication network to the motor vehicle (803, 805, 807, 809) register on a remote infrastructure server (816, 818) and set up a communication connection (823) between the infrastructure server (816, 818) and the registered motor vehicle (803, 805, 807, 809), the motor vehicle-specific infrastructure data being transferred from the infrastructure server (816, 818 ) are received via the established communication connection (823). procedure after claim 3 , the vehicle-specific data being sent to the remote infrastructure server (816, 818) after successful registration. Method according to one of the preceding claims, wherein the received vehicle-specific infrastructure data is checked, wherein the control signals are generated based on a result of checking the received vehicle-specific infrastructure data. Method according to one of the preceding claims, wherein motor vehicle data signals are received which represent motor vehicle data generated by means of the motor vehicle (803, 805, 807, 809), the received infrastructure data being merged with the motor vehicle data in order to determine merged infrastructure motor vehicle data, wherein the control signals are generated based on the infrastructure vehicle data. Method according to one of the preceding claims, wherein it is checked whether at least one safety condition for infrastructure-supported, at least partially automated driving of the motor vehicle (803, 805, 807, 809) is met, the control signals being generated based on a result of the check whether the at least one safety condition for infrastructure-supported, at least partially automated driving of the motor vehicle (803, 805, 807, 809) is met. procedure after claim 7 , wherein the at least one safety condition is an element selected from the following group of safety conditions: positive identity check of the motor vehicle (803, 805, 807, 809) and/or the infrastructure, presence of a predetermined safety integrity level (in English: "Safety Integrity Level" SIL or "Automotive Safety Integrity Level" ASIL) in the motor vehicle (803, 805, 807, 809) and/or in the infrastructure, presence of a predetermined safety integrity level in one or more communication links (823) between motor vehicles (803, 805, 807, 809) and infrastructure, presence of a predetermined safety integrity level in a communication component for establishing the communication link (823) between motor vehicle (803, 805, 807, 809) and infrastructure, presence of a predetermined safety integrity level in the overall system of motor vehicle (803, 805, 807, 809) and infrastructure and especially communications ation, Presence of a predetermined safety integrity level in one or more parts, in particular components, algorithm, interface, of the motor vehicle (803, 805, 807, 809) and/or the infrastructure, Presence of a maximum latency of a communication between the motor vehicle (803, 805, 807, 809) and the infrastructure, presence of a predetermined level of computer protection of a device for performing the steps of the method according to any one of previous claims, presence of a predetermined component and/or a predetermined algorithm and/or a predetermined communication possibility, which are used to carry out the steps of the method according to one of the preceding claims, presence of redundancy and/or diversity in at least one predetermined component and/or at least one predetermined algorithm and/or at least one predetermined communication option, which are used to carry out the steps of the method according to one of the preceding claims, the presence of at least one predetermined availability information which indicates the availability of at least one predetermined component and/or at least one predetermined algorithm and /or indicates at least one predetermined communication option, the presence of at least one predetermined quality criterion of the at least one predetermined component and/or the at least one predetermined algorithm and /or the at least one predetermined communication option, existence of at least one plan, which measures to reduce errors and/or measures in the event of failures of at least one predetermined component and/or at least one predetermined algorithm and/or at least one predetermined communication option and/or which measures for error analysis and/or which includes measures in the event of misinterpretations, existence of one or more fallback scenarios, existence of at least one predetermined function, existence of a predetermined traffic situation, existence of predetermined weather, maximum possible time for a respective implementation or execution of a step or several steps of the method one of the preceding claims, presence of at least one test result which indicates that elements or functions which are used to carry out the method according to one of the preceding claims are currently error-free function. Method for infrastructure-supported support of an at least partially automated motor vehicle (803, 805, 807, 809), comprising the following steps: Receiving (1101) a request to send infrastructure data via a communication network, based on which the motor vehicle (803, 805, 807, 809) can be guided at least partially automatically, Receiving (1103) motor vehicle-specific data via the communication network, determining (1105) vehicle-specific infrastructure data based on the received vehicle-specific data, Sending (1107) the determined motor vehicle-specific infrastructure data via the communication network, based on which the motor vehicle (803, 805, 807, 809) can be guided at least partially automatically. procedure after claim 9 , registration data being received via the communication network in order to register the motor vehicle (803, 805, 807, 809) on an infrastructure server (816, 818) and a communication connection (823) between the infrastructure server (816, 818) and the registered motor vehicle (803 , 805, 807, 809), the vehicle-specific infrastructure data being sent from the infrastructure server (816, 818) via the established communication link (823). procedure after claim 10 , the vehicle-specific infrastructure data being sent to the infrastructure server (816, 818) via the established communication link (823) only after the vehicle (803, 805, 807, 809) has been successfully registered, so that the vehicle-specific infrastructure data are not sent to a motor vehicle (803, 805, 807, 809) registered on the infrastructure server (816, 818). Procedure according to one of claims 9 until 11 , it being checked whether at least one safety condition for infrastructure-supported support of an at least partially automated motor vehicle (803, 805, 807, 809) is met, the motor vehicle-specific infrastructure data being determined based on a result of the check as to whether the at least one safety condition for a infrastructure-based support of an at least partially automated motor vehicle (803, 805, 807, 809) is met. Procedure according to one of claims 9 until 12 , wherein vehicle-specific data is received from a plurality of motor vehicles, wherein the determination of the vehicle-specific infrastructure data includes determining common vehicle-specific infrastructure data for at least some of the plurality of motor vehicles based on the received vehicle-specific data, the common vehicle-specific infrastructure data being sent to the at least some of the plurality of motor vehicles . procedure after Claim 13 , It being determined based on the vehicle-specific data for which of the several motor vehicles common vehicle-specific infrastructure data are to be determined, so that the motor vehicles determined are the same as at least some of the several motor vehicles. Procedure according to one of Claim 13 or 14 , wherein the motor vehicle-specific infrastructure data are sent as a multicast message to at least some of the plurality of motor vehicles. Device (201) set up to carry out all steps of the method according to one of the preceding claims. Computer program (303), comprising instructions which, when the computer program (303) is executed by a computer, cause it to carry out a method according to one of Claims 1 until 15 to execute. Machine-readable storage medium (301) on which the computer program (303) after Claim 17 is saved.

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