CN114430723A

CN114430723A - Method for at least assisting a motor vehicle to drive through a loop

Info

Publication number: CN114430723A
Application number: CN202080066847.3A
Authority: CN
Inventors: S·诺德布鲁赫
Original assignee: Robert Bosch GmbH
Current assignee: Robert Bosch GmbH
Priority date: 2019-09-23
Filing date: 2020-07-27
Publication date: 2022-05-03
Also published as: EP4035140A1; WO2021058177A1; DE102019214443A1

Abstract

The invention relates to a method for at least assisted driving of a motor vehicle through a traffic loop, comprising the following steps: receiving an ambient signal representing an ambient environment of the motor vehicle at least partially surrounding an annular traffic; generating a remote control signal for remotely controlling the transverse guidance and/or the longitudinal guidance of the motor vehicle on the basis of the ambient signal in such a way that the motor vehicle at least drives in an assisted manner through the traffic loop when the transverse guidance and/or the longitudinal guidance of the motor vehicle is remotely controlled on the basis of the remote control signal; outputting the generated remote control signal. The invention further relates to a device, a computer program and a machine-readable storage medium.

Description

Method for at least assisted driving of a motor vehicle through a traffic loop

Technical Field

The invention relates to a method for at least assisted driving of a motor vehicle through a traffic loop. The invention further relates to a device, a computer program and a machine-readable storage medium.

Background

Publication DE 102017124749 a1 discloses an annular traffic control device for a vehicle.

Publication DE 102018117916 a1 discloses a method for fully and semi-automatically controlling a vehicle.

Publication WO 2019/028464 a1 discloses a method for automatically controlling the activation and deactivation of the autonomous operation of a vehicle.

Disclosure of Invention

The object on which the invention is based is to be seen as providing an efficient solution for effectively at least assisting a motor vehicle in driving through a traffic loop.

This object is achieved by means of the subject matter of the independent claims. Advantageous embodiments of the invention are the subject matter of the dependent claims.

According to a first aspect, a method for at least assisted driving by a motor vehicle through a traffic loop is provided, comprising the following steps:

-receiving an ambience signal representing an ambience of a motor vehicle at least partially including a ring traffic,

generating a remote control signal for remotely controlling the transverse guidance and/or the longitudinal guidance of the motor vehicle on the basis of the ambient signal in such a way that the motor vehicle travels at least in an assisted manner through the traffic loop when the transverse guidance and/or the longitudinal guidance of the motor vehicle are remotely controlled on the basis of the remote control signal,

-outputting the generated remote control signal.

According to a second aspect, there is provided an apparatus arranged to perform all the steps of the method according to the first aspect.

According to a third aspect, there is provided a computer program comprising instructions which, when the computer program is implemented by a computer, for example by an apparatus according to the second aspect, arrange the computer to carry out the method according to the first aspect.

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

The present invention is based on and includes the recognition that: the above task may be solved by: the motor vehicle is supported while driving through the loop traffic in such a way that the transverse guidance and/or the longitudinal guidance of the motor vehicle are remotely controlled. Thereby, technical advantages such as: the motor vehicle can be effectively supported when driving through the annular traffic.

Thus, in particular, such technical advantages are achieved: a solution is provided for efficiently driving through a loop traffic by a motor vehicle, at least assisted.

According to one embodiment, a step of determining that the motor vehicle should drive through the traffic circle is provided.

Assisted driving through includes in particular the case: the remote control is carried out only for the transverse guidance of the motor vehicle or only for the longitudinal guidance of the motor vehicle. The expression "assisted drive-through" includes in particular the case of: the transverse guidance of the motor vehicle as well as its longitudinal guidance are remotely controlled.

In the case of a remote control signal which is provided for controlling a transverse guidance or a longitudinal guidance of the motor vehicle, it is provided according to one embodiment that the respective other guidance, i.e. the longitudinal guidance or the transverse guidance, is controlled either manually by the driver or at least partially automatically in order to guide the motor vehicle at least partially automatically, so that the motor vehicle can at least additionally drive through or through the traffic loop.

The expression "at least partially automated guidance" includes one or more of the following cases: partially automated guidance, highly automated guidance, fully automated guidance.

Partially automated guidance means that the longitudinal guidance and the transverse guidance of the motor vehicle are automatically controlled remotely under certain conditions (for example: driving on a motorway, driving inside a parking lot, passing objects, driving within a lane determined by lane markings) and/or for a certain period of time. The driver of the motor vehicle does not have to manually control the longitudinal guidance and the transverse guidance of the motor vehicle in person. However, the driver must constantly monitor the automatic control of the longitudinal guidance and the transverse guidance in order to be able to intervene manually when required. The driver must be ready to fully take over the vehicle guidance at any time.

Highly automated guidance means that longitudinal guidance and lateral guidance of a motor vehicle are automatically controlled remotely for a certain period of time under certain conditions (e.g. driving on an expressway, driving inside a parking lot, passing an object, driving within a lane determined by lane markings). The driver of the motor vehicle does not have to control the longitudinal guidance and the transverse guidance of the motor vehicle manually in person. The driver does not have to constantly monitor the automatic remote control of the longitudinal guidance and of the transverse guidance in order to be able to intervene manually when there is a need. If required, a take-over request is automatically output to the driver to take over the control of the longitudinal guidance and the transverse guidance, in particular with a sufficient time margin. Thus, the driver must potentially be able to take over control of longitudinal guidance and lateral guidance. The limits of the automatic remote control of the transverse guidance and the longitudinal guidance are automatically identified. In the case of highly automated guidance, it is not possible to automatically reach a state of minimum risk in all initial situations.

Fully automated guidance means that under certain conditions (e.g. driving on a highway, driving inside a parking lot, passing an object, driving within a lane determined by a lane marker), longitudinal and lateral guidance of the motor vehicle is automatically controlled remotely. The driver of the motor vehicle does not have to manually control the longitudinal guidance and the transverse guidance of the motor vehicle in person. The driver does not have to monitor the automatic remote control of the longitudinal guidance and the transverse guidance in order to be able to intervene manually when required. Before the automatic remote control of the transverse guidance and the longitudinal guidance is finished, a request for the driver to take over the driving task (control of the transverse guidance and the longitudinal guidance of the motor vehicle) is automatically made, in particular with a sufficient time margin. If the driver does not take over the driving task, it is automatically returned to the state of minimum risk. Boundaries for automatic control of the lateral guidance and the longitudinal guidance are automatically identified. In all cases, automatically return to the least risky system state.

According to one specific embodiment, it is provided that a safety condition signal is received, which represents at least one safety condition that must be met in order to allow the motor vehicle to be remotely controlled, wherein it is checked whether the at least one safety condition is met, wherein the remote control signal is generated on the basis of the result of the check "whether the at least one safety condition is met".

Thereby, technical advantages such as: the remote control signal can be efficiently generated. In particular, this achieves the technical advantage that: it can be effectively ensured that certain preconditions, currently safety conditions, for the remote control of the motor vehicle are fulfilled. Thus, in particular, such technical advantages are achieved: if the safety condition is satisfied, the remote control of the motor vehicle is safely realized.

According to one specific embodiment, it is provided that the at least one safety condition is in each case an element from the following group of safety conditions: at least the motor vehicle and the infrastructure, in particular comprising communication paths and/or communication components (for example communication interfaces), for which a predetermined Safety Integrity Level (ASIL) is present, in particular with regard to the entire system and in particular parts, such as components, algorithms, interfaces, etc., in the motor vehicle and the infrastructure for remote control of the motor vehicle, there being a maximum latency in the communication between the motor vehicle and a remote control for remote control of the motor vehicle on the basis of the remote control signal, there being a predetermined computer protection Level for the device for carrying out the steps of the method according to the first aspect, there being predetermined components and/or algorithms and/or communication possibilities for carrying out the steps of the method according to the first aspect, there being predetermined components for carrying out the steps of the method according to the first aspect, and/or there being predetermined components for carrying out the steps of the method according to the first aspect And/or redundancy and/or diversity in algorithms and/or communication possibilities; there is a predetermined availability specification indicating "availability of predetermined components and/or algorithms and/or communication possibilities"; there are predetermined quality criteria for predetermined components and/or algorithms and/or communication possibilities; there are plans to: the plan comprises measures for reducing faults and/or measures in the event of failure of predetermined components and/or algorithms and/or communication possibilities and/or measures for carrying out fault analysis and/or measures for carrying out fault interpretation; there are one or more backup scenarios; the presence of a predetermined function; the presence of predetermined traffic conditions; the presence of a predetermined weather; there is a maximum possible time for performing, or implementing, a step or steps of the method according to the first aspect, respectively; there is a check result relating to "the element or function for carrying out the method according to the first aspect is currently functioning without failure".

The communication line is, for example, a communication line between the device according to the second aspect and a motor vehicle. The communication line includes, for example, one or more communication channels.

In an embodiment, the component for carrying out the method according to the first aspect is an element selected from the following group of components: an environmental sensor, a motor vehicle, an infrastructure, a remote control, a device according to the second aspect, a motor vehicle system, in particular a drive system, a clutch system, a brake system, a driver assistance system, a communication interface of a motor vehicle or of an infrastructure, a processor, an input, an output of a device according to the second aspect.

In an embodiment, the function for performing the method according to the first aspect is an element selected from the following group of functions: a remote control function, a communication function between the motor vehicle and the infrastructure or the remote control device, an analysis and evaluation function for the environmental sensor data of the environmental sensor, a planning function, in particular a driving planning function, a traffic analysis function.

The computer protection level defines among others the following: an activated firewall and/or a valid encryption certificate for encrypting communications between the motor vehicle and the infrastructure or the remote control and/or an activated virus program with a current virus signature and/or the presence of a protection, in particular a mechanical protection, in particular an anti-intrusion protection, of the computer, in particular the device according to the second aspect or the remote control and/or the presence of a check possibility for the "signal, in particular the remote control signal or the ambient signal, to be transmitted correctly, i.e. without failure".

The algorithm comprises, for example, a computer program according to the third aspect.

By checking, in particular, that "redundancy and/or diversity is present in predetermined components and/or algorithms and/or communication possibilities", technical advantages such as: in the event of failure of the respective component, for example of a computer or of the respective algorithm or of the respective communication possibility, a secure function can still be implemented.

To ensure that the results are correct, according to one embodiment, the results may be calculated, for example, a plurality of times, and the respective results may be compared with each other. Only if the results agree, for example, it is determined that: the result is correct. If the number of times is odd, then it may be set, for example, to determine: results comparable to the highest number of identical results are correct.

The remote control signal is for example generated only when it can be determined that the result is correct.

In one embodiment, it is provided that the remote control signal is generated only when at least one safety condition is met.

In one embodiment, it is provided that a check as to whether at least one safety condition is met is carried out before and/or after and/or during one or more predetermined method steps.

In particular, this achieves the technical advantage that: it can be effectively ensured that certain preconditions, currently safety conditions, for the remote control of the motor vehicle are fulfilled before and/or after and/or during the execution of the respective method step. Thus, in particular, such technical advantages are achieved: if the safety condition is satisfied, the remote control of the motor vehicle is safely realized.

In one embodiment, it is provided that, after the output of the remote control signal, a remote control of the transverse guidance and/or longitudinal guidance of the motor vehicle is checked on the basis of the output remote control signal in order to detect a fault, wherein the remote control is interrupted when a fault is detected or an emergency remote control signal for remotely controlling the transverse guidance and/or longitudinal guidance of the motor vehicle is generated and output in an emergency.

The emergency remote control signal is, for example, such that, when the transverse guidance and/or the longitudinal guidance of the motor vehicle is remotely controlled on the basis of the emergency remote control signal, the motor vehicle is brought into a safe state, in particular is brought to a standstill.

In one embodiment, it is provided that, after the output of the remote control signal, a remote control of the transverse guidance and/or longitudinal guidance of the motor vehicle is checked on the basis of the output remote control signal in order to detect a fault, wherein the remote control is interrupted when a fault is detected or an emergency control signal is generated and output in the interior of the motor vehicle in the event of an emergency in order to control the transverse guidance and/or longitudinal guidance of the motor vehicle.

The emergency control signal in the vehicle interior is, for example, such that, when the transverse guidance and/or the longitudinal guidance of the vehicle is controlled on the basis of the emergency control signal in the vehicle interior, the vehicle is transferred into a safe state, in particular is brought to a standstill.

Thus, an emergency control signal inside a motor vehicle is an emergency control signal generated by the motor vehicle itself or in the motor vehicle.

Technical advantages such as this are achieved: even in the event of a communication failure between the motor vehicle and the device according to the second aspect or the remote control for remote control of the motor vehicle, which corresponds to an emergency, for example, the motor vehicle itself can be brought into a safe state.

Embodiments made in association with a remote control signal or an emergency control signal inside a motor vehicle are similarly applicable to emergency remote control signals and vice versa.

According to one specific embodiment, it is provided that an identification signal is received, which represents a corresponding identification of at least one of the motor vehicle, the owner of the motor vehicle and the driver of the motor vehicle (i.e. a corresponding identification of the motor vehicle and/or the owner and/or the driver of the motor vehicle), wherein the remote control signal is generated on the basis of the corresponding identification.

Technical advantages such as this are achieved: the remote control signal can be efficiently generated. This means, in particular, that a remote control of the transverse guidance and/or longitudinal guidance of the motor vehicle can be associated with a corresponding identification.

Thus, for example, for a current assisted drive-through, a driver who has not paid a fee for assisted drive-through in the past can be effectively excluded. In particular, a driver who has misused the assisted drive in the past can be identified in such a way that the corresponding driver can also be excluded.

According to one specific embodiment, at least one vehicle parameter of the vehicle is received, wherein the remote control signal is generated on the basis of the at least one vehicle parameter.

Technical advantages such as this are achieved: the remote control signal can be efficiently generated. In particular, remote control signals can thus be generated efficiently for a particular motor vehicle. Thus, for example, the maximum possible vehicle speed, the maximum possible vehicle acceleration, the current vehicle load, the current vehicle weight, the length, the width, the height, the maximum possible steering angle, the wheel base, the turning radius and/or the turning diameter can be taken into account efficiently.

According to one specific embodiment, it is provided that, if at least one vehicle parameter is not received, the remote control signal is generated on the basis of a vehicle reference parameter corresponding to the at least one vehicle parameter.

Technical advantages such as this are achieved: it is possible to react effectively to missing vehicle parameters.

According to one specific embodiment, it is provided that the at least one vehicle parameter is in each case an element from the following vehicle parameter groups: maximum possible vehicle speed, maximum possible vehicle acceleration, current vehicle load, current vehicle weight, length, width, height, maximum possible steering angle, wheelbase, turning radius, turning diameter.

Thereby, technical advantages such as: particularly suitable vehicle parameters can be used.

According to a further embodiment, a driving maneuver signal is received, which represents a current and/or planned driving maneuver of at least one traffic participant, in particular of a further motor vehicle, in the motor vehicle environment, wherein the remote control signal is generated on the basis of the driving maneuver signal.

Thereby, technical advantages such as: the remote control signal can be efficiently generated. In particular, this achieves the technical advantage that: at least one traffic participant in the motor vehicle environment can effectively react to a driving maneuver, i.e., in particular to a current and/or planned driving maneuver.

According to one embodiment, it is provided that the traffic participant is one of the following traffic participants: additional motor vehicles, riders, trucks, motorcycles, and pedestrians.

According to one specific embodiment, it is provided that one or more method steps, in addition to the step of generating and outputting the remote control signal, are carried out inside the motor vehicle and/or that one or more method steps are carried out outside the motor vehicle, in particular in an infrastructure, preferably in a cloud infrastructure.

Thereby, technical advantages such as: the corresponding method steps can be performed effectively redundantly. This can further increase the safety in an advantageous manner, in particular.

According to one specific embodiment, it is provided that one or more method steps are recorded, in particular in a block chain.

Thereby, technical advantages such as: subsequent analysis of the method may also be performed based on the record after the method is performed or implemented. Recording in block chains has, inter alia, the technical advantage that: the recording is tamper-and forgery-proof.

A Block Chain (english) is in particular a list of contiguously expandable data sets (called "blocks") linked to one another by means of one or more encryption methods. Each block contains, in particular, the encrypted secure hash value (hash value) of the preceding block, in particular a time stamp, and, in particular, transaction data.

In one embodiment, a control signal for controlling the traffic guidance system is generated and output on the basis of the ambient signal and on the basis of the remote control signal in order to divert traffic in the motor vehicle environment by means of the traffic guidance system in order to support the motor vehicle to drive through a loop.

Technical advantages such as this are achieved: assisted drive-through can be effectively supported.

The traffic guidance system describes, in particular, a system for directing road traffic, in particular by means of static traffic signs and/or changeable traffic signs. The traffic guidance system comprises in particular at least one switchable traffic sign and/or at least one light signal device.

Convertible traffic signs describe a traffic sign that can be displayed, changed, or removed if desired. Accordingly, a dynamic traffic sign is referred to herein. Convertible traffic signs include, for example, electronic signs or display devices.

The traffic guidance system therefore comprises, in particular, one or more switchable traffic signs and/or one or more light-signalling devices.

According to one specific embodiment, it is provided that the entirety consisting of the motor vehicle and the infrastructure involved in the method according to the first aspect, including the communication between infrastructure and motor vehicle, is currently safe for the solution described here to "intervene the motor vehicle for critical actions". This means, in particular, that motor vehicles and/or local and/or global infrastructure and/or communication are checked accordingly. The remote control signal is generated based on, inter alia, the result of the verification.

This means, in particular, that the components used when carrying out the method according to the first aspect are checked with respect to safety, i.e. whether they satisfy certain safety conditions before intervention in the driving operation, i.e. remote control of the motor vehicle, is carried out.

Important or subordinate criteria are one or more safety conditions such as those described above.

In one embodiment, an entry time is determined at which the motor vehicle is to be at least assisted into the ring traffic, wherein the remote control signal is generated on the basis of the determined entry time, wherein the entry time is determined such that at the entry time a gap between two further motor vehicles passing through the ring traffic has a predetermined length, into which the motor vehicle can be integrated.

Thereby, technical advantages such as: the motor vehicle can effectively be driven at least supplementarily into the traffic loop.

According to an embodiment, it is provided that the method according to the first aspect is a computer-implementable method.

According to one specific embodiment, it is provided that the method according to the first aspect is carried out or carried out by means of the device according to the second aspect.

Device features likewise result from corresponding method features and vice versa. This means in particular that the technical function of the device according to the second aspect is analogously derived from the corresponding technical function of the method according to the first aspect and vice versa.

The expression "at least one" especially stands for "one or more".

The abbreviation "bzw." stands for "beziehungsweese", which stands for "also or" inter alia ".

The expression "also or" especially stands for "and/or".

Drawings

Embodiments of the present invention are shown in the drawings and are explained in more detail in the description that follows. The figures show:

fig. 1 shows a flow chart of a method for at least assisted driving by a motor vehicle through a traffic loop,

figure 2 shows a device of the type described,

FIG. 3 shows a machine-readable storage medium, an

Figure 4 shows a circular traffic.

Detailed Description

Fig. 1 shows a flow chart of a method for at least assisted driving by a motor vehicle through a traffic circle.

The method comprises the following steps:

-receiving 101 an ambient signal representing the surroundings of a motor vehicle at least partially surrounding a ring traffic,

generating 103 a remote control signal on the basis of the ambient signal, the remote control signal being used for remotely controlling the transverse guidance and/or the longitudinal guidance of the motor vehicle on the basis of the ambient signal in such a way that the motor vehicle at least assists in driving through the loop traffic when the transverse guidance and/or the longitudinal guidance of the motor vehicle are remotely controlled on the basis of the remote control signal,

-outputting 105 the generated remote control signal.

According to one specific embodiment, it is provided that a safety condition signal is received, which represents at least one safety condition that must be met in order to allow remote control of the motor vehicle, wherein it is checked whether the at least one safety condition is met, wherein the remote control signal is generated on the basis of the result of the check "whether the at least one safety condition is met".

The result of the test "whether at least one safety condition is satisfied" indicates, for example, that at least one safety condition is satisfied.

The result of the test "whether at least one safety condition is satisfied" indicates, for example, that at least one safety condition is not satisfied.

According to one specific embodiment, it is provided that, only when the result of the test "whether at least one safety condition is met" indicates that: the remote control signal is generated and output only if at least one safety condition is met.

According to one specific embodiment, it is provided that, when the result of the test "whether at least one safety condition is met" indicates that: the generation and output of the remote control signal is not considered when the at least one safety condition is not satisfied.

According to one specific embodiment, the method according to the first aspect comprises the remote control of the transverse guidance and/or longitudinal guidance of the motor vehicle on the basis of the output remote control signal.

Fig. 2 shows a device 201.

The apparatus 201 is arranged to implement all the steps of the method according to the first aspect.

The device 201 comprises an input 203 arranged for receiving an ambient signal.

The device 201 comprises a processor 205 arranged for generating a remote control signal based on the ambient environment signal.

The device 201 further comprises an output 207 arranged for outputting the generated remote control signal.

For example, according to one embodiment, the output of the generated remote control signal comprises transmitting the remote control signal to the motor vehicle via a communication network, in particular via a wireless communication network.

In general, the received signal is received by means of an input 203. The input 203 is therefore provided in particular for receiving a corresponding signal.

In general, the output signal is output by means of an output 207. The output 207 is therefore provided in particular for outputting a corresponding signal.

According to one embodiment, multiple processors are provided in place of one processor 205.

According to one embodiment, the processor 205 is provided for carrying out the above and/or below described generating steps and/or verifying steps and/or determining steps.

The device 201 is for example part of an infrastructure, in particular a cloud infrastructure.

Fig. 3 illustrates a machine-readable storage medium 301.

A computer program 303 is stored on a machine-readable storage medium 301, said computer program comprising instructions which, when the computer program 303 is implemented by a computer, arrange the computer to carry out the method according to the first aspect.

According to one embodiment, the device 201 comprises a remote control arranged for remotely controlling the motor vehicle based on the generated remote control signal.

According to one specific embodiment, an infrastructure or an infrastructure system is provided, which comprises a device according to the second aspect, for example.

The infrastructure includes, for example, ring traffic.

Fig. 4 shows a circular traffic 401.

A plurality of environment sensors 403, which sense their respective environments, are spatially distributed in the annular traffic region.

Each environmental sensor 403 provides environmental sensor data corresponding to the respective sensing for use. For example, the environmental sensors 403 transmit their environmental sensor data as environmental signals to the device according to the second aspect. This means that according to an embodiment the device according to the second aspect receives the ambient sensor data as an ambient signal.

The environmental sensor data is, for example, processed to sense motor vehicles approaching the circular traffic 401.

Such a motor vehicle is shown in fig. 4 with reference numeral 405. The arrow with reference numeral 407 indicates the direction of travel of the motor vehicle extending from left to right relative to the plane of the paper.

For example, according to one specific embodiment, it is provided that, when a motor vehicle approaching the ring traffic 401 is detected, it is determined that the motor vehicle is to drive through the ring traffic 401.

For example, it is then provided that a communication connection is established between the device according to the second aspect (not shown) and the motor vehicle 405.

As explained above and/or below, remote control signals generated by the device for remote control of the transverse guidance and/or longitudinal guidance of the motor vehicle 405 can be transmitted to the motor vehicle 405 via this communication connection.

For example, according to one embodiment, the motor vehicle 405 sends a request to the device according to the second aspect: the motor vehicle is intended to be assisted when driving through the ring traffic 401.

In response to receiving such a request, then according to one embodiment, it is determined: the motor vehicle should drive through the ring traffic 401.

Accordingly, the remote control signal is then transmitted to the motor vehicle 405 via the communication connection.

According to one embodiment, a permanent communication link exists between the vehicle 405 and the device.

A light signaling device 409 is arranged substantially centrally above the traffic loop 401, which grooms or regulates the traffic intended to pass through the traffic loop 401.

According to one specific embodiment, control signals for controlling the light signaling device 409 are generated and output, wherein the control signals are such that, when the light signaling device 409 is controlled on the basis of the control signals, the light signaling device 409 optically signals the motor vehicle 405 using a green signal: the motor vehicle can have free travel and the light signaling device 409 signals the traffic in the ring traffic 401 using a red signal: the lateral traffic must be stopped.

Thus, the use of the optical signaling device can effectively support the assisted driving of motor vehicles through the annular traffic.

The annular traffic 401 comprises a first, second, third, fourth and fifth combined outlet/

inlet

411, 413, 415, 417, 419, respectively.

The motor vehicle 405 drives through the ring traffic 401 via a fifth combined exit/entrance 419. The driving route of the motor vehicle 405 indicates, for example, that the motor vehicle 405 is to leave the ring traffic 401 at the second combined exit/entrance 413. The remote control signal is generated on the basis of the driving route, for example, in such a way that the motor vehicle leaves the circular traffic 401 at the second combined exit/entrance 413 when the transverse guidance and/or the longitudinal guidance of the motor vehicle 405 is controlled on the basis of the generated remote control signal. The driving route is transmitted, for example, by the motor vehicle 405 via a wireless communication network to the device according to the second aspect.

According to one embodiment, the test: whether the current traffic situation permits intervention, i.e., in particular remote control, in order, for example, to prevent injury to other traffic participants in the motor vehicle environment.

According to one specific embodiment, it is provided that the processes, i.e. the methods, in other words the method steps, are protected against forgery and are recorded retrospectively, for example in a block chain.

According to one embodiment, it is provided that the driver of the motor vehicle is informed: an intervention into the driving operation of the motor vehicle has taken place or is taking place, i.e. the motor vehicle has been or is being remotely controlled.

This means, in particular, that an announcement signal representing the corresponding announcement content is generated and output. For example, the notification signal is output to a human-machine interface of the motor vehicle, so that the driver is informed about the intervention or the remote control by means of the human-machine interface on the basis of the notification signal.

According to one embodiment, the precondition for the remote control or for the intervention is that the remote control is safe. "safe" in the sense of the present description means in particular "safe" and "secure". Both of these english concepts, although usually translated as "safe", have partially different meanings in english.

The term "safe" is especially directed to accidents and the topic of accident avoidance. The remote control of "safe" results in particular in the probability for an accident or collision being less than or equal to a predetermined probability threshold.

The term "secure" is especially directed to the subject of computer protection or protection against hackers, i.e. especially: in (computer) infrastructures and/or communication infrastructures, in particular in communication lines between motor vehicles and remote control devices for remote control of motor vehicles, there is a need for security against unauthorized access by third parties ("hackers") or against data manipulation.

That is, a "secure" remote control has as a basis, inter alia, a suitable and sufficient computer protection or anti-hacking protection.

For example, according to one specific embodiment, the entirety consisting of the motor vehicle and the infrastructure participating in the method according to the first aspect and including the communication between infrastructure and motor vehicle is currently safe for the solution described here to "intervene in the motor vehicle for critical actions". This means, in particular, that motor vehicles and/or local and/or global infrastructure and/or communication are checked accordingly. The remote control signal is generated based on, inter alia, the result of the verification.

This means, in particular, that the components used when carrying out the method according to the first aspect are checked in terms of safety, i.e. before performing an intervention in the driving operation, i.e. remotely controlling the motor vehicle: whether these components satisfy certain safety conditions.

Important or subordinate criteria are, for example, one or more of the above-described safety conditions.

According to one specific embodiment, it is provided that the entire system (motor vehicle, infrastructure, communication line, cloud.) is checked on the one hand with regard to safety conditions.

According to one specific embodiment, it is provided that the individual parts are also checked with regard to the satisfaction of safety conditions. This is done in particular before the remote control of the motor vehicle.

In one embodiment, the test step or steps are carried out in the interior of the motor vehicle and/or outside the motor vehicle, in particular in the infrastructure.

According to one specific embodiment, it is provided that or those checking steps are checked subsequently, i.e. at a later point in time, for example periodically. For example, that or those verification steps are subsequently verified at a predetermined frequency, for example every 100 ms.

For example, according to one specific embodiment, this check, i.e., the check as to whether the at least one safety condition is met, is carried out before and/or after and/or during one or more predetermined method steps.

According to one specific embodiment, the test is carried out or carried out in the event of a problem.

In one embodiment, a registration signal is received, which represents a registration with respect to at least assisted driving through a traffic loop by means of a motor vehicle.

In one specific embodiment, a request signal is received, which represents a request for at least assisted driving through a loop traffic by means of a motor vehicle.

The request signal or the registration signal is also transmitted, for example, by the motor vehicle via a wireless communication network.

According to one embodiment, the request is also or alternatively related to a particular circular traffic.

According to one embodiment, the request also or generally relates to circular traffic.

This means, for example, that the motor vehicle continuously, i.e. continuously, in particular repeatedly, sends out the respective request signal or registration signal at a predetermined frequency via the wireless communication network.

According to one embodiment, the remote control signal is generated automatically when the motor vehicle approaches, for example, a specific ring traffic or a certain ring traffic, i.e., is within a predetermined distance from the ring traffic.

In one embodiment, a communication connection is provided between the motor vehicle and an infrastructure, which in particular comprises a device according to the second aspect.

According to one embodiment, the infrastructure comprises a local infrastructure, such as ring traffic.

According to one embodiment, the infrastructure comprises a global infrastructure; preferably a cloud infrastructure.

In one embodiment, it is checked whether the function "assisted drive through the traffic loop" can be provided.

In one embodiment, it is checked whether the infrastructure is functionally ready and/or available for assisted driving through the loop traffic.

In one embodiment, it is checked whether the motor vehicle is functionally ready and/or available for assisted driving through the loop traffic.

In one embodiment, it is checked whether the service is released for the motor vehicle (or driver or owner) requesting the function or the function "assisted by the traffic loop" is being driven through. This is done not only at the automotive level, infrastructure level, service level. For example, the provider of the function "assisted drive through the ring traffic" is provided with the option of not allowing the requesting motor vehicle or its owner or driver any more on the basis of fees or abuses which have not been paid in the past.

In one embodiment, the determination and/or the reception (and in particular the transmission) of the vehicle possibilities (vehicle parameters described above and/or below) are set (for example, the maximum possible acceleration or speed, etc.). For example, the vehicle parameters are transmitted by the vehicle. This means that the vehicle parameters transmitted by the vehicle, for example, are received.

For example, the vehicle parameters are sent from the cloud, in particular from a cloud server. This means that the vehicle parameters are received, for example, from the cloud, in particular from a cloud server.

If this is not possible (e.g. due to lack of data), for example, the defined standard configuration (preferably emergency configuration) is used.

In one embodiment, a data signal is received, which represents corresponding data of the motor vehicle or of at least one further road user, in particular of a further motor vehicle. The data includes, for example, traffic surroundings information or traffic surroundings functions. This data is used, for example, to support or improve the evaluation or processing of the environmental sensor data of the environmental sensor 403. This means, in particular, that an evaluation or processing of the environmental sensor data is carried out on the basis of this data. The data are transmitted, for example, by the motor vehicle or by at least one further traffic participant via a communication network, in particular wireless.

In one embodiment, a check is provided as to whether the traffic situation permits the motor vehicle to be able to drive through the traffic loop in an assisted manner. Preferably, this check is run continuously, i.e. already before the respective request, i.e. independently of the request.

Preferably, in a further embodiment, the current and planned driving manoeuvres of the other traffic participants are transmitted to the motor vehicle and/or the cloud server by the other traffic participants, if possible, via V2X.

In one embodiment, a calculation or a determination is provided as to whether a motor vehicle is at least assisted in driving through a traffic loop.

The calculation can also be carried out, for example, in the motor vehicle and/or in the infrastructure. If this is carried out both in the motor vehicle and in the infrastructure, redundancy can thus be advantageously brought about, which can increase safety.

In one embodiment, it is provided that the infrastructure transmits data, in particular ambient signals and/or safety condition signals, to the motor vehicle, and the motor vehicle itself analyzes/determines the necessary driving commands.

If at least assisted driving is possible, the vehicle is remotely controlled, for example. The motor vehicle is therefore guided through the infrastructure. Intelligence, decision making and control are in the infrastructure.

The motor vehicle thus travels, in particular, remotely, on the ring traffic, i.e., travels through the ring traffic.

The course of the drive-through is preferably checked further here.

Here, the check is performed according to one or more of the following possibilities:

in a motor vehicle, in an infrastructure or both, wherein the latter can lead to redundancy in an advantageous manner, this can improve safety.

Preferably, the entire process is started very early, so that the motor vehicle does not have to stop in front of the circular traffic. That is, the speed does not have to be reduced, for example because all the check-in/analysis processes (check-out steps) have not yet ended.

In one embodiment, the overall traffic in the motor vehicle environment is automatically adjusted or organized by the infrastructure via a traffic guidance system, including in particular traffic facilities, in particular light signaling devices, in such a way that, in particular, the process of optimizing the motor vehicle and the further motor vehicle guided at least partially automatically (optimally at least partially assisted in driving through a loop) and/or the process of optimizing the further motor vehicle which cannot be guided at least partially automatically, in particular cannot be remotely controlled, can be remotely controlled or generated.

In other words, it is precisely when, according to one embodiment, the infrastructure is also additionally monitored, in addition to the motor vehicle, by a further motor vehicle which can be at least partially automated, in particular can be remotely controlled, that the overall traffic is regulated in such a way that an optimized traffic flow is achieved.

Exemplary application scenarios may include, for example, one or more of the following implementations or features or examples:

for example, the motor vehicle travels to/to a ring traffic (monitored by means of an environmental sensor).

For example, the motor vehicle is communicatively connected to an infrastructure system or (automatically) to an infrastructure system in front of a ring traffic.

The infrastructure system comprises for example a device according to the second aspect.

For example, the motor vehicle sends out a signal and is thus detected. This means, in particular, that the motor vehicle can emit a signal, for example a position signal. For example, provision is made for a motor vehicle to be detected in response to such a signal determination.

For example, environmental sensor data is processed to detect a motor vehicle. The vehicle can be detected, for example, by its number plate. The processing of the environmental sensor data comprises, inter alia, logo recognition.

The vehicle may be, for example, a "VRU". "VRU" stands for "Vulnerable Road User" and denotes unprotected Road users, such as motorcycles.

For example, a vehicle is positioned.

The data are transmitted by the motor vehicle, for example automatically/for example on request. The data includes, for example, GPS data.

The infrastructure detects the motor vehicle, for example, by means of visual infrastructure sensors, i.e., environmental sensors, for example, video sensors.

For example, the motor vehicle sends its driving route to the apparatus according to the second aspect. The driving route includes, in particular, a description of "which exit of the ring traffic the motor vehicle intends to take, i.e. through which exit the motor vehicle intends to leave the ring traffic again".

For example, a driving route signal is received, which represents a driving route of the motor vehicle, wherein the driving route comprises in particular a description of "which exit of the ring traffic the motor vehicle intends to take, i.e. through which exit the motor vehicle intends to leave the ring traffic again".

For example, the traffic activity is analyzed, in particular by means of an infrastructure, in particular by means of the device according to the second aspect.

The analysis of the traffic activity includes, for example, processing data transmitted by further motor vehicles and/or processing environmental sensor data of environmental sensors of the infrastructure, for example, a visual evaluation.

For example, an entry time is determined at which the motor vehicle is to enter the traffic loop at least in an assisted manner. For example, a remote control signal is generated on the basis of the ascertained entry time. In particular, the entry time is determined such that at the entry time a gap between two further motor vehicles traveling through the ring traffic has a predetermined length, into which the motor vehicle can be integrated.

According to one specific embodiment, if a sufficiently long gap is not detected at a defined entry time (e.g. 1 or 2 minutes), at least one of the following actions is triggered:

for example, other road users in the motor vehicle environment, in particular motor vehicles, are informed of the desired entrance of the motor vehicle in order to provide these further road users with the possibility of generating gaps. Such notification is performed, for example, via the V2I communication system.

For example, a remote control command signal is generated and output, which represents a remote control command for the remote control of the respective transverse guidance and/or longitudinal guidance of one or more further motor vehicles in the motor vehicle environment, in such a way that a gap for the incorporation of the motor vehicle can be generated or is generated in the respective control of the transverse guidance and longitudinal guidance of one or more further motor vehicles.

For example, traffic guidance systems are used, i.e. controlled, which comprise, for example, traffic facilities, in particular light signaling devices and/or display systems in ring traffic, in order to allow a gap for the incorporation of motor vehicles to be created.

Preferably, the method steps are recorded in a forgery-proof and retrospectively manner, in particular in a block chain.

Claims

1. Method for at least assisted driving by a motor vehicle (405) through a ring traffic (401), comprising the following steps:

-receiving (101) an ambience signal representing an ambience of the motor vehicle (405) at least partially including a ring traffic (401),

-generating (103), on the basis of the surroundings signal, a remote control signal for remotely controlling a transverse guidance and/or a longitudinal guidance of the motor vehicle (405) in such a way that the motor vehicle (405) at least drives in an assisted manner through the traffic loop (401) when the transverse guidance and/or the longitudinal guidance of the motor vehicle (405) are remotely controlled on the basis of the remote control signal,

-outputting (105) the generated remote control signal.

2. The method according to claim 1, wherein a safety condition signal is received, the safety condition signal representing at least one safety condition that has to be fulfilled in order to allow remote control of the motor vehicle (405), wherein it is checked whether the at least one safety condition is fulfilled, wherein the remote control signal is generated based on the result of the check "whether the at least one safety condition is fulfilled".

3. The method of claim 2, wherein the at least one security condition is each an element selected from the following group of security conditions: at least the motor vehicle (405) and an infrastructure, in particular comprising communication lines and/or communication components, for remotely controlling the motor vehicle (407) (in particular with regard to the entire system and in particular parts such as components, algorithms, interfaces, etc. in the motor vehicle (407), for remotely controlling the motor vehicle (405) with a maximum waiting time for the communication between the motor vehicle (405) and a remote control for remotely controlling the motor vehicle (405) on the basis of the remote control signals; a device for carrying out the steps of the method according to any of the preceding claims has a predetermined computer protection Level; predetermined components and/or algorithms for carrying out the steps of the method according to any of the preceding claims; and |) Or a communication possibility; redundancy and/or diversity in predetermined means and/or algorithms and/or communication possibilities for implementing the steps of the method according to any of the preceding claims; there is predetermined availability data specifying "availability of predetermined components and/or algorithms and/or communication possibilities"; there are predetermined quality criteria of the predetermined components and/or algorithms and/or communication possibilities; there are plans to: the plan comprises measures for reducing faults and/or measures in the event of failure of predetermined components and/or algorithms and/or communication possibilities and/or measures for carrying out a fault analysis and/or measures at the time of fault interpretation; there are one or more backup scenarios; the presence of a predetermined function; the presence of predetermined traffic conditions; the presence of a predetermined weather; there is a maximum possible time for performing or implementing a step or steps of a method according to any of the preceding claims, respectively; there is a test result of whether an element or a function for carrying out the method according to one of the preceding claims is currently functioning without a fault.

4. A method according to claim 2 or 3, wherein the remote control signal is generated only when the at least one safety condition is met.

5. The method according to any one of claims 2 to 4, wherein the check whether the at least one safety condition is met is performed before and/or after and/or during one or more predetermined method steps.

6. Method according to any one of the preceding claims, wherein after outputting the remote control signal, a remote control of the motor vehicle (405) is checked on the basis of the output remote control signal in order to detect a fault, wherein the remote control is interrupted when a fault is detected or an emergency remote control signal for remotely controlling a transverse guidance and/or a longitudinal guidance of the motor vehicle (405) is generated and output in an emergency.

7. The method according to any one of the preceding claims, wherein an identification signal is received, the identification signal representing a corresponding identification of at least one of the motor vehicle (405), an owner of the motor vehicle (405) and a driver of the motor vehicle, wherein the remote control signal is generated based on the corresponding identification.

8. The method according to any one of the preceding claims, wherein at least one vehicle parameter of the vehicle (405) is received, wherein the remote control signal is generated based on the at least one vehicle parameter.

9. The method according to any of the preceding claims, wherein the remote control signal is generated based on a vehicle standard parameter corresponding to at least one vehicle parameter when the at least one vehicle parameter is not received.

10. The method according to claim 8 or 9, wherein the at least one vehicle parameter is respectively an element selected from the following group of vehicle parameters: maximum possible vehicle speed, maximum possible vehicle acceleration, current vehicle load, current vehicle weight, length, width, height, maximum possible steering angle, wheelbase, turning radius, turning diameter.

11. The method according to one of the preceding claims, wherein a driving maneuver signal is received, which represents a current and/or planned driving maneuver of at least one traffic participant in the environment of the motor vehicle (405), wherein the remote control signal is generated based on the driving maneuver signal.

12. Method according to any of the preceding claims, wherein one or more method steps other than the step of generating and outputting the remote control signal are carried out inside the motor vehicle and/or wherein one or more method steps are carried out outside the motor vehicle, in particular in an infrastructure, preferably in a cloud infrastructure.

13. Method according to any of the preceding claims, wherein one or more method steps are recorded, in particular in a blockchain.

14. The method according to one of the preceding claims, wherein a control signal for controlling a traffic guidance system (409) is generated and output on the basis of the ambient environment signal and on the basis of the remote control signal in order to groom the traffic in the environment of the motor vehicle (405) by means of the traffic guidance system (409) in order to support the motor vehicle (405) to drive through the ring traffic (401).

15. Method according to any of the preceding claims, wherein it is checked whether an entirety consisting of a motor vehicle (405) and of infrastructure participating in the method according to any of the preceding claims and including communication between infrastructure and motor vehicle (405) is secure, such that the motor vehicle (405) and/or local and/or global infrastructure and/or communication between motor vehicle (405) and infrastructure is checked accordingly.

16. Method according to one of the preceding claims, wherein an entry time is determined at which the motor vehicle is to be at least assisted into the ring traffic, wherein the remote control signal is generated on the basis of the determined entry time, wherein the entry time is determined such that at the entry time a gap between two further motor vehicles which are traveling through the ring traffic has a predetermined length into which a motor vehicle can be integrated.

17. Apparatus (201) arranged to implement all the steps of the method according to any one of the preceding claims.

18. Computer program (303), comprising instructions, which, when the computer program (303) is executed by a computer, arrange the computer to carry out the method according to any one of claims 1 to 16.

19. A machine-readable storage medium (301) on which the computer program (303) according to claim 18 is stored.