• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    A method of managing a motor vehicle (301), having two separate control units (305, 307) and an environment sensor (303) comprising: - sensing the environment of the vehicle (301) at a distance of using the sensor (303), to obtain data, - checking with the first control device (305) whether an object is in the vehicle environment (301), to formulate a first test result , and - checking with the second device (307) whether an object is in the environment of the vehicle (301), to formulate a second test result, and - comparing the two results for driving without a driver the vehicle (301.
    公开号:FR3040959A1
    申请号:FR1658414
    申请日:2016-09-09
    公开日:2017-03-17
    发明作者:Stefan Nordbruch
    申请人:Robert Bosch GmbH；
    IPC主号:
    专利说明:

    Field of the invention
    The present invention relates to a method and a management system of a motor vehicle and a computer program for implementing the method.
    State of the art
    DE 10 2012 222 562 A1 discloses a parking location management system for driving a vehicle from a starting position to a destination position.
    In the case of the fully automatic (self-contained) valet system, the vehicle is deposited by the driver at a drop-off location, for example in a parking lot, and from there the vehicle travels by itself to its location. parking / bay parking then return to the station or drop point.
    In the case of the automatic valet system (automatic parking system) it is important that the vehicle traveling in autonomous mode does not cause any collision accident with, for example, an object that would be in the parking lot.
    To capture the environment of the vehicle, an environment sensor (or set of environmental sensors) is usually used to determine the environmental data corresponding to the environment entered. The environmental data is, in general, analyzed to detect objects that could collide with the vehicle and pose a risk for it.
    Purpose of the invention
    The present invention aims to develop an effective vehicle management concept.
    DESCRIPTION AND ADVANTAGES OF THE INVENTION For this purpose, the subject of the invention is a method for managing a motor vehicle having a first control device, a second control device separate from the first control device and a control sensor. environment for grasping the environment of the vehicle, comprising taking the environment of the vehicle using the environmental sensor, to obtain environmental data corresponding to the environment entered, checking with the first control apparatus on the basis of the obtained environmental data, if an object is in the vehicle environment, which could collide with the vehicle with a predefined probability, to determine a first test result, check using the second control apparatus based on the environmental data obtained if an object is in the vehicle environment and i could collide with the vehicle with a predefined probability, to determine a second test result, compare the two test results, and drive without driver the vehicle based on the comparison.
    According to another development, the subject of the invention is a system for managing a motor vehicle comprising a first control device which, based on the data of the environment entered by means of a vehicle environment sensor for checking whether an object is in the vehicle environment and which could collide with the vehicle with a predefined probability, to determine a first test result, a second control device separate from the first control device and which, based on the obtained environmental data, checks whether an object is in the vehicle environment and could collide with the vehicle with a predefined probability, to determine a second test result, a comparison facility to compare the test results, a guidance system for driving the driverless vehicle based on the comparison.
    According to another development, the subject of the invention is a vehicle equipped with such a management system.
    According to another development, the subject of the invention is a computer program comprising a program code for implementing the method of managing a vehicle according to the method defined above when the program is executed by a computer.
    In other words, one particular object of the invention is to use two separate control apparatuses of the motor vehicle to check the same environment data and to determine if an object is in the same position. vehicle environment and could, with a predefined probability, collide with the vehicle. The two test results are compared and based on the comparison, the vehicle is driven without a driver. This results in particular the technical advantage of being able to effectively manage the vehicle, and in particular the technical advantage of performing a redundant verification of the environmental data. Under these conditions, for example, one of the control devices has a fault function to enable it to detect a faulty operation, for example in the context of the comparison.
    The free-flowing vehicle means that the vehicle is not controlled or guided by a human driver. Driverless driving consists, for example, in remotely controlling the vehicle. This means sending remote control commands to the vehicle. A driverless driving consists, for example, in driving the vehicle autonomously, that is to say independent. There are also mixed modes, according to which the vehicle will be remotely controlled on part of the journey and will circulate in autonomous mode on the other part of the path.
    For example, it is intended to transmit to the vehicle a destination position in the car park and then the vehicle travels in autonomous mode, that is to say independently to this destination position. The vehicle navigates, for example, to the destination position based on the digital map of the car park. This digital map is transmitted to the vehicle, for example, by a communication network. In general, the information on the communication network which is important for autonomous driving in the car park is transmitted to the vehicle. The vehicle then circulates on the basis of such information, in autonomous mode, inside the car park, in particular towards the destination position. Such information is, for example: the positions of other vehicles, the data of other vehicles, the set trajectory that must follow the vehicle.
    According to another development, the driverless driving of the vehicle is to automatically stop the vehicle if the comparison shows that at least one of the two control results indicates that an object is in the vehicle environment, even if the Another result of the verification indicates that the environment is free of any object.
    This results in particular the technical advantage of effectively reducing or eliminating any risk of collision or accident, that is to say the collision of a vehicle with an object in the vehicle environment. Indeed, a single test result is sufficient for an object is in the vehicle environment that could collide with the vehicle with a predefined probability, so that the vehicle is stopped automatically. This is true even though the other result of the verification showed that the vehicle environment was free of such an object. Thus, for example, the control unit which arrived at the false result, that is to say that the environment of the vehicle is free of the object, has a fault function which led to this erroneous result of so that this fault function does not automatically arrive at a collision with this object. Thus, the other control unit is checked correctly, that is to say that it was correct that an object was in the environment of the vehicle and the vehicle is stopped automatically.
    It also means that the fault functions can be compensated advantageously in one control unit by the other control unit.
    An object in the vehicle environment is, for example, a traffic participant. The traffic participant is for example another vehicle, a cyclist or a pedestrian.
    According to a development, the vehicle finds a parking space in the parking lot. This means that the vehicle will be driven without a driver inside the car park.
    According to a development, the vehicle executes an automatic parking maneuver (automatic valet maneuver) for example in the car park. Such an automatic parking maneuver is usually called AVP maneuver. The abbreviation AVP stands for "automatic valet". As part of the automatic parking maneuver, it is for example provided that the vehicle runs without a driver between the position of removal, where the driver leaves his vehicle, to the parking position in the parking by AVP maneuver. As part of the AVP mode, it is for example provided that the vehicle stops automatically, that is to say without driver, in the parking space. As part of the AVP maneuver, it is for example provided that the vehicle runs without a driver from the parking position to the recovery position, where the driver can resume his vehicle. The position of the recovery station is for example the same or different to the removal station.
    A parking space in the context of the present invention is, for example, a parking surface serving as storage area of the vehicle. The car park thus constitutes a coherent surface with several parking spaces (in the case of parking on private land) or parking spaces (in the case of parking on public land). According to one embodiment, the car park is a building of garages. According to another embodiment, the parking is a garage.
    A communication network within the meaning of the present invention is notably a WLAN communication network and / or a mobile telephone network and / or a communication network according to the "LoRa" standard (LoRa meaning "low power communication, wide range") . This communication network thus comprises a LoRa communication network according to one embodiment.
    According to another development, communication via a communication network is an encrypted communication. The respective formula includes the formula "and / or".
    The environmental sensor consists of one or more environmental sensors. The environmental sensor is for example one of the following environmental sensors: video sensor, laser sensor, ultrasonic sensor, lidar sensor, magnetic sensor or radar sensor.
    According to another development, the environmental sensor environment data is transmitted to one of the two control devices which transmits them to the other of the two control devices. This notably results in the technical advantage that the other of the two control units which receives the environment data of one of the two control devices is not necessarily connected directly to the environment sensor to obtain the data. environment. As a result, for example, the technical advantage of being able to achieve the corresponding construction or wiring in the vehicle efficiently and simply and requiring less work time.
    According to a development, the environmental data is transmitted by the environmental sensor to the two control devices. This results in particular the technical advantage that the two control devices receive independently of one another, the environment sensor environment data. Thus, it is not possible, for example, that insofar as the control device transmits the environment data to the other of the two control devices, the transmitter control device distorts the environment data by the control device. transmission due to a fault function.
    According to another development, one of the two control devices is the main unit of the vehicle information management system.
    This results in particular the technical advantage that the main unit of the vehicle information management system will be used effectively. It also means that the main unit of the information management system provides in addition to its basic function, an additional function of verifying the data of the environment.
    According to another development, one of the two control devices is a control device of a driving assistance system, including the assistance system storage maneuvers.
    This results in particular the technical advantage that the driving assistance system control device, including the storage maneuvering assistance system, is used effectively, similarly, to the main unit of the management system. of information.
    According to another development, one of the control devices and the control device of a driving installation are used to drive the vehicle in driverless mode. This results in particular the technical advantage of effectively using the control device of the pipe installation, as is the case for the main unit of the information management system.
    According to another development, the comparison is made with one of the two control devices, which has the technical advantage of effectively using one of the two control devices. It also means that this control unit performs two functions: check and compare.
    According to a development, the vehicle management system is designed and designed to execute the vehicle management process.
    According to another development, the vehicle management method is performed by the vehicle management system.
    The technical functions of the system correspond in a similar way to the technical functions of the process and vice versa.
    According to one development, the system comprises a set of environmental sensors.
    According to another development, the vehicle comprises an environmental sensor or a set of environmental sensors.
    According to another development, the driving installation is designed to automatically stop the vehicle if the comparison shows that at least one of the two results of the verification indicates that an object is in the vehicle environment, even if the other result of the verification indicates that the environment is free of any object.
    According to another development, the environmental sensor is used to enter the environment of the vehicle to determine data corresponding to this environment and one of the two control devices is connected to the environment sensor to transmit the environmental data provided. by the environmental sensor to one of the two control devices and it is designed to transmit the received environmental data to the other of the two control devices.
    This means that, for example, only one of the two control units is connected to the environmental sensor and the other of the two control units is connected to this first control unit to receive from it the data of the control unit. 'environment. The other of the two control devices has no connection with the environmental sensor, that is to say that it is not connected to it.
    According to a development, the vehicle comprises an environmental sensor for capturing the environment of the vehicle and transmitting the entered environmental data, each of the two control devices being connected to the environmental sensor so that the transmitted environmental data by the environmental sensor arrive on both control devices.
    This also means that, for example, the two control devices are connected independently of one another to the environment sensor to receive environment data therefrom.
    According to another development, the two control units are connected independently of one another to the environment sensor to receive the environment data thereof and in addition the two control units are connected one in the other to, for example, transmit environment data from one to the other.
    The connection between the control devices or between the control devices and the environmental sensor is, for example, performed by a bus system, for example by a CAN bus and / or using the Flexray bus.
    According to another development, one of the two control devices is the main unit of the vehicle information management system.
    According to another development, one of the two control devices is the driving assistance system control device, including the parking assistance system.
    According to another development, one of the two control devices is that of the conduit installation.
    According to another development, the information management system comprises the main unit.
    According to another development, the driver assistance system, including the parking assistance system, comprises a control device.
    According to another development, the conduit installation comprises a control apparatus.
    According to another development, the comparison plant is one of the two control units so that the comparison will be made using one of the two control units.
    Control devices as used in the context of the concept of the invention, for example the following control apparatus: AVP control apparatus, control apparatus of a storage assist system, apparatus command of the main unit of an information management system. Other control devices can also be envisaged in the context of the concept of the invention.
    According to a development, one of the two control units is an AVP control unit for automatic parking or automatic valet maneuvers.
    drawings
    The present invention will be described hereinafter in more detail using examples of a vehicle management method shown in the accompanying drawings in which: FIG. 1 shows a simplified flowchart of a method for managing a vehicle. a motor vehicle, Figure 2 is a diagram of a management system of a motor vehicle, Figure 3 is a diagram of a motor vehicle and Figure 4 is the diagram of another motor vehicle. Description of embodiments
    FIG. 1 shows a very simplified flow chart of a management method of a motor vehicle according to which the vehicle comprises a first control device, and a second control device made separately from the first control device and a sensor. environment (one or more environmental sensors) to capture the environment of the motor vehicle.
    The method comprises the following steps: capturing the environment of the vehicle 301, 401 using the environment sensor 303, to obtain environment data corresponding to the environment entered, checking 103 using of the first control apparatus 203, 305 based on the obtained environmental data, if an object is in the environment of the vehicle 301, 401, which object could collide with the vehicle 301, 401 with a predefined probability to formulate a first test result, check 105 using the second control apparatus 205, 307 based on the environmental data obtained if an object is in the vehicle environment 301, 401 and which could collide with the vehicle 301, 401 with a predefined probability, to formulate a second test result, compare the two test results, and drive 109 without a driver, the vehicle 301, 401 based on the comparison.
    According to one embodiment shown, the driverless driving (driverless mode) of the motor vehicle is to automatically stop the vehicle if the comparison shows that at least one of the two results indicates that an object is in the environment of the vehicle even if the other result of the verification indicates that the environment is free of any corresponding object.
    This also means that if, for example, the first control device finds that an object is in the environment while the second control device finds that there is no corresponding object in the environment of the environment. vehicle, the vehicle will nevertheless be stopped automatically. Indeed, it is sufficient as a trigger signal to stop that one of the two results of the verification indicates that an object is in the vehicle environment which, according to a predefined probability may collide with the vehicle.
    FIG. 2 shows a vehicle management system 201 which comprises a first control device 203, 305 which, based on the data of the environment, corresponding to the environment entered with the help of a sensor environment 303 of the vehicle 301, 401 checks whether an object is in the environment of the vehicle 301, 401 and which could collide with the vehicle 301, 401 with a predefined probability, to formulate a first test result, - a second control apparatus 205, 305 separate from the first control apparatus 203, 305 and which, based on the obtained environmental data, verifies whether an object is in the environment of the vehicle 301, 401 and which could enter. collision with the vehicle 301, 401 with a predefined probability, to formulate a second test result, - a comparison facility 207 for comparing the test results, and - a guidance facility 209 for driving the driverless vehicle 301, 401 and which is designed to drive the driverless vehicle 301, 401 based on the comparison.
    According to an embodiment not shown, the system 201 has a sensor or several environmental sensors to capture the environment of the vehicle.
    According to a development not shown, the comparison installation 207 is part of the first or the second control unit 203, 205. For example, according to another embodiment, the first or the second control unit 203, 205 compares the two results of the audit. This means that the comparison will be made either by one of the two control units 203, 205 or by the two control units 203, 205.
    According to a development not shown, the pipe installation (guiding installation) 209 includes one of the control units 203, 205. It is for example provided that the first control unit 203 or the second control unit 205 leads the vehicle in driverless mode based on the comparison.
    Figure 3 shows a vehicle 301.
    The vehicle 301 comprises, on the front side, an environment sensor 303 with, for example, a radar sensor. The vehicle 301 further includes a first control apparatus 305 which is the control apparatus of a driving installation for driving the vehicle in driverless mode. The controller 305 may also be referred to as the AVP control apparatus (the AVP mode is the "automatic valet" mode). The vehicle 301 further comprises a second control apparatus 307 which is the control apparatus of a parking assistance system. The first control unit 305 is connected to the second control unit 307 by a data transmission line 309. The second control unit 307 is connected by another data transmission line 311 to the environmental sensor 303; ie in particular to the radar sensor.
    It also means that the environmental data provided by the environment sensor 303 is transmitted to the second controller 307. The second controller 307 then transmits the environment data to the first controller 305. It is provided in the vehicle 301 that the first control device is not connected to the environmental sensor 303, that is to say that it is not connected directly to the environmental sensor 303, but only indirectly via the second control apparatus 307.
    Figure 4 shows another vehicle 401.
    Like the vehicle 301 of FIG. 3, the vehicle 401 includes a first control apparatus 305 and a second control apparatus 307. In this case also, the second control apparatus is connected by a data transmission line 311 to the control sensor 307. The first control apparatus 305 is connected to the second control apparatus 307 by a data transmission line 309. In addition, the first control apparatus 305 is connected by a data transmission line 403 directly to the sensor. 'environment. Thus, the environment sensor 303 directly transmits the environment data to the first control device 305 which can then check or analyze the environment data if the second control device 307 is, for example, faulty and can no longer transmit data. environment. Both the first and the second control apparatus 305, 307 according to one embodiment, allow driving the vehicle in driverless mode. This is done, for example, using remote control commands or driving data. Such remote control commands or driving data are received by the vehicle 301, 401 via a communication interface connected to a not shown communication network.
    In operation, the vehicle 301 or 401 for example runs in driverless mode in the parking. This is done, for example, as part of the AVP mode. The environment sensor 303 of the vehicle 301 or the vehicle 401 captures the environment and determines the environmental data thus captured. The environmental data is verified by both the first and second control devices 305, 307 to determine whether an object is in the environment of the vehicle 301, 401 that may collide with the vehicle 301, 401 according to a predefined probability. The two verification results are compared to each other. This is done, for example, using the first or the second control apparatus 305, 307. Based on the comparison, the vehicle 301, 401 will, for example, be driven by the first control unit 205 or by the second controller 307 in driverless mode. The object of the invention is, among other things, the idea of developing a technical and efficient concept based on the analysis of the environmental data made by a control device and by another control device. For example, according to one embodiment, the environment data is verified by the AVP controller 305.
    According to another development, the environmental data is checked or analyzed using the environmental sensor control unit 303. This also means that, in general, the environmental sensor may also comprise a device. command that checks the data of the environment.
    According to a development, the environmental data are verified by both the control unit or the environmental sensor and the AVP control unit 305, which is a redundant analysis or verification of the data of the environment. environment.
    Since one of the two analyzes shows that an object is in the vehicle environment and could collide with the vehicle according to a predefined probability, it is assumed, for safety reasons, that such an object object actually exists, even though the other of the two analyzes showed that there was no object in the vehicle environment.
    According to one embodiment, the AVP control device 305 has a direct connection with the environmental sensor or the environmental sensors of the set of environmental sensors. This has the particular technical advantage that the environmental data which are measurement data, are not likely to be distorted by the control device 307 of the parking maneuvering assistance system. In particular, it results in the technical advantage that even if the control device 307 of the parking assistance system had to be faulty, it will still be possible to analyze using the AVP control unit 305.
    According to one development, the environmental sensor consists of one or more of the following environmental sensors: radar sensor, video sensor, lidar sensor, ultrasonic sensor, magnetic sensor or laser sensor. The environmental sensors each enter a vehicle environment and provide environment data corresponding to the environment each time entered.
    According to a development, the respective environmental data of the different environmental sensors are checked independently of each other by means of the first and second control devices.
    According to one development, redundancy calculations are performed by the AVP 305 control unit.
    According to an exemplary embodiment, it is for example provided that the main unit is that of the information management system of one of the two control devices. Depending on the case, the main unit performs the redundancy calculation. The advantage according to the invention lies in particular in a high security related to redundant calculations or redundant checks. The control apparatus can be generally referred to as "ECU unit".
    NOMENCLATURE OF MAIN ELEMENTS 101-109 Steps in the vehicle management process 201 Vehicle management system 203 First control unit 205 Second control unit 207 Comparison plant 209 Duct installation 301 Automobile vehicle 303 Environmental sensor 305 First control unit 307 Second control unit 309 Transmission line 311 Other data line 401 Vehicle
    权利要求:
    Claims (20)
    [1" id="c-fr-0001]
    1) A method for managing a motor vehicle (301, 401) having a first control unit (203, 305), and a second control unit (205, 307) separate from the first control unit (203, 205). ) and an environment sensor (303) for capturing the environment of the vehicle (301, 401), the method comprising the steps of: grasping (101) the vehicle environment (301, 401) at the using the environment sensor (303), to obtain environment data corresponding to the environment entered, check (103) using the first control device (203, 305) based on the data of environment, if an object is in the vehicle environment (301, 401), an object that could collide with the vehicle (301, 401) with a predetermined probability, to formulate a first test result, check ( 105) using the second control unit (205, 307) based on the environmental data obtained if an object is in the vehicle environment (301, 401) and could collide with the vehicle (301, 401) with a predefined probability, to formulate a second result test, compare (107) the two test results, and drive (109) without driver the vehicle (301, 401) based on the comparison.
    [0002]
    Method according to Claim 1, characterized in that the driverless driving of the vehicle (301, 401) consists in automatically stopping the vehicle (301, 401) if the comparison shows that at least one of the results of test indicates that an object is in the vehicle environment (301, 401), even if the other test result indicates that the environment is free of the corresponding object.
    [0003]
    Method according to Claim 1 or 2, characterized in that the environmental data of the environmental sensor (303) is determined by one of the two control devices and one of the two control devices transmits the environment data to each other from the two control devices.
    [0004]
    Method according to one of Claims 1 to 3, characterized in that the environment data of the environmental sensor (303) is transmitted to the two control devices.
    [0005]
    Method according to one of Claims 1 to 4, characterized in that one of the two control units is the main unit of a vehicle information management system (301, 401).
    [0006]
    6 °) Method according to one of claims 1 to 5, characterized in that one of the two control devices is the control device of a driver assistance system, including a support system storage in a parking space.
    [0007]
    7 °) Method according to one of claims 1 to 6, characterized in that one of the two control devices is a control device of a guide system (209) for driving the driverless vehicle (301, 401).
    [0008]
    Method according to one of claims 1 to 7, characterized in that one of the two control devices is an AVP control device for executing an automatic parking operation.
    [0009]
    9 °) Method according to one of claims 1 to 8, characterized in that one carries out the comparison using one of the control devices.
    [0010]
    10 °) System (201) for managing a motor vehicle (301, 401) having a first control device (203, 305) which, based on the environment data, corresponding to the environment inputted by means of an environmental sensor (303) of the vehicle (301, 401) checks whether an object is in the environment of the vehicle (301, 401) and which could collide with the vehicle (301, 401) with a predefined probability to formulate a first test result, a second control apparatus (205, 307) separate from the first control unit (203, 305) and which, based on the obtained environment data, verifies whether an object is located in the vehicle environment (301, 401) and which could collide with the vehicle (301, 401) with a predefined probability, to formulate a second test result, a comparison facility (207) to compare the results test, and a gu installation idage (209) for driving the driverless vehicle (301, 401) and which is adapted to drive the driverless vehicle (301, 401) based on the comparison.
    [0011]
    System (201) according to claim 10, characterized in that the line system (209) automatically stops the vehicle (301, 401) if the comparison shows that one of the test results entered indicates that an object is in the vehicle environment (301, 401) even though the other test result indicates that the environment is free of that object.
    [0012]
    12 °) System (201) according to claim 10 or 11, characterized by an environment sensor (303) for capturing the environment of the vehicle (301, 401), to determine the environment data corresponding to the environment entered one of the two control devices being connected to the environmental sensor (303) so as to transmit the environmental data determined by the environmental sensor (303) to one of the two control devices, the one of the two control devices being designed to transmit the determined environment data to the other of the two control units.
    [0013]
    13 °) System (201) according to one of claims 10 to 12, characterized in that it comprises: an environment sensor (303) for capturing the environment of the vehicle (301, 401) and determining the data of environment corresponding to the environment entered, each of the two control devices being connected to the environment sensor (303) so that the environment sensor environment data (303) is transmitted to the two control devices.
    [0014]
    14 °) System (201) according to one of claims 10 to 13, characterized in that one of the control devices is the main unit of a vehicle information management system (301, 401).
    [0015]
    15 °) System (201) according to one of claims 10 to 14, characterized in that one of the two control devices is a control device of a driver assistance system, including an assistance system parking maneuvers.
    [0016]
    16 °) System (201) according to one of claims 10 to 15, characterized in that one of the two control devices is a control device of the pipe installation (209).
    [0017]
    17 °) System (201) according to one of claims 10 to 16, characterized in that the comparison installation (207) is one of the two control devices so that the comparison can be made by means of the one of the two control units.
    [0018]
    18 °) System (201) according to one of claims 10 to 17, characterized in that 1 one of the two control devices is an AVP control device for performing an automatic parking maneuver.
    [0019]
    19 °) Vehicle (301, 401) comprising a system (201) according to one of claims 10 to 18.
    [0020]
    20) Computer program comprising a program code for implementing a method according to one of claims 1 to 9 when the computer program is executed by a computer.
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    同族专利:
    公开号 | 公开日
    FR3040959B1|2019-11-22|
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    US20170075352A1|2017-03-16|
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    优先权:
    申请号 | 申请日 | 专利标题
    DE102015217386.0A|DE102015217386A1|2015-09-11|2015-09-11|Method and system for operating a motor vehicle|
    DE102015217386.0|2015-09-11|
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