Abstract
A device and to a method for controlling a highly automated vehicle, as well as a portable unit for remotely controlling the highly automated vehicle, the highly automated vehicle being able to independently carry out driving maneuvers without the intervention of the driver or a vehicle occupant. The device for controlling is connected to the portable unit. The device for controlling receives a signal from the portable unit that the portable unit has detected a dropping by the vehicle driver or a vehicle occupant. Upon detection of a free fall, the presently independently carried out driving maneuver is automatically aborted or terminated.
Claims
1. A device for controlling a highly automated vehicle, the highly automated vehicle independently carrying out driving maneuvers without an intervention of a driver or a vehicle occupant, the device configured to: connect to a portable unit; receive a signal from the portable unit that the portable unit has detected a dropping of the portable unit by the vehicle driver or a vehicle occupant; and upon detection of a free fall, abort or terminate a presently independently carried out driving maneuver.
2. A portable unit for remotely controlling a highly automated vehicle, the highly automated vehicle independently carrying out driving maneuvers without an intervention of a driver or a vehicle occupant, the portable configured to: connect to a device for controlling the highly automated vehicle; and supply a signal to the device for controlling that the portable unit has detected a dropping of the portable unit by a vehicle driver or a vehicle occupant; wherein, upon detection of a free fall, a presently independently carried out driving maneuver is aborted or terminated.
3. The device as recited in claim 1, wherein a connection between the device and the portable device is a wireless connection.
4. The device as recited in claim 3, wherein the wireless connection is a radio link having a short range.
5. The portable unit as recited in claim 2, wherein the portable unit is a smart phone or a tablet computer.
6. The portable unit as recited in claim 2, wherein the portable unit is a remote control for controlling the driving maneuver of the highly automated vehicle.
7. The device as recited in claim 1, wherein the abortion of the driving maneuver provides that the device for controlling the vehicle directly transfers vehicle guidance to the driver.
8. The device as recited in claim 1, wherein the termination of the vehicle maneuver provides that the vehicle is automatically stopped, and the device for controlling the vehicle transfers vehicle guidance to the driver only when a standstill of the vehicle has been reached.
9. The portable unit as recited claim 2, wherein the portable unit includes a fall sensor, and wherein the portable unit being dropped is detected by the portable unit by the fall sensor whose signal is evaluated.
10. The portable unit as recited in claim 9, wherein the fall sensor is an acceleration sensor system.
11. The portable unit as recited in claim 9, wherein the fall sensor is a camera of the portable unit on a display side of the portable unit.
12. The device as recited in claim 11, wherein the fall sensor is implemented in that the camera of the portable unit detects the dropping when a previously detected face of the vehicle driver or of the vehicle occupant suddenly disappears from a detection area of the camera.
13. A method for controlling a highly automated vehicle, the highly automated vehicle independently carrying out driving maneuvers without an intervention of a driver or a vehicle occupant, the method comprising: connecting a device for controlling the vehicle to a portable unit; receiving, by the device for controlling, a signal from the portable unit when the portable unit has detected a dropping by the vehicle driver or a vehicle occupant; and upon receipt of the signal, aborting or terminating a presently independently carried out driving maneuver.
14. A method of a portable unit for remotely controlling a highly automated vehicle, the highly automated vehicle independently carrying out driving maneuvers without the intervention of a driver or a vehicle occupant, the method comprising: connecting the portable unit to a device for controlling the highly automated vehicle; supplying, by the portable unit, a signal to the device for controlling when the portable unit has detected a dropping by the vehicle driver or the vehicle occupant; wherein, upon detection of a free fall, a driving maneuver presently independently carried out by the device for controlling the vehicle is aborted or terminated.
Description
BRIEF DESCRIPTION OF THE DRAWINGS
[0020] Exemplary embodiments of the present invention are described hereafter based on the figures.
[0021] FIG. 1a and FIG. 1b show two schematic illustrations for explaining the device according to the present invention and the method, according to example embodiments.
[0022] FIG. 2a and FIG. 2b show two schematic block diagrams for explaining different specific embodiments of the device according to example embodiments of the present invention.
[0023] FIG. 3 shows a schematic flowchart for explaining the method according to an example embodiment of the present invention.
DETAILED DESCRIPTION OF EXAMPLE EMBODIMENTS
[0024] FIG. 1a shows a vehicle 1 which is, in particular, configured as a vehicle 1 driving in a highly automated manner. This highly automated vehicle is able to independently carry out driving maneuvers, or even to autonomously cover routes, without the driver or an occupant of vehicle 1 having to decisively intervene in the driving process. Furthermore, a vehicle driver 2 or a vehicle occupant 2 is shown inside vehicle 1 in FIG. 1a, who is sitting on vehicle seat 3 and is transported by vehicle 1 to a destination. In the process, vehicle driver 2 or vehicle occupant 2 is holding a portable unit 4 in his or her hand. This portable unit 4 may particularly advantageously be configured as a smart phone or tablet computer and serve as remote control or control unit for vehicle 1. Vehicle 1 is furthermore configured with the aid of a device for controlling 5 the vehicle, which receives signals from vehicle sensors, which are not shown, and outputs output signals 9, 10 to vehicle wheels 7, 8. It is shown by way of example in the process that output signal 9 of the device for controlling 5 acts on rear wheels 7 and in the process, in particular, controls or regulates a longitudinal vehicle control, i.e., output signal 9 controls the acceleration or deceleration of vehicle 1. Output signal 10 of the device for controlling 5 acts on front wheels 8 of vehicle 1 and, in the process, causes a steering of vehicle 1 in that signal 10 controls steering angles. The illustrated specific embodiment may also, of course, be configured for front wheel drive or all-wheel drive vehicles. It is to be noted here as essential for the invention that the device for controlling 5 outputs output signals 9, 10, with the aid of which the vehicle is controlled with respect to its longitudinal driving vehicle dynamics and with respect to its lateral vehicle dynamics. The device for controlling 5 is connected to portable unit 4 in the process, so that these two devices are able to exchange signals with one another. This connection 6 between portable unit 4 and the device for controlling 5 may be designed as an electrical cable; however, advantageously, it may also be configured as a radio link, and in particular may be configured as a radio link having a short range. In the process, it provides for the use of radio links having the Bluetooth standard or WLAN/WIFI standard or other available connection standards.
[0025] FIG. 1b, in turn, shows vehicle 1, as was already described in FIG. 1a. This vehicle 1, in turn, includes a vehicle seat 3 inside. The shown vehicle driver 2, however, is not inside vehicle 1 in FIG. 1b, but is situated outside vehicle 1 for the present driving maneuver, which may be a parking maneuver, for example. Vehicle driver 2 is holding portable unit 4 in his or her hands, which is connected to the device for controlling 5 the vehicle with the aid of a connection 6, which may, in particular, be configured as a radio link 6. The device for controlling 5, in turn, outputs signals 9, 10, which act on front wheels 8 or rear wheels 7 of the vehicle, and are able to steer and control vehicle 1 with respect to its longitudinal vehicle dynamics and/or its lateral vehicle dynamics.
[0026] Vehicle 1, as it is shown in FIGS. 1a and 1b, carries out independent driving maneuvers with the aid of the device for controlling 5 to transport vehicle 1 to destinations predefined by occupants 2 or vehicle driver 2. This destination may, for example, also be the parking of vehicle 1 in a parking spot. In the process, vehicle driver 2 or vehicle occupant 2 may monitor vehicle 1 in its present driving maneuver, and during certain driving maneuvers it may be necessary that vehicle driver 2 or vehicle occupants 2 must effectuate an immediate stop of vehicle 1, or must effectuate an immediate termination of the presently carried out vehicle maneuver, to avoid a hazard, for example a collision. Vehicle driver 2 or vehicle occupant 2 may implement this with the aid of portable unit 4.
[0027] FIG. 2a shows a schematic block diagram of portable unit 4 as well as of the device for controlling 5. Portable unit 4 includes a central processing unit 12 as one of its integral components, which may, for example, be configured as a microcontroller or microprocessor and on which applications (“apps”) may run for a wide variety of usage purposes of portable unit 4. Portable unit 4 furthermore includes a fall sensor as one of its integral components, which is able to detect a free fall of portable unit 4. This fall sensor is designed as acceleration sensor system 13 in the exemplary embodiment of FIG. 2, which is able to detect accelerations of portable unit 4 in different directions. This may, for example, be implemented with the aid of inertia sensors designed as an inertial sensor system. This acceleration sensor system 13 may calculate an overall-resulting acceleration of portable unit 4 and detect when this overall acceleration approximately corresponds to the magnitude of the gravitational force of the earth. In this case, acceleration sensor system 13, supported by processing unit 12, may detect a free fall of portable unit 4. Processing unit 12 is furthermore connected to an antenna 15 of portable unit 4, via which portable unit 4 is able to exchange signals with other devices, for example with the aid of the device for controlling 5. If a free fall was detected by acceleration sensor system 13, processing unit 12 may transmit corresponding signals via antenna 15, which signal that a free fall was detected. In this case, an accordingly encoded signal is emitted via radio link 6 to the device for controlling 5, which, in turn, includes an antenna 16 with the aid of which the fall signal may be received. This antenna 16 of the device for controlling 5 is connected, by way of example, with the aid of a central processing unit 17 in which, by way of example, also the presently carried out driving maneuver of vehicle 1 is controlled and checked. In this way, input signals from surroundings sensor systems of vehicle 1 may furthermore be supplied to the device for controlling 5, which was not illustrated in FIG. 2a for the sake of simplification. Based on these signals as well as navigation data and additional supplied signals, the device for controlling 5 may output output signals 19 via an output circuit 18 to downstream units. These downstream units may, for example, be actuator units for longitudinal vehicle control 20, with the aid of which the acceleration and the deceleration of vehicle 1 is controlled and regulated. Furthermore, an actuator unit 21 for the lateral vehicle control may be provided as downstream devices, with the aid of which vehicle 1 may carry out steering movements. When a fall signal is supplied to central processing unit 17 via antenna 16, the device for controlling 5 recognizes that the present driving maneuver is to be directly aborted or terminated, and corresponding output signals 19 are to be output. In the case of an abortion of the presently carried out driving maneuver, output signals 19 to downstream actuator units 20, 21 are immediately deactivated. In the case of a termination of the presently carried out driving maneuver, output signals 19 may be output to downstream actuator units 20, 21, so that vehicle 1 may be transferred preferably quickly and preferably safely into a safe state, in particular, into the vehicle standstill.
[0028] FIG. 2b shows an exemplary embodiment very similar to that described in FIG. 2a. The majority of components shown and described in FIG. 2a are identically designed in FIG. 2b. In contrast, the fall sensor is designed differently, which in the exemplary embodiment according to FIG. 2b is not designed as an acceleration sensor system, but as an internal camera 14 of portable unit 4. In the event that portable unit 4 is designed as a smart phone, it is possible to use the camera present on the display side of the smart phone as an installed camera, which is often also referred to as a “selfie” camera. This selfie camera 14 may record the face or the head of vehicle driver 2 or of vehicle occupant 2 and may detect portable unit 4 being dropped in that the detected head or the detected face disappears very quickly from the camera field of view. Furthermore, it is possible that this internal camera 14 of portable unit 4 authenticates the present user of the vehicle and of portable unit 4, for example in that biometric facial features or biometric eye features are identified with the aid of camera 14, and a remote control of vehicle 1 with the aid of portable unit 4 is only possible when the present vehicle driver or present vehicle occupant 2 has the necessary remote control rights for vehicle 1, for example because he or she previously authenticated himself or herself on the portable unit.
[0029] FIG. 3 shows an exemplary flowchart, with the aid of which the method according to the present invention as well as the cooperation of the methods according to the present invention of portable unit 4 and of the device for controlling 5 are explained. In step 22, for example, the device for controlling 5 is started and put into operation. In step 23 taking place in parallel, portable unit 4 is also started and put into operation. The device for controlling 5 thereupon starts step 24 by establishing the connection. Also, step 25 is started in portable unit 4, which also includes an establishment of the connection to the device for controlling 5, and a shared transmission 26 of signals is established. These signals 26 establish connection 6, which may, in particular, be designed as a radio link. In further step 29, a highly automated driving maneuver is started by the device for controlling 5. This may, for example, be a trip to a driving destination entered by one of vehicle occupants 2. As an alternative, it is also possible that a parking maneuver into a parking space situated in the vicinity of the vehicle is started as the driving maneuver. After the connection has been successfully established in step 25, portable unit 4 may output (step 27) a starting command for a driving maneuver in that vehicle driver 2 or vehicle occupant 2 selects and deliberately starts a corresponding driving maneuver. This starting command is transmitted with the aid of a transmitted start signal 28 to the device for controlling 5 vehicle 1, whereupon in step 29 the highly automated driving maneuver is started. Thereupon, the subsequently shown step 30 follows in the device for controlling 5, in which the driving maneuver is carried out. In the process, a loop is run through during the execution of the driving maneuver in that it is repeatedly queried in step 31 whether an abortion signal or a termination signal was received. As long as no such abortion signal or termination signal is received by the device for controlling 5, step 31 branches off toward “No” and is continued in step 30 in that the driving maneuver continues to be carried out. In parallel thereto, it is continuously checked in portable unit 4 whether according to step 32 a free fall was detected. This may take place, for example, with the aid of an acceleration sensor system 13 or with the aid of a camera in portable unit 4. If a free fall of portable unit 4 was not detected in step 32, the method is continued in step 32 as a loop until the driving maneuver is completed. If, prior to the end of the driving maneuver, a free fall is detected by portable unit 4, step 32 branches off toward “Yes,” and in subsequent step 33, an abortion signal or a termination signal 34 is transmitted from portable unit 4 to the device for controlling 5. When this abortion signal or termination signal 34 is received by the device for controlling 5, step 31 branches off in the device for controlling 5 toward “Yes,” and in subsequent step 35, the driving maneuver is aborted or terminated, depending on the design of the method according to the present invention in the particular vehicle 1. Within the scope of step 35, the vehicle guidance is immediately transferred to vehicle driver 2 or vehicle occupant 2, or also the vehicle is transferred preferably quickly into a safe state with the aid of a termination maneuver. If the vehicle guidance was transferred to vehicle driver 2 or to vehicle occupant 2, or vehicle 1 was transferred into the standstill, the device for controlling 5 in step 36 ends its methods and awaits a renewed activation. After the emission of abortion signal or termination signal 34, portable unit 4 in step 33 may also end the corresponding method in step 37.
