METHOD FOR CONTROLLING A VEHICLE

Abstract

A method for controlling a vehicle controllable in a highly/fully automated manner. The method includes: ascertaining a malfunction of a vehicle control unit of the vehicle, the vehicle control unit being designed for a highly automated and/or fully automated control of the vehicle; switching from the vehicle control unit to an emergency control unit, the emergency control unit being based on a driver assistance system and designed for maximally a conditionally automatic control of the vehicle, and the emergency control unit being configured to effectuate a control of the vehicle in the event of a malfunction of the vehicle control unit; executing the emergency control of the vehicle; and controlling the vehicle with the aid of the emergency control unit based on surroundings sensor data of the vehicle.

Claims

1-12. (canceled)

13. A method for controlling a vehicle controllable in a highly/fully automated manner, comprising: ascertaining a malfunction of a vehicle control unit of the vehicle, the vehicle control unit being configured for a highly automated and/or fully automated control of the vehicle; switching from the vehicle control unit to an emergency control unit, the emergency control unit being based on a driver assistance system and configured for a maximum of conditionally automatic control of the vehicle, and the emergency control unit being configured to effectuate a control of the vehicle in the event of a malfunction of the vehicle control unit; executing the emergency control of the vehicle; and controlling the vehicle using the emergency control unit based on surroundings sensor data of the vehicle.

14. The method as recited in claim 13, wherein the emergency control unit is based on a system architecture different from the vehicle control unit and encompasses hardware components and/or software components different from the vehicle control unit.

15. The method as recited in claim 13, wherein the emergency control unit is configured as: (i) an emergency braking assistance system or (ii) an emergency braking and lane-keeping assistance system or (iii) an emergency braking and lane-keeping assistance system including a lane-change function.

16. The method as recited in claim 13, wherein the emergency control unit is configured to carry out a surroundings perception and/or a behavior planning and/or an actuator management.

17. The method as recited in claim 13, wherein the emergency control unit includes at least one smart sensor, which is configured to carry out an object recognition and/or a trajectory determination of a driving trajectory, the surroundings sensor data being data of the at least one smart sensor.

18. The method as recited in claim 13, wherein the executing of the emergency control includes: carrying out at least one control action, which is configured to transfer the vehicle into a safe state, the emergency control action including: carrying out a brake application and transferring the vehicle into a safe standing position during an emergency operation time interval; and/or keeping a lane traveled by the vehicle and preventing inadvertent changes of the lane during the emergency operation time interval; and/or steering the vehicle onto a shoulder; and/or carrying out a driving trajectory, calculated by the vehicle control unit before the malfunction occurred, or a fallback trajectory; and/or providing a manual control to a driver of the vehicle, and providing a control function until the control is taken over by the driver.

19. The method as recited in claim 13, wherein the executing of the emergency control includes: carrying out at least one safety action which contributes to safety of the vehicle, and the safety action including: activating at least one vehicle lighting and/or a warning lighting of the vehicle; and/or recognizing an unprotected road user; and/or activating an adaptive cruise control system; and/or recognizing road signs and/or speed information; and/or parking the vehicle in a parking space; and/or carrying out a blind spot recognition.

20. The method as recited in claim 13, wherein the surroundings sensor data are based on at least one surroundings sensor, which is used for the vehicle control.

21. The method as recited in claim 13, wherein the surroundings sensor data are based on at least one surroundings sensor, which is exclusively used for the emergency control.

22. The method as recited in claim 13, wherein the surroundings sensor data encompass image data and/or video data and/or LIDAR data and/or radar data.

23. A processing unit configured to control a vehicle, the processing unit configured to: ascertain a malfunction of a vehicle control unit of the vehicle, the vehicle control unit being configured for a highly automated and/or fully automated control of the vehicle; switch from the vehicle control unit to an emergency control unit, the emergency control unit being based on a driver assistance system and configured for a maximum of conditionally automatic control of the vehicle, and the emergency control unit being configured to effectuate a control of the vehicle in the event of a malfunction of the vehicle control unit; execute the emergency control of the vehicle; and control the vehicle using the emergency control unit based on surroundings sensor data of the vehicle.

24. A computer-readable storage medium on which is stored a computer program including commands for controlling a vehicle controllable in a highly/fully automated manner, the commands, when executed by a computer, causing the computer to perform the following steps: ascertaining a malfunction of a vehicle control unit of the vehicle, the vehicle control unit being configured for a highly automated and/or fully automated control of the vehicle; switching from the vehicle control unit to an emergency control unit, the emergency control unit being based on a driver assistance system and configured for maximally a conditionally automatic control of the vehicle, and the emergency control unit being configured to effectuate a control of the vehicle in the event of a malfunction of the vehicle control unit; executing the emergency control of the vehicle; and controlling the vehicle using the emergency control unit based on surroundings sensor data of the vehicle.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0066] FIG. 1 shows a schematic representation of a system for controlling a vehicle according to one specific embodiment of the present invention.

[0067] FIG. 2 shows a further schematic representation of the system for controlling a vehicle according to one further specific embodiment of the present invention.

[0068] FIG. 3 shows a further schematic representation of the system for controlling a vehicle according to one further specific embodiment of the present invention.

[0069] FIG. 4 shows a flowchart of a method for controlling a vehicle according to one exemplary embodiment of the present invention.

[0070] FIG. 5 shows a schematic representation of a computer program product, in accordance with an example embodiment of the present invention.

DETAILED DESCRIPTION OF EXAMPLE EMBODIMENTS

[0071] FIG. 1 shows a schematic representation of a system 200 for controlling a vehicle according to one specific embodiment.

[0072] In the shown specific embodiment, system 200 for controlling a vehicle includes a vehicle control unit 201 and an emergency control unit 203. In the shown specific embodiment, vehicle control unit 201 and emergency control unit 203 may be implemented on a shared processing unit 300.

[0073] System 200 furthermore includes a multitude of surroundings sensors 207, which are each connected to vehicle control unit 201 with the aid of a data interface 237.

[0074] System 200 furthermore includes a switching module 215, which is connected via data interfaces 245, 259 both to vehicle control unit 201 and to emergency control unit 203 and is configured to interconnect vehicle control unit 201 and emergency control unit 203. Switching module 215 is furthermore connected to a multitude of actuators 213 of system 200 via a data interface 247.

[0075] For controlling the vehicle via vehicle control unit 201, vehicle control unit 201 receives surroundings sensor data of surroundings sensors 207 via data interfaces 237 and calculates corresponding control data, which are transferred via switching module 215 to actuators 213, which are controlled according to the control data of vehicle control unit 201.

[0076] According to the present invention, vehicle control unit 201 is designed as a highly automated or fully automated control unit of the vehicle. For this purpose, vehicle control unit 201 includes a surroundings perception module 217, with the aid of which a surroundings perception of surroundings of the vehicle may be carried out, based on the surroundings sensor data of surroundings sensors 207. Vehicle control unit 201 furthermore includes a behavior planning module 219, which is connected via a data interface 239 to surroundings perception module 217. Behavior planning module 219 is configured, based on the surroundings perception of surroundings perception module 217, to plan a corresponding behavior of the vehicle which may encompass in the form of a driving maneuver calculated by taking the vehicle surroundings into consideration. Vehicle control unit 201 furthermore includes an actuator management module 221, which is connected via a data interface 241 to behavior planning module 219. Based on the data of behavior planning module 219, for example the calculated driving maneuver, actuator management module 221 may generate corresponding control data in the form of driving trajectories, based on which a control of actuators 213 for controlling the vehicle according to the planned behavior or the calculated driving trajectory is made possible.

[0077] Surroundings perception module 217 furthermore includes a vehicle localization unit 229 with the aid of which a localization of the vehicle within the surroundings of the vehicle is made possible. Behavior planning module 219 furthermore includes a situation analysis unit 231, with the aid of which an analysis of the driving situation of the vehicle may be carried out and which may be taken into consideration in the behavior planning of the vehicle. Actuator management module 221 furthermore is connected to situation analysis unit 231 with the aid of a data interface 243. In this way, the control data calculated by actuator management module 227 or the respectively calculated driving trajectory may be sent as feedback to situation analysis unit 231 via data interface 243.

[0078] In the shown specific embodiment, emergency control unit 203 also includes a surroundings perception module 223, which is configured to create a surroundings perception of the vehicle, based on the surroundings sensor data of surroundings sensors 207. Surroundings perception module 223 also includes a vehicle localization unit 233 with the aid of which a localization of the vehicle in the perceived surroundings is made possible. Emergency control unit 203 furthermore includes a behavior planning module 225, which is connected via a data interface 253 to surroundings perception module 223. Behavior planning module 225 is configured to plan a behavior of the vehicle in the form of corresponding driving maneuvers, based on the data of surroundings perception module 223. For this purpose, behavior planning module 225 includes a situation analysis unit 235 with the aid of which an analysis of the situation in which the vehicle is situated may be carried out. Emergency control unit 203 furthermore includes an actuator management module 227, which is connected via an interface 255 with behavior planning module 225, and which is configured to calculate corresponding driving trajectories based on the planned behavior. Actuator management module 227 is, in turn, connected via a return data interface 257 to situation analysis unit 235, so that the calculated trajectory may be fed into the situation analysis unit as feedback.

[0079] In the shown specific embodiment, emergency control unit 203 and, in particular, actuator management module 221 are connected via a data interface 249 to emergency control unit 203 and, in particular, to actuator management module 227. A driving trajectory calculated by vehicle control unit 201 may be transferred to emergency control unit 203 via data interface 249.

[0080] In the shown specific embodiment, emergency control unit 203 is connected via data interfaces 251 to a subset 211 of surroundings sensor data 207 of vehicle control unit 201. Emergency control unit 203 thus uses at least some of surroundings sensors 207, which are also used for vehicle control unit 201.

[0081] According to the present invention, emergency control unit 203 is designed as a driver assistance system and is maximally configured for a conditionally automatic control according to automation level 3. The emergency control unit is preferably designed as an emergency braking assistance system or as an emergency braking and lane-keeping assistance system or as an emergency braking and lane-keeping assistance system including a lane-change function. The emergency control unit is thus at least configured to carry out an emergency brake application of the vehicle, and to transfer the vehicle into a safe state, in the event of a failure of the vehicle control unit. Emergency control unit 203 may additionally be configured to keep the vehicle on the traveled lane and thus, to transfer the vehicle into a safe state in the event of a failure of vehicle control unit 201.

[0082] When the vehicle is controlled via vehicle control unit 201, which, in particular, is configured as a highly automated or fully automated control unit according to automation level 4 or 5, vehicle control unit 201 receives surroundings sensor data of the multitude of surroundings sensors 207. Surroundings sensors 207 may, in particular, be designed as image or video sensors, LIDAR sensors or radar sensors, so that the surroundings sensor data encompass image data and/or video data and/or LIDAR data and/or radar data. Based on the surroundings sensor data, vehicle control unit 201 for controlling the vehicle in a highly automated or fully automated manner calculates corresponding driving trajectories, using the aforementioned modules, which are transferred via switching module 215 to the multitude of actuators 213 of the vehicle.

[0083] In the event of a malfunction of vehicle control unit 201, which may exist, for example, due to erroneous control signals or due to a complete absence of control signals of vehicle control unit 201, switching module 215 switches to a control by emergency control unit 203. Based thereon, emergency control unit 203 carries out at least one control action, which is designed to transfer the vehicle into a safe state. Emergency control unit 203 is limited compared to vehicle control unit 201 in terms of the execution of the respective control actions, and is only configured to carry out a limited selection of possible control actions. According to the present invention, emergency control unit 203 is at least configured to carry out an emergency brake application of the vehicle, and to reduce a speed of the vehicle in a safe manner, and to thereby transfer the vehicle into a safe standing position. The speed reduction by emergency control unit 203 may, in particular, be carried out during an emergency operation interval. Emergency control unit 203 may additionally be configured to keep the vehicle on the traveled traffic lane.

[0084] The emergency control unit according to the present invention is not designed to represent an exact copy of the vehicle control unit, which is configured to carry out all driving functions of the vehicle control unit. Instead, the present invention is based on the idea of providing or using an emergency control unit which is drastically limited compared to the vehicle control unit in terms of complexity and functionality, and which is primarily configured to be able to carry out control actions which are essential for a safe control of the vehicle. The functionality of emergency control unit 203 is thus primarily limited to transferring the vehicle into a safe state following a failure of the vehicle control unit. The emergency control unit, in contrast, is not able to carry out driving functions which are not exclusively needed for a temporary safe control of the vehicle into a safe state. Emergency control unit 203 thus does not serve to control the vehicle for longer periods, as a replacement for vehicle control unit 201.

[0085] In addition to reducing the speed, emergency control unit 203 may be configured to carry out additional driving functions, which contribute to transferring the vehicle into a safe state on short notice. For example, emergency control unit 203 may be configured to prevent an inadvertent change of a traffic lane traveled by the vehicle. As an alternative or in addition, emergency control unit 203 may be configured to steer the vehicle safely onto a shoulder or into a safe roadway area. As an alternative or in addition, emergency control unit 203 may be configured to provide a manual control to a driver of the vehicle. As an alternative or in addition, emergency control unit 203 may be configured to execute a driving trajectory, calculated by vehicle control unit 201 before the malfunction occurred, or a fallback trajectory, which are each transferred via data interface 249 to emergency control unit 203, and to control the vehicle based thereon.

[0086] Emergency control unit 203 may furthermore be configured to carry out safety actions, which may contribute to an increased safety of the vehicle. The safety action may, for example, encompass an activation of a vehicle lighting and/or a warning lighting of the vehicle. As an alternative or in addition, unprotected road users may be recognized by emergency control unit 203. As an alternative or in addition, an adaptive cruise control system may be activated by emergency control unit 203. As an alternative or in addition, emergency control unit 203 may carry out a recognition of road signs and/or speed information. Furthermore, the vehicle may be steered into a parking space or a blind spot recognition may be carried out.

[0087] For this purpose, emergency control unit 203 is configured to calculate corresponding driving trajectories, based on the surroundings sensor data of surroundings sensors 207, using the described modules, based on which a control of actuators 213 and a control of the vehicle are made possible.

[0088] According to the present invention, vehicle control unit 201 is designed for a highly automated and/or fully automated control of the vehicle according to automation levels 4 and 5, while emergency control unit 203 is designed as a driver assistance system, which is maximally configured for a conditional automatic control according to automation level 3.

[0089] FIG. 2 shows a further schematic representation of system 200 for controlling a vehicle according to one further specific embodiment.

[0090] The specific embodiment in FIG. 2 is based on the specific embodiment in FIG. 1. The shown specific embodiment only differs from the specific embodiment in FIG. 1 in that emergency control unit 203 operates on dedicated surroundings sensors 209, which are not used by vehicle control unit 201. The further features of vehicle control unit 201 or of emergency control unit 203 correspond to the specific embodiment of FIG. 1 and are not described again in detail.

[0091] FIG. 3 shows a further schematic representation of system 200 for controlling a vehicle according to one further specific embodiment.

[0092] The specific embodiment in FIG. 3 is based on the specific embodiment in FIG. 1. In the shown specific embodiment, the emergency control unit differs in that it includes a multitude of smart sensors 205. Emergency control unit 203 is furthermore not installed on processing unit 203 carrying out vehicle control unit 201 or is carried out by same. In the shown specific embodiment, smart sensors 205 are configured to carry out an object recognition and/or a trajectory determination of a driving trajectory. Smart sensors 205 may, for example, be designed as image or video sensors, LIDAR sensors or radar sensors, and configured to detect surroundings of the vehicle as surroundings sensors of the vehicle.

[0093] Upon detection of a malfunction of vehicle control unit 201, switching module 215 switches to a control via emergency control unit 203. According to the specific embodiment described with respect to FIG. 1, emergency control unit 203, in the shown specific embodiment, is also configured to carry out the control actions or safety actions described there. In particular, emergency control unit 203, in the form of smart sensors 205, is at least configured to effectuate a safe reduction of a speed of the vehicle. Emergency control unit 203 is furthermore configured to generate corresponding driving trajectories, based on the surroundings sensor data of the smart sensors, based on which a control of the vehicle is made possible. As an alternative or in addition, vehicle control unit 201, in the form of smart sensors 205, is configured to execute a driving trajectory generated most recently by vehicle control unit 201, or a fallback trajectory.

[0094] FIG. 4 shows a flowchart of a method 100 for controlling a vehicle according to one specific embodiment.

[0095] Method 100 according to the present invention for controlling a vehicle which is controllable in a highly automated or fully automated manner may be carried out by a system 200 according to the specific embodiments of FIGS. 1 through 3.

[0096] For controlling a vehicle, in a method step 101, initially a malfunction of vehicle control unit 201 of the vehicle is ascertained.

[0097] Thereupon, in a method step 103, a switch is carried out from vehicle control unit 201 to emergency control unit 203.

[0098] Thereupon, in a method step 105, emergency control 203 is carried out.

[0099] For this purpose, in a method step 109, at least one control action is carried out by the emergency control unit. In the process, the control action includes at least a safe reduction of a speed of the vehicle and a transfer of the vehicle into a safe standing position.

[0100] In a method step 111, furthermore a safety action may be carried out by emergency control unit 203.

[0101] In a method step 107, the vehicle is controlled based on the at least one control action carried out by emergency control unit 203.

[0102] FIG. 5 shows a schematic representation of a computer program product 400 according to one specific embodiment.

[0103] In the shown specific embodiment, computer program product 400 is stored on a memory medium 401. Memory medium 401 may be a commercially available memory medium.