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EP3580737A1 - Method for coordinating the traffic of a plurality of motor vehicles within a predetermined infrastructure region and server device, motor vehicle and system - Google Patents

Method for coordinating the traffic of a plurality of motor vehicles within a predetermined infrastructure region and server device, motor vehicle and system

Info

Publication number
EP3580737A1
EP3580737A1 EP18704901.0A EP18704901A EP3580737A1 EP 3580737 A1 EP3580737 A1 EP 3580737A1 EP 18704901 A EP18704901 A EP 18704901A EP 3580737 A1 EP3580737 A1 EP 3580737A1
Authority
EP
European Patent Office
Prior art keywords
motor vehicle
motor vehicles
server device
driving
vehicle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP18704901.0A
Other languages
German (de)
French (fr)
Other versions
EP3580737B1 (en
Inventor
Harald Altinger
Florian Schuller
Christian FEIST
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Audi AG
Original Assignee
Audi AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Audi AG filed Critical Audi AG
Publication of EP3580737A1 publication Critical patent/EP3580737A1/en
Application granted granted Critical
Publication of EP3580737B1 publication Critical patent/EP3580737B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
    • G08G1/146—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas where the parking area is a limited parking space, e.g. parking garage, restricted space
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
    • E04H6/422—Automatically operated car-parks
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
    • E04H6/426—Parking guides
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
    • G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
    • G08G1/0116—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from roadside infrastructure, e.g. beacons
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
    • G08G1/143—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces inside the vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/164—Centralised systems, e.g. external to vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00—Registering or indicating the working of vehicles
    • G07C5/008—Registering or indicating the working of vehicles communicating information to a remotely located station

Definitions

  • the invention relates to a method for coordinating a traffic of several motor vehicles within a predetermined infrastructure area, for example a parking garage.
  • the method may be performed by a central server device.
  • the invention also includes the server device, a motor vehicle that can be coordinated by the server device with another motor vehicle, as well as a system of the server device and at least one motor vehicle.
  • a parking garage can be provided that not the driver himself has to maneuver his vehicle to a parking lot of the parking garage, but he can get out in front of the parking garage or at the entrance and the car is fully automated by an autopilot in the parking garage to a free parking lot or maneuvered becomes.
  • AVP automated valet parking
  • DE 10 2015 204 861 A1 which also describes how such a fully automated motor vehicle can have problems with its sensors because, for example, radar echoes or shadowing
  • a server device of the parking garage informs the autopilot of the motor vehicle about such problematic areas , are problematic areas that arise dynamically, namely by the traffic of several fully automatic guided vehicles and / or in the parking garage moving pedestrians or cyclists.
  • a server device can also take over the remote control of a vehicle in order to guide it or to give instructions to its autopilot.
  • Such a remote control of a fully automatically guided motor vehicle results in the problem that in case of damage to the motor vehicle, the question of guilt is difficult to clarify.
  • a method for operating a central server which sends a control card to motor vehicles, in which the valid for the motor vehicles, coordinated right of way rules are included, so that the vehicles can collision pass each other.
  • individual motor vehicles can first transmit the traffic situation detected by the vehicle's own sensor system as a respective own control card to a central server device, which then determines whether one of the motor vehicles has detected the traffic situation incorrectly and therefore coordination of the control charts is necessary.
  • the invention has for its object to coordinate the traffic of motor vehicles within a predetermined infrastructure area.
  • the object is solved by the subject matters of the independent claims.
  • Advantageous developments of the invention are described by the dependent claims, the following description and the figures.
  • the invention provides a method for coordinating traffic of several motor vehicles within a predetermined infrastructure area.
  • the method may be performed by a central server device.
  • the infrastructure area can be, for example, a multi-storey car park or a parking lot with several parking spaces.
  • the server device receives from the motor vehicles in each case repeatedly a respective current driving status and a respective current driving intention of the motor vehicle.
  • the driving status can include, for example, the current position of the motor vehicle in the infrastructure area and / or a current driving speed of the motor vehicle (amount and / or direction).
  • the driving intention may be, for example, the specification of a planned driving trajectory or driving route and / or a planned driving destination.
  • the drive intention may be calculated, for example, by an autopilot of the motor vehicle or (in the case of a driver-guided motor vehicle) by a navigation device of the motor vehicle or a statistical route analysis provided.
  • the server device determines for each of the motor vehicles in each case a current coordination result, which indicates where the motor vehicle from its current driving status its driving intention or generally driving is prohibited because according to a predetermined traffic control another of the motor vehicles due to its respective driving status and / or whose respective intention driving deserved priority or let the server device initially pass one of the other motor vehicles.
  • the traffic regulation can be predetermined by a law or a house rules and / or by a traffic planning of the server device.
  • a respective current, permitted behavior is determined for each of the motor vehicles.
  • the permitted behavior describes where the respective motor vehicle may travel anywhere within the infrastructure area. This is not the specification of a driving trajectory, but rather the specification of all those driving surfaces or driving alternatives which the motor vehicle may use according to the traffic regulation or may travel along it.
  • the motor vehicle thus has the choice of which trajectory it drives.
  • To the motor vehicles is then the respectively determined, in the infrastructure area for the respective motor vehicle currently allowed behavior as a coordination message signals.
  • This coordination message serves to ensure that each of the motor vehicles automatically adapts its drive intention to the permitted mode of behavior.
  • each motor vehicle is only informed as to which driving possibilities or free spaces or drivable areas are currently available to it in the infrastructure area. The way in which the motor vehicle reacts to this can be determined by adjusting or maintaining its driving intention.
  • the advantage of the invention is that moving motor vehicles, ie the traffic of several motor vehicles, is coordinated in the infrastructure area by a central server device, without the responsibility for the driving of the individual motor vehicles being transferred to the server device.
  • the server device only signals which planning clearances are available to the motor vehicles for the autonomous determination of driving intentions, ie for example driving routes or driving trajectories, the behaviors that are permitted to the motor vehicles being matched to one another by the server device. Each vehicle can thus plan freely within its permitted behavior, without risk of collision with any of the other vehicles.
  • the server device of at least one of the motor vehicles detects its current driving status, ie, for example, its position and / or driving speed, by means of a monitoring sensor system of the infrastructure area.
  • the monitoring sensor is so vehicle outside, so not part of the vehicles.
  • the server device checks whether a predetermined security problem exists and triggers a predetermined protective measure if a security problem is detected.
  • a malfunction in the vehicle sensor system of a motor vehicle can be compensated or counteracted by means of the protective measure.
  • the monitoring sensor may, for example, a camera and / or a radar and / or a light barrier and / or a lidar and / or an ultrasonic sensor.
  • the server device recognizes as a security problem that the current driving status received by the motor vehicle and the self-detected driving status of the motor vehicle have a deviation that is greater than a predetermined minimum value. In other words, the server device detects a defect and / or a measurement disturbance in the vehicle sensor system of the motor vehicle. By setting the minimum value, a tolerance can also be provided in order to avoid a false alarm or a false triggering of the protective measure.
  • the invention also includes advantageous developments, the characteristics of which provide additional advantages.
  • At least one area currently freely accessible by the motor vehicle or a surface area which can be driven freely by the motor vehicle is preferably signaled by means of the coordination message.
  • the motor vehicle can then autonomously plan a driving trajectory.
  • a freely passable area is thus of the infrastructure area, a partial area or segment or section, within which several possible Maisrajektorien can be set or planned. This results in the advantage that the motor vehicle can independently carry out the trajectory planning.
  • the coordination message additionally or alternatively, at least one area or area blocked off for the motor vehicle can also be signaled. The motor vehicle is then informed that in trajectory planning it must lay or fix its planned driving trajectory around or past this closed area.
  • the server device uses at least one of the motor vehicles in each case a common digital environment map.
  • a copy of the digital environment map may be provided in the server device and in the motor vehicle, respectively, or the server device and the motor vehicle access a common representation of the environment map.
  • the said coordination message to the motor vehicle then contains at least one reference to the environment for describing the permitted behavior. environment map.
  • the coordination message can be provided with a small volume of data. Because the description of the environment is already present in the area map, so that the coordination message must specify only by the reference an indication of, for example, a freely passable area and / or an indication of a restricted area with respect to the area map.
  • a number or a coordinate or an identification number of a respective area can be specified. This can be carried out particularly efficiently by dividing at least part of the infrastructure area, ie a subarea or the entire infrastructure area, into area segments in order to determine the currently permitted behavior.
  • a surface segment may for example have a size in a range of 0.5 m 2 to 2 m 2 .
  • the server device sets a respective trafficability status for each area segment. The trafficability status is set depending on the current coordination result. The result of the coordination indicates, in the manner described, where a motor vehicle is prohibited, because another motor vehicle, for example, has priority and plans to drive there.
  • the trafficability status is set to one of the two values "driving allowed" and "driving prohibited" for each area segment.
  • the server device By means of the coordination message, the server device then signals a respective currently set navigability status of at least one of the surface segments to the respective motor vehicle.
  • the trafficability status can be specified for all those surface segments over which the motor vehicle plans to drive in accordance with its driving intention.
  • the trafficability status of adjacent area segments can also be specified.
  • the server device predicts a respective movement of at least one of the motor vehicles on the basis of their respective current driving status by means of a movement model.
  • the movement model can also take into account the drive intention signaled by the motor vehicle.
  • the movement model can also take into account, for example, a mass inertia of the motor vehicle in order to determine, for example, a braking distance or a required minimum curve radius.
  • a security problem is then recognized that due to the predicted movement is a collision with a traffic object imminent, so for example with another of the motor vehicles or with a stationary object, such as a pillar or a road sign or a guardrail, or with a pedestrian or a cyclist.
  • the protective measure can be triggered.
  • the protective measure comprises in particular that an emergency stop command is transmitted to at least one of the motor vehicles.
  • the motor vehicle then stops in response to the emergency stop command.
  • an acute request for emergency stop is sent to each located in the region of the motor vehicle and / or on the region approaching motor vehicle.
  • Such an emergency stop command can also be provided for other applications.
  • the server device may transmit the emergency stop command if, for example, a fire alarm is triggered in the infrastructure area or an ambulance is to enter the infrastructure area.
  • the respective driving status and the respective driving intention can be transmitted, for example, by means of a radio connection, which can be provided for example on the basis of WLAN (Wireless Local Area Network) and / or a mobile radio connection, for example LTE (Long Term Evolution).
  • the server device must now be able to assign a driving status received via such a radio link to a motor vehicle which is detected in sensor data of the monitoring sensor system. This can be done, for example, as follows. From at least one of the motor vehicles, a respective vehicle identification information of the motor vehicle is received at least once together with the driving status and / or the driving intention.
  • a vehicle identification indication may include, for example, a character string and / or a number.
  • VIN VIN - Vehicle Identification Number
  • At least one of the motor vehicles is then detected in sensor data of the monitoring sensor system. For example, in image data of a camera by an algorithm for object recognition, a motor vehicle can be identified and classified. Now the question is which vehicle identification information this vehicle has or has detected in the sensor data.
  • the server device can for this purpose a request Addressing a signal to perform a predetermined recognition action to a received vehicle identification information and send out to the motor vehicle. It therefore requests that motor vehicle which has or holds the vehicle identification information to perform the predetermined recognition action.
  • the recognition action may be, for example, that the motor vehicle is driving a predetermined maneuver and / or activates an outdoor lighting device according to a predetermined pattern, for example, turns on and / or off the daytime running light for a predetermined period of time.
  • the server device then recognizes in the sensor data which motor vehicle detected therein executes the recognition action. In other words, it is detected based on the sensor data which motor vehicle reacts to the request signal.
  • the server device then assigns to the motor vehicle, which performs the recognition action, the vehicle identification information to which the request signal was addressed. In this way, a driving status received via radio can be assigned to a motor vehicle detected in sensor data of the monitoring sensor.
  • At least one further road user (for example a third-party vehicle that does not report his driving status to the server device and / or a pedestrian and / or a cyclist) is also preferably considered by a respective prospective trajectory of the at least one traffic participant is determined and this then with the driving intention of the respective motor vehicle, for which the coordination result is to be determined, is adjusted.
  • the monitoring sensor system can be used and then a road user recognized therein can be classified, for example, recognized as a foreign vehicle or pedestrian or cyclist, and then the movement path of the detected road user can be predicted by means of a movement model for the recognized object class.
  • a movement model for a pedestrian can, for example, simulate the kinematics or dynamics of a pedestrian and in this case be initialized with movement data, which are determined on the basis of the sensor data of the monitoring sensor system. The same applies to a cyclist and another vehicle.
  • the invention of a server device for coordinating provided a traffic of several motor vehicles.
  • the server device has a processor device which is set up to carry out an embodiment of the method according to the invention.
  • the processor device can have at least one microprocessor and / or at least one microcontroller.
  • the processor device may have a program code which is set up to execute the embodiment of the method according to the invention when executed by the processor device.
  • the program code may be stored in a data memory of the processor device.
  • the server device can be provided, for example, as a computer or computer network.
  • the server device may have a communication device, which may have, for example, a WLAN router and / or a mobile radio module.
  • the invention also provides a motor vehicle which can be operated in the infrastructure area and in this case can be coordinated by the server device.
  • the motor vehicle has an autopilot device for fully automatic guidance (longitudinal guidance and transverse guidance) or maneuvering of the motor vehicle.
  • a communication device is provided, which is set up to send a current driving status and an intention planned by the autopilot device driving intention (for example, a driving route or a driving trajectory) to the server device and at least one coordination message from the Server device to receive.
  • a behavior currently permitted to the motor vehicle in the infrastructure area is signaled.
  • This permitted behavior does not provide a driving trajectory, but rather the entirety of the driving possibilities or options available to the motor vehicle, that is to say a large number of possible driving trajectories.
  • the autopilot device may then independently re-plan a driving intention on the basis of the permitted behavior signaled by the coordination message.
  • the permitted behavior can specify at least one area within which the motor vehicle can be guided freely by the autopilot device.
  • the autopilot device plans a driving trajectory for driving through or driving over the area, if the original driving intention is not feasible, that is excluded from the permitted behavior.
  • the motor vehicle according to the invention is preferably designed as a motor vehicle, in particular as a passenger car or truck.
  • a development of the motor vehicle according to the invention provides that the autopilot device stops the motor vehicle if an emergency stop command is received from the server device.
  • FIG. Shows a schematic representation of an embodiment of the system according to the invention.
  • the described components of the embodiments each represent individual features of the invention, which are to be considered independently of one another, which each further develop the invention independently of one another and thus also individually or in a different combination than the one shown as part of the invention. Furthermore, the described embodiments can also be supplemented by further features of the invention already described.
  • the figure shows a system 10 with a server device 1 1 and motor vehicles 12, 13.
  • the motor vehicles 12, 13 travel in an infrastructure area 14, which may be, for example, a parking garage or a parking lot.
  • the server device 1 1 can in this case coordinate the traffic or the driving style of the motor vehicles 12, 13.
  • the server device 1 1 may be formed, for example, by a computer or a computer network that may be installed in the infrastructure area 14.
  • the server device 1 1 may have a communication device 15 and a processor device 16.
  • the communication device 15 may be configured to operate a respective radio link 17, 18 to a respective corresponding communication device 19 of the motor vehicles 12, 13.
  • the communication device 15 may comprise, for example, a WLAN router and / or a mobile radio module.
  • the communication devices 19 of the motor vehicles 12, 13 can accordingly likewise comprise a WLAN router and / or a mobile radio module.
  • a traffic coordination 20 can be provided which, for example, can be formed on the basis of a program code for the processor device 16.
  • the motor vehicles 12, 13 can each be guided fully automatically by a respective autopilot or autopilot device 21 in the infrastructure area 14.
  • Each autopilot device 21 can transmit or transmit via the respective communication link 17, 18 to the server device 1 1 a current driving status 22 and a driving intention 23.
  • the coordination device 20 can determine how the motor vehicles 12, 13 move in the infrastructure area 14.
  • the driving intention 23 may, for example, represent a respective driving trajectory 24, 25 planned by the autopilot device 21 of the respective motor vehicle 12, 13. In the illustrated example, it is shown that the travel trajectories 24, 25 of the motor vehicle 12 on the one hand and the motor vehicles 13 on the other hand intersect.
  • the infrastructure area 14 may apply a traffic control 26, which may indicate, for example, which of the motor vehicles 12, 13 has priority in the case described.
  • the coordination device 20 can signal to the motor vehicle 12 a coordination message 26 on the basis of a coordination result determined on the basis of the traffic regulation 26 to the motor vehicle 12.
  • the infrastructure area 14 can be divided into area segments 28, 28 ', of which only a few are provided with a reference number in the figure for the sake of clarity.
  • a surface segment 28, 28 ' can each be a rectangular region or a rectangular surface.
  • Those surface segments 28 ' may have set a trafficability status "driving prohibited” in accordance with the coordination message 27 for the motor vehicle 12. In the figure this by a hatching of the respective surface segment 28 ' illustrated.
  • Those surface segments 28 which the motor vehicle 12 is allowed to drive may have a trafficability status "driving allowed” for the motor vehicle 12.
  • the sum of the surface segments 28 marked or set with the trafficability status "driving allowed” represents the permitted behavior for the motor vehicle 12 is the content of the coordination message 27 for the motor vehicle 12.
  • the coordination messages for the other motor vehicles 13 look different, as they signal the right of way for the motor vehicles 13 with respect to the motor vehicle 12.
  • the autopilot device 21 can reschedule the planned driving route 24 and plan and drive on freely accessible area segments 28 an alternative, modified driving route 24 '.
  • the server device 14 can detect sensor data 30 by means of a monitoring sensor 29 independently of a respective vehicle-specific sensor system of the motor vehicles 12, 13, by means of which a respective current driving status of the motor vehicles 12, 13 can be determined.
  • an emergency stop command 31 to be sent to the motor vehicles 12, 13, by which the autopilot devices 21 of the motor vehicles 12, 13 are controlled to stop.
  • this is an external control of the autopilot devices 21 by the server device 11.
  • an infrastructure system of an infrastructure area is thus coupled with a monitoring solution.
  • a separation of coordinative and safety-critical commands is mapped on different levels, because the server device 1 1 only coordinated and the actual control of motor vehicles 12, 13 remains their autopilot device remains.
  • the information about moving objects are used as the basis for three elementary coordination and securing operations: 1) A vehicle is in dialogue with the central system formed by the server device by notifying its intention to drive (eg route) and driving status (eg position and speed) and vice versa a statement on the currently allowed behaviors (eg freely drivable zones) or area segments 28 within the detection area).
  • the central system and vehicle can use a common a priori information base (eg a digital map) in order to be able to resolve the designation of areas and elements within the infrastructure on both sides.
  • an emergency call for emergency stop may be sent by the central system to one or more vehicles.
  • the central system compares received status messages of the subscribers with its own insights from the monitoring system, i. the monitoring sensor. This allows deviations outside certain tolerances (for example position or speed) to be detected.
  • a preferred technical implementation provides the following.
  • a vehicle connects to an existing central system via a communication interface of the communication device 15 (eg radio technology such as pWLAN or LTE) before activating fully automatic driving.
  • a communication interface of the communication device 15 eg radio technology such as pWLAN or LTE
  • this records all moving objects within its local limits (detection area) and can track or track their movements and also predict the future by means of classification and movement models.
  • a protocol which in turn can refer to both known a-priori information (eg from a digital map).
  • the vehicle gives its intention in the form of the planned travel route to the central system.
  • status data are sent repeatedly to the central system, which include position and speed of the vehicle.
  • the central system contains a logic 31 that compares the information from the monitoring sensor with the Intentions- and status messages of the vehicles and generates behavioral prescriptions and commands for emergency stop.
  • the location of foreign objects to a particular automated vehicle, the condition of infrastructure elements (e.g., barriers), and the intent of other automated vehicles are used to compute areas where the vehicle in question can move safely or should be avoided.
  • the geometric information and the trafficability status of these areas (area segments) are communicated to the vehicle either directly or as a reference to elements of a common knowledge base (e.g., a-priori map) over the communications link 17.
  • the vehicle function includes algorithms that implement correct vehicle behavior (e.g., within the limits declared safe) based on the information from the central system.
  • a dedicated emergency stop command is sent to one or more vehicles for communication, which has a higher priority in shipping and processing can be handled and implemented directly in the vehicle without further interpretation needs.
  • the self-status messages of vehicles in the central system are continuously compared with the object detection from the monitoring sensor system. Since an automated vehicle is also recognized there as a moving object, a correct assignment can be achieved through tracking and suitable initialization when entering the infrastructure be ensured by communication participants and their detection in the monitoring system (eg by means of request signal 32 requested actions that can be followed by the monitoring sensors).
  • the central system is the opportunity available through a special treatment (eg emergency stop of the vehicle and possibly other vehicles in its vicinity) avert potential damage caused by faulty automated vehicles from other road users.
  • a special treatment eg emergency stop of the vehicle and possibly other vehicles in its vicinity

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention relates to a method for coordinating the traffic of a plurality of motor vehicles (12 and 13) within a predetermined infrastructure region (14) via a central server device (11), wherein the central server device (11) repeatedly receives a respective current driving status (22) from each of the motor vehicles (12 and 13) and a respective current driving intention (23) of the motor vehicle (12 and 13) and, for each of the motor vehicles (12 and 13) determines a current coordination result, which indicates whether the driving intention (23) of the motor vehicle (12 and 13), proceeding from the current driving status (22) thereof, is prohibited according to a predetermined traffic rule (26) due to a respective driving status (22) and/or a respective driving intention (23) of at least one other of the motor vehicles (12 and 13) and, depending on the coordination result for each of the motor vehicles (12 and 13), determines a respective current permitted behavior and repeatedly signals the respective determined behavior, which is currently permitted in the infrastructure region (14) for the respective motor vehicle (12 and 13), to the motor vehicles (12 and 13) as a coordination message (27) for independent adjustment of the driving intention (23) thereof.

Description

Verfahren zum Koordinieren eines Verkehrs mehrerer Kraftfahrzeuge innerhalb eines vorbestimmten Infrastrukturbereichs sowie Servervorrichtung, Kraftfahrzeug und System  Method for coordinating a traffic of several motor vehicles within a predetermined infrastructure area as well as server device, motor vehicle and system
BESCHREIBUNG: DESCRIPTION:
Die Erfindung betrifft ein Verfahren zum Koordinieren eines Verkehrs mehrerer Kraftfahrzeuge innerhalb eines vorbestimmten Infrastrukturbereichs, beispielsweise eines Parkhauses. Das Verfahren kann durch eine zentrale Servervorrichtung durchgeführt werden. Zu der Erfindung gehören auch die Servervorrichtung, ein Kraftfahrzeug, das durch die Servervorrichtung mit einem anderen Kraftfahrzeug koordiniert werden kann, sowie ein System aus der Servervorrichtung und zumindest einen Kraftfahrzeug. Für ein Parkhaus kann vorgesehen sein, dass nicht der Fahrer selbst sein Kraftfahrzeug auf einen Parkplatz des Parkhauses manövrieren muss, sondern er vor dem Parkhaus oder an dessen Einfahrt aussteigen kann und das Kraftfahrzeug durch einen Autopiloten vollautomatisiert in dem Parkhaus zu einem freien Parkplatz geführt oder manövriert wird. Diese Funktionalität wird auch als„Automatic Valet Parking" (AVP) bezeichnet und ist beispielsweise in der DE 10 2015 204 861 A1 beschrieben. Darin ist auch beschrieben, dass ein solches vollautomatisch geführtes Kraftfahrzeug mit seiner Sensorik Probleme bekommen kann, weil beispielsweise Radarechos oder Abschattungen einen Einblick in einen Bereich des Parkhauses unmöglich machen. Damit hier ein vollautomatisch geführtes Kraftfahrzeug seine Planung der Fahrtrajektorie anpassen kann, ist vorgesehen, dass eine Servervorrichtung des Parkhauses den Autopiloten des Kraftfahrzeugs über solche problematischen Bereiche informiert. Ein Problem, dass hiermit nicht gelöst werden kann, sind problematische Bereiche, die dynamisch entste- hen, nämlich durch den Verkehr mehrerer vollautomatisch geführter Kraftfahrzeuge und/oder durch sich im Parkhaus bewegende Fußgänger oder Radfahrer. Aus der DE 10 2014 224 124 A1 ist hierzu bekannt, dass eine Servervorrichtung auch das Fernsteuern eines Fahrzeugs übernehmen kann, um dieses zu führen oder dessen Autopiloten Anweisungen zu geben. Eine solche Fernsteuerung eines vollautomatisch geführten Kraftfahrzeugs ergibt das Problem, dass bei einer Beschädigung des Kraftfahrzeugs die Schuldfrage schwierig zu klären ist. The invention relates to a method for coordinating a traffic of several motor vehicles within a predetermined infrastructure area, for example a parking garage. The method may be performed by a central server device. The invention also includes the server device, a motor vehicle that can be coordinated by the server device with another motor vehicle, as well as a system of the server device and at least one motor vehicle. For a parking garage can be provided that not the driver himself has to maneuver his vehicle to a parking lot of the parking garage, but he can get out in front of the parking garage or at the entrance and the car is fully automated by an autopilot in the parking garage to a free parking lot or maneuvered becomes. This functionality is also referred to as "automatic valet parking" (AVP) and is described, for example, in DE 10 2015 204 861 A1, which also describes how such a fully automated motor vehicle can have problems with its sensors because, for example, radar echoes or shadowing In order for a fully automated motor vehicle to be able to adapt its planning of the driving trajectory, it is provided that a server device of the parking garage informs the autopilot of the motor vehicle about such problematic areas , are problematic areas that arise dynamically, namely by the traffic of several fully automatic guided vehicles and / or in the parking garage moving pedestrians or cyclists. From DE 10 2014 224 124 A1 it is known for this purpose that a server device can also take over the remote control of a vehicle in order to guide it or to give instructions to its autopilot. Such a remote control of a fully automatically guided motor vehicle results in the problem that in case of damage to the motor vehicle, the question of guilt is difficult to clarify.
Aus der DE 10 2013 207 231 A1 ist im Zusammenhang mit der Koordination von Kraftfahrzeugen bekannt, dass eine Servervorrichtung typische Wegver- läufe von Kraftfahrzeugen statistisch erfasst und dann Kraftfahrzeugen eine statistische Beschreibung dieser typischen Wegverläufe zur Verfügung stellt, damit sich die Kraftfahrzeuge auf mögliche Fahrzeugbewegungen anderer Kraftfahrzeuge einstellen können. Eine solche statistische Beschreibung weist den Nachteil auf, dass sie eine aktuelle Fahrsituation nur statistisch beschreibt. From DE 10 2013 207 231 A1, in connection with the coordination of motor vehicles, it is known that a server device statistically records typical vehicle travel paths and then provides motor vehicles with a statistical description of these typical travel paths, so that the vehicles are aware of possible vehicle movements by others Can set vehicles. Such a statistical description has the disadvantage that it describes a current driving situation only statistically.
Aus der DE 10 2015 219 467 A1 ist ein Verfahren zum Betreiben eines zentralen Servers bekannt, der an Kraftfahrzeuge eine Regelkarte aussendet, in welcher die für die Kraftfahrzeuge gültigen, abgestimmten Vorfahrts- regeln enthalten sind, sodass die Kraftfahrzeuge kollisionsfrei einander passieren können. Bei dem Verfahren können einzelne Kraftfahrzeuge zunächst die mittels der fahrzeugeigenen Sensorik erfasste Verkehrssituation als jeweilige eigene Regelkarte an eine zentrale Servervorrichtung aussenden, die dann ermittelt, ob eines der Kraftfahrzeuge die Verkehrssitu- ation falsch erfasst hat und deshalb eine Koordination der Regelkarten nötig ist. From DE 10 2015 219 467 A1 a method for operating a central server is known, which sends a control card to motor vehicles, in which the valid for the motor vehicles, coordinated right of way rules are included, so that the vehicles can collision pass each other. In the method, individual motor vehicles can first transmit the traffic situation detected by the vehicle's own sensor system as a respective own control card to a central server device, which then determines whether one of the motor vehicles has detected the traffic situation incorrectly and therefore coordination of the control charts is necessary.
Aus der DE 10 2012 021 282 A1 ist ein Verfahren zur Koordination des Betriebs von vollautomatisiert fahrenden Kraftfahrzeugen bekannt, wobei die Kraftfahrzeuge ihre jeweils geplante Fahrtrajektorie an eine zentrale Einrichtung senden, welche die Trajektorien auf Kollisionen überprüft und im Falle einer erkannten Kollision eine angepasste Trajektorie an zumindest ein Kraftfahrzeug aussendet, welches daraufhin diese angepasste Trajektorie zur Lösung des Konflikts übernimmt. Die Ausführung der Trajektorien kann weiter überwacht werden, sodass Abweichungen von den Trajektorien, die zu einer Lösung des Konflikts führen, korrigiert werden können. From DE 10 2012 021 282 A1 a method for coordinating the operation of fully automated moving motor vehicles is known, wherein the motor vehicles send their respective planned Fahrtrajektorie to a central facility, which checks the trajectories for collisions and in case of a detected collision an adapted trajectory at least one motor vehicle emits, which then takes over this adapted trajectory to solve the conflict. The execution of the trajectories can be further monitored so that deviations from the trajectories that lead to a resolution of the conflict can be corrected.
Der Erfindung liegt die Aufgabe zugrunde, innerhalb eines vorbestimmten Infrastrukturbereichs den Verkehr von Kraftfahrzeugen zu koordinieren. Die Aufgabe wird durch die Gegenstände der unabhängigen Patentansprüche gelöst. Vorteilhafte Weiterbildungen der Erfindung sind durch die abhängigen Patentansprüche, die folgende Beschreibung sowie die Figuren beschrieben. The invention has for its object to coordinate the traffic of motor vehicles within a predetermined infrastructure area. The object is solved by the subject matters of the independent claims. Advantageous developments of the invention are described by the dependent claims, the following description and the figures.
Durch die Erfindung ist ein Verfahren zum Koordinieren eines Verkehrs mehrerer Kraftfahrzeuge innerhalb eines vorbestimmten Infrastrukturbereichs bereitgestellt. Das Verfahren kann durch eine zentrale Servervorrichtung ausgeführt werden. Der Infrastrukturbereich kann beispielsweise ein Parkhaus oder ein mehrere Parkplätze aufweisendes Parkplatzgelände sein. Die Servervorrichtung empfängt aus den Kraftfahrzeugen jeweils wiederholt einen jeweiligen aktuellen Fahrstatus und eine jeweilige aktuelle Fahrintention des Kraftfahrzeugs. Der Fahrstatus kann beispielsweise die aktuelle Position des Kraftfahrzeugs im Infrastrukturbereich und/oder eine aktuelle Fahrgeschwindigkeit des Kraftfahrzeugs (Betrag und/oder Richtung) umfassen. Die Fahrintention kann beispielsweise die Angabe einer geplanten Fahrtrajektorie oder Fahrroute und/oder eines geplanten Fahrziels sein. Die Fahrintention kann beispielsweise durch einen Autopiloten des Kraftfahr- zeugs berechnet sein oder (bei fahrergeführtem Kraftfahrzeug) durch ein Navigationsgerät des Kraftfahrzeugs oder eine statistische Fahrroutenanalyse bereitgestellt sein. Die Servervorrichtung ermittelt dann für jedes der Kraftfahrzeuge jeweils ein aktuelles Koordinationsergebnis, das angibt, wo dem Kraftfahrzeug ausgehend von seinem aktuellen Fahrstatus seine Fahrintention oder allgemein das Fahren verboten ist, weil gemäß einer vorbestimmten Verkehrsregelung ein anderes der Kraftfahrzeuge aufgrund von dessen jeweiligem Fahrstatus und/oder dessen jeweiliger Fahrintention Vorfahrt gebührt oder die Servervorrichtung zunächst eines der anderen Kraftfahrzeuge passieren lassen möchte. Die Verkehrsregelung kann durch ein Gesetz oder eine Hausordnung und/oder durch eine Verkehrsplanung der Servervorrichtung vorgegeben sein. Abhängig von dem jeweiligen Koordinationsergebnis wird für jedes der Kraftfahrzeuge eine jeweilige aktuelle, erlaubte Verhaltensweise ermittelt. Die erlaubte Verhaltensweise beschreibt, wohin das jeweilige Kraftfahrzeug innerhalb des Infrastrukturbe- reichs überall fahren darf. Es handelt sich hierbei nicht um die Vorgabe einer Fahrtrajektorie, sondern um die Angabe all derjenigen Fahrflächen oder Fahralternativen, die das Kraftfahrzeug gemäß der Verkehrsregelung benutzen darf oder entlang fahren darf. Das Kraftfahrzeug hat also selbst die Wahl, welche Fahrtrajektorie es fährt. An die Kraftfahrzeuge wird dann die jeweils ermittelte, in dem Infrastrukturbereich für das jeweilige Kraftfahrzeug aktuell erlaubte Verhaltensweise als eine Koordinationsmitteilung signalisiert. Diese Koordinationsmitteilung dient dazu, dass jedes der Kraftfahrzeuge selbstständig seine Fahrintention an die erlaubte Verhaltensweise anpasst. Mit anderen Worten wird mittels der Koordinationsmitteilung jedem Kraftfahrzeug nur mitgeteilt, welche Fahrmöglichkeiten oder Freiräume oder befahrbare Flächen ihm aktuell in dem Infrastrukturbereich zur Verfügung stehen. Wie das Kraftfahrzeug darauf reagiert, kann es selbst durch Anpassen oder beibehalten seiner Fahrintention festlegen. The invention provides a method for coordinating traffic of several motor vehicles within a predetermined infrastructure area. The method may be performed by a central server device. The infrastructure area can be, for example, a multi-storey car park or a parking lot with several parking spaces. The server device receives from the motor vehicles in each case repeatedly a respective current driving status and a respective current driving intention of the motor vehicle. The driving status can include, for example, the current position of the motor vehicle in the infrastructure area and / or a current driving speed of the motor vehicle (amount and / or direction). The driving intention may be, for example, the specification of a planned driving trajectory or driving route and / or a planned driving destination. The drive intention may be calculated, for example, by an autopilot of the motor vehicle or (in the case of a driver-guided motor vehicle) by a navigation device of the motor vehicle or a statistical route analysis provided. The server device then determines for each of the motor vehicles in each case a current coordination result, which indicates where the motor vehicle from its current driving status its driving intention or generally driving is prohibited because according to a predetermined traffic control another of the motor vehicles due to its respective driving status and / or whose respective intention driving deserved priority or let the server device initially pass one of the other motor vehicles. The traffic regulation can be predetermined by a law or a house rules and / or by a traffic planning of the server device. Depending on the respective coordination result, a respective current, permitted behavior is determined for each of the motor vehicles. The permitted behavior describes where the respective motor vehicle may travel anywhere within the infrastructure area. This is not the specification of a driving trajectory, but rather the specification of all those driving surfaces or driving alternatives which the motor vehicle may use according to the traffic regulation or may travel along it. The motor vehicle thus has the choice of which trajectory it drives. To the motor vehicles is then the respectively determined, in the infrastructure area for the respective motor vehicle currently allowed behavior as a coordination message signals. This coordination message serves to ensure that each of the motor vehicles automatically adapts its drive intention to the permitted mode of behavior. In other words, by means of the coordination message, each motor vehicle is only informed as to which driving possibilities or free spaces or drivable areas are currently available to it in the infrastructure area. The way in which the motor vehicle reacts to this can be determined by adjusting or maintaining its driving intention.
Durch die Erfindung ergibt sich der Vorteil, dass bewegte Kraftfahrzeuge, also der Verkehr mehrerer Kraftfahrzeuge, in dem Infrastrukturbereich durch eine zentrale Servervorrichtung koordiniert wird, ohne dass hierbei die Verantwortung für das Führen der einzelnen Kraftfahrzeuge auf die Server- Vorrichtung übergeht. Die Servervorrichtung signalisiert lediglich, welche Planungsfreiräume den Kraftfahrzeugen für das selbstständige Ermitteln von Fahrintentionen, also zum Beispiel Fahrrouten oder Fahrtrajektorien, zur Verfügung stehen, wobei die den Kraftfahrzeugen jeweils erlaubten Verhaltensweisen durch die Servervorrichtung aufeinander abgestimmt sind. Jedes Fahrzeug kann somit frei innerhalb der ihm erlaubten Verhaltensweise planen, ohne dass hierbei Kollisionsgefahr mit einem der anderen Kraftfahrzeuge besteht. The advantage of the invention is that moving motor vehicles, ie the traffic of several motor vehicles, is coordinated in the infrastructure area by a central server device, without the responsibility for the driving of the individual motor vehicles being transferred to the server device. The server device only signals which planning clearances are available to the motor vehicles for the autonomous determination of driving intentions, ie for example driving routes or driving trajectories, the behaviors that are permitted to the motor vehicles being matched to one another by the server device. Each vehicle can thus plan freely within its permitted behavior, without risk of collision with any of the other vehicles.
Das bisher beschriebene Verfahren verlässt sich darauf, dass die Kraftfahr- zeuge korrekt ihren aktuellen Fahrstatus selbstständig ermitteln. Aber nicht alle Fehlfunktionen oder Fehlinterpretationen können durch ein vollautomatisiert geführtes Fahrzeug selbst erkannt werden. Erfindungsgemäß wird deshalb durch die Servervorrichtung von zumindest einem der Kraftfahrzeuge dessen aktueller Fahrstatus, d.h. zum Beispiel dessen Position und/oder Fahrgeschwindigkeit, mittels einer Überwachungssensorik des Infrastrukturbereichs zusätzlich durch die Servervorrichtung selbst erfasst. Die Überwachungssensorik ist also fahrzeugextern, also nicht Teil der Kraftfahrzeuge. Die Servervorrichtung überprüft anhand von Sensordaten der Überwachungssensorik, ob ein vorbestimmtes Sicherheitsproblem vorliegt, und löst bei erkanntem Sicherheitsproblem eine vorbestimmte Schutzmaßnahme aus. Somit kann also eine Fehlfunktion in der Fahrzeugsensorik eines Kraftfahrzeugs kompensiert oder dieser mittels der Schutzmaßnahme entgegengewirkt werden. Die Überwachungssensorik kann zum Beispiel eine Kamera und/oder einen Radar und/oder eine Lichtschranke und/oder ein Lidar und/oder einen Ultraschallsensors umfassen. The method described so far relies on the motor vehicles to correctly determine their current driving status independently. But not all malfunctions or misinterpretations can be detected by a fully automated guided vehicle itself. According to the invention, therefore, the server device of at least one of the motor vehicles detects its current driving status, ie, for example, its position and / or driving speed, by means of a monitoring sensor system of the infrastructure area. The monitoring sensor is so vehicle outside, so not part of the vehicles. Based on sensor data from the monitoring sensor system, the server device checks whether a predetermined security problem exists and triggers a predetermined protective measure if a security problem is detected. Thus, therefore, a malfunction in the vehicle sensor system of a motor vehicle can be compensated or counteracted by means of the protective measure. The monitoring sensor may, for example, a camera and / or a radar and / or a light barrier and / or a lidar and / or an ultrasonic sensor.
Die Servervorrichtung erkennt als ein Sicherheitsproblem, dass der von dem Kraftfahrzeug empfangende aktuelle Fahrstatus und der selbst erfasste Fahrstatus des Kraftfahrzeugs eine Abweichung aufweisen, die größer als ein vorbestimmter Mindestwert ist. Mit anderen Worten erkennt die Servervorrichtung einen Defekt und/oder eine Messstörung in der Fahrzeugsenso- rik des Kraftfahrzeugs. Hierbei kann durch Festlegen des Mindestwerts auch eine Toleranz vorgesehen werden, um einen Fehlalarm oder eine Fehlauslösung der Schutzmaßnahme zu vermeiden. The server device recognizes as a security problem that the current driving status received by the motor vehicle and the self-detected driving status of the motor vehicle have a deviation that is greater than a predetermined minimum value. In other words, the server device detects a defect and / or a measurement disturbance in the vehicle sensor system of the motor vehicle. By setting the minimum value, a tolerance can also be provided in order to avoid a false alarm or a false triggering of the protective measure.
Zu der Erfindung gehören auch vorteilhafte Weiterbildungen, durch deren Merkmale sich zusätzliche Vorteile ergeben. The invention also includes advantageous developments, the characteristics of which provide additional advantages.
Um die erlaubte Verhaltensweise einem Kraftfahrzeug zu signalisieren, wird bevorzugt mittels der Koordinationsmitteilung zumindest ein aktuell frei von dem Kraftfahrzeug befahrbares Areal oder ein frei von dem Kraftfahrzeug befahrbares Flächenstück signalisiert. Innerhalb dieses frei befahrbaren Areals kann das Kraftfahrzeug dann selbstständig eine Fahrtrajektorie planen. Ein frei befahrbares Areal ist also von dem Infrastrukturbereich ein Teilbereich oder Segment oder Teilstück, innerhalb welchem mehrere mögliche Fahrtrajektorien festgelegt oder geplant werden können. Hierdurch ergibt sich der Vorteil, dass das Kraftfahrzeug selbstständig die Trajektorien- planung durchführen kann. Durch die Koordinationsmitteilung kann zusätzlich oder alternativ dazu auch zumindest ein für das Kraftfahrzeug gesperrtes Areal oder Flächenstück signalisiert werden. Das Kraftfahrzeug ist dann darüber informiert, dass es bei der Trajektorienplanung seine geplante Fahrtrajektorie um dieses gesperrte Areal herum oder an diesem vorbei legen oder festlegen muss. In order to signal the permitted behavior of a motor vehicle, at least one area currently freely accessible by the motor vehicle or a surface area which can be driven freely by the motor vehicle is preferably signaled by means of the coordination message. Within this freely passable area, the motor vehicle can then autonomously plan a driving trajectory. A freely passable area is thus of the infrastructure area, a partial area or segment or section, within which several possible Fahrtrajektorien can be set or planned. This results in the advantage that the motor vehicle can independently carry out the trajectory planning. As a result of the coordination message, additionally or alternatively, at least one area or area blocked off for the motor vehicle can also be signaled. The motor vehicle is then informed that in trajectory planning it must lay or fix its planned driving trajectory around or past this closed area.
Als besonders vorteilhaft hat es sich erwiesen, wenn die Servervorrichtung mit zumindest einem der Kraftfahrzeuge jeweils eine gemeinsame digitale Umgebungskarte nutzt. Beispielsweise kann in der Servervorrichtung und in dem Kraftfahrzeug jeweils eine Kopie der digitalen Umgebungskarte vorgesehen sein oder die Servervorrichtung und das Kraftfahrzeug greifen auf eine gemeinsame Repräsentation der Umgebungskarte zu. Die besagte Koordinationsmitteilung an das Kraftfahrzeug enthält dann zum Beschreiben der erlaubten Verhaltensweise zumindest eine Referenz auf die Umge- bungskarte. Hierdurch kann die Koordinationsmitteilung mit einem geringen Datenvolumen bereitgestellt werden. Denn die Beschreibung der Umgebung ist bereits in der Umgebungskarte vorhanden, sodass die Koordinationsmitteilung lediglich durch die Referenz eine Angabe zum Beispiel eines frei befahrbaren Areals und/oder eine Angabe eines gesperrten Areals mit Bezug auf die Umgebungskarte angeben muss. Beispielsweise kann eine Nummer oder eine Koordinate oder eine Identifikationsnummer eines jeweiligen Areals angegeben werden. Besonders effizient kann dies ausgeführt werden, indem zum Ermitteln der aktuell erlaubten Verhaltensweise zumindest ein Teil des Infrastrukturbereichs, also ein Teilgebiet oder auch der ganze Infrastrukturbereich, in Flächensegmente eingeteilt wird. Ein solches Flächensegment kann zum Beispiel eine Größe in einem Bereich von 0,5 m2 bis 2 m2 aufweisen. Die Servervorrichtung stellt dann zu jedem Flächensegment einen jeweiligen Befahrbarkeitsstatus ein. Der Befahrbarkeitsstatus wird in Abhängigkeit von dem aktuellen Koordinationsergebnis eingestellt. Das Koordinationsergebnis gibt in der beschriebenen Weise an, wo sich für ein Kraftfahrzeug ein Verbot ergibt, weil ein anderes Kraftfahrzeug zum Beispiel Vorfahrt hat und plant, dort entlang zu fahren. Als Befahrbarkeitsstatus wird für jeden Flächensegment einer der beiden Werte „Befahren erlaubt" und „Befahren verboten" eingestellt. Mittels der Koordinationsmitteilung signalisiert dann die Servervorrichtung einen jeweiligen aktuell eingestellten Befahrbarkeitsstatus zumindest eines der Flächensegmente an das jeweilige Kraftfahrzeug. Beispielsweise kann für all diejenigen Flächensegmente, über welche das Kraftfahrzeug gemäß seiner Fahrintention zu fahren plant, der Befahrbarkeitsstatus angegeben werden. Zusätzlich kann zum Planen einer alternativen Fahrroute für das Kraftfahrzeug auch der Befahrbarkeitsstatus von angrenzenden Flächensegmenten angegeben werden. It has proved to be particularly advantageous if the server device uses at least one of the motor vehicles in each case a common digital environment map. For example, a copy of the digital environment map may be provided in the server device and in the motor vehicle, respectively, or the server device and the motor vehicle access a common representation of the environment map. The said coordination message to the motor vehicle then contains at least one reference to the environment for describing the permitted behavior. environment map. As a result, the coordination message can be provided with a small volume of data. Because the description of the environment is already present in the area map, so that the coordination message must specify only by the reference an indication of, for example, a freely passable area and / or an indication of a restricted area with respect to the area map. For example, a number or a coordinate or an identification number of a respective area can be specified. This can be carried out particularly efficiently by dividing at least part of the infrastructure area, ie a subarea or the entire infrastructure area, into area segments in order to determine the currently permitted behavior. Such a surface segment may for example have a size in a range of 0.5 m 2 to 2 m 2 . The server device then sets a respective trafficability status for each area segment. The trafficability status is set depending on the current coordination result. The result of the coordination indicates, in the manner described, where a motor vehicle is prohibited, because another motor vehicle, for example, has priority and plans to drive there. The trafficability status is set to one of the two values "driving allowed" and "driving prohibited" for each area segment. By means of the coordination message, the server device then signals a respective currently set navigability status of at least one of the surface segments to the respective motor vehicle. For example, the trafficability status can be specified for all those surface segments over which the motor vehicle plans to drive in accordance with its driving intention. In addition, for planning an alternative driving route for the motor vehicle, the trafficability status of adjacent area segments can also be specified.
Durch die Servervorrichtung kann hierdurch zum Beispiel eine bevorstehende Kollision vermieden werden. Die Servervorrichtung prognostiziert hierzu eine jeweilige Bewegung zumindest eines der Kraftfahrzeuge ausgehend von dessen jeweiligem aktuellen Fahrstatus mittels eines Bewegungsmodells. Das Bewegungsmodell kann auch die von dem Kraftfahrzeug signalisierte Fahrintention berücksichtigen. Das Bewegungsmodell kann auch zum Beispiel eine Massenträgheit des Kraftfahrzeugs berücksichtigen, um zum Beispiel eine Bremsweglänge oder einen benötigten Mindestkurvenradius zu ermitteln. Als Sicherheitsproblem wird dann erkannt, dass aufgrund der prognostizierten Bewegung eine Kollision mit einem Verkehrsobjekt bevorsteht, also zum Beispiel mit einem anderen der Kraftfahrzeuge oder mit einem stationären Objekt, wie beispielsweise einer Säule oder einem Straßenschild oder einer Leitplanke, oder mit einem Fußgänger oder mit einem Radfahrer. Hier kann dann die Schutzmaßnahme ausgelöst werden. By the server device, for example, an imminent collision can be avoided. For this purpose, the server device predicts a respective movement of at least one of the motor vehicles on the basis of their respective current driving status by means of a movement model. The movement model can also take into account the drive intention signaled by the motor vehicle. The movement model can also take into account, for example, a mass inertia of the motor vehicle in order to determine, for example, a braking distance or a required minimum curve radius. As a security problem is then recognized that due to the predicted movement is a collision with a traffic object imminent, so for example with another of the motor vehicles or with a stationary object, such as a pillar or a road sign or a guardrail, or with a pedestrian or a cyclist. Here then the protective measure can be triggered.
Die Schutzmaßnahme umfasst insbesondere, dass an zumindest eines der Kraftfahrzeuge ein Nothaltbefehl ausgesendet wird. Das Kraftfahrzeug hält dann in Reaktion auf den Nothaltbefehl an. So kann innerhalb des Infrastruk- turbereichs oder auch nur innerhalb einer Teilregion des Infrastrukturbereichs der Verkehr oder einige oder eines der Kraftfahrzeuge angehalten werden. Hierzu wird eine akute Aufforderung zum Nothalt an jedes in der Region befindliche Kraftfahrzeug und/oder auf die Region zufahrende Kraftfahrzeug ausgesendet. Ein solcher Nothaltbefehl kann auch für andere Anwendungsfälle vorgesehen sein. Beispielsweise kann die Servervorrichtung den Nothaltbefehl aussenden, wenn in dem Infrastrukturbereich zum Beispiel ein Feueralarm ausgelöst wird oder ein Krankenwagen in den Infrastrukturbereich einfahren soll. Aus den Kraftfahrzeugen können der jeweilige Fahrstatus und die jeweilige Fahrintention zum Beispiel mittels einer Funkverbindung übertragen werden, die beispielsweise auf der Grundlage von WLAN (Wireless Local Area Network) und/oder einer Mobilfunkverbindung, zum Beispiel LTE (Long Term Evolution) bereitgestellt sein kann. Die Servervorrichtung muss nun in der Lage sein, einen über eine solche Funkverbindung empfangenen Fahrstatus einem Kraftfahrzeug zuzuordnen, das in Sensordaten der Überwachungs- sensorik detektiert wird. Dies kann zum Beispiel wie folgt durchgeführt werden. Aus zumindest einem der Kraftfahrzeuge wird jeweils zumindest einmal zusammen mit dem Fahrstatus und/oder der Fahrintention eine jeweilige Fahrzeugidentifikationsangabe des Kraftfahrzeugs empfangen. Eine Fahrzeugidentifikationsangabe kann zum Beispiel eine Zeichenkette und/oder eine Zahl umfassen. Es kann sich beispielsweise um die Fahrgestellnummer des Kraftfahrzeugs (VIN - Vehicle Identifcation Number) handeln. Zumindest eines der Kraftfahrzeuge wird dann in Sensordaten der Überwachungssensorik detektiert. Beispielsweise kann in Bilddaten einer Kamera durch einen Algorithmus für eine Objekterkennung ein Kraftfahrzeug identifiziert und klassifiziert werden. Nun ist die Frage, welche Fahrzeugidentifikationsangabe dieses in den Sensordaten detektierte Kraftfahrzeug innehat oder aufweist. Die Servervorrichtung kann hierzu ein Aufforderungs- Signal zum Ausführen einer vorbestimmten Erkennungshandlung an eine empfangene Fahrzeugidentifikationsangabe adressieren und an die Kraftfahrzeuge aussenden. Es fordert also dasjenige Kraftfahrzeug, welches die Fahrzeugidentifikationsangabe aufweist oder innehat, dazu auf, die vorbe- stimmte Erkennungshandlung durchzuführen. Die Erkennungshandlung kann zum Beispiel darin bestehen, dass das Kraftfahrzeug ein vorbestimmtes Manöver fährt und/oder eine Außenleuchteinrichtung gemäß einem vorbestimmten Muster aktiviert, zum Beispiel das Tagfahrlicht für eine vorbestimmte Zeitdauer einschaltet und/oder ausschaltet. In den Sensordaten erkennt dann die Servervorrichtung, welches darin detektierte Kraftfahrzeug die Erkennungshandlung ausführt. Mit anderen Worten wird anhand der Sensordaten erkannt, welches Kraftfahrzeug auf das Aufforderungssignal reagiert. Die Servervorrichtung ordnet dann dem Kraftfahrzeug, welches die Erkennungshandlung ausführt, die Fahrzeugidentifikationsangabe zu, an die das Aufforderungssignal adressiert war. Hierdurch kann ein über Funk empfangener Fahrstatus zu einem in Sensordaten der Überwachungssenso- rik detektierten Kraftfahrzeug zugeordnet werden. The protective measure comprises in particular that an emergency stop command is transmitted to at least one of the motor vehicles. The motor vehicle then stops in response to the emergency stop command. Thus, within the infrastructure area or even within a subarea of the infrastructure area, the traffic or some or one of the motor vehicles can be stopped. For this purpose, an acute request for emergency stop is sent to each located in the region of the motor vehicle and / or on the region approaching motor vehicle. Such an emergency stop command can also be provided for other applications. For example, the server device may transmit the emergency stop command if, for example, a fire alarm is triggered in the infrastructure area or an ambulance is to enter the infrastructure area. From the motor vehicles, the respective driving status and the respective driving intention can be transmitted, for example, by means of a radio connection, which can be provided for example on the basis of WLAN (Wireless Local Area Network) and / or a mobile radio connection, for example LTE (Long Term Evolution). The server device must now be able to assign a driving status received via such a radio link to a motor vehicle which is detected in sensor data of the monitoring sensor system. This can be done, for example, as follows. From at least one of the motor vehicles, a respective vehicle identification information of the motor vehicle is received at least once together with the driving status and / or the driving intention. A vehicle identification indication may include, for example, a character string and / or a number. It may, for example, be the VIN of the motor vehicle (VIN - Vehicle Identification Number). At least one of the motor vehicles is then detected in sensor data of the monitoring sensor system. For example, in image data of a camera by an algorithm for object recognition, a motor vehicle can be identified and classified. Now the question is which vehicle identification information this vehicle has or has detected in the sensor data. The server device can for this purpose a request Addressing a signal to perform a predetermined recognition action to a received vehicle identification information and send out to the motor vehicle. It therefore requests that motor vehicle which has or holds the vehicle identification information to perform the predetermined recognition action. The recognition action may be, for example, that the motor vehicle is driving a predetermined maneuver and / or activates an outdoor lighting device according to a predetermined pattern, for example, turns on and / or off the daytime running light for a predetermined period of time. The server device then recognizes in the sensor data which motor vehicle detected therein executes the recognition action. In other words, it is detected based on the sensor data which motor vehicle reacts to the request signal. The server device then assigns to the motor vehicle, which performs the recognition action, the vehicle identification information to which the request signal was addressed. In this way, a driving status received via radio can be assigned to a motor vehicle detected in sensor data of the monitoring sensor.
Bisher wurde nur die Koordination der Kraftfahrzeuge untereinander beschrieben. Bevorzugt wird aber beim Ermitteln des Koordinationsergebnisses zumindest ein weiterer Verkehrsteilnehmer (zum Beispiel ein Fremdfahrzeug, das seinen Fahrstatus nicht der Servervorrichtung meldet, und/oder ein Fußgänger und/oder ein Radfahrer) ebenfalls berücksichtigt, indem eine jeweilige voraussichtliche Bewegungsbahn des zumindest einen Verkehrs- teilnehmers ermittelt wird und diese dann mit der Fahrintention des jeweiligen Kraftfahrzeugs, für welches das Koordinationsergebnis zu ermitteln ist, abgeglichen wird. Zum Ermitteln der Bewegungsbahn kann die Überwa- chungssensorik genutzt werden und dann ein darin erkannter Verkehrsteilnehmer klassifiziert werden, also zum Beispiel als Fremdfahrzeug oder Fußgänger oder Radfahrer erkannt werden, und dann mittels eines Bewegungsmodells für die erkannte Objektklasse die Bewegungsbahn des erkannten Verkehrsteilnehmer prognostiziert werden. Ein Bewegungsmodell für einen Fußgänger kann beispielsweise die Kinematik oder Dynamik eines Fußgängers nachbilden und hierbei mit Bewegungsdaten, die anhand der Sensordaten der Überwachungssensorik ermittelt werden, initialisiert werden. Gleiches gilt für einen Fahrradfahrer und ein Fremdfahrzeug. So far, only the coordination of motor vehicles with each other has been described. However, when determining the result of the coordination, at least one further road user (for example a third-party vehicle that does not report his driving status to the server device and / or a pedestrian and / or a cyclist) is also preferably considered by a respective prospective trajectory of the at least one traffic participant is determined and this then with the driving intention of the respective motor vehicle, for which the coordination result is to be determined, is adjusted. To determine the movement path, the monitoring sensor system can be used and then a road user recognized therein can be classified, for example, recognized as a foreign vehicle or pedestrian or cyclist, and then the movement path of the detected road user can be predicted by means of a movement model for the recognized object class. A movement model for a pedestrian can, for example, simulate the kinematics or dynamics of a pedestrian and in this case be initialized with movement data, which are determined on the basis of the sensor data of the monitoring sensor system. The same applies to a cyclist and another vehicle.
Um in dem Infrastrukturbereich das erfindungsgemäße Verfahren durchführen zu können, ist durch die Erfindung einer Servervorrichtung zum Koordi- nieren eines Verkehrs mehrerer Kraftfahrzeuge bereitgestellt. Die Servervorrichtung weist eine Prozessoreinrichtung auf, die dazu eingerichtet ist, eine Ausführungsform des erfindungsgemäßen Verfahrens durchzuführen. Die Prozessoreinrichtung kann hierzu zumindest einen Mikroprozessor und/oder zumindest einen MikroController aufweisen. Die Prozessoreinrichtung kann einen Programmcode aufweisen, der dazu eingerichtet ist, bei Ausführen durch die Prozessoreinrichtung die Ausführungsform des erfindungsgemäßen Verfahrens durchzuführen. Der Programmcode kann in einem Datenspeicher der Prozessoreinrichtung gespeichert sein. Die Servervorrichtung kann beispielsweise als Computer oder Computerverbund bereitgestellt sein. Zum Kommunizieren mit den Kraftfahrzeugen kann die Servervorrichtung eine Kommunikationseinrichtung aufweisen, die beispielsweise einen WLAN- Router und/oder ein Mobilfunkmodul aufweisen kann. Die Erfindung stellt auch ein Kraftfahrzeug bereit, das in dem Infrastrukturbereich betrieben werden kann und sich hierbei durch die Servervorrichtung koordinieren lässt. Das Kraftfahrzeug weist eine Autopiloteinrichtung zum vollautomatischen Führen (Längsführung und Querführung) oder Manövrieren des Kraftfahrzeugs auf. Um den Autopiloten mit dem Verkehr im Infrastrukturbereich zu koordinieren, ist eine Kommunikationseinrichtung bereitgestellt, die dazu eingerichtet ist, einen aktuellen Fahrstatus und eine von der Autopiloteinrichtung geplante Fahrintention (zum Beispiel eine Fahrroute oder eine Fahrtrajektorie) an die Servervorrichtung auszusenden und zumindest eine Koordinationsmitteilung aus der Servervorrichtung zu empfangen. In der Koordinationsmitteilung ist eine dem Kraftfahrzeug in dem Infrastrukturbereich aktuell erlaubte Verhaltensweise signalisiert. Diese erlaubte Verhaltensweise gibt dabei keine Fahrtrajektorie vor, sondern die Gesamtheit der dem Kraftfahrzeug zur Verfügung stehenden Fahrmöglichkeiten oder Auswahlmöglichkeiten, also eine Vielzahl von möglichen Fahrtrajektorien. Die Autopiloteinrichtung kann dann eine Fahrintention auf der Grundlage der durch die Koordinationsmitteilung signalisierte erlaubte Verhaltensweise selbstständig neu planen. Beispielsweise kann die erlaubte Verhaltensweise zumindest ein Areal angeben, innerhalb welchem das Kraftfahrzeug durch die Autopiloteinrichtung frei geführt werden kann. Für dieses Areal plant dann die Autopiloteinrichtung eine Fahrtrajektorie zum Durchfahren oder Überfahren des Areals, falls die ursprüngliche Fahrintention nicht durchführbar ist, also von der erlaubten Verhaltensweise ausgeschlossen ist. Das erfindungsgemäße Kraftfahrzeug ist bevorzugt als Kraftwagen, insbesondere als Personenkraftwagen oder Lastkraftwagen, ausgestaltet. In order to be able to carry out the method according to the invention in the infrastructure area, the invention of a server device for coordinating provided a traffic of several motor vehicles. The server device has a processor device which is set up to carry out an embodiment of the method according to the invention. For this purpose, the processor device can have at least one microprocessor and / or at least one microcontroller. The processor device may have a program code which is set up to execute the embodiment of the method according to the invention when executed by the processor device. The program code may be stored in a data memory of the processor device. The server device can be provided, for example, as a computer or computer network. For communicating with the motor vehicles, the server device may have a communication device, which may have, for example, a WLAN router and / or a mobile radio module. The invention also provides a motor vehicle which can be operated in the infrastructure area and in this case can be coordinated by the server device. The motor vehicle has an autopilot device for fully automatic guidance (longitudinal guidance and transverse guidance) or maneuvering of the motor vehicle. In order to coordinate the autopilot with the traffic in the infrastructure area, a communication device is provided, which is set up to send a current driving status and an intention planned by the autopilot device driving intention (for example, a driving route or a driving trajectory) to the server device and at least one coordination message from the Server device to receive. In the coordination message, a behavior currently permitted to the motor vehicle in the infrastructure area is signaled. This permitted behavior does not provide a driving trajectory, but rather the entirety of the driving possibilities or options available to the motor vehicle, that is to say a large number of possible driving trajectories. The autopilot device may then independently re-plan a driving intention on the basis of the permitted behavior signaled by the coordination message. For example, the permitted behavior can specify at least one area within which the motor vehicle can be guided freely by the autopilot device. For this area then the autopilot device plans a driving trajectory for driving through or driving over the area, if the original driving intention is not feasible, that is excluded from the permitted behavior. The motor vehicle according to the invention is preferably designed as a motor vehicle, in particular as a passenger car or truck.
Eine Weiterbildung des erfindungsgemäßen Kraftfahrzeugs sieht vor, dass die Autopiloteinrichtung das Kraftfahrzeug anhält, falls aus der Servervorrichtung ein Nothaltebefehl empfangen wird. A development of the motor vehicle according to the invention provides that the autopilot device stops the motor vehicle if an emergency stop command is received from the server device.
Durch Kombinieren der erfindungsgemäßen Servervorrichtung mit Kraftfahrzeugen der beschriebenen Art ergibt sich ein System, das ebenfalls Bestand- teil der Erfindung ist. By combining the server device according to the invention with motor vehicles of the type described results in a system which is also part of the invention.
Im Folgenden ist ein Ausführungsbeispiel der Erfindung beschrieben. Hierzu zeigt die einzige Figur (Fig.) eine schematische Darstellung einer Ausführungsform des erfindungsgemäßen Systems. In the following an embodiment of the invention is described. For this purpose, the single FIGURE (FIG.) Shows a schematic representation of an embodiment of the system according to the invention.
Bei den im Folgenden erläuterten Ausführungsbeispielen handelt es sich um bevorzugte Ausführungsformen der Erfindung. Bei den Ausführungsbeispielen stellen die beschriebenen Komponenten der Ausführungsformen jeweils einzelne, unabhängig voneinander zu betrachtende Merkmale der Erfindung dar, welche die Erfindung jeweils auch unabhängig voneinander weiterbilden und damit auch einzeln oder in einer anderen als der gezeigten Kombination als Bestandteil der Erfindung anzusehen sind. Des Weiteren sind die beschriebenen Ausführungsformen auch durch weitere der bereits beschriebenen Merkmale der Erfindung ergänzbar. The exemplary embodiments explained below are preferred embodiments of the invention. In the exemplary embodiments, the described components of the embodiments each represent individual features of the invention, which are to be considered independently of one another, which each further develop the invention independently of one another and thus also individually or in a different combination than the one shown as part of the invention. Furthermore, the described embodiments can also be supplemented by further features of the invention already described.
Die Figur zeigt ein System 10 mit einer Servervorrichtung 1 1 und Kraftfahrzeugen 12, 13. Die Kraftfahrzeuge 12, 13 fahren in einem Infrastrukturbereich 14, bei dem es sich zum Beispiel um ein Parkhaus oder ein Parkplatzgelände handeln kann. Die Servervorrichtung 1 1 kann hierbei den Verkehr oder die Fahrweise der Kraftfahrzeuge 12, 13 koordinieren. Die Servervorrichtung 1 1 kann zum Beispiel durch einen Computer oder einen Computerverbund gebildet sein, der in dem Infrastrukturbereich 14 installiert sein kann. Die Servervorrichtung 1 1 kann eine Kommunikationseinrichtung 15 und eine Prozessoreinrichtung 16 aufweisen. Die Kommunikationseinrichtung 15 kann dazu eingerichtet sein, eine jeweilige Funkverbindung 17, 18 zu einer jeweiligen korrespondierenden Kommunikationseinrichtung 19 der Kraftfahrzeuge 12, 13 zu betreiben. Die Kommunikationseinrichtung 15 kann beispielsweise ein WLAN-Router und/oder ein Mobilfunkmodul umfassen. Die Kommunikationseinrichtungen 19 der Kraftfahrzeuge 12, 13 können entsprechend ebenfalls einen WLAN-Router und/oder ein Mobilfunkmodul umfassen. The figure shows a system 10 with a server device 1 1 and motor vehicles 12, 13. The motor vehicles 12, 13 travel in an infrastructure area 14, which may be, for example, a parking garage or a parking lot. The server device 1 1 can in this case coordinate the traffic or the driving style of the motor vehicles 12, 13. The server device 1 1 may be formed, for example, by a computer or a computer network that may be installed in the infrastructure area 14. The server device 1 1 may have a communication device 15 and a processor device 16. The communication device 15 may be configured to operate a respective radio link 17, 18 to a respective corresponding communication device 19 of the motor vehicles 12, 13. The communication device 15 may comprise, for example, a WLAN router and / or a mobile radio module. The communication devices 19 of the motor vehicles 12, 13 can accordingly likewise comprise a WLAN router and / or a mobile radio module.
Durch die Prozessoreinrichtung 16 kann eine Verkehrskoordination 20 bereitgestellt sein, die beispielsweise auf der Grundlage eines Programm- codes für die Prozessoreinrichtung 16 gebildet sein kann. By means of the processor device 16, a traffic coordination 20 can be provided which, for example, can be formed on the basis of a program code for the processor device 16.
Die Kraftfahrzeuge 12, 13 können jeweils beispielsweise vollautomatisiert durch einen jeweiligen Autopiloten oder eine Autopiloteinrichtung 21 in dem Infrastrukturbereich 14 geführt werden. Jede Autopiloteinrichtung 21 kann über die jeweilige Kommunikationsverbindung 17, 18 an die Servervorrichtung 1 1 einen aktuellen Fahrstatus 22 und eine Fahrintention 23 übermitteln oder aussenden. Die Koordinationseinrichtung 20 kann auf der Grundlage des jeweiligen Fahrstatus 22 jedes Kraftfahrzeugs 12, 13 und der Fahrinten- tion 23 jedes Kraftfahrzeug 12, 13 ermitteln, wie sich die Kraftfahrzeuge 12, 13 in dem Infrastrukturbereich 14 bewegen. Die Fahrintention 23 kann beispielsweise eine jeweilige von der Autopiloteinrichtung 21 des jeweiligen Kraftfahrzeugs 12, 13 geplante Fahrtrajektorie 24, 25 darstellen. In dem veranschaulichten Beispiel ist gezeigt, dass sich die Fahrtrajektorien 24, 25 des Kraftfahrzeugs 12 einerseits und der Kraftfahrzeuge 13 andererseits schneiden. Dies würde zu einer Kollision führen, falls keine Koordination erfolgt. Für den Infrastrukturbereich 14 kann eine Verkehrsregelung 26 gelten, die zum Beispiel angeben kann, welches der Kraftfahrzeuge 12, 13 in dem beschriebenen Fall Vorfahrt hat. Im weiteren ist die Koordination für das Kraftfahrzeug 12 beschrieben. Die Koordinationseinrichtung 20 kann für das Kraftfahrzeug 12 eine Koordinationsmitteilung 26 auf der Grundlage von einem auf Grundlage der Verkehrsregelung 26 ermittelten Koordinationsergebnis an das Kraftfahrzeug 12 signalisieren. Hierzu kann beispielsweise der Infrastrukturbereich 14 in Flächensegmente 28, 28' eingeteilt sein, von denen in der Figur der Übersichtlichkeit halber nur einige mit einem Bezugszeichen versehen sind. Es kann sich bei einem Flächensegment 28, 28' beispielsweise jeweils um ein rechteckigen Bereich oder eine rechteckige Fläche handeln. Diejenigen Flächensegmente 28', entlang welchen oder auf welchen die Kraftfahrzeuge 13 entlang fahren werden und die deshalb von dem Kraftfahrzeug 12 nicht befahren werden dürfen, können gemäß der Koordinationsmitteilung 27 für das Kraftfahrzeug 12 einen Befahrbarkeitsstatus„Befahren verboten" eingestellt haben. In der Figur ist dies durch eine Schraffur des jeweiligen Flächensegments 28' veranschaulicht. Diejenigen Flächensegmente 28, welche das Kraftfahrzeug 12 befahren darf, können einen Befahrbarkeitsstatus„Befahren erlaubt" für das Kraftfahrzeug 12 aufweisen. Die Summe der mit dem Befahrbarkeitsstatus „Befahren erlaubt" markierten oder eingestellten Flächensegmente 28 stellt die erlaubte Verhaltensweise für das Kraftfahrzeug 12 dar. Darstellt ist der Inhalt der Koordinationsmitteilung 27 für das Kraftfahrzeug 12. Die Koordinationsmitteilungen für die anderen Kraftfahrzeuge 13 sehen natürlich anders aus, da diese die Vorfahrt für die Kraftfahrzeuge 13 bezüglich des Kraftfahrzeugs 12 signalisieren. For example, the motor vehicles 12, 13 can each be guided fully automatically by a respective autopilot or autopilot device 21 in the infrastructure area 14. Each autopilot device 21 can transmit or transmit via the respective communication link 17, 18 to the server device 1 1 a current driving status 22 and a driving intention 23. On the basis of the respective driving status 22 of each motor vehicle 12, 13 and the driving position 23 of each motor vehicle 12, 13, the coordination device 20 can determine how the motor vehicles 12, 13 move in the infrastructure area 14. The driving intention 23 may, for example, represent a respective driving trajectory 24, 25 planned by the autopilot device 21 of the respective motor vehicle 12, 13. In the illustrated example, it is shown that the travel trajectories 24, 25 of the motor vehicle 12 on the one hand and the motor vehicles 13 on the other hand intersect. This would lead to a collision, if no coordination takes place. For the infrastructure area 14 may apply a traffic control 26, which may indicate, for example, which of the motor vehicles 12, 13 has priority in the case described. In the following, the coordination for the motor vehicle 12 is described. The coordination device 20 can signal to the motor vehicle 12 a coordination message 26 on the basis of a coordination result determined on the basis of the traffic regulation 26 to the motor vehicle 12. For this purpose, for example, the infrastructure area 14 can be divided into area segments 28, 28 ', of which only a few are provided with a reference number in the figure for the sake of clarity. For example, a surface segment 28, 28 'can each be a rectangular region or a rectangular surface. Those surface segments 28 ', along which or along which the motor vehicles 13 travel along and which therefore can not be traveled by the motor vehicle 12, may have set a trafficability status "driving prohibited" in accordance with the coordination message 27 for the motor vehicle 12. In the figure this by a hatching of the respective surface segment 28 ' illustrated. Those surface segments 28 which the motor vehicle 12 is allowed to drive may have a trafficability status "driving allowed" for the motor vehicle 12. The sum of the surface segments 28 marked or set with the trafficability status "driving allowed" represents the permitted behavior for the motor vehicle 12 is the content of the coordination message 27 for the motor vehicle 12. The coordination messages for the other motor vehicles 13 of course look different, as they signal the right of way for the motor vehicles 13 with respect to the motor vehicle 12.
Auf Grundlage der Koordinationsmitteilung 27 kann die Autopiloteinrichtung 21 die geplante Fahrroute 24 umplanen und auf frei befahrbaren Flächensegmenten 28 eine alternative, geänderte Fahrroute 24' planen und diese befahren. On the basis of the coordination message 27, the autopilot device 21 can reschedule the planned driving route 24 and plan and drive on freely accessible area segments 28 an alternative, modified driving route 24 '.
Die Servervorrichtung 14 kann mittels einer Überwachungssensorik 29 unabhängig von einer jeweiligen fahrzeugeigenen Sensorik der Kraftfahrzeuge 12, 13 Sensordaten 30 ermitteln, durch welche ein jeweiliger aktueller Fahrstatus der Kraftfahrzeuge 12, 13 ermittelt werden kann. The server device 14 can detect sensor data 30 by means of a monitoring sensor 29 independently of a respective vehicle-specific sensor system of the motor vehicles 12, 13, by means of which a respective current driving status of the motor vehicles 12, 13 can be determined.
Des Weiteren kann durch die Servervorrichtung 1 1 auch zum Beispiel ein Nothaltbefehl 31 an die Kraftfahrzeuge 12, 13 ausgesendet werden, durch welchen die Autopiloteinrichtungen 21 der Kraftfahrzeuge 12, 13 zum Anhalten angesteuert werden. Dies ist also im Unterschied zum freien Planen einer alternativen Fahrroute 24' durch die Autopiloteinrichtungen 21 selbst eine Fremdsteuerung der Autopiloteinrichtungen 21 durch die Servervorrichtung 1 1 . Furthermore, by the server device 1 1, for example, an emergency stop command 31 to be sent to the motor vehicles 12, 13, by which the autopilot devices 21 of the motor vehicles 12, 13 are controlled to stop. In contrast to the free planning of an alternative travel route 24 'by the autopilot devices 21 itself, this is an external control of the autopilot devices 21 by the server device 11.
Allgemein ist somit ein Infrastruktursystem eines Infrastrukturbereichs mit einer Überwachungslösung gekoppelt. Dabei wird eine Trennung von koordinativen und sicherheitskritischen Kommandos auf verschiedenen Ebenen abgebildet, weil die Servervorrichtung 1 1 nur koordiniert und die eigentliche Steuerung der Kraftfahrzeuge 12, 13 weiterhin deren Autopiloteinrichtung überlassen bleibt. In general, an infrastructure system of an infrastructure area is thus coupled with a monitoring solution. In this case, a separation of coordinative and safety-critical commands is mapped on different levels, because the server device 1 1 only coordinated and the actual control of motor vehicles 12, 13 remains their autopilot device remains.
Die Informationen über bewegte Objekte, d.h. die Kraftfahrzeug und optional zumindest ein weiterer Verkehrsteilnehmer, werden als Basis für drei elementare Koordinations- und Absicherungsvorgänge verwendet: 1 ) Ein Fahrzeug steht in einem Dialog mit dem durch die Servervorrichtung gebildeten Zentralsystem, indem es seine Fahrintention (z.B. Fahrtroute) und seinen Fahrstatus (z.B. Position und Geschwindigkeit) mitteilt und umgekehrt eine vom Zentralsystem verantwortete Aussage zu aktuell erlaubten Verhaltensweisen (z.B. frei befahrbaren Zonen oder Flächensegmenten 28 innerhalb des Erfassungsbereichs). Dazu können sich Zentralsystem und Fahrzeug einer gemeinsamen a-priori- Informationsbasis (z.B. einer digitalen Karte) bedienen, um die Bezeichnung von Bereichen und Elementen innerhalb der Infrastruktur beiderseits auflösen zu können. The information about moving objects, ie the motor vehicle and optionally at least one other road user, are used as the basis for three elementary coordination and securing operations: 1) A vehicle is in dialogue with the central system formed by the server device by notifying its intention to drive (eg route) and driving status (eg position and speed) and vice versa a statement on the currently allowed behaviors (eg freely drivable zones) or area segments 28 within the detection area). For this purpose, the central system and vehicle can use a common a priori information base (eg a digital map) in order to be able to resolve the designation of areas and elements within the infrastructure on both sides.
2) Bei einem Sicherheitsproblem, z.B. in Situationen unmittelbarer Gefährdung, kann als Schutzmaßnahme anstelle dieser Koordinationsmitteilungen eine akute Aufforderung zum Nothalt seitens des Zentralsystems an ein oder mehrere Fahrzeuge gesendet werden.  2) In a security problem, e.g. In situations of immediate danger, as an alternative to these coordination messages, an emergency call for emergency stop may be sent by the central system to one or more vehicles.
3) Das Zentralsystem vergleicht empfangene Statusnachrichten der Teilnehmer mit seinen eigenen Erkenntnissen aus dem Überwachungssystem, d.h. der Überwachungssensorik. Damit können Abweichungen außerhalb bestimmter Toleranzen (z.B. in Position oder Geschwindigkeit) festgestellt werden.  3) The central system compares received status messages of the subscribers with its own insights from the monitoring system, i. the monitoring sensor. This allows deviations outside certain tolerances (for example position or speed) to be detected.
Der Betrieb von Infrastrukturbereichen mit automatisierten Fahrzeugen wird auch ohne eine manuelle Überwachung durch Personal möglich. Es wird eine klare Verantwortungslage mit nachvollziehbaren Handlungen auf Seiten des Zentralsystems und des Fahrzeugs geschaffen. Durch einen Abgleich zwischen Fahrzeug- und Überwachungssystemsicht kann ein fehlerhaftes Fahrzeug angehalten und bis auf weiteres vom automatisierten Fahrbetrieb ausgeschlossen werden. The operation of infrastructure areas with automated vehicles is also possible without manual monitoring by personnel. It creates a clear sense of responsibility with comprehensible actions on the part of the central system and the vehicle. By comparing the vehicle and monitoring system views, a faulty vehicle can be stopped and excluded from automated driving until further notice.
Eine bevorzugte technische Umsetzung sieht Folgendes vor. A preferred technical implementation provides the following.
Ein Fahrzeug verbindet sich vor Aktivierung vollautomatischer Fahrt über eine Kommunikationsschnittstelle der Kommunikationseinrichtung 15 (z.B. Funktechnologie wie pWLAN oder LTE) mit einem bestehenden Zentralsystem. Dies erfasst über eine angeschlossene Überwachungssensorik (z.B. Kameras) alle bewegten Objekte innerhalb seiner lokalen Grenzen (Erfassungsbereich) und kann ihre Bewegungen verfolgen oder tracken und mittels Klassifikation und Bewegungsmodellen auch in die Zukunft prognostizieren. Zwischen beiden Entitäten (Fahrzeug und Zentral System) werden über ein Protokoll beidseitig Informationen ausgetauscht, die sich wiederum auf beiden bekannte a-priori-lnformationen (z.B. aus einer digitalen Karte) beziehen können. Das Fahrzeug gibt seine Intention in Form des geplanten Fahrtweges an das Zentralsystem. Des Weiteren werden wiederholt Statusdaten an das Zentralsystem gesendet, die u.a. Position und Geschwindigkeit des Fahrzeugs beinhalten. A vehicle connects to an existing central system via a communication interface of the communication device 15 (eg radio technology such as pWLAN or LTE) before activating fully automatic driving. Via a connected monitoring sensor system (eg cameras), this records all moving objects within its local limits (detection area) and can track or track their movements and also predict the future by means of classification and movement models. Between both entities (vehicle and central system) information is exchanged on both sides via a protocol, which in turn can refer to both known a-priori information (eg from a digital map). The vehicle gives its intention in the form of the planned travel route to the central system. Furthermore, status data are sent repeatedly to the central system, which include position and speed of the vehicle.
Das Zentralsystem enthält eine Logik 31 , die die Informationen aus der Überwachungssensorik mit den Intentions- und Statusmeldungen der Fahrzeuge abgleicht und Verhaltensvorgaben und Kommandos zum Nothalt generiert. The central system contains a logic 31 that compares the information from the monitoring sensor with the Intentions- and status messages of the vehicles and generates behavioral prescriptions and commands for emergency stop.
Im Regelfall wird die Position von Fremdobjekten zu einem bestimmten automatisierten Fahrzeug, der Zustand von Infrastrukturelementen (z.B. Schranken) und die Intention anderer automatisierter Fahrzeuge verwendet, um Bereiche zu berechnen, in denen sich das betreffende Fahrzeug sicher bewegen kann oder die gemieden werden sollten. Die geometrischen Informationen und der Befahrbarkeitsstatus dieser Bereiche (Flächenseg- mente) werden dem Fahrzeug entweder direkt oder als eine Referenz auf Elemente einer gemeinsamen Wissensbasis (z.B. a-priori-Karte) über die Kommunikationsverbindung 17 mitgeteilt. Die Fahrzeugfunktion enthält Algorithmik, die auf Basis der Informationen aus dem Zentralsystem ein korrektes Fahrzeugverhalten (z.B. innerhalb der als sicher deklarierten Grenzen) umsetzen. Typically, the location of foreign objects to a particular automated vehicle, the condition of infrastructure elements (e.g., barriers), and the intent of other automated vehicles are used to compute areas where the vehicle in question can move safely or should be avoided. The geometric information and the trafficability status of these areas (area segments) are communicated to the vehicle either directly or as a reference to elements of a common knowledge base (e.g., a-priori map) over the communications link 17. The vehicle function includes algorithms that implement correct vehicle behavior (e.g., within the limits declared safe) based on the information from the central system.
Wird über die Bewegungsdaten der erfassten Objekte eine drohende Kollision erkannt oder tritt eine anderweitig durch das Zentralsystem erkennbare Notsituation auf (z.B. Ausfall von Teilsystemen wie Überwa- chungssensorik) wird zur Kommunikation ein dediziertes Nothaltekommando an ein oder mehrere Fahrzeuge gesendet, das mit höherer Priorität in Versand und Verarbeitung behandelt werden kann und im Fahrzeug ohne weiteren Interpretationsbedarf direkt umgesetzt wird. Des Weiteren werden die Eigenzustandsmeldungen von Fahrzeugen im Zentralsystem kontinuierlich mit der Objekterkennung aus der Überwachungssensorik verglichen. Da ein automatisiertes Fahrzeug dort auch als bewegtes Objekt erkannt wird, kann durch ein Tracking und eine geeignete Initialisierung bei der Einfahrt in die Infrastruktur eine korrekte Zuordnung von Kommunikationsteilnehmern und ihrer Erkennung im Überwachungssystem sichergestellt werden (z.B. durch mittels Aufforderungssignal 32 angeforderte Handlungen, die durch die Überwachungssensorik nachvollzogen werden können). Fällt der durch das Überwachungssystem erkannte Zustand (z.B. Position oder Geschwindigkeit) eines automatisierten Fahrzeugs aus einer definierten Toleranz zu dessen eigenen Statusmeldungen, so kann dies erkannt werden und dem Zentralsystem steht die Möglichkeit zur Verfügung, durch eine Sonderbehandlung (z.B. Nothalt des entsprechenden Fahrzeugs und eventuell weiterer Fahrzeuge in seiner Umgebung) potenzielle durch fehlerhafte automatisierte Fahrzeuge verursachte Schäden von anderen Verkehrsteilnehmern abzuwenden. If an impending collision is detected via the movement data of the detected objects or if an emergency situation otherwise identifiable by the central system occurs (eg failure of subsystems such as surveillance sensors), a dedicated emergency stop command is sent to one or more vehicles for communication, which has a higher priority in shipping and processing can be handled and implemented directly in the vehicle without further interpretation needs. Furthermore, the self-status messages of vehicles in the central system are continuously compared with the object detection from the monitoring sensor system. Since an automated vehicle is also recognized there as a moving object, a correct assignment can be achieved through tracking and suitable initialization when entering the infrastructure be ensured by communication participants and their detection in the monitoring system (eg by means of request signal 32 requested actions that can be followed by the monitoring sensors). If the detected by the monitoring system state (eg position or speed) of an automated vehicle from a defined tolerance to its own status messages, this can be detected and the central system is the opportunity available through a special treatment (eg emergency stop of the vehicle and possibly other vehicles in its vicinity) avert potential damage caused by faulty automated vehicles from other road users.
Insgesamt zeigen die Beispiele, wie durch die Erfindung pilotierte Fahrzeuge in einem aktiven Infrastrukturbereich koordiniert werden können. Overall, the examples show how vehicles piloted by the invention can be coordinated in an active infrastructure area.

Claims

PATENTANSPRÜCHE: CLAIMS:
Verfahren zum Koordinieren eines Verkehrs mehrerer Kraftfahrzeuge (12, 13) innerhalb eines vorbestimmten Infrastrukturbereichs (14) durch eine zentrale Servervorrichtung (1 1 ), wobei die zentrale Servervorrichtung (1 1 ): A method of coordinating traffic of a plurality of motor vehicles (12, 13) within a predetermined infrastructure area (14) by a central server device (11), the central server device (11) comprising:
- aus den Kraftfahrzeugen (12, 13) wiederholt jeweils einen jeweiligen aktuellen Fahrstatus (22) und eine jeweilige aktuelle Fahrintention (23) des Kraftfahrzeugs (12, 13) empfängt und  - from the motor vehicles (12, 13) repeatedly receives a respective current driving status (22) and a respective current driving intention (23) of the motor vehicle (12, 13) receives and
- für jedes der Kraftfahrzeuge (12, 13) jeweils ein aktuelles Koordinationsergebnis ermittelt , das angibt, wo dem Kraftfahrzeug (12, 13) ausgehend von seinem aktuellen Fahrstatus (22) seine Fahrintention (23) gemäß einer vorbestimmten Verkehrsregelung (26) aufgrund eines jeweiligen Fahrstatus (22) und/oder einer jeweiligen Fahrintention (23) zumindest eines anderen der Kraftfahrzeuge (12, 13) verboten ist, und abhängig von dem Koordinationsergebnis für jedes der Kraftfahrzeuge (12, 13) eine jeweilige aktuelle erlaubte Verhaltensweise ermittelt , und - For each of the motor vehicles (12, 13) each determines a current coordination result indicating where the motor vehicle (12, 13) starting from its current driving status (22) its intention driving (23) according to a predetermined traffic control (26) due to a respective Driving status (22) and / or a respective driving intention (23) of at least one other of the motor vehicles (12, 13) is prohibited, and depending on the coordination result for each of the motor vehicles (12, 13) determines a respective current allowed behavior, and
- an die Kraftfahrzeuge (12, 13) die jeweils ermittelte, in dem Infrastrukturbereich (14) für das jeweilige Kraftfahrzeug (12, 13) aktuell erlaubte Verhaltensweise als eine Koordinationsmitteilung (27) zur selbständigen Anpassung seiner Fahrintention (23) signalisiert, - to the motor vehicles (12, 13) the respectively determined, in the infrastructure area (14) for the respective motor vehicle (12, 13) currently allowed behavior as a coordination message (27) for autonomous adjustment of its driving intention (23) signals
dadurch gekennzeichnet, dass characterized in that
die Servervorrichtung (1 1 ) von zumindest einem der Kraftfahrzeuge (12, 13) dessen aktuellen Fahrstatus (22) mittels einer fahrzeugexternen Überwachungssensorik (29) des Infrastrukturbereichs (14) zusätzlich selbst erfasst und überprüft, ob ein vorbestimmtes Sicherheitsproblem vorliegt, und bei erkanntem Sicherheitsproblem eine vorbestimmte Schutzmaßnahme auslöst, wobei die Servervorrichtung (1 1 ) als ein Sicherheitsproblem erkennt, dass der von dem Kraftfahrzeug (12, 13) empfangene aktuelle Fahrstatus (22) und der selbst erfasste Fahrstatus des Kraftfahrzeugs (12, 13) eine Abweichung aufweisen, die größer als ein vorbestimmter Mindestwert ist, wodurch eine Fehlfunktion in der Fahrzeugsensorik des Kraftfahrzeugs (12, 13) kompensiert oder dieser mittels der Schutzmaßnahme entgegengewirkt wird. the server device (1 1) of at least one of the motor vehicles (12, 13) whose actual driving status (22) by means of an external vehicle monitoring sensor (29) of the infrastructure area (14) additionally detects and verifies whether there is a predetermined security problem, and if detected security problem triggers a predetermined protective measure, wherein the server device (11) recognizes as a security problem that the current driving status (22) received by the motor vehicle (12, 13) and the self-detected driving status of the motor vehicle (12, 13) have a deviation which greater than a predetermined minimum value, whereby a malfunction in the vehicle sensor system of the motor vehicle (12, 13) compensated or this is counteracted by means of the protective measure.
Verfahren nach Anspruch 1 , wobei die erlaubte Verhaltensweise jeweils signalisiert wird, indem mittels der Koordinationsmitteilung (27) dem Kraftfahrzeug (12, 13) zumindest ein aktuell von dem Kraftfahrzeug (12, 13) frei befahrbares Areal (28) und/oder zumindest ein für das Kraftfahrzeug gesperrtes Areal (28') signalisiert wird. The method according to claim 1, wherein the permitted behavior is signaled in each case by means of the coordination message (27) the motor vehicle (12, 13) at least one current of the motor vehicle (12, 13) freely accessible area (28) and / or at least one area locked to the motor vehicle (28 ') is signaled.
Verfahren nach einem der vorhergehenden Ansprüche, wobei die Servervorrichtung (1 1 ) mit zumindest einem der Kraftfahrzeuge (12, 13) jeweils eine gemeinsame digitale Umgebungskarte nutzt und die Koordinationsmitteilung (27) zum Beschreiben der erlaubten Verhaltensweise zumindest eine Referenz auf die Umgebungskarte enthält. Method according to one of the preceding claims, wherein the server device (1 1) with at least one of the motor vehicles (12, 13) each uses a common digital environment map and the coordination message (27) for describing the permitted behavior contains at least one reference to the area map.
Verfahren nach einem der vorhergehenden Ansprüche, wobei zum Ermitteln der aktuell erlaubten Verhaltensweise zumindest ein Teil des Infrastrukturbereichs (14) in Flächensegmente (28, 28') eingeteilt ist und die Servervorrichtung (1 1 ) zu jedem Flächensegment (28, 28') ein jeweiliger Befahrbarkeitsstatus in Abhängigkeit von dem aktuellen Koordinationsergebnis auf einen der beiden Werte„Befahren erlaubt" und „Befahren verboten" einstellt und mittels der Koordinationsmitteilung (27) einen jeweiligen aktuell eingestellten Befahrbarkeitsstatus zumindest eines der Flächensegmente (28, 28') an das jeweilige Kraftfahrzeug (12, 13) signalisiert. Method according to one of the preceding claims, wherein for determining the currently permitted behavior, at least a part of the infrastructure area (14) is divided into area segments (28, 28 ') and the server device (11) has a respective one for each area segment (28, 28') Trafficability status depending on the current coordination result on one of the two values "driving allowed" and "driving prohibited" sets and by means of the coordination message (27) a respective current tuned status of at least one of the surface segments (28, 28 ') to the respective motor vehicle (12 , 13) signals.
Verfahren nach einem der vorhergehenden Ansprüche, wobei die Servervorrichtung (1 1 ) eine jeweilige Bewegung zumindest eines der Kraftfahrzeuge (12, 13) ausgehend von dessen jeweiligem aktuellen Fahrstatus (22) mittels eines Bewegungsmodells prognostiziert und als ein Sicherheitsproblem eine aufgrund der prognostizierten Bewegung bevorstehende Kollision mit einem Verkehrsobjekt erkennt. Method according to one of the preceding claims, wherein the server device (1 1) predicts a respective movement of at least one of the motor vehicles (12, 13) based on their respective current driving status (22) by means of a movement model and as a safety problem a collision due to the predicted movement recognizes with a traffic object.
Verfahren nach einem der vorhergehenden Ansprüche, wobei die Schutzmaßnahme umfasst, dass an zumindest eines der Kraftfahrzeuge (12, 13) ein Nothaltbefehl (31 ) ausgesendet wird. Method according to one of the preceding claims, wherein the protective measure comprises that an emergency stop command (31) is transmitted to at least one of the motor vehicles (12, 13).
Verfahren nach einem der vorhergehenden Ansprüche, wobei die Servervorrichtung (1 1 ) Method according to one of the preceding claims, wherein the server device (1 1)
- aus zumindest einem der Kraftfahrzeuge (12, 13) jeweils zumindest einmal zusammen mit dem Fahrstatus (22) und/oder der Fahrintention (23) eine jeweilige Fahrzeugidentifikationsangabe des Kraftfahrzeugs (12, 13) empfängt und  - Receiving at least one of the motor vehicles (12, 13) each at least once together with the driving status (22) and / or the driving intention (23) a respective vehicle identification information of the motor vehicle (12, 13) and
- zumindest eines der Kraftfahrzeuge (12, 13) in Sensordaten (30) der Überwachungssensorik (29) detektiert und - ein Aufforderungssignal (32) zum Ausführen einer vorbestimmten Erkennungshandlung an eine empfangende Fahrzeugidentifikationsangabe adressiert und an die Kraftfahrzeuge (12, 13) aussendet und - At least one of the motor vehicles (12, 13) in sensor data (30) of the monitoring sensor (29) detected and - a request signal (32) for performing a predetermined recognition action addressed to a receiving vehicle identification information and sent to the motor vehicles (12, 13) and
- in den Sensordaten (30) erkennt, welches darin detektierte Kraftfahrzeug (12, 13) die Erkennungshandlung ausführt, und dem die Erkennungshandlung ausführenden Kraftfahrzeug (12, 13) die Fahrzeugidentifikationsangabe zuordnet.  - Detects in the sensor data (30), which detected therein motor vehicle (12, 13) performs the recognition action, and assigns the recognition action exporting motor vehicle (12, 13) the vehicle identification information.
Verfahren nach einem der vorhergehenden Ansprüche, wobei beim Ermitteln des Koordinationsergebnisses zumindest ein weiterer Verkehrsteilnehmer berücksichtigt wird, indem eine jeweilige voraussichtliche Bewegungsbahn des zumindest einen Verkehrsteilnehmers ermittelt und mit der Fahrintention (23) des jeweiligen Kraftfahrzeugs (12, 13) abgeglichen wird. Method according to one of the preceding claims, wherein when determining the result of the coordination at least one further road user is taken into account by determining a respective prospective trajectory of the at least one road user and comparing it with the driving intention (23) of the respective motor vehicle (12, 13).
Servervorrichtung (1 1 ) zum Koordinieren eines Verkehrs mehrerer Kraftfahrzeuge (12, 13) innerhalb eines vorbestimmten Infrastrukturbereichs (14), wobei die Servervorrichtung (1 1 ) eine Prozessoreinrichtung (16) aufweist, die dazu eingerichtet ist, ein Verfahren nach einem der vorhergehenden Ansprüche durchzuführen. A server device (11) for coordinating traffic of a plurality of motor vehicles (12, 13) within a predetermined infrastructure area (14), the server device (11) comprising processor means (16) arranged to carry out a method according to any one of the preceding claims perform.
EP18704901.0A 2017-02-09 2018-01-30 Method for coordinating the traffic of a plurality of motor vehicles within a predetermined infrastructure region and server device, motor vehicle and system Active EP3580737B1 (en)

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