Method for controlling at least one vehicle, which moves at least partially autonomously within an operating environment, and structure

Patent metadata

Field	Value
Publication number	US-10466703-B2
Application number	US-201716301637-A
Country	US
Kind code	B2
Filing date	Apr 26, 2017
Priority date	May 18, 2016
Publication date	Nov 5, 2019
Grant date	Nov 5, 2019

Abstract

A method is disclosed for controlling at least one vehicle moving at least partially autonomously within an operating environment. One trigger device is designed within the operating environment for triggering a stop signal for stopping the at least one vehicle. A computing device allocated to the operating environment receives the stop signal of the triggered trigger device and determines a set of vehicles to be stopped by evaluating positional data describing the position of the triggered trigger device and the position of the at least one vehicle. The computing device orders the at least one vehicle to stop depending on the evaluation result.

First claim

The invention claimed is:

1. A method, performed by a computing device allocated to an operating environment, for controlling at least one vehicle moving at least partially autonomously within the operating environment, in which there is at least one trigger device configured to trigger a stop signal for stopping the at least one vehicle, the method comprising:
receiving the stop signal from the at least one trigger device;
determining a set of vehicles to be stopped by evaluating positional data describing a position of the at least one trigger device and a position of the at least one vehicle located in the operating environment; and
ordering the at least one vehicle to stop based on the evaluation of the positional data.

2. The method according to claim 1 , wherein the at least one trigger device comprises at least one fixed trigger device or at least one portable trigger device.

3. The method according to claim 1 , wherein the at least one trigger device comprises a push switch or a touch switch.

4. The method according to claim 1 , wherein the at least one trigger device comprises an interrupt sensor including a light barrier or the at least one trigger device comprises a proximity sensor.

5. The method according to claim 1 , wherein the determining the set of vehicles to be stopped comprises:
considering at least one subspace of the operating environment associated to a fixed trigger device or positionally-dependent to a portable trigger device or to a vehicle.

6. The method according to claim 5 , wherein the evaluating the positional data comprises:
determining whether the position of the at least one vehicle is located within the at least one subspace.

7. The method according to claim 5 , wherein the at least one subspace associated to the fixed trigger device or the portable trigger device describes a visible region of the operating environment for a person triggering the fixed trigger device or the portable trigger device.

8. The method according to claim 5 , wherein the at least one subspace associated to the vehicle describes a region of the operating environment visible to a person located at the position of the vehicle.

9. The method according to claim 1 , wherein the stop signal is triggered during an interruption of a communication connection between the at least one trigger device and the computing device.

10. The method according to claim 1 , further comprising:
during a predetermined or pre-determinable time period after receipt of the stop signal or until receipt of a release signal nullifying the stop signal, evaluating positional data of a second vehicle that does not belong to the set of vehicles to be stopped; and
ordering the second vehicle to stop depending on the evaluation of the positional data of the second vehicle.

11. The method according to claim 1 , further comprising:
determining the positional data at least partially from sensor data of a sensor device arranged within the operating environment.

12. The method according to claim 1 , further comprising:
considering map data describing the operating environment during the evaluation of the positional data; or
determining the positional data at least partially from the map data.

13. The method according to claim 1 , further comprising:
forwarding the stop signal to the at least one vehicle for controlling the at least one vehicle to be stopped.

14. The method according to claim 1 , wherein the operating environment comprises a parking facility for motor vehicles or a transport means.

15. A structure which is designed as an operating environment for at least one vehicle drivable at least partially autonomously, the structure comprising:
at least one trigger device configured to generate a stop signal for stopping the at least one vehicle; and
a computing device configured to:
receive the stop signal from the at least one trigger device;
determine a set of vehicles to be stopped by evaluating positional data describing a position of the at least one trigger device and a position of the at least one vehicle located in the operating environment; and
order the at least one vehicle to stop based on the evaluation of the positional data.

16. The structure according to claim 15 , further comprising:
a sensor device arranged within the operating environment, wherein the computing device is further configured to determine the positional data at least partially from sensor data of the sensor device.

17. The structure according to claim 15 , wherein the computing device is further configured to:
consider map data describing the operating environment during the evaluation of the positional data; or
determine the positional data at least partially from the map data.

18. The structure according to claim 15 , wherein the computing device is further configured to:
forward the stop signal to the at least one vehicle for controlling the at least one vehicle to be stopped.

19. The structure according to claim 15 , wherein the at least one trigger device is configured to trigger the stop signal during an interruption of a communication connection between the at least one trigger device and the computing device.

20. The structure according to claim 15 , wherein to determine the set of vehicles to be stopped the computing device is further configured to:
consider at least one subspace of the operating environment associated to a fixed trigger device or positionally-dependent to a portable trigger device or to a vehicle.

Assignees

• Audi Ag

Inventors

• Altinger Harald
• Schuller Florian
• Feist Christian

Classifications

• G08G1/005

  including pedestrian guidance indicator · CPC title

• H04W4/44

  for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H] · CPC title

• G08G1/164

  Centralised systems, e.g. external to vehicles · CPC title

• H04W4/33

  for indoor environments, e.g. buildings · CPC title

• B60W30/00

  Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units · CPC title