Method and device for mutual monitoring and/or control of autonomous technical systems

Patent metadata

Field	Value
Publication number	US-12073667-B2
Application number	US-201917252861-A
Country	US
Kind code	B2
Filing date	Jun 5, 2019
Priority date	Jun 19, 2018
Publication date	Aug 27, 2024
Grant date	Aug 27, 2024

Abstract

A method and a device for the mutual monitoring and/or control of a multiplicity of autonomous technical systems which are at least partially interconnected to one another via a communication network is provided. At least one of the autonomous technical systems is embodied as a monitoring autonomous technical system and monitors the operating behaviour of other autonomous technical systems. Since a specified first rule, the monitoring autonomous technical system detects an operating behavior, which is contrary to the rule, of a first autonomous technical system and generates a status message about the operating behavior which is contrary to the rule therefrom. Depending on the evaluation, a control rule is derived for the first autonomous technical system and communicated to a control module which is assigned to the first autonomous technical system. The operating behavior of the first autonomous technical system is controlled on the basis of the control rule.

First claim

The invention claimed is:

1. A method for mutual monitoring and/or control of a multiple, separate autonomous technical systems, which are at least partly interconnected via a communication network, the method comprising the following steps:
configuring at least one of the autonomous technical systems as a monitoring autonomous technical system and monitoring the operating behavior of other autonomous technical systems,
detecting abnormal operating behavior of a first autonomous technical system of the autonomous technical systems by the monitoring autonomous technical system based on a specified first rule and a status message regarding the abnormal operating behavior of the first autonomous technical system is generated therefrom, the status message including an identification of the first autonomous system and details of the abnormal operating behavior of the first autonomous system,
transmitting the status message from the monitoring autonomous technical system to a plurality of the other autonomous technical systems,
wherein the status message is received by the plurality of the other autonomous technical systems and jointly evaluated by the plurality of the other autonomous technical systems and, depending on the joint evaluation, a control rule is derived for the first autonomous technical system, and
sending the control rule to the first autonomous technical system, and the operating behavior of the first autonomous technical system is controlled according to the control rule,
wherein a result of the joint evaluation is determined from a majority decision by the plurality of other autonomous technical systems or from weighted evaluations by the plurality of other autonomous technical systems, and the control rule is derived based on the result of the joint evaluation, and
wherein the multiple, separate autonomous technical systems are autonomous vehicles or autonomous robots.

2. The method as claimed in claim 1 , wherein the monitoring autonomous technical system comprises at least one sensor, the sensor records sensor data, and the abnormal operating behavior of first autonomous technical system is detected using the sensor data.

3. The method as claimed in claim 1 , wherein several of the autonomous technical systems are configured as monitoring autonomous technical systems and each of these monitoring autonomous systems is configured to transmit a status message to other autonomous technical systems and the status messages are jointly evaluated.

4. The method as claimed in claim 1 , wherein the monitoring of the other autonomous technical systems is carried out continuously and/or at predetermined times.

5. The method as claimed in claim 1 , wherein a weighting is assigned to each autonomous technical system that evaluates the status message and the joint evaluation of the status message is determined from the weighted evaluations using the weightings.

6. The method as claimed in claim 5 , wherein the weighting assigned to each autonomous technical system is dynamically adjusted depending on a monitoring quality and/or on a rank of the autonomous technical system.

7. The method as claimed in claim 1 , wherein a computer-aided simulation of the operating behavior of another autonomous technical system is carried out by the monitoring autonomous technical system based on sensor data of the monitoring autonomous technical system and/or on sensor data of other monitoring autonomous technical systems and, based on the simulation, a prediction of future operating behavior is derived and transmitted as a status message to at least some of the autonomous technical systems.

8. The method as claimed in claim 7 , wherein future, abnormal operating behavior is detected using the computer-aided simulation and a specified second rule, a status message is generated therefrom and this status message is transmitted to at least some of the autonomous technical systems.

9. A device for mutual monitoring and control of multiple, separate, autonomous technical systems, which are at least partly interconnected via a communication network, wherein the device is one of the autonomous technical systems, the device comprising:
a processor;
at least one sensor; and
at least one communication interface to the communication network;
wherein the device is configured to:
detect abnormal operating behavior of a first autonomous technical system of the autonomous technical systems based on a specified first rule and a status message regarding the abnormal operating behavior of the first autonomous technical system is generated therefrom, the status message including an identification of the first autonomous system and details of the abnormal operating behavior of the first autonomous system,
transmit the status message from the monitoring autonomous technical system to a plurality of the other autonomous technical systems, wherein the status message is received by the plurality of the other autonomous technical systems and jointly evaluated by the plurality of the other autonomous technical systems and, depending on the joint evaluation, a control rule is derived for the first autonomous technical system, and
send the control rule to the first autonomous technical system, and the operating behavior of the first autonomous technical system is controlled according to the control rule,
wherein a result of the joint evaluation is determined from a majority decision by the plurality of other autonomous technical systems or from weighted evaluations by the plurality of other autonomous technical systems, and the control rule is derived based on the result of the joint evaluation, and
wherein the multiple, separate autonomous technical systems are autonomous vehicles or autonomous robots.

10. The device as claimed in claim 9 , wherein a first communication interface of the at least one communication interface is configured for receiving and decrypting encrypted data transfer.

11. The device as claimed in claim 9 , wherein the device is configured to simulate operating behavior of another autonomous technical system, based on sensor data of the at least one sensor.

12. A non-transitory computer readable hardware storage device having computer readable program code stored therein, said program code executable by a processor of a computer system for mutual monitoring and/or control of a multiple, separate autonomous technical systems, which are at least partly interconnected via a communication network, the program code, when executed by the processor, causes the processor to perform the following steps:
configuring at least one of the autonomous technical systems as a monitoring autonomous technical system and monitoring the operating behavior of other autonomous technical systems,
detecting abnormal operating behavior of a first autonomous technical system of the autonomous technical systems by the monitoring autonomous technical system based on a specified first rule and a status message regarding the abnormal operating behavior of the first autonomous technical system is generated therefrom, the status message including an identification of the first autonomous system and details of the abnormal operating behavior of the first autonomous system,
transmitting the status message from the monitoring autonomous technical system to a plurality of the other autonomous technical systems,
wherein the status message is received by the plurality of the other autonomous technical systems and jointly evaluated by the plurality of the other autonomous technical systems and, depending on the joint evaluation, a control rule is derived for the first autonomous technical system, and
sending the control rule to

Assignees

• Bosch Gmbh Robert

Inventors

• Liu Ziyuan
• Meister Philine
• Mesanovic Amer
• Fiegert Michael
• Meyer-Delius Di Vasto Daniel
• Szabo Andrei
• Wurm Kai
• Dietrich Vincent

Classifications

• G07C5/085

  using electronic data carriers · CPC title

• G07C5/008

  communicating information to a remotely located station (transmission systems for measured values G08C) · CPC title

• B60W60/001

  Planning or execution of driving tasks · CPC title

• G06F30/15

  Vehicle, aircraft or watercraft design · CPC title

• H04W84/18

  Self-organising networks, e.g. ad-hoc networks or sensor networks · CPC title