WO2020126371A1 - Method for autonomous vehicle cleaning - Google Patents

Abstract

The invention relates to a method for autonomous vehicle cleaning of an autonomous vehicle (10) operating in an operating region (100). At least one service station (80, 90) is arranged in the operating region (100) in which the method according to the invention is carried out. The method according to the invention furthermore requires a server (70), which is designed for communication with the at least one autonomous vehicle (10) and the at least one service station (80, 90). In the method according to the invention, information on a degree of contamination of the vehicle (10) is first obtained. Based on the information on the degree of contamination of the vehicle (10), a cleaning procedure to be performed on the vehicle (10) is further determined. In the method according to the invention, the vehicle (10) furthermore autonomously travels to a selected service station (80, 90) and the cleaning is performed at the selected service station (80, 90).

Description

description

Autonomous vehicle cleaning process

The invention relates to a method for autonomous vehicle cleaning, in particular for cleaning a vehicle designed for autonomous driving. The invention further relates to a system for carrying out the method according to the invention with at least one autonomous vehicle, at least one autonomous service station for cleaning the vehicle and a server for communication with the vehicle (s) and service station (s).

Today's vehicles already have a large number of assistance systems that support the driver in a variety of driving situations using computer technology. Such assistance systems can use sensors to record a large number of measurement data, which far exceed the sensory abilities of humans. In addition, the speed of these assistance systems significantly exceeds the human response time. Known

Driver assistance systems are, for example, lane keeping assistants, brake assistants for pedestrian detection and adaptive cruise control, especially for traffic jams.

By using such assistance systems, the driver's autonomy with regard to his driving decisions is increasingly transferred to the vehicle or control units operating in it. At the end of these developments is an autonomously driving vehicle that can maneuver completely without human intervention. Fully automated passenger transport is possible using such an autonomously driving vehicle. So far, such autonomous vehicles have generally been registered for individuals and / or are not approved for road use without additional monitoring by a driver. In terms of maintenance and care, these autonomous vehicles therefore differ little from other privately owned vehicles. As a rule, the owner (s) will take care of the maintenance and care of the vehicle.

However, a wide variety of mobility concepts already exist today, especially in urban areas. In so-called car sharing, a large number of users access the vehicles of a vehicle fleet independently of one another and for a limited time. By tying the fleet vehicles to a specific user only for the period of actual use, the unused parking time of the vehicles can be minimized become. With decentralized car sharing concepts, vehicle use is started and ended at any point in a business area of the fleet provider. Decentralized car sharing concepts in particular have the potential to significantly minimize the total number of vehicles required, as of a sufficient number of users and

Vehicles that fleet vehicles will be available in a self-organized manner and with a sufficient density in the business area. As soon as a sufficient number of autonomously driving vehicles are available in a certain area, an increase in car sharing concepts and a decrease in exclusively privately used vehicles can be expected, since the provision of vehicles is guaranteed with sufficient security even in more remote or less frequented places can.

In the case of decentralized car sharing concepts, however, the energy supply, maintenance and care of the vehicles is a challenge

Refueling and cleaning of the fleet vehicles employees of the fleet provider are used. However, this significantly increases personnel costs and thus the costs of the car sharing concept. Alternatively, the users of the autonomous vehicles can be incentivized to carry out the necessary service trips. However, there is a risk of inadequate maintenance or vehicle breakdowns.

In addition to the operability of the individual vehicle, it is also necessary that

Maintain functionality of the fleet. The decentralized car sharing concepts in particular require a certain minimum number of ready-to-use vehicles at all times. This is the only way to ensure sufficient availability of vehicles for users.

In the context of the present application, car sharing in the broader sense also means ride pooling and ride hailing. An autonomous vehicle fleet can thus also be a fleet of private vehicles that are only made available temporarily for driving services, in particular for autonomous driving services. In these and similar cases, a fleet operator is to be understood as the provider of an application, the application being used to connect users and providers of driving services.

The invention is based on the object of overcoming or at least reducing the problems of the prior art and of providing a solution for automated cleaning and care of autonomous vehicles which are suitable both for

Carsharing concepts as well as for privately used autonomous vehicles should be applicable. The object of the invention is achieved by a method and a system according to the independent patent claims and the preferred developments of the subclaims.

A first aspect of the invention relates to a method for autonomously cleaning an autonomous vehicle operating in an operating area. In other words, they can

Vehicles within the operating area are used by users for autonomous driving services, regardless of whether they are vehicles from a car sharing provider or private vehicles. At least in the operating area, the infrastructure necessary for autonomous ferry operation of the vehicles is therefore available. According to the invention, the operating area has at least one service station equipped for cleaning the vehicle. Furthermore, at least one server is set up for communication with the at least one autonomous vehicle and the at least one service station.

The method according to the invention is implemented in such an operating range.

In a first step of the method according to the invention, information about a degree of pollution of the vehicle is collected. In other words, in a first step information about a state property of a vehicle is determined, which indicates that an actual state of the pollution of the vehicle deviates from a target state of the vehicle. The target state can apply to all vehicles or can be set individually for a specific vehicle, for example by a user or owner of the vehicle. As explained in detail, the information on a degree of pollution of the

Vehicle automatically collected by the vehicle, collected based on user input, recorded using sensors from the service station or collected using external data.

In a next step of the method according to the invention, cleaning to be carried out on the vehicle is carried out on the basis of the information on the degree of contamination of the vehicle

Vehicle determined. A cleaning describes in the most general form an action on the vehicle in order to convert it from the present actual state of the pollution to a desired target state. A type of cleaning is particularly preferably determined on the basis of the type of degree of contamination determined. A degree of cleaning is also preferably determined on the basis of the degree of soiling. For example, the degree of contamination determines whether external cleaning, possibly with or without rim cleaning or underbody cleaning, or whether internal cleaning,

optionally with or without upholstery and carpet cleaning. In the method according to the invention, the vehicle is also driven autonomously to a selected service station. The journey takes place after information about a

Degree of pollution of the vehicle has been collected and after at least a preliminary cleaning decision has been made on the basis of this information. Since, according to the invention, a cleaning that is appropriate for the degree of soiling can only be determined after arrival at the service station, the autonomous drive does not necessarily take place after the determination of an appropriate cleaning. However, if the autonomous journey takes place after a cleaning corresponding to the degree of contamination has been determined, the journey preferably takes place to a service station suitable for the determined cleaning.

After the autonomous drive of the autonomous vehicle in the service station has ended, the vehicle is cleaned in the service station in a partially or fully autonomous manner. In other words, the service station has at least one device designed to carry out the cleaning, in particular a correspondingly configured cleaning module. This device is preferably designed as a robotics system that requires little or no action by a user. Cleaning is particularly preferably carried out in the

Service station fully automatic. If the type of cleaning to be carried out has already been determined in the method according to the invention before the autonomous drive and on the basis of the information on the degree of soiling, the cleaning can be carried out immediately after the arrival of the vehicle at the service station. Otherwise, the cleaning to be carried out on the vehicle is determined after the arrival of the

Vehicle at the service station. The degree or details of a cleaning which has already been determined in advance for the vehicle is likewise preferably determined in the service station.

The method according to the invention advantageously enables automatic cleaning of an autonomously driving vehicle, in extreme cases without any action by a user. Thus, a clean appearance of the vehicles can always be guaranteed and with

Contamination-related damage to the vehicle (rust film) can be avoided. Especially with regard to car sharing providers, the autonomous and

Cleaning the vehicles according to need also maintain commercial viability. Since all steps of the method according to the invention can be carried out fully automatically, personnel expenditure and associated costs are advantageously reduced.

In a preferred embodiment of the method according to the invention, the autonomous cleaning also comprises checking the quality of the cleaning carried out autonomously. For example, the service station can check again whether an actual state of the vehicle corresponds to the desired state after the cleaning has been carried out. If the check is unsuccessful, a further cleaning is preferably carried out, which is the same or different from the first cleaning. Alternatively or only after several negative checks, an error message is generated, saved and / or output. After performing the cleaning, information about a degree of pollution of the vehicle is preferably alternatively or additionally recorded by the vehicle.

If the autonomous cleaning has been carried out, at least if the cleaning has been successfully checked, the autonomous vehicle preferably returns to a previous location of the vehicle by means of a further autonomous drive. Alternatively, the vehicle returns to a location where it is needed after cleaning, for example to a user's workplace or the like. Such locations can be determined using a schedule, for example. Also as an alternative and in the case of a car sharing vehicle, the autonomous vehicle returns to operation in the autonomous vehicle fleet after cleaning, that is to say to a variable location.

In a preferred embodiment of the method according to the invention, the information on the degree of pollution of the vehicle has first information acquired by the vehicle itself. For this purpose, the vehicle preferably has at least one second sensor designed to record vehicle data. The sensor is preferably an interior camera for detecting a degree of contamination of an interior. It is also preferably a camera designed to record image signals of the body surface of the vehicle, for example an am

Dashboard or rear view mirror arranged and directed at the hood or around a camera directed at the side mirror and at the fender or the door. These are also preferably sensors for detecting a degree of reflection of the

Vehicle paint. It is also preferably a sensor for detecting particles in the indoor air. The first information is preferably processed by the vehicle itself and / or transmitted to the server and / or to the at least one service station.

Alternatively or additionally, the information points to the degree of contamination of the

Vehicle based on a user input second information. The second

Information, that is, user input, is particularly preferred via a

Vehicle interface and / or a mobile device has been detected. In a

In the embodiment, the second information characterizes the degree of contamination, for example on the basis of a predefined scale, and / or specifies the type and / or the Place of pollution, for example as a stain on the back seat. The second information likewise preferably contains image information recorded by the user,

for example pictures of the interior or of taken with the smartphone

Pollution. The second information likewise preferably characterizes a successful use of the vehicle, for example in that information on the transport of animals,

Be given to children or sports fans. Based on the usage information, typical soiling associated with the respective usage type and finally the suitable cleaning methods can be determined. The user input is also preferably carried out in response to a corresponding input prompt issued to the user.

Alternatively or additionally, the information points to the degree of contamination of the

Third information provided by the server, which is preferably driver-non-specific and vehicle-non-specific information. The third

Information preferably characterizes framework conditions that have a special

Can cause pollution with a certain probability. For example, the third information contains data on the weather, the season, seasonal allergens, the prevalence of a flu wave or the like. The third item of information is particularly suitable for initiating appropriate countermeasures, such as washing underbody to remove road salt in winter or disinfecting upholstery during a flu season.

Alternatively or additionally, the information points to the degree of contamination of the

Fourth information recorded in the vehicle in the at least one service station. The fourth information is particularly preferably information acquired by at least one sensor of the service station. It is advantageously easier to determine a degree of external pollution of a vehicle by means of external sensors, and a service station can advantageously have sensors that are much better equipped than a smartphone, for example. The fourth information is thus particularly preferably taken into account in addition to the information mentioned above, in order to clean the actual contamination

adapt. According to such an embodiment, the autonomous drive to the service station is preferably carried out after the provisional determination of the on the vehicle

cleaning to be carried out and the provisionally determined cleaning is modified on the basis of the fourth information recorded in the service station. Alternatively, the autonomous journey to the service station takes place before the cleaning to be carried out on the vehicle is ascertained, but after it has been determined on the basis of the information collected on the degree of soiling that the vehicle should be cleaned without specifying this cleaning. In such an embodiment of the method according to the invention, a determination of the cleaning actually to be carried out, that is to say of the type and degree of cleaning, is advantageously also possible solely on the basis of the fourth information.

Furthermore, the cleaning, that is to say the type and degree of cleaning to be carried out on the basis of the degree of soiling, is preferably determined fully automatically on the basis of the information on the degree of soiling of the vehicle. The cleaning to be carried out is preferably determined by the autonomous vehicle itself. Alternatively, the cleaning is preferably determined by a server to which the vehicle has previously been

Information on the degree of pollution was transmitted. The service action is likewise preferably determined by at least one service station to which the service agent previously sent

Vehicle information about the degree of pollution was transmitted. Furthermore, the cleaning to be carried out is preferably determined automatically, for example

database-based, using at least one look-up table, LUT, using at least one algorithm and / or using artificial intelligence. Alternatively or additionally, the cleaning to be carried out is determined at least in part on the basis of a user input, for example by an employee of a service station. Furthermore, in the method according to the invention, the suitable service station is preferably determined, taking into account the utilization of at least one service station. Information regarding the equipment of the at least one service station is also particularly preferably taken into account.

In the method according to the invention, a service station suitable for carrying out the determined cleaning is preferably selected or ascertained. In the context of the present application, a suitable service station is understood to mean a (trained) service station set up to carry out the determined type of cleaning. The suitable service station is particularly suitable for carrying out the service action fully or partially autonomously and / or with the determined degree of cleaning. Autonomous implementation is understood to mean implementation without human intervention (apart from programming, maintenance and servicing of the service station). The suitability of the service station results in particular from the equipment of the service station, that is to say from the service modules present in the service station. In the context of the present application, a service module is designed to carry out at least one type of cleaning, that is to say external or internal cleaning, with a certain degree of cleaning.

In a particularly preferred embodiment of the method according to the invention, the server, in particular a server of a cleaning service provider, collects one Fleet operator or a vehicle manufacturer, the information on the

Degree of pollution of the vehicle. All of the above-mentioned first to fourth information regarding the degree of contamination can advantageously be bundled in the server. The server also preferably takes into account information about the equipment and / or the utilization of the at least one service station, which information was transmitted to the server particularly preferably by the at least one service station. In a particularly preferred manner, the server determines a plurality of ones that are in principle more suitable for performing the determined cleaning

Service stations. According to this embodiment, the server finally selects one of the determined plurality of service stations on the basis of a position of the vehicle, the service station closest to the vehicle being selected in principle. The server also preferably takes into account the utilization of the service stations, that is to say the cleaning times or waiting times to be expected in the respective service stations. In this case, a distant one may become less

busy service station selected. Finally, in the method according to the invention, the autonomous journey to the selected service station is carried out, preferably after the server has transmitted information to the vehicle to the selected service station.

In a likewise preferred embodiment of the method according to the invention, information about the determined cleaning to be carried out is transmitted to a user of the vehicle. In other words, the vehicle, the server or the service station informs the user by means of a message sent to the user, for example to a smartphone of the user, that one or more cleaning options have been determined which are recommended in view of the degree of pollution of the vehicle. In addition, a cost estimate and / or a time estimate can be transmitted for each cleaning option. The user can then make a selection as to whether cleaning and possibly which of the cleaning options is to be carried out on the vehicle. Based on this selection, information about the selection made by the user is transmitted to the vehicle, the server or the service station and thus ultimately through this

Receive information about cleaning to be performed on the vehicle from the user.

The method steps of the method according to the invention can be implemented by electrical or electronic components or components (hardware), by firmware (ASIC) or by executing a suitable program (software). The method according to the invention is likewise preferably implemented or implemented by a combination of hardware, firmware and / or software.

For example, individual components for performing individual method steps are as formed separately integrated circuit or on a common integrated

Circuit arranged. Individual components set up to carry out individual method steps are also preferably on a (flexible) printed circuit board

(FPCB / PCB), a tape carrier package (TCP) or another substrate.

The individual method steps of the method according to the invention are furthermore preferably designed as one or more processes which run on one or more processors in one or more electronic computing devices and are generated when one or more computer programs are executed. The computing devices are preferably designed to work with other components, for example a communication module and one or more sensors or cameras, in order to implement the functionalities described here. The instructions of the computer programs are preferably stored in a memory, such as a RAM element. However, the computer programs can also be stored in a non-volatile storage medium, such as a CD-ROM, a flash memory or the like.

The person skilled in the art can also see that the functionalities of several computers (data processing devices) can be combined or combined in a single device or that the functionality of a specific data processing device can be distributed over a large number of devices in order to carry out the steps of the method according to the invention without to deviate from the inventive method described above.

Another aspect of the invention relates to a computer program comprising instructions that are used when the program is executed by a computer, such as a second one

Control unit of a server, cause the inventive method

to execute, the inventive method of the server comprising the steps: collecting information on a degree of pollution of the vehicle; Determining a cleaning to be carried out on the vehicle based on the information on the degree of pollution of the vehicle; Determining a service station suitable for performing the cleaning; and communicating cleaning and / or service station information to the vehicle.

Another aspect of the invention relates to a computer readable storage medium comprising instructions that are executed by a computer, such as a second one

Control unit of a server, cause the inventive method

to execute, the inventive method of the server comprising the steps: collecting information on a degree of pollution of the vehicle; Find one at that Vehicle to be cleaned based on information on the degree of pollution of the vehicle; Determining a service station suitable for performing the cleaning; and communicating cleaning and / or service station information to the vehicle.

Another aspect of the present invention relates to a system for autonomously cleaning a vehicle in a method according to the invention, as described above. The system according to the invention has at least one autonomously driving vehicle which has at least one first sensor designed to record environmental data and at least one second sensor designed to record vehicle data. The at least one first sensor allows the detection of environmental or environmental information and the at least one second sensor allows the detection of vehicle-specific information. Each of the vehicles also has a driving system designed to perform autonomous driving maneuvers. The driving system is preferably designed for complete transverse and longitudinal guidance of the vehicle. Furthermore, each of the vehicles has a (first) communication module that is set up to establish at least one communication connection. The (first) communication module is, for example, a WLAN or mobile radio module and is preferably designed to carry out Car2Car or Car2X communication. Furthermore, each of the vehicles has at least one

Energy storage, for example a battery system and / or a fuel or

Hydrogen tank on. The system according to the invention preferably also has at least one server set up for communication with the at least one autonomous vehicle and at least one service station. The server in particular has a correspondingly designed (fourth) communication module. The server is preferably a server of a data center of a provider of car sharing services (fleet operator), a provider of cleaning services or a vehicle manufacturer. The system according to the invention also has at least one service station arranged in an operating area. The at least one service station has a (second) communication module set up for communication with the at least one vehicle and the server. Furthermore, the service station has a first service module designed to perform interior cleaning of the vehicle and / or a second service module designed to perform exterior cleaning of the vehicle.

The service station also preferably has a (second) control unit set up to determine a cleaning to be carried out on a vehicle. The control unit is designed, in particular, to perform cleaning on the basis of information

Determine the degree of pollution of the vehicle. The (second) communication module is preferably designed to provide information on this degree of pollution from a

Vehicle and / or received by the server. In a preferred embodiment, the service station is designed to determine the cleaning to be carried out on the basis of received or recorded information relating to a degree of pollution of the vehicle. The (second) control unit is particularly preferably set up to determine at least one cleaning to be carried out on the vehicle on the basis of information received from the vehicle or from the server by means of the (second) communication module. The (second) control unit is also preferably designed to determine a degree of soiling and / or cleaning for the vehicle on the basis of vehicle-specific variables that were recorded by a first control module. Information received from the vehicle and / or from the server is likewise preferably combined with information recorded in the first service station in order to determine the type and / or the degree of cleaning to be carried out on the vehicle. If the service station has already been determined as a suitable station for vehicle cleaning, the degree of soiling of the vehicle is preferably recorded when the vehicle arrives in order to determine the type and degree of cleaning, for example interior or exterior cleaning, upholstery cleaning, disinfection, etc.

The first service module is preferably a robot arm that is used for

Interior cleaning of the vehicle carries suitable tools. The robot arm is preferably designed to be introduced into the vehicle interior through an open door or an open window of the vehicle. The tools are, for example, a vacuum cleaner nozzle, an upholstery brush, an applicator for applying

Cleaning agents and / or agents for cleaning shelves and / or windows. In an alternative preferred embodiment, the first service module has a mobile cleaning robot, which is designed to pass through an open door or window of the

Vehicle to enter a vehicle interior. The mobile cleaning robot preferably has tools suitable for interior cleaning, such as a vacuum cleaner nozzle, an upholstery brush, an applicator for applying cleaning agents and / or agents for cleaning shelves and / or windows. The mobile cleaning robot is designed to perform interior cleaning autonomously and / or with the doors and windows closed.

The second service module is preferably designed like an automatic washing line known from the prior art and preferably has nozzles for applying at least one cleaning liquid, brushes or rags for removing dirt from the vehicle and / or a hair dryer for drying the vehicle. In a particularly preferred manner, the second service module also has further washing elements, such as, for example, specially Rim washing trained brushes and / or wax application agents. The second service module also preferably has means for transporting the vehicle in the module. The service station according to the invention also preferably has at least one third service module designed to fill the energy store of the vehicle.

In a likewise preferred embodiment of the service station according to the invention, this additionally has a first control module upstream of the service modules. The first control module has at least one third sensor, which is designed to detect at least one variable that characterizes a degree of pollution of the vehicle. In other words, the first control module is designed (set up) to detect at least one degree of pollution of the vehicle. A previously determined degree of soiling or a cleaning determined therefrom can thus advantageously be verified and / or adapted. Likewise, in the method according to the invention, only one type of soiling or one type of cleaning corresponding thereto was preferably determined in advance. In this case, is recorded using the first control module

Information, a degree of pollution or the corresponding cleaning is determined.

In a particularly preferred embodiment, the first control module is as one

Scan bridge or the like is formed. The first control module also preferably has at least one sensor, for example an optical sensor such as a camera

Detect contamination of the vehicle. Furthermore, the first control module is preferably designed to record a large amount of vehicle-specific information (regardless of the degree of soiling). The first control module is particularly preferably designed to determine a vehicle type, a vehicle size, the presence of

Objects (cargo, child seat, documents, etc.) in the vehicle, setting values of adjustable vehicle components (seats, mirrors, etc.) and the like. The (second) control unit is preferably designed to adapt the cleaning on the basis of the additionally recorded vehicle-specific information. For example, cleaning of the vehicle can be adapted depending on the size of the vehicle or can be carried out in such a way that objects of a user in the vehicle are not removed.

After the cleaning has been completed, preference is also given to those recorded

Starting positions of vehicle components, such as seating positions, set again.

In a preferred embodiment of the first service station according to the invention, it furthermore has a second control module downstream of the service modules. The second control module has at least one fourth sensor, at least for the detection a variable characterizing the degree of pollution of the vehicle. In other words, the second control module is also designed to detect at least one degree of pollution of the vehicle. However, this detection is now used to evaluate the quality of the cleaning carried out previously. In particular, the actual state detected with the second control module can be compared with the target state aimed for in cleaning. The second control module is preferably completely or partially identical to the first control module, for example as a scan bridge.

In a further preferred embodiment of the service station according to the invention, the first and second and possibly further service modules are arranged in a common area of the service station. All service modules in the service station are particularly preferably arranged in such a way that they perform their functions on one in the first

Service station located vehicle can carry out without the need to move the vehicle within the station. In such a first service station, interior cleaning and exterior cleaning are advantageously carried out sequentially or in parallel on a vehicle located in the service station without the vehicle moving. In a preferred embodiment of the service station, the first service module and the second service module and possibly further service modules are arranged in different areas of the service station. According to this embodiment, at least one movement of the vehicle between the execution of the individual cleaning operations is therefore necessary. According to a particularly preferred embodiment, all the service modules are arranged separately from one another in the service station, and the service station is therefore constructed in a completely modular manner. The corresponding cleaning takes place in each of the service modules and then the vehicle moves to the next module.

Another aspect of the present application relates to a service station for a

system according to the invention. A service station according to the invention has at least the features as described above in conjunction with the system according to the invention. A first service station according to the invention preferably has the second communication module, the second control unit and the first and second service modules. A first service station according to the invention may also have a third one

Service module for filling at least one energy storage device of the vehicle.

A second service station, also according to the invention, preferably has a fourth service module designed to carry out maintenance and / or repair of the vehicle. The fourth service module is preferred for performing maintenance and / or repair of the vehicle. The fourth service module is particularly preferably designed to fill up operating fluids of the vehicle, such as, for example, coolant, brake fluid, washer fluid or the like. The fourth is alternatively or additionally

Service module designed to replace wear parts of the vehicle, such as

for example brake pads, wiper blades, air filters or the like. The fourth service module is particularly preferably designed to carry out the aforementioned service actions fully autonomously. Alternatively, the aforementioned service actions are carried out partially autonomously.

The second service station also preferably has a for loading and / or unloading the

Vehicle-trained logistics module. The logistics module is preferably designed to load ordered goods or goods into a fleet vehicle. Orders of a user who has ordered an autonomous fleet vehicle can thus be loaded into this fleet vehicle before it starts the autonomous journey to the user. Alternatively or additionally, goods or goods can be removed from a vehicle returning from a trip with a specific user by means of the logistics module. These goods are for example intended for transport to distant places and are in the second

Service station collected and finally handed over to a logistics company.

The second service station also preferably has parking spaces for autonomous vehicles that are not in fleet operation. This means that they can be safely stored in the second service station. Furthermore, an effective control of the number of vehicles operating in the operating area is possible. The density of the vehicles in the operating area can thus be adapted to a demand and / or other traffic volume.

Another aspect of the invention relates to an autonomous vehicle, in particular one

Passenger car with internal combustion, electric or hybrid engine, which has at least one first sensor set up to record environmental data, at least one second sensor set up to record vehicle data, and a (first)

Communication module, and a driving system set up for autonomous driving of the motor vehicle. The communication module preferably has a radio, mobile radio, WLAN, and / or Bluetooth transceiver or alternative wireless communication devices.

The at least one first sensor is designed to detect sensor signals relating to the surroundings of the vehicle. The at least one second sensor is designed to detect sensor signals relating to the vehicle itself. The first)

Communication module is designed to the vehicle and / or its surroundings receive potentially relevant information via a communication network. An ambient signal received by means of the at least one first sensor preferably enables the vehicle to obtain information about its environment and preferably displays a large amount of environmental information. A status signal received by means of the at least one second sensor preferably enables the vehicle to obtain information about its own status and, for this purpose, displays a large amount of status information.

The driving system of the motor vehicle according to the invention is preferably set up to carry out at least one autonomous driving maneuver and / or an autonomous driving from the vehicle's own position to a target position of the vehicle. The driving system is particularly preferably designed for completely automatic (autonomous) guidance of the motor vehicle and can control the longitudinal guidance and the lateral guidance of the motor vehicle. Furthermore, the driving system can preferably access the at least one first sensor and / or the at least one second sensor for determining status information and / or environmental information of the motor vehicle. These first and second sensors can thus preferably be used by the driving system and by the first control unit.

Furthermore, the vehicle has a (first) control unit designed to carry out the method according to the invention, as described above. The (first) control unit is in particular set up to carry out the steps assigned to the vehicle within the method according to the invention.

Current motor vehicles already have a large number of sensors, which are the first sensors to continuously record various environmental conditions, such as outside temperature, (air) humidity, etc. Furthermore, vehicles can also already have (second) sensors, for example position sensors of an anti-theft alarm system. Modern vehicles are also equipped with powerful communication modules that enable the reception of information via a variety of channels. The method according to the invention leads these already existing sensors to a new advantageous use.

Further preferred embodiments of the invention result from the other features mentioned in the subclaims. Unless otherwise stated in the individual case, the various embodiments of the invention mentioned in this application can advantageously be combined with one another. The invention is explained below in exemplary embodiments with reference to the accompanying drawings. Show it:

Figure 1 is a schematic representation of a system for performing the

Method according to the invention from an autonomous vehicle, a server of a fleet operator and service stations;

FIG. 2 shows a schematic representation of an operating area for carrying out the method according to the invention by means of the system shown in FIG. 1;

Figure 3 is a schematic representation of a first service module

Interior cleaning of the vehicle;

Figure 4 is a schematic representation of a second service module for

Exterior cleaning of the vehicle;

Figure 5 is a schematic representation of a first according to the invention

Service station according to a first embodiment; and

Figure 6 is a schematic representation of a first according to the invention

Service station according to a second embodiment.

Figure 1 shows a schematic representation of a system for performing the

Method according to the invention comprising an autonomous vehicle 10, a server 70, a first service station 90 and a second service station 80.

FIG. 1 shows a block diagram of a two-lane vehicle 10 with an electric motor 37. The vehicle 10 includes a large number of first sensors, in particular a first sensor 11, a second sensor 12, and a third sensor 13. The first sensors 11, 12, 13 are set up to record environmental information, respectively

Ambient data of the vehicle 10 and include, for example, temperature sensors for detecting an ambient temperature, a camera for capturing an image of an environment immediately surrounding the vehicle 10, a microphone for capturing sounds of an environment immediately surrounding the vehicle 10, distance sensors such as

For example, ultrasonic sensors for detecting distances to the vehicle 10 surrounding objects. The first sensors 11, 12, 13 transmit the environmental signals they have detected to a first control unit 40 of the vehicle 10.

The vehicle 10 also has a plurality of second sensors, in particular a fourth sensor 51, a fifth sensor 52, and a sixth sensor 53. The second sensors 51, 52, 53 are sensors for determining state data relating to the vehicle 10 itself, such as current position and movement information of the vehicle 10. The second sensors 51, 52, 53 are consequently, for example Speed sensors, acceleration sensors, inclination sensors,

Interior motion detectors, pressure sensors in the vehicle seats or the like.

In addition, at least some of the second sensors 51, 52, 53 are designed to detect a degree of contamination of the vehicle 10. The second trained for it

Sensors 51, 52, 53 include, for example, an interior camera for capturing image signals of the vehicle interior, a dashboard camera for capturing image signals of the hood, a camera in a side mirror for capturing image signals of a side door of the vehicle, and other sensors for capturing contamination, for example based on a degree of reflection of the vehicle paint or the like. The second sensors 51, 52, 53 transmit the status signals which they have detected to the first control unit 40 of the vehicle 10. In addition, at least some of the second sensors 51, 52, 53 transmit their measurement results directly to a driving system 30 of the vehicle 10.

The vehicle 10 also has a first communication module 20 with a memory 21 and one or more transponders or transceivers 22. The transponders 22 are radio, WLAN, GPS or Bluetooth transceivers or the like. The transponder communicates with the internal one

Memory 21 of the first communication module 20, for example via a suitable data bus. The current position of the

Vehicle 10 determined by communication with a GPS satellite 61 and these are stored in the internal memory 21. Likewise, authorization information stored in the memory 21 can be transmitted to an external communication module by means of the transponder 22. The first communication module 20 communicates with the first control unit 40.

In addition, the first communication module 20 is set up to communicate with a server 70, in particular a fourth communication module 71 of the server 70, for example via a UMTS (Universal Mobile Telecommunication Service) or LTE (Long Term Evolution) cellular network. The first communication module 20 is also set up to communicate with a second communication module 92 of a first service station 90 and with a third communication module 81 of a second service station 80, for example via a UMTS or LTE mobile radio network. Communication about that

Mobile radio network takes place in particular via one or more base stations 62 of the network.

The vehicle 10 also has the driving system 30, which is completely autonomous

Ferry operation, in particular for longitudinal and transverse guidance, of the motor vehicle 10 is set up. The driving system 30 has a navigation module 32 which is set up to calculate routes between a starting point and a destination and to determine the maneuvers to be carried out by the vehicle 10 along this route. It also includes

Driving system 30 an internal memory 31, for example for map materials, which communicates with the navigation module 32, for example via a suitable data bus.

At least some of the second sensors 51, 52, 53 of the vehicle 10 transmit their measurement results directly to the driving system 30. These data, which are transmitted directly to the driving system, are, in particular, current position and

Movement information of the vehicle 10. These are preferably recorded by speed sensors, acceleration sensors, inclination sensors, etc.

The vehicle 10 also has an electrical driving system 35 which provides the functionalities necessary for the electrical drive of the vehicle 10. In particular, the electric driving system 35 has an electrical energy store 36, which provides an electric motor 37 with the electrical energy required to drive the vehicle 10. The electric driving system 35 also has one, not shown

Charging device for charging the electrical energy store 36. The vehicle 10 can also be a hybrid vehicle which has a hydrogen tank for supplying a fuel cell system arranged in the vehicle 10.

The vehicle 10 also has a first control unit 40 which is set up to carry out the method according to the invention. For this purpose, the first control unit 40 has an internal memory 41 and a CPU 42, which communicate with one another,

for example via a suitable data bus. In addition, there is the first

Control unit 40 in communication with at least the first sensors 11, 12, 13, the second sensors 51, 52, 53, the first communication module 20 and the driving system 30, for example via one or more respective CAN connections, one or more respective SPI Connections, or other suitable data connections. The system according to the invention for performing the method according to the invention also preferably has a server 70. The server 70 is preferably operated by a fleet operator of an autonomous vehicle fleet, for example as part of a car sharing concept, by a service provider for vehicle cleaning and / or by a vehicle manufacturer. The server 70 has a fourth communication module 71 which is used for

Communication with the same protocol as the first communication module 20 of the vehicle 10 is set up. The server 70 also has a fourth control unit 72.

Furthermore, the server 70 preferably has a memory (not shown). The fourth

Control unit 72 is preferably designed to receive information on a degree of soiling of a vehicle 10 by means of the fourth communication module 71, and to use this information to determine a cleaning to be carried out on the vehicle 10. Furthermore, the fourth control unit 72 is preferably designed to use the fourth

Communication module 71 to receive information on the utilization of service stations 80, 90 and to use this information to determine a service station 80, 90 suitable for carrying out cleaning.

The system according to the invention for performing the method according to the invention has a plurality of first service stations 80 according to the invention and at least one

second service station 90 according to the invention, of which FIG. 1 each represents one.

The first service station 90 has a second communication module 91 which is used for

Communication with the first communication module 20 of the vehicle 10, for

Communication with the fourth communication module 71 of the server 70 and

Communication with the third communication module 81 of a second service station 80 is formed. In particular, the second communication module 91 is set up to communicate with the same protocol as the first communication module 20 of the vehicle 10, like the fourth communication module 71 of the server 70 and like the third communication module 81 of the second service station 80.

In addition, the first service station 90 has a second control unit 92, which has a memory 93 and a CPU 94, which communicate with one another via a suitable data bus, for example a CAN bus or SPI bus. The first service station 90 also has a first service module 95 and a second service module 96, each as described above. Furthermore, the first service station 90 has a third service module 97, which is designed to fill an energy store 36 of the vehicle 10. Each of the service modules 95, 96, 97 is designed to communicate with the second control unit 92. The second control unit 92 is designed to carry out the steps of the method according to the invention carried out by the first service station 90 in communication with the second communication module 91 and the first and second service modules 95, 96. The second control unit 92 is in particular designed to carry out the steps of the first service station 90 in the method according to the invention.

In addition, the system according to the invention has at least one second service station 80. The second service station 80 has a third communication module 81, which is used for communication with the first communication module 20 of the vehicle 10

Communication with the fourth communication module 71 of the server 70 and

Communication with the second communication modules 91 of the first service stations 90 is formed. In particular, the third communication module 81 is for communication with the same protocol as the first communication module 20 of the vehicle 10, like the fourth communication module 71 of the server 70 and like the second

Communication modules 91 of the first service stations 90 set up.

In addition, the second service station 80 has a third one, which is not explicitly shown

Control unit 82 ', which has, for example, a memory and a CPU which communicate with one another via a suitable data bus, for example a CAN bus or SPI bus. The second service station 80 also has a first service module 95 ', a second service module 96' and a third service module 97 ', which are shown in FIG. 1 together with the third control unit 82' as a modified first service station 90 '. In other words, the second service station 80 also has these components, which are further configured as described with reference to the first service stations 90.

In addition, the second service station 80 has a fourth service module 83 and

Logistics module 84 on. The service modules 95 'to 97' and 83 and the logistics module 84 communicate with the third control unit 82 '. The third control unit 82 'is for this

trained in communication with the third communication module 81, the first to fourth service modules 95 ″ to 97 ″, 83 and the logistics module 84 that of the second

Service station 80 performed steps of the inventive method.

FIG. 2 shows a schematic illustration of an operating area 100 for carrying out the method according to the invention by means of the system shown in FIG. 1. Of the

Operating area 100 preferably extends over an urban conurbation, for example a city or a city center. A large number of autonomous vehicles 10 are located within the operating area 100, each of which has a basic configuration, as explained with reference to FIG. 1. Each of the autonomous vehicles 10 can be called up by users of a car sharing service or else permanently assigned to a specific user.

The operating area 100 has a large number of first service stations 90. Furthermore, a server 70 and a second service station 80 are arranged outside the operating area 100. The server 70 and / or the second service station 80 could, however, also in the

Operating area 100 may be arranged. The autonomous vehicles 10 are for communication with one another, in particular by means of the first communication modules 20 and via

Base stations 62 of a mobile radio network. The vehicles 10 are also designed to communicate with the first service stations 90, with the second service station 80 and with the server 70. Communication takes place directly between the elements or via base stations 62 of a mobile radio network, as with the dashed lines

indicated. In addition, all other components of FIG. 2 are also

illustrated system for direct or indirect communication with each other, such as the second service station 80 with the server 70 and the first

Service stations 90 and the server 70 with the first service stations 90, as also shown by the dotted lines in FIG. 2.

Various embodiments of the first service station 90 according to the invention and the service modules contained therein are explained below with reference to FIGS. 3 to 7.

FIG. 3 shows a schematic representation of a first service module 95, 95 ′

Interior cleaning of the vehicle 10. In order to carry out an interior cleaning of the vehicle 10, the latter moves into the service module 95, 95 'in order to come to a stop at a stop position 953. As soon as the vehicle 10 comes to a stop at the holding position 953, the vehicle doors 18 of the vehicle 10 open automatically. This is preferred by the control unit 92 of the first service station 90, the control unit 82 'of the second

Service station 80 or the control unit 40 of the vehicle 10 causes. As soon as the

Vehicle doors 18 are opened, a first robot arm 951 and a second robot arm 952 are inserted into the vehicle 10. Tools for carrying out interior cleaning, in particular a vacuum cleaner nozzle, an applicator for applying a cleaning agent and means for cleaning the upholstery, are arranged on the robot arms 951, 952. The first service module 95, 95 'shown in FIG. 3 furthermore has a charging connection 971 for filling up an electrical energy store 36 of the vehicle 10. FIG. 4 shows a schematic illustration of a second service module 96, 96 '

Exterior cleaning of the vehicle 10. The second service module 96, 96 'largely corresponds to automatic washing lines for autonomous operation known from the prior art

Exterior cleaning of a vehicle 10. The third service module 96, 96 'has, in particular, means (not shown) for applying a cleaning fluid, such as nozzles for applying a soap barrel. In addition, the second service module 96, 96 'has a rotatable upper wash brush 961 and rotatable lateral wash brushes 962 for distributing the cleaning fluid and for loosening the dirt. Furthermore, the second one

Service module 96, 96 'has a hair dryer 963 for drying the vehicle 10.

FIG. 5 shows a schematic illustration of a first service station 90 according to the invention, comprising the first service module 95 of FIG. 3 and the second service module 96 of FIG. 4, according to a first embodiment. In this first embodiment, the first

Service station 90, the first and second service modules 95, 96 are arranged in a common area of the first service station 90. Thus, the first service station 90 according to this first embodiment enables the exterior cleaning and interior cleaning to be carried out at least partially simultaneously on the vehicle 10.

A sequence of the service action carried out autonomously in the first service station 90 according to the first embodiment begins with the autonomous entry of the vehicle 10 into the first service station 90. This entry is preferably mediated by the driving system 30 of the vehicle 10, the control unit 40 of the vehicle 10 mediating of the communication modules 20, 91 communicates with the control unit 92 of the first service station 90.

If the vehicle 10 has reached a stopping position in the first service station 90, the doors 18 of the vehicle 10 open automatically and a mobile cleaning robot drives autonomously into the interior or is introduced into the interior of the vehicle 10. As soon as the doors 18 of the vehicle 10 close, the mobile cleaning robot starts the interior cleaning and starts an exterior cleaning of the vehicle 10 by means of the second service module 97, in particular by means of the washing brushes 961, 962 and the dryer 963.

As soon as the external cleaning and the internal cleaning are completed, the open

Doors 18 and the mobile cleaning robot moves out or is lifted out.

If necessary, the inside and / or outside cleaning of the vehicle 10 is checked via cameras (not shown) or other sensors of a second control module. Once this check has been completed, the vehicle 10 drives autonomously out of the service station 90. FIG. 6 shows a schematic illustration of a first service station 90 according to the invention, comprising the first service module 95 of FIG. 3 and the second service module 96 of FIG. 4, according to a second embodiment. In this second embodiment, the first

Service station 90, the first service module 95 and the second service module 96 are arranged in different areas of the first service station 90.

A sequence of the autonomously performed service action in the first service station 90 according to the second embodiment begins with the autonomous entry of the vehicle 10 into a first area of the service station 90. This entry is preferably mediated by the driving system 30 of the vehicle 10, the control unit 40 of the vehicle 10 by means of

Communication modules 20, 91 with the control unit 92 of the first service station 90

communicates. If the vehicle 10 has reached a stopping position in the first area of the first service station 90, the exterior cleaning of the vehicle 10 begins by means of the second service module 96 arranged in the first area, in particular by means of the washing brushes 961, 962 and the dryer 963. As soon as the exterior cleaning has been completed If necessary, the exterior cleaning of the vehicle 10 is checked by means of cameras or sensors (not shown). As soon as the exterior cleaning and / or the inspection is complete, the vehicle 10 drives autonomously to a first area

downstream second area of the first service station 90 or by means of a

Conveyor belts of the first service station 90 transported from the first to the second area.

If the vehicle 10 has reached a stopping position in the second area of the first service station 90, the doors of the vehicle 10 open automatically and robot arms 951, 952 move autonomously into the interior. The interior of the vehicle 10 is cleaned by means of tools located on the robot arms 951, 952. At the same time, an electrical energy store 36 of the vehicle 10 is filled by means of the charging connection 971 and the hydrogen tank of the vehicle 10 is filled by means of hydrogen refueling 972. As soon as the interior cleaning has been completed, the robot arms 951, 952 are moved out of the vehicle 10. The interior cleaning of the vehicle 10 is optionally checked via cameras (not shown) or other sensors of a second control module. Once this check is completed, the filling elements of the charging connection 971 and hydrogen refueling 972 are removed and the vehicle 10 drives out of the first service station 90 autonomously. In an alternative embodiment, the dryer 963 is arranged in the second area and the vehicle 10 is dried parallel to the

Interior cleaning and for filling the energy storage 36. Reference list of motor vehicles

first sensors

second sensor

third sensor

Vehicle door

first communication module

Storage

Transponder

Driving system

Storage

CPU

electric driving system

electrical energy storage

Electric motor

first control unit

Storage

CPU

fourth sensors

fifth sensor

sixth sensor

GPS satellite

Cellular station

other vehicle

server

fourth communication module

fourth control unit

second service station

third communication module

fourth service module

Logistics module

first service station

second communication module

second control unit

Storage

CPU

first service module

Cleaning robot

Cleaning robot

Stop position

second service module

upper washing brush

side wash brush

T rock blow dryer

third service module

Charging port

Hydrogen refueling

Claims

Claims 1. A method for autonomously cleaning an autonomous vehicle (10) operating in an operating area (100), at least one in the operating area (100) Service station (80, 90) is arranged, and wherein a server (70) for communication with the at least one autonomous vehicle (10) and the at least one Service station (80, 90) is set up, the method comprising the method steps: collecting information on a degree of pollution of the vehicle (10); Determining a cleaning to be carried out on the vehicle (10) using the Information on the degree of pollution of the vehicle (10); Autonomous travel of the vehicle (10) to a selected service station (80, 90); and performing the cleaning in the selected service station (80, 90). 2. The method of claim 1, wherein the information on the degree of pollution of the vehicle (10) from the vehicle (10) acquired first information on a Second information based on user input, third information provided by the server (70) and / or fourth information acquired in the at least one service station (80, 90). 3. The method of claim 2, wherein the first information from at least one Sensor (11, 12, 13, 51, 52, 53) of the vehicle (10) are recorded, the second information is recorded via a vehicle interface and / or a mobile terminal, the third information is received or retrieved from the server (70) and / or the fourth information is acquired by at least one sensor of the service station (80, 90). 4. The method according to any one of the preceding claims, wherein the autonomous drive to the service station (80, 90) takes place before the cleaning to be carried out on the vehicle (10) is ascertained and / or wherein the determined cleaning is carried out on the basis of the at least one service station (80 , 90) fourth information is modified. 5. The method according to any one of the preceding claims, wherein the server (70) Collects information on the degree of contamination of the vehicle (10) and also determines the cleaning to be carried out on the vehicle (10) on the basis of information on the equipment and / or capacity utilization of the at least one service station (80, 90). 6. The method according to claim 5, wherein the server (70) determines a plurality of service stations (80, 90) suitable for performing the determined cleaning, one of the plurality of service stations (80, 90) based on a position of the vehicle (10) and / or based on the utilization of the service stations (80, 90). 7. The method according to any one of the preceding claims, wherein a user of the Vehicle (10) information about the determined cleaning to be carried out is transmitted and the user receives information about a cleaning to be carried out. 8. The method according to any one of the preceding claims, wherein after performing the cleaning information on a degree of pollution of the vehicle (10) from the vehicle (10) and / or from the service station (80, 90) is recorded. 9. System for autonomous cleaning of a vehicle (10) according to one of claims 1 to 8, the system comprising: at least one autonomously driving vehicle (10) with at least one first sensor (11, 12, 13) designed to record environmental data, with at least one second sensor (51, 52, 53) designed to record vehicle data, with one for performing autonomous driving maneuvers trained driving system (30), and a first communication module (20) set up to establish at least one communication connection; one for communication with the at least one autonomous vehicle (10) and server (70) set up at least one service station (80, 90); at least one service station (80, 90) arranged in an operating area (100) with a second communication module (91) set up for communication with the at least one vehicle (10) and the server (70) and with one for performing interior cleaning of the vehicle ( 10) trained first service module (95) and / or a second service module (96) designed to perform external cleaning of the vehicle (10). 10. The system according to claim 9, further comprising the at least one service station (80, 90): a first control module upstream of the service modules (95, 96) with at least one third sensor that detects at least one variable that characterizes the degree of pollution of the vehicle (10) is formed, and / or a second control module downstream of the service modules (95, 96, 97) with at least one fourth sensor, which is designed to detect a variable characterizing the degree of pollution of the vehicle (10).