US 12,073,667 B2
Method and device for mutual monitoring and/or control of autonomous technical systems
Ziyuan Liu, Munich (DE); Philine Meister, Sunnyvale, CA (US); Amer Mesanovic, Munich (DE); Michael Fiegert, Munich (DE); Daniel Meyer-Delius Di Vasto, Munich (DE); Andrei Szabo, Ottobrunn (DE); Kai Wurm, Munich (DE); and Vincent Dietrich, Munich (DE)
Assigned to ROBERT BOSCH GMBH, Stuttgart (DE)
Appl. No. 17/252,861
Filed by Robert Bosch GmbH, Stuttgart (DE)
PCT Filed Jun. 5, 2019, PCT No. PCT/EP2019/064647
§ 371(c)(1), (2) Date Dec. 16, 2020,
PCT Pub. No. WO2019/243052, PCT Pub. Date Dec. 26, 2019.
Claims priority of application No. 10 2018 209 868.9 (DE), filed on Jun. 19, 2018.
Prior Publication US 2021/0158635 A1, May 27, 2021
Int. Cl. G07C 5/08 (2006.01); B60W 60/00 (2020.01); G06F 30/15 (2020.01); G07C 5/00 (2006.01)
CPC G07C 5/0816 (2013.01) [B60W 60/001 (2020.02); G06F 30/15 (2020.01); G07C 5/008 (2013.01); G07C 5/085 (2013.01)] 16 Claims
OG exemplary drawing
 
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.