# US 10,481,603 B2 · Device and method for operating a vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,481,603 B2 - Document ID: US10481603B2 - Status: Granted - Kind: B2 - Application number: 15/319,063 - Filed: 2015-05-08 - Published: 2017-04-27 - Granted: 2019-11-19 - Earliest claimed: 2014-06-27 - Assignees: Robert Bosch GmbH - Applicants: Robert Bosch GmbH - Inventors: Oliver Pink; Karsten Muehlmann; Armin Ruehle; Michael Helmle; Christoph Schroeder; Rainer Baumgaertner; Jeannine Schwarzkopf; Florian Hauler - Web page: https://patentgrep.com/patent/US10481603B2 ## CPC - B60W 50/029: Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts - B60W 30/06: Automatic manoeuvring for parking - B60W 50/023: Avoiding failures by using redundant parts - B60W 60/0053: {from vehicle to occupant} - G05D 1/00: Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots (drive control systems specially adapted for autonomous road vehicles B60W60/00) - B60W 50/082: {Selecting or switching between different modes of propelling} - B60W 2050/0006: {Digital architecture hierarchy} - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ## Abstract An apparatus for operating a vehicle, including a control device that is configured to guide the vehicle automatically; and a monitoring device that is configured to monitor the control device for a fault during automatic guidance of the vehicle by the control device, and upon recognition of a fault to take over automated guidance of the vehicle from the control device. A corresponding method and a computer program are also described. ## Claims ### Claim 1 An apparatus for operating a vehicle, comprising: a control device that is configured to guide the vehicle automatically; and a monitoring device that is configured to monitor an operation of the control device for a fault during automatic guidance of the vehicle by the control device, and upon recognition of the fault, to take over automated guidance of the vehicle from the control device, wherein the monitoring device continues monitoring the control device after taking over the automated guidance of the vehicle from the control device, and wherein when the monitoring device determines that the control device has resumed operating without exhibiting the fault after the monitoring device took over the automated guidance of the vehicle, the monitoring device permits the control device to resume control over the automated guidance of the vehicle. ### Claim 2 (depends on 1) The apparatus as recited in claim 1, wherein the control device and the monitoring device having an identical function inventory encompassing several functions, the monitoring device being configured, in order to monitor the control device, to monitor all functions of the control device for the fault. ### Claim 3 (depends on 1) The apparatus as recited in claim 1, wherein the monitoring device has a first function inventory that is a subset of a second function inventory encompassing several functions of the control device, the monitoring device being configured, in order to monitor the control device, to monitor for the fault exclusively those functions of the second function inventory of the control device which correspond to the subset of the first function inventory. ### Claim 4 (depends on 1) The apparatus as recited in claim 1, wherein the monitoring device is configured to park the vehicle safely upon recognition of the fault. ### Claim 5 (depends on 1) The apparatus as recited in claim 1, wherein the monitoring device is configured to recognize, based on an instantaneous reference trajectory and a future reference trajectory that have both been ascertained by way of the control device, an instantaneous and a future guidance intention of the control device and to decide, based on the recognized guidance intentions, whether or not the fault exists. ### Claim 6 (depends on 1) The apparatus as recited in claim 1, wherein the monitoring device is configured to ascertain a safety reference trajectory and, in a fault situation, to guide the vehicle based on the safety reference trajectory. ### Claim 7 (depends on 6) The apparatus as recited in claim 6, wherein the monitoring device is configured to ascertain the safety reference trajectory based on a last reference trajectory recognized as valid that has been ascertained by the control device. ### Claim 8 (depends on 7) The apparatus as recited in claim 7, wherein the last reference trajectory recognized as valid includes a lateral and a longitudinal trajectory, the monitoring device being configured, in order to ascertain the safety reference trajectory, to retain the lateral trajectory and to overwrite the longitudinal trajectory with a newly ascertained longitudinal trajectory or, in order to ascertain the safety reference trajectory, to retain the longitudinal trajectory and to overwrite the lateral trajectory with a newly ascertained lateral trajectory. ### Claim 9 (depends on 1) The apparatus as recited in claim 1, the monitoring device being configured to ascertain, for at least one of collision detection and hazard detection, an open space in the environment of the vehicle. ### Claim 10 A method for operating a vehicle, comprising: automatically guiding of the vehicle by a control device; monitoring an operation of the control device for a fault by way of a monitoring device while the control device is automatically guiding the vehicle; and taking over of automated guidance from the control device by the monitoring device if the monitoring device recognizes the fault, wherein the monitoring device continues monitoring the control device after taking over the automated guidance of the vehicle from the control device, and wherein when the monitoring device determines that the control device has resumed operating without exhibiting the fault after the monitoring device took over the automated guidance of the vehicle, the monitoring device permits the control device to resume control over the automated guidance of the vehicle. ### Claim 11 A non-transitory computer-readable storage medium on which is stored a computer program for operating a vehicle, the computer program containing instructions for executing a method for operating a vehicle, the method comprising: automatically guiding of the vehicle by a control device; monitoring an operation of the control device for a fault by way of a monitoring device while the control device is automatically guiding the vehicle; and taking over of automated guidance from the control device by the monitoring device if the monitoring device recognizes the fault, wherein the monitoring device continues monitoring the control device after taking over the automated guidance of the vehicle from the control device, and wherein when the monitoring device determines that the control device has resumed operating without exhibiting the fault after the monitoring device took over the automated guidance of the vehicle, the monitoring device permits the control device to resume control over the automated guidance of the vehicle.