Method to operate a vehicle, method to test an autonomous driving system, system with a vehicle

A method of operating a vehicle, the method comprising:

• sensing surroundings of the vehicle and operating parameters of the vehicle by at least one sensor;
• supporting a driving of the vehicle by a first autonomous driving control using the sensed surroundings and the sensed operating parameters, wherein the first autonomous driving control generates vehicle driving commands for at least partly controlling the driving of the vehicle;
• simulating an operation of the vehicle by a digital twin of the vehicle to provide a vehicle simulation, wherein the digital twin comprises a second autonomous driving control that generates vehicle operation control commands for at least partly controlling a driving of the digital twin;
• aligning the vehicle simulation with the driving of the vehicle by feedback of the sensed surroundings and the sensed operating parameters;
• and
• evaluating a detachment criterium and changing an operating mode of the vehicle simulation or at least a copy of the vehicle simulation from being aligned with the driving of the vehicle to a detachment of the vehicle simulation allowing a deviation of simulated values to the sensed surroundings, the sensed operating parameters, or a combination thereof,
• wherein the operating mode is changed when the detachment criterium is fulfilled, and
• wherein the detachment criterium is evaluated by:
• comparing the vehicle operation control commands of the second autonomous driving control with the first autonomous driving control and setting the detachment criterium to fulfilled when a deviation between the first autonomous driving control and the second autonomous driving control exceeds a threshold;
• and/or
• assessing a criticality of the driving of the vehicle and setting the detachment criterium to fulfilled when the criticality exceeds a criticality threshold.

A system comprising:

• a vehicle having:
• sensors configured to sense surroundings of the vehicle and operating parameters of the vehicle;
• and
• a first autonomous driving control configured to support a driving of the vehicle by receiving the sensed surroundings and the sensed operating parameters, wherein the first autonomous driving control is configured to generate vehicle driving commands for at least partly controlling the driving of the vehicle;
• a digital twin configured to simulate an operation of the vehicle to provide a vehicle simulation, wherein the digital twin comprises a second autonomous driving control configured to generate vehicle operation control commands for at least partly controlling a driving of the digital twin, wherein the vehicle simulation is aligned with the driving of vehicle by feedback of the sensed surroundings and the sensed operating parameters;
• and
• a detachment module configured to evaluate a detachment criterium and change an operating mode of the vehicle simulation or at least a copy of the vehicle simulation from being aligned with the driving of the vehicle to a detachment of the vehicle simulation allowing a deviation of simulated values to the sensed surroundings, the sensed operating parameters, or a combination thereof,
• wherein the operating mode is changed when the detachment criterium is fulfilled, and
• wherein the detachment criterium is evaluated by:
• comparing the vehicle operation control commands of the second autonomous driving control with the first autonomous driving control and setting the detachment criterium to fulfilled when a deviation between the first and second autonomous driving controls exceeds a threshold;
• and/or
• assessing a criticality of the driving of the vehicle and setting the detachment criterium to fulfilled when the criticality exceeds a criticality threshold.