U.S. patent application number 16/750063 was filed with the patent office on 2020-07-30 for system, vehicle, network component, apparatuses, methods, and computer programs for a transportation vehicle and a network compo.
The applicant listed for this patent is VOLKSWAGEN AKTIENGESELLSCHAFT. Invention is credited to Guillaume JORNOD, Andreas KWOCZEK, Andreas PFADLER, Daniel REIMANN.
Application Number | 20200239030 16/750063 |
Document ID | 20200239030 / US20200239030 |
Family ID | 65243402 |
Filed Date | 2020-07-30 |
Patent Application | download [pdf] |
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United States Patent
Application |
20200239030 |
Kind Code |
A1 |
KWOCZEK; Andreas ; et
al. |
July 30, 2020 |
SYSTEM, VEHICLE, NETWORK COMPONENT, APPARATUSES, METHODS, AND
COMPUTER PROGRAMS FOR A TRANSPORTATION VEHICLE AND A NETWORK
COMPONENT
Abstract
A system, a transportation vehicle, a network component,
apparatuses, methods, and computer programs for a transportation
vehicle and a network component. The method for a transportation
vehicle to determine a route section includes operating the
transportation vehicle in an automated driving mode and determining
an exceptional traffic situation. The method also includes
transmitting information related to the exceptional traffic
situation to a network component using a mobile communication
system and receiving information related to driving instructions
for the route section to overcome the exceptional traffic situation
from the network component.
Inventors: |
KWOCZEK; Andreas; (Lehre,
DE) ; PFADLER; Andreas; (Berlin, DE) ; JORNOD;
Guillaume; (Berlin, DE) ; REIMANN; Daniel;
(Braunschweig, DE) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
VOLKSWAGEN AKTIENGESELLSCHAFT |
Wolfsburg |
|
DE |
|
|
Family ID: |
65243402 |
Appl. No.: |
16/750063 |
Filed: |
January 23, 2020 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
G01C 21/362 20130101;
G05D 1/0027 20130101; G05D 1/0088 20130101; B60W 60/0059 20200201;
G05D 2201/0213 20130101; B60W 40/04 20130101; G08G 1/164 20130101;
G01C 21/3691 20130101; G08G 1/096811 20130101; G06K 9/00791
20130101; G05D 1/0038 20130101; G05D 1/0212 20130101; G08G 1/0112
20130101; G08G 1/0133 20130101; G08G 1/0145 20130101; G01C 21/3647
20130101; G08G 1/0129 20130101; G07C 5/008 20130101; B60W 60/0053
20200201 |
International
Class: |
B60W 60/00 20060101
B60W060/00; B60W 40/04 20060101 B60W040/04; G01C 21/36 20060101
G01C021/36; G07C 5/00 20060101 G07C005/00; G05D 1/00 20060101
G05D001/00 |
Foreign Application Data
Date |
Code |
Application Number |
Jan 29, 2019 |
EP |
19154194.5 |
Claims
1. An apparatus for a transportation vehicle, the apparatus
comprising: one or more interfaces configured to communicate in a
mobile communication system; and a control module configured to
control the one or more interfaces, wherein the control module is
further configured to determine a route section for use in
operating the transportation vehicle in an automated driving mode
to avoid an exceptional traffic situation, wherein the control
module is configured to determine the exceptional traffic
situation, transmit information related to the exceptional traffic
situation to a network component using a mobile communication
system, and receive information related to driving instructions for
the route section to overcome the exceptional traffic situation
from the network component, wherein the received information
related to driving instructions comprises an instruction to
manually operate the transportation vehicle out of the exceptional
traffic situation, whereby the route section is determined based on
the manual operation of the transportation vehicle out of the
exceptional traffic situation, and, thereafter, information related
to the route section determined based on the manual operation of
the transportation vehicle is transmitted to the network
component.
2. The apparatus of claim 1, wherein the information related to
driving instructions further comprises tele-operating the
transportation vehicle along the route section to overcome the
exceptional traffic situation.
3. The apparatus of claim 1, wherein the information related to
driving instructions further comprises information on the route
section from the network component and wherein the method comprises
automatically operating the transportation vehicle along the route
section.
4. The apparatus of claim 1, wherein information related to an
environmental model of the transportation vehicle is received by
the apparatus in addition to the information related to the
exceptional traffic situation.
5. The apparatus of claim 1, wherein information related to
transportation vehicle data and video data is transmitted to the
network component in addition to the information related to the
exceptional traffic situation.
6. A transportation vehicle including the apparatus of claim 1.
7. An apparatus for a network component, the apparatus comprising:
one or more interfaces configured to communicate in a mobile
communication system; and a control module configured to control
the one or more interfaces, wherein the control module is further
configured to enable the network component to determine a route
section for a transportation vehicle to overcome an exceptional
traffic situation, wherein the control module receives information
related to the exceptional traffic situation from the
transportation vehicle using the mobile communication system,
obtains information related to driving instructions for the route
section to overcome the exceptional traffic situation, and
transmits information related to the driving instructions for the
route section to overcome the exceptional traffic situation to the
transportation vehicle, and wherein the driving instructions
comprise instructions for a user of the transportation vehicle to
manually operate the transportation vehicle out of the exceptional
traffic situation, wherein information related to the route section
is stored in a storage by the apparatus.
8. The apparatus of claim 7, wherein the information related to the
driving instructions comprises retrieved previously stored
information related to the route section from storage.
9. The apparatus of claim 7, wherein the information related to the
driving instructions comprises tele-operating the transportation
vehicle out of the exceptional traffic situation, and/or wherein
the method further comprises receiving information related to an
environmental model of the transportation vehicle from the
transportation vehicle, and wherein the obtaining of the
information related to the driving instructions comprises
determining information related to the route section based on the
information related to the environmental model of the
transportation vehicle, wherein the method further comprises
storing information related to the route section in a storage.
10. A network component comprising the apparatus of claim 7.
11. A method for a transportation vehicle to determine a route
section, the method comprising: operating the transportation
vehicle in an automated driving mode; determining an exceptional
traffic situation; transmitting information related to the
exceptional traffic situation to a network component using a mobile
communication system; and receiving information related to driving
instructions for the route section to overcome the exceptional
traffic situation from the network component, wherein the received
information related to driving instructions comprises an
instruction to manually operate the transportation vehicle out of
the exceptional traffic situation, whereby the route section is
determined based on the manual operation of the transportation
vehicle out of the exceptional traffic situation, and, thereafter,
the method further comprises transmitting information related to
the route section determined based on the manual operation of the
transportation vehicle to the network component.
12. The method of claim 11, wherein the information related to
driving instructions further comprises tele-operating the
transportation vehicle along the route section to overcome the
exceptional traffic situation.
13. The method of claim 11, wherein the information related to
driving instructions further comprises information on the route
section from the network component and wherein the method comprises
automatically operating the transportation vehicle along the route
section.
14. The method of claim 11, further comprising providing
information related to an environmental model of the transportation
vehicle in addition to the information related to the exceptional
traffic situation.
15. The method of claim 11, further comprising providing
information related to transportation vehicle data and video data
to the network component in addition to the information related to
the exceptional traffic situation.
16. A method for a network component to determine a route section
for a transportation vehicle, the method comprising: receiving
information related to an exceptional traffic situation from the
transportation vehicle using a mobile communication system;
obtaining information related to driving instructions for the route
section to overcome the exceptional traffic situation; and
transmitting information related to the driving instructions for
the route section to overcome the exceptional traffic situation to
the transportation vehicle, wherein the driving instructions
comprise instructions for a user of the transportation vehicle to
manually operate the transportation vehicle out of the exceptional
traffic situation, and wherein the method further comprises storing
information related to the route section in a storage.
17. The method of claim 16, wherein the obtaining of the
information related to the driving instructions comprises
retrieving previously stored information related to the route
section from a storage.
18. The method of claim 16, wherein the obtaining of the
information related to the driving instructions comprises
tele-operating the transportation vehicle out of the exceptional
traffic situation, and/or wherein the method further comprises
receiving information related to an environmental model of the
transportation vehicle from the transportation vehicle, and wherein
the obtaining of the information related to the driving
instructions comprises determining information related to the route
section based on the information related to the environmental model
of the transportation vehicle, wherein the method further comprises
storing information related to the route section in a storage.
19. A computer program having a program code for performing a
method for a transportation vehicle to determine a route section
when the computer program is executed on a computer, a processor,
or a programmable hardware component, the method comprising:
operating the transportation vehicle in an automated driving mode;
determining an exceptional traffic situation; transmitting
information related to the exceptional traffic situation to a
network component using a mobile communication system; and
receiving information related to driving instructions for the route
section to overcome the exceptional traffic situation from the
network component, wherein the received information related to
driving instructions comprises an instruction to manually operate
the transportation vehicle out of the exceptional traffic
situation, whereby the route section is determined based on the
manual operation of the transportation vehicle out of the
exceptional traffic situation, and, thereafter, the method further
comprises transmitting information related to the route section
determined based on the manual operation of the transportation
vehicle to the network component.
20. A computer program having a program code for performing a
method for a network component to determine a route section for a
transportation vehicle when the computer program is executed on a
computer, a processor, or a programmable hardware component, the
method comprising: receiving information related to an exceptional
traffic situation from the transportation vehicle using a mobile
communication system; obtaining information related to driving
instructions for the route section to overcome the exceptional
traffic situation; and transmitting information related to the
driving instructions for the route section to overcome the
exceptional traffic situation to the transportation vehicle,
wherein the driving instructions comprise instructions for a user
of the transportation vehicle to manually operate the
transportation vehicle out of the exceptional traffic situation,
and wherein the method further comprises storing information
related to the route section in a storage.
Description
PRIORITY CLAIM
[0001] This patent application claims priority to European Patent
Application No. 19154194.5, filed 29 Jan. 2019, the disclosure of
which is incorporated herein by reference in its entirety.
SUMMARY
[0002] Illustrative embodiments relate to a system, a
transportation vehicle, a network component, apparatuses, methods,
and computer programs for a transportation vehicle and a network
component, more particularly, but not exclusively, to a concept for
determining a route section for overcoming an exceptional traffic
situation of a transportation vehicle.
BRIEF DESCRIPTION OF THE DRAWINGS
[0003] Disclosed embodiments will be described using the following
non-limiting apparatuses or methods or computer programs or
computer program products by way of example only, and with
reference to the accompanying figures, in which:
[0004] FIG. 1 shows a block diagram of an embodiment of a method
for a transportation vehicle;
[0005] FIG. 2 shows a block diagram of an embodiment of a method
for a network component;
[0006] FIG. 3 shows embodiments of an apparatus for a
transportation vehicle and a transportation vehicle, embodiments of
an apparatus for a network component and a network component, and
an embodiment of a system;
[0007] FIG. 4 illustrates an exceptional traffic scenario in an
embodiment;
[0008] FIG. 5 illustrates embodiments of a transportation vehicle
and a network component; and
[0009] FIG. 6 shows another exceptional traffic scenario in an
embodiment.
DETAILED DESCRIPTION
[0010] Document US 2018/0322775 A1 describes an Autonomous Vehicle
Enhancement System (AVES) and method for monitoring and managing a
virtual or existing fleet of autonomous transportation vehicles in
a transportation network and dispatching the autonomous
transportation vehicles to users. The AVES includes an AVES Central
Operations Center (COC) that communicates with AVES vehicle
equipment installed in the autonomous transportation vehicles and
AVES applications installed on computing devices accessible by the
users. The AVES improves the operating efficiency of a
transportation network by monitoring the condition of autonomous
transportation vehicles, optimizing the geographical distribution
of the autonomous transportation vehicles and optimizing assignment
of the autonomous transportation vehicles to users requesting
services.
[0011] Document DE 10 2015 225 241 A1 describes a method in which a
vehicle compares a trajectory of another vehicle driving in front
to its own desired trajectory. If a similarity level of the
trajectories is high enough, automated driving is used to follow
the desired trajectory. If differences are high, manual driving can
be used. Document DE 10 2015 225 242 A1 discloses a concept for
determining a reference trajectory by a scout vehicle. The
reference trajectory can be provided to following vehicles. A
quality of the trajectory ultimately determines whether it is used
by the following vehicles. Document DE 10 2015 213 743 A1 also
describes a concept for determining a trajectory by a scout
vehicle. A similarity between the environments of the scout vehicle
and the following vehicles may determine whether the trajectory of
the scout vehicle re-used. Document DE 10 2015 225 238 A1 discloses
evaluation of a similarity of trajectories and a similarity of
environments of scout and following vehicles. A safe drives mode
may be activated in case of differences above a threshold.
[0012] Document US 2017/0045885 A1 describes computer devices,
systems, and methods for an autonomous passenger vehicle. An
unexpected driving environment can be identified, such as by using
one or more processors. Information based on the unexpected driving
environment received from one or more sensors disposed on the
vehicle can be sent to a remote operator using a remote server. A
command sent by the remote operator relating to one or more vehicle
systems can be received. The command can be sent to the one or more
vehicle systems for execution.
[0013] Conventional concepts consider management and organization
of automated transportation vehicles. There are, however, traffic
situations, which are difficult to resolve with fully automated
driving algorithms. There is a demand for an improved concept for
overcoming exceptional traffic situations for automated
driving.
[0014] Disclosed embodiments are based on the finding that there
are traffic situations, e.g., if an obstacle is in the regular way,
which cannot be resolved by automated driving mechanisms. For
example, if an object (parking/unloading transportation vehicle)
blocks a one-way street a way passing the transportation vehicle
may require driving a short section on the sidewalk. Driving on a
side walk may, however, not be allowed in normal automated driving
mode. Disclosed embodiments are based on the finding that once such
an exceptional traffic situation is detected a communication with a
network component can resolve the situation, for example, by
switching to tele-operated driving or by receiving instructions on
a route section that resolves the traffic situation.
[0015] Disclosed embodiments provide a method for a transportation
vehicle to determine a route section. The method comprises
operating the transportation vehicle in an automated driving mode
and determining an exceptional traffic situation. The method
further comprises transmitting information related to the
exceptional traffic situation to a network component using a mobile
communication system. The method further comprises receiving
information related to driving instructions for the route section
to overcome the exceptional traffic situation from the network
component. Disclosed embodiments may enable network assisted route
adaptation in case of unexpected traffic situations for automated
driving.
[0016] The receiving of the driving instructions may comprise
tele-operating the transportation vehicle along the route section
to overcome the exceptional traffic situation. Disclosed
embodiments may enable to switch from an automated driving mode to
a tele-operated driving mode in case of an unexpected traffic
situation. A tele-operator or tele-driver may then remotely steer
the transportation vehicle out of the traffic situation.
[0017] In some disclosed embodiments, the receiving of the driving
instructions may comprise receiving information on the route
section from the network component and the method may further
comprise autonomously/automatically operating the transportation
vehicle along the route section. Disclosed embodiments may enable a
re-use of an already known route section, which are able to
overcome an exceptional traffic situation.
[0018] The receiving of the driving instructions may comprise an
instruction to manually operate the transportation vehicle out of
the exceptional traffic situation. Hence, in some disclosed
embodiments and depending on the respective exceptional traffic
situation the network component may instruct a user of the
transportation vehicle to manually operate the transportation
vehicle. The route section is then determined by manually operating
the transportation vehicle out of the exceptional traffic
situation. The method may then further comprise transmitting
information related to the route section to the network component.
The route section may then be determined by an actual driver of the
transportation vehicle and information related to the route section
resolving the exceptional traffic situation can be transmitted and
stored for later re-use (the same applies to route section
determined by tele-operated driving).
[0019] The method may comprise providing information related to an
environmental model of the transportation vehicle in addition to
the information related to the exceptional traffic situation in
further disclosed embodiments. Provision of information related to
the environmental model may reduce the amount of other data,
particularly, video data, which has to be provided to a remote
operator. Disclosed embodiments may enable more efficient
tele-operating of transportation vehicles through provision of
environmental data. The network component, e.g., a control center
for remote driving, may be able to determine the route section
based on the environmental data and possibly some other data. Such
other data may comprise transportation vehicle, sensor, or video
data. In some disclosed embodiments the method may further comprise
providing information related to transportation vehicle data and
video data to the network component in addition to the information
related to the exceptional traffic situation. Disclosed embodiments
may enable to reduce a data rate for tele-operated or remote
driving of a transportation vehicle. Sensor data of the
transportation vehicle and/or the data on the environmental model
may enable a reduction of video or other data which needs to be
provided from the transportation vehicle to the tele-operator.
[0020] Disclosed embodiments further provide a method for a network
component to determine a route section for a transportation
vehicle. The method comprises receiving information related to an
exceptional traffic situation from the transportation vehicle using
a mobile communication system. The method further comprises
obtaining information related to driving instructions for the route
section to overcome the exceptional traffic situation, and
transmitting the information related to the driving instructions
for the route section to overcome the exceptional traffic situation
to the transportation vehicle. Disclosed embodiments enable a
network component to assist an automated transportation vehicle in
overcoming an exceptional traffic situation.
[0021] The obtaining of the information related to the driving
instructions may comprise retrieving previously stored information
related to the route section from a storage. As outlined above, the
previously determined information on a route section overcoming a
specific exceptional traffic situation may be stored and re-used.
Disclosed embodiments may provide a more signaling efficient
solution for resolving a traffic situation by providing a resolving
route to multiple transportation vehicles, rather than re-solving
the same situation multiple times for multiple transportation
vehicles. In some disclosed embodiments the obtaining of the
information related to the driving instructions comprises
tele-operating the transportation vehicle out of the exceptional
traffic situation. Additionally or alternatively, the method may
further comprise receiving information related to an environmental
model of the transportation vehicle from the transportation
vehicle. The obtaining of the information related to the driving
instructions may then comprise determining information related to
the route section based on the information related to the
environmental model of the transportation vehicle. The method may
further comprise storing information related to the route section
in a storage. Disclosed embodiments may enable re-use of a route
determined based on an environmental model of a transportation
vehicle or based on a remote or tele-operator.
[0022] In some further disclosed embodiments the obtaining of the
information related to the driving instructions may comprise
instructing a user of the transportation vehicle to manually
operate the transportation vehicle out of the exceptional traffic
situation. Hence, a user of the transportation vehicle may
determine the route section out of the situation by
hands-on-driving the transportation vehicle. Still, the method may
comprise storing information related to the route section in a
storage. Disclosed embodiments may efficiently determine and re-use
the route section.
[0023] Disclosed embodiments also provide an apparatus for a
transportation vehicle. The transportation vehicle apparatus
comprises one or more interfaces, which are configured to
communicate in a mobile communication system. The transportation
vehicle apparatus further comprises a control module, which is
configured to control the one or more interfaces. The control
module is further configured to perform one of the methods
described herein. Likewise, disclosed embodiments provide an
apparatus for a network component, which comprises one or more
interfaces configured to communicate in a mobile communication
system. The network component apparatus further comprises a control
module, which is configured to control the one or more interfaces.
The control module is further configured to perform one of the
methods described herein.
[0024] Further disclosed embodiments are a transportation vehicle
comprising a disclosed embodiment of the transportation vehicle
apparatus and a network component comprising the network component
apparatus.
[0025] Disclosed embodiments further provide a computer program
having a program code for performing one or more of the above
described methods, when the computer program is executed on a
computer, processor, or programmable hardware component. A further
disclosed embodiment is a computer readable storage medium storing
instructions which, when executed by a computer, processor, or
programmable hardware component, cause the computer to implement
one of the methods described herein.
[0026] Various example embodiments will now be described more fully
with reference to the accompanying drawings in which some example
embodiments are illustrated. In the figures, the thicknesses of
lines, layers or regions may be exaggerated for clarity. Optional
components may be illustrated using broken, dashed or dotted
lines.
[0027] Accordingly, while example embodiments are capable of
various modifications and alternative forms, disclosed embodiments
thereof are shown by way of example in the figures and will herein
be described in detail. It should be understood, however, that
there is no intent to limit example embodiments to the particular
forms disclosed, but on the contrary, example embodiments are to
cover all modifications, equivalents, and alternatives falling
within the scope of the disclosure. Like numbers refer to like or
similar elements throughout the description of the figures.
[0028] As used herein, the term "or" refers to a non-exclusive or,
unless otherwise indicated (e.g., "or else" or "or in the
alternative"). Furthermore, as used herein, words used to describe
a relationship between elements should be broadly construed to
include a direct relationship or the presence of intervening
elements unless otherwise indicated. For example, when an element
is referred to as being "connected" or "coupled" to another
element, the element may be directly connected or coupled to the
other element or intervening elements may be present. In contrast,
when an element is referred to as being "directly connected" or
"directly coupled" to another element, there are no intervening
elements present. Similarly, words such as "between", "adjacent",
and the like should be interpreted in a like way.
[0029] The terminology used herein is for the purpose of describing
particular embodiments only and is not intended to be limiting of
example embodiments. As used herein, the singular forms "a", "an"
and "the" are intended to include the plural forms as well, unless
the context clearly indicates otherwise. It will be further
understood that the terms "comprises", "comprising", "includes" or
"including", when used herein, specify the presence of stated
features, integers, operations, elements or components, but do not
preclude the presence or addition of one or more other features,
integers, operations, elements, components or groups thereof.
[0030] Unless otherwise defined, all terms (including technical and
scientific terms) used herein have the same meaning as commonly
understood by one of ordinary skill in the art to which example
embodiments belong. It will be further understood that terms, e.g.,
those defined in commonly used dictionaries, should be interpreted
as having a meaning that is consistent with their meaning in the
context of the relevant art and will not be interpreted in an
idealized or overly formal sense unless expressly so defined
herein.
[0031] FIG. 1 illustrates a block diagram of a disclosed embodiment
of a method 10 a transportation vehicle to determine a route
section. The method 10 comprises operating 12 the transportation
vehicle in an autonomous/automated driving mode and determining 14
an exceptional traffic situation. The method 10 further comprises
transmitting 16 information related to the exceptional traffic
situation to a network component using a mobile communication
system. The method further comprises receiving 18 information
related to driving instructions for the route section to overcome
the exceptional traffic situation from the network component.
[0032] FIG. 2 illustrates a block diagram of a disclosed embodiment
of a method 20 for a network component to determine a route section
for a transportation vehicle. The method 20 comprises receiving 22
information related to an exceptional traffic situation from the
transportation vehicle using a mobile communication system. The
method 20 further comprises obtaining 24 information related to
driving instructions for the route section to overcome the
exceptional traffic situation. The method 20 further comprises
transmitting 26 information related to the driving instructions for
the route section to overcome the exceptional traffic situation to
the transportation vehicle. As will be explained in more detail
subsequently, examples for the information related to the driving
instructions are control information from a remote-control center
(tele-operated driving), information related to a stored path
(determined before), which is known to overcome the unexpected
traffic situation, or instructions to manually operate the
transportation vehicle.
[0033] The mobile communication system 400, as shown in FIG. 3,
may, for example, correspond to one of the Third Generation
Partnership Project (3GPP)-standardized mobile communication
networks, where the term mobile communication system is used
synonymously to mobile communication network. The mobile or
wireless communication system 400 may correspond to a mobile
communication system of the 5th Generation (5G, or New Radio) and
may use mm-Wave technology. The mobile communication system may
correspond to or comprise, for example, a Long-Term Evolution
(LTE), an LTE-Advanced (LTE-A), High Speed Packet Access (HSPA), a
Universal Mobile Telecommunication System (UMTS) or a UMTS
Terrestrial Radio Access Network (UTRAN), an evolved-UTRAN
(e-UTRAN), a Global System for Mobile communication (GSM) or
Enhanced Data rates for GSM Evolution (EDGE) network, a GSM/EDGE
Radio Access Network (GERAN), or mobile communication networks with
different standards, for example, a Worldwide Inter-operability for
Microwave Access (WIMAX) network IEEE 802.16 or Wireless Local Area
Network (WLAN) IEEE 802.11, generally an Orthogonal Frequency
Division Multiple Access (OFDMA) network, a Time Division Multiple
Access (TDMA) network, a Code Division Multiple Access (CDMA)
network, a Wideband-CDMA (WCDMA) network, a Frequency Division
Multiple Access (FDMA) network, a Spatial Division Multiple Access
(SDMA) network, etc.
[0034] Service provision may be carried out by a network component,
such as a base station transceiver, a relay station or a UE, e.g.,
coordinating service provision in a cluster or group of multiple
UEs. Here and in the following the network component may be a
Control Center (CC), which controls remotely operated or
tele-operated transportation vehicles. For example, it may
correspond to a computer system displaying data (e.g., video
streams) obtained from a transportation vehicle to an operator or
remote driver of the transportation vehicle. Generally such a CC
may be located as close to a controlled transportation vehicle as
possible to keep a latency of the video data in an uplink and the
control or steering data in the downlink as short as possible. In
some disclosed embodiments communication may be carried out via a
base station, which may be collocated with the CC or located close
to base station. Signaling may be routed directly from the CC to
the transportation vehicle, i.e., on a shortest path to keep the
latency and delay as short as possible.
[0035] A base station transceiver can be operable or configured to
communicate with one or more active mobile
transceivers/transportation vehicles 100 and a base station
transceiver can be located in or adjacent to a coverage area of
another base station transceiver, e.g., a macro cell base station
transceiver or small cell base station transceiver. Hence,
disclosed embodiments may provide a mobile communication system 400
comprising two or more mobile transceivers/transportation vehicles
100 and one or more base station transceivers, wherein the base
station transceivers may establish macro cells or small cells, as,
e.g., pico-, metro-, or femto cells. A mobile transceiver or UE may
correspond to a smartphone, a cell phone, a laptop, a notebook, a
personal computer, a Personal Digital Assistant (PDA), a Universal
Serial Bus (USB)-stick, a car, a transportation vehicle etc. A
mobile transceiver may also be referred to as User Equipment (UE)
or mobile in line with the 3GPP terminology. A transportation
vehicle may correspond to any conceivable mode of transportation,
e.g., a car, a bike, a motorbike, a van, a truck, a bus, a ship, a
boat, a plane, a train, a tram, etc.
[0036] A base station transceiver can be located in the fixed or
stationary part of the network or system. A base station
transceiver may be or correspond to a remote radio head, a
transmission point, an access point, a macro cell, a small cell, a
micro cell, a femto cell, a metro cell etc. A base station
transceiver can be a wireless interface of a wired network, which
enables transmission of radio signals to a UE or mobile
transceiver. Such a radio signal may comply with radio signals as,
for example, standardized by 3GPP or, generally, in line with one
or more of the above listed systems. Thus, a base station
transceiver may correspond to a NodeB, an eNodeB, a Base
Transceiver Station (BTS), an access point, a remote radio head, a
relay station, a transmission point etc., which may be further
subdivided in a remote unit and a central unit.
[0037] A mobile transceiver 100 can be associated with a base
station transceiver or cell. The term cell refers to a coverage
area of radio services provided by a base station transceiver,
e.g., a NodeB (NB), an eNodeB (eNB), a remote radio head, a
transmission point, etc. A base station transceiver may operate one
or more cells on one or more frequency layers, in some disclosed
embodiments a cell may correspond to a sector. For example, sectors
can be achieved using sector antennas, which provide a
characteristic for covering an angular section around a remote unit
or base station transceiver. In some disclosed embodiments, a base
station transceiver may, for example, operate three or six cells
covering sectors of 120.degree. (in case of three cells),
60.degree. (in case of six cells) respectively. A base station
transceiver may operate multiple sectorized antennas. In the
following a cell may represent an according base station
transceiver generating the cell or, likewise, a base station
transceiver may represent a cell the base station transceiver
generates.
[0038] Mobile transceivers 100 may communicate directly with each
other, i.e., without involving any base station transceiver, which
is also referred to as Device-to-Device (D2D) communication. An
example of D2D is direct communication between transportation
vehicles, also referred to as Vehicle-to-Vehicle communication
(V2V), car-to-car using 802.11p, Dedicated Short Range
Communication (DSRC), respectively.
[0039] FIG. 3 shows a disclosed embodiment of an apparatus 30 for a
UE or transportation vehicle 100, a disclosed embodiment of an
apparatus 40 for a network component, and a disclosed embodiment of
a system 400. The apparatus 30 for the UE/transportation vehicle
100 comprises one or more interfaces 32 configured to communicate
in the mobile communication system 400. The apparatus 30 further
comprises a control module 34, which is coupled to the one or more
interfaces 32 and which is configured to control the one or more
interfaces 32. The control module 34 is further configured to
perform one of the methods 10 as described herein.
[0040] The apparatus 40 for the network component 200 comprises one
or more interfaces 42, which are configured to communicate in the
mobile communication system 400. The apparatus 40 further comprises
a control module 44, which is coupled to the one or more interfaces
42 and which is configured to control the one or more interfaces
42. The control module 44 is further configured to perform one of
the methods 20 as described herein. The apparatus 40 may be
comprised in a CC, a base station, a NodeB, a UE, a relay station,
or any service coordinating network entity in disclosed
embodiments. It is to be noted that the term network component may
comprise multiple sub-components, such as a base station, a server,
a CC, etc. A further disclosed embodiment is a transportation
vehicle 100 comprising the apparatus 30 and/or a network component
200 comprising the apparatus 40.
[0041] In disclosed embodiments the one or more interfaces 32, 42
may correspond to any method or mechanism for obtaining, receiving,
transmitting or providing analog or digital signals or information,
e.g., any connector, contact, pin, register, input port, output
port, conductor, lane, etc. which allows providing or obtaining a
signal or information. An interface may be wireless or wireline and
it may be configured to communicate, i.e., transmit or receive
signals, information with further internal or external components.
The one or more interfaces 32, 42 may comprise further components
to enable according communication in the mobile communication
system 400, such components may include transceiver (transmitter
and/or receiver) components, such as one or more Low-Noise
Amplifiers (LNAs), one or more Power-Amplifiers (PAs), one or more
duplexers, one or more diplexers, one or more filters or filter
circuitry, one or more converters, one or more mixers, accordingly
adapted radio frequency components, etc. The one or more interfaces
32, 42 may be coupled to one or more antennas, which may correspond
to any transmit and/or receive antennas, such as horn antennas,
dipole antennas, patch antennas, sector antennas etc. The antennas
may be arranged in a defined geometrical setting, such as a uniform
array, a linear array, a circular array, a triangular array, a
uniform field antenna, a field array, combinations thereof, etc. In
some examples the one or more interfaces 32, 42 may serve the
purpose of transmitting or receiving or both, transmitting and
receiving, information, such as information related to
capabilities, application requirements, trigger indications,
requests, message interface configurations, feedback, information
related to control commands, QoS requirements, QoS time courses,
QoS maps, etc.
[0042] As shown in FIG. 3 the respective one or more interfaces 32,
42 are coupled to the respective control modules 34, 44 at the
apparatuses 30, 40. In disclosed embodiments the control modules
34, 44 may be implemented using one or more processing units, one
or more processing devices, any method or mechanism for processing,
such as a processor, a computer or a programmable hardware
component being operable with accordingly adapted software. In
other words, the described functions of the control modules 34, 44
may as well be implemented in software, which is then executed on
one or more programmable hardware components. Such hardware
components may comprise a general purpose processor, a Digital
Signal Processor (DSP), a micro-controller, etc.
[0043] FIG. 3 also shows a disclosed embodiment of a system 400
comprising disclosed embodiments of UE/transportation vehicle 100,
and a network component/base station 200 comprising the apparatus
40. In disclosed embodiments, communication, i.e., transmission,
reception or both, may take place among mobile
transceivers/transportation vehicles 100 directly and/or between
mobile transceivers/transportation vehicles 100 and a network
component 200 (infrastructure or mobile transceiver, e.g., a base
station, a network server, a backend server, etc.). Such
communication may make use of a mobile communication system 400.
Such communication may be carried out directly, e.g., by
Device-to-Device (D2D) communication, which may also comprise
Vehicle-to-Vehicle (V2V) or car-to-car communication in case of
transportation vehicles 100. Such communication may be carried out
using the specifications of a mobile communication system 400.
[0044] In disclosed embodiments the one or more interfaces 32, 42
can be configured to wirelessly communicate in the mobile
communication system 400. To do so, radio resources are used, e.g.,
frequency, time, code, and/or spatial resources, which may be used
for wireless communication with a base station transceiver as well
as for direct communication. The assignment of the radio resources
may be controlled by a base station transceiver, i.e., the
determination which resources are used for D2D and which are not.
Here and in the following radio resources of the respective
components may correspond to any radio resources conceivable on
radio carriers and they may use the same or different granularities
on the respective carriers. The radio resources may correspond to a
Resource Block (RB as in LTE/LTE-A/LTE-unlicensed (LTE-U)), one or
more carriers, sub-carriers, one or more radio frames, radio
sub-frames, radio slots, one or more code sequences potentially
with a respective spreading factor, one or more spatial resources,
such as spatial sub-channels, spatial precoding vectors, any
combination thereof, etc.
[0045] For example, in direct Cellular Vehicle-to-Anything (C-V2X),
where V2X includes at least V2V, V2-Infrastructure (V2I), etc.,
transmission according to 3GPP Release 14 onward can be managed by
infrastructure (so-called mode 3) or run in a UE.
[0046] FIG. 3 also illustrates the methods 10 and 20 as described
above. The apparatus 30 of the transportation vehicle 100 operated
the transportation vehicle 100 in automated mode 12 if an
exceptional traffic situation is determined 14. Such an exceptional
situation may be any traffic situation that is unexpected or
differs from an expectation according to routing information or map
information available in the transportation vehicle 100. For
example, the road may be blocked by another transportation vehicle,
a construction side, an accident, flooding etc. Other exceptions
may be a closed road, a closed tunnel, unexpected road conditions
etc. The transportation vehicle itself may operate multiple sensor
systems capturing data of the transportation vehicle's environment.
Such data may comprise video data, imaging data, radar data, lidar
data (light detection and ranging), temperature data, air pressure
data, radio environment data, information received from other
transportation vehicles, etc. Based on this data a matching can be
carried out between the assigned route for automated driving and
the sensor data. In some disclosed embodiments, as will be detailed
in the sequel, the captured data is used to generate an
environmental model of the transportation vehicle. This model may
be a digital representation of the environment of the
transportation vehicle possibly including other transportation
vehicles, objects, roadside infrastructure, traffic signs,
pedestrians, etc. Based on this model an unexpected situation can
be detected, e.g., an obstacle is detected in the way and passing
the obstacle would require to pass through a forbidden area, e.g.,
sidewalk, opposite lane, etc. In some disclosed embodiments the
exceptional situation may as well be determined by receiving a
traffic message, e.g., a broadcast message from another
transportation vehicle.
[0047] As further shown in FIG. 3 the transportation vehicle 100
then transmits information related to the exceptional traffic
situation to the network component 200 using a mobile communication
system 400. From the perspective of the network component 200 the
information related to the exceptional traffic situation is
received 22 from the transportation vehicle 100. At the network
component 200 information related to driving instructions for the
route section to overcome the exceptional traffic situation can be
obtained 24. Finally, information related to the instructions can
be transmitted 26 back to the transportation vehicle 100, received
18 at the transportation vehicle 100, respectively.
[0048] Disclosed embodiments may provide a concept for
tele-operated driving based on a slim uplink and a locally proposed
path. Tele-operated Driving (TD) is getting more and more interest.
The main concept of TD is a transportation vehicle remotely driven
by a control center (CC). Between CC and transportation vehicle may
be a large distance. They are connected via a radio communication
system (e.g., 5G, 4G . . . ) and their backhaul. In a disclosed
embodiment a fully automatically driving transportation vehicle
gets stopped (also referred to as SAE (Society of Automotive
Engineers) level 5 (L5) transportation vehicle). For example, the
automated transportation vehicle is not able to continue its planed
route because it is not able to interpret the situation. FIG. 4
illustrates an exceptional traffic scenario in a disclosed
embodiment, where a truck (obstacle 500) is blocking a one-way
road.
[0049] It is assumed that transportation vehicles 100, 101, 102 are
automated transportation vehicles (L5). They would need to drive on
the sidewalk to continue their planed route. In some disclosed
embodiments TD provides a solution for this scenario.
[0050] Transportation vehicles controlled via remote control are
uploading high data streams in the uplink (UL) to the CC. In FIG. 4
it is assumed that the network component 200 comprises a base
station (BS), the CC and some server/memory. As has been outlined
above, in other disclosed embodiments these components might not be
collocated but located at different locations. In this description
the term network component 200 shall summarize these components as
one functional entity although they may be implemented as multiple
physical entities. The distance between CC and the transportation
vehicle 100 may contribute to the latency of any driving
instructions before reaching the transportation vehicle and any
data (video, sensor, etc.) being transmitted from the
transportation vehicle to the CC.
[0051] The data steams provided by a remotely or tele-operated
transportation vehicle may comprise radar images, LIDAR and camera
data. Close by driving cars are "seeing" the same environment
around them. This redundant data is occupying a considerable amount
of bandwidth in the UL. For current technologies such as 4G, the UL
is expected to be a bottleneck as the network was designed to
support high downlink (DL) and low UL data rates. For TD it is vice
versa: high UL (sensor data) and low DL (control data). Latency is
also an issue here. Furthermore, each car needs to be driven
manually via remote control. This implies that many drivers and CCs
are needed. In such a disclosed embodiment the receiving 18 of the
driving instructions comprises tele-operating the transportation
vehicle along the route section to overcome the exceptional traffic
situation. Moreover, information related to an environmental model
of the transportation vehicle may be provided to the network
component in addition to the information related to the exceptional
traffic situation. The information on the environmental model may
allow decreasing a subsequent video data rate on the uplink High
data rates usually needed in the UL for teleoperated driving may be
decreased in disclosed embodiments. In disclosed embodiments
information related to transportation vehicle data and video data
(e.g., with reduced data rate) may be provided to the network
component in addition to the information related to the exceptional
traffic situation.
[0052] Each transportation vehicle may be controlled by one driver
in the CC. Disclosed embodiments are further based on the finding
that a path driven remotely by the CC might be highly redundant
with the path from a car remotely driven before. At least some
disclosed embodiments therefore store information related to a
route information or information related to driving instructions
solving an unexpected traffic situation, such that the information
can be re-used later on to solve the situation for other
transportation vehicles as well. In disclosed embodiments the
storage or memory for storing information related to a path or a
route may be any device capable of storing such information,
examples are a hard drive, a flash drive, an optical storage
medium, a magnetic storage medium, a solid state memory, any mass
storage device, etc.
[0053] As has been described above, different options are
conceivable in disclosed embodiments to determine the route section
leading out of the exceptional traffic situation. For example, the
CC proposes a path (route section) based on the received
environmental model, transportation vehicle data and video data.
The proposed path is stored on a server close to the geographical
location of the path and might be used by other transportation
vehicles 101, 102 after internal verification (plausibility
check).
[0054] Instead of transmitting all sensor data to the CC, the
transportation vehicle may upload its environmental model plus some
video data in some disclosed embodiments. The proposed path may be
drawn (maybe just a few points) at the CC or slowly driven by
CC.
[0055] The procedure/method may be implemented as following in a
further disclosed embodiment:
[0056] 1. Fist an automated car 100 stops and it calls the CC
200;
[0057] 2. If there is not a proposed path at local server, it gets
connected with the CC;
[0058] 3. Car 100 transmits the environmental model (also German
"Umfeldmodell (UMF)") and video data to the CC 200;
[0059] 4. There are multiple options for determining the proposed
path or route section;
[0060] a) The CC 200 drives car 100 remotely and creates the
proposed path (for next car 101, 102). The obtaining 24 of the
information related to the driving instructions comprises
tele-operating the transportation vehicle out of the exceptional
traffic situation. This can be also based on transmitted
environmental model data.
[0061] b) car 100 is driving by itself based on the proposed path
(drawn with UMF+video by the CC 200). In this case the receiving 18
of the driving instructions comprises receiving information on the
route section from the network component 200 and the method 10
comprises automatically operating the transportation vehicle along
the route section. The method 20 further comprises receiving
information related to an environmental model of the transportation
vehicle from the transportation vehicle 100. The obtaining 24 of
the information related to the driving instructions comprises
determining information related to the route section based on the
information related to the environmental model of the
transportation vehicle.
[0062] c) the receiving 18 of the driving instructions comprises an
instruction to manually operate the transportation vehicle out of
the exceptional traffic situation. The route section is determined
by manually operating the transportation vehicle out of the
exceptional traffic situation. The method 10 further comprises
transmitting information related to the route section to the
network component. From the perspective of the network component
200 the obtaining 24 of the information related to the driving
instructions comprises instructing a user of the transportation
vehicle to manually operate the transportation vehicle 100 out of
the exceptional traffic situation;
[0063] 5. In all cases the proposed/determined path is stored or
updated at a server close to the location of the path/route
section. Hence, the method 20 at the network component 200 further
comprises storing information related to the route section in a
storage/memory. The obtaining 24 of method 20 of the information
related to the driving instructions may comprise retrieving
previously stored information related to the route section from the
storage/memory. The method 20 further comprises storing information
related to the route section in a storage/memory;
[0064] 6. Car 100 left the area and now car 101 is located at the
old position of car 100;
[0065] 7. The second car (car 101) is also calling the CC 200 but
is connected with the server as there is a proposed path. Car 101
gets the proposed path from the server;
[0066] 8. FIG. 5 shows a model of the autopilot plus new input from
the communication in a disclosed embodiment. FIG. 5 illustrates
disclosed embodiments of a transportation vehicle 100 and a network
component 200. Car 3 (102 in FIG. 4) is used as an example. As
shown in FIG. 5 the apparatus 30 for the transportation vehicle 100
comprises a control module 34, which generates the UMF, carries out
maneuver planning and controls/steers the transportation vehicle.
The control module 34 receives different input data, e.g., ego data
(from the transportation vehicle, e.g., engine data, brake data,
tire data, component data), sensor data (radar, lidar, video), map
data, etc. The apparatus 30 further comprises one or more
interfaces 32, which are configured to wirelessly communicate with
a network component 200 in the present disclosed embodiment. The
network component 200 may be implemented in a distributed way and
it may comprise a base station, a server, and a CC. In the present
disclosed embodiment the car 100 is receiving the proposed path
(route section overcoming the unexpected traffic situation) from
the server as part of the network component 200. The maneuver
planning (MP) in the control module 34 of the car 100 needs to
compare the proposed path with its own conditions. It either uses
the proposed path or may reject it and gets connected with the CC
in this disclosed embodiment.
[0067] The automated transportation vehicle 100 gets a proposed
path, this means it can accept it after internal evaluation or it
might reject it. The CC draws this path based on the environmental
model and the video data (slim uplink) or creates it when driving
the path with the first car 100 remotely.
[0068] For example, transportation vehicle 100 may provide the
following content or conditions to the network component 200:
[0069] geographical position of path [0070] distance from path to
obstacles (width of the new lane) [0071] time stamp [0072] further
environmental information
[0073] Disclosed embodiments may enable a slim uplink, i.e.,
reduced uplink data for remote or tele-operated driving. This may
be achieved by transmitting the environmental model (UMF),
transportation vehicle data (e.g., height, width, weight, . . . )
and video data in the uplink instead of transmitting more data like
radar, lidar and other sensor data. In disclosed embodiments a
tele-operated driving server (TD server) may be used and the CC may
store a proposed path. The server may be located close to the
geographical position of the proposed path to reduce latency. The
TD server could also be located at a car or in infrastructure like
traffic lights and shared via side-link.
[0074] FIG. 6 shows another exceptional traffic scenario in a
disclosed embodiment. FIG. 6 shows a highway scenario with a
construction site 500. Vehicle hV1 (highway transportation vehicle
1) 100 has determined a path around the obstacle 500, which is
locally stored at the network component 200 (e.g., base station,
local server, road side unit, CC, etc.). For example, the stored
path has been determined by tele-operated driving or manually
driving the transportation vehicle 100 through the construction
side 500. The following transportation vehicles hV2, hV3 101, 102
can then use the proposed stored path. Disclosed embodiments may
provide an efficient concept for guiding a plurality of
transportation vehicles around an obstacle 500 by re-using a path
determined by a first transportation vehicle 100 for other
transportation vehicles 101, 102 subsequently passing the same
obstacle 500.
[0075] In the disclosed embodiment illustrated by FIG. 6 the
automated transportation vehicle hV1 100 had troubles to drive
through the construction site 500. Therefore, it was helped by the
control center (CC) 200 via remote control. The driven path and
more collected data (sensor data) from hV1 100 are sent via the
radio channel and stored locally at a server at BS/RSU 200 in form
of a proposed path. hV2 and hV3 101, 102 are approaching this area
and may use the proposed path from the server. When/if they can use
this proposed path, they do not need to call the CC and
tele-operated driving becomes scalable for more users. The locally
stored proposed path may be stored in server/memory. Storing
locally the proposed path may solve a scalability problem and
reduce communication traffic. If more cars need to be driven
through this critical area just the first one is controlled by the
CC and the following may use the locally stored proposed path. It
may be stored at the BS, RSU or even at another transportation
vehicle and shared via sidelink. In the later scenario the network
component 200 can be in a transportation vehicle, e.g.,
transportation vehicle 100, sharing the information on the route
section with other transportation vehicles 101, 102 via direct
communication, e.g., PC5 or 3GPP sidelink.
[0076] As already mentioned, in disclosed embodiments the
respective methods may be implemented as computer programs or
codes, which can be executed on a respective hardware. Hence,
another disclosed embodiment is a computer program having a program
code for performing at least one of the above methods, when the
computer program is executed on a computer, a processor, or a
programmable hardware component. A further disclosed embodiment is
a (non-transitory) computer readable storage medium storing
instructions which, when executed by a computer, processor, or
programmable hardware component, cause the computer to implement
one of the methods described herein.
[0077] A person of skill in the art would readily recognize that
operations of various above-described methods can be performed by
programmed computers, for example, positions of slots may be
determined or calculated. Herein, some disclosed embodiments are
also intended to cover program storage devices, e.g., digital data
storage media, which are machine or computer readable and encode
machine-executable or computer-executable programs of instructions
where the instructions perform some or all of the operations of
methods described herein. The program storage devices may be, e.g.,
digital memories, magnetic storage media such as magnetic disks and
magnetic tapes, hard drives, or optically readable digital data
storage media. The disclosed embodiments are also intended to cover
computers programmed to perform the operations of methods described
herein or (field) programmable logic arrays ((F)PLAs) or (field)
programmable gate arrays ((F)PGAs), programmed to perform the
operations of the above-described methods.
[0078] The description and drawings merely illustrate the
principles of the disclosure. It will thus be appreciated that
those skilled in the art will be able to devise various
arrangements that, although not explicitly described or shown
herein, embody the principles of the disclosure and are included
within its spirit and scope. Furthermore, all examples recited
herein are principally intended expressly to be only for
pedagogical purposes to aid the reader in understanding the
principles of the disclosure and the concepts contributed to
furthering the art, and are to be construed as being without
limitation to such specifically recited examples and conditions.
Moreover, all statements herein reciting principles and embodiments
of the disclosure, as well as specific examples thereof, are
intended to encompass equivalents thereof.
[0079] When provided by a processor, the functions may be provided
by a single dedicated processor, by a single shared processor, or
by a plurality of individual processors, some of which may be
shared. Moreover, explicit use of the term "processor" or
"controller" should not be construed to refer exclusively to
hardware capable of executing software, and may implicitly include,
without limitation, Digital Signal Processor (DSP) hardware,
network processor, application specific integrated circuit (ASIC),
field programmable gate array (FPGA), read only memory (ROM) for
storing software, random access memory (RAM), and non-volatile
storage. Other hardware, conventional or custom, may also be
included. Their function may be carried out through the operation
of program logic, through dedicated logic, through the interaction
of program control and dedicated logic, or even manually, the
particular technique being selectable by the implementer as more
specifically understood from the context.
[0080] It should be appreciated by those skilled in the art that
any block diagrams herein represent conceptual views of
illustrative circuitry embodying the principles of the disclosure.
Similarly, it will be appreciated that any flow charts, flow
diagrams, state transition diagrams, pseudo code, and the like
represent various processes which may be substantially represented
in computer readable medium and so executed by a computer or
processor, whether or not such computer or processor is explicitly
shown.
[0081] It is further to be noted that methods disclosed in the
specification or in the claims may be implemented by a device
having a way for performing each of the respective operations of
these methods.
LIST OF REFERENCE SIGNS
[0082] 10 method for a transportation vehicle [0083] 12 operating
the transportation vehicle in an autonomous/automated driving mode
[0084] 14 determining an exceptional traffic situation [0085] 16
transmitting information related to the exceptional traffic
situation to a network component using a mobile communication
system [0086] 18 receiving information related to driving
instructions for the route section to overcome the exceptional
traffic situation from the network component [0087] 20 method for a
network component [0088] 22 receiving information related to an
exceptional traffic situation from the transportation vehicle using
a mobile communication system [0089] 24 obtaining information
related to driving instructions for the route section to overcome
the exceptional traffic situation [0090] 26 transmitting
information related to the driving instructions for the route
section to overcome the exceptional traffic situation to the
transportation vehicle [0091] 30 apparatus for transportation
vehicle [0092] 32 one or more interfaces [0093] 34 control module
[0094] 40 apparatus for network component [0095] 42 one or more
interfaces [0096] 44 control module [0097] 100 transportation
vehicle [0098] 101 transportation vehicle [0099] 102 transportation
vehicle [0100] 200 network component [0101] 400 mobile
communication system [0102] 500 obstacle (truck, construction
site)
* * * * *