Method for providing control signals

Abstract

A method, device, motor vehicle and machine-readable storage medium for providing a control signal for at least partially automatically guiding a vehicle to a stop position, the method comprising: receiving a vehicle's surrounding environment signal; processing the surrounding environment signal to: a) detect a boarding / disembarking area for wheelchair passengers to board and / or disembark; b) check whether the boarding / disembarking area has the size range required for the wheelchair passengers to board / disembark; c) identify: the boarding / disembarking area has the size range required for the wheelchair passengers to board / disembark; d) check: whether the boarding / disembarking area is for the wheelchair passengers to pass independently; e) identify: the boarding / disembarking area is for the wheelchair passengers to pass independently; f) if method steps c) and e) are performed, determine a stop position adjacent to the boarding / disembarking area for stopping the vehicle, and generate a control signal for at least partially automatically guiding the vehicle to the stop position.

Description

Technical Field

[0001] The invention relates to a method for providing a control signal, wherein the control signal is used to guide a vehicle to a stop position at least partially automatically. The invention also relates to a device, which is designed to implement the method for providing a control signal, wherein the control signal is used to guide a vehicle to a stop position at least partially automatically. The invention also relates to a vehicle having the device. The invention also relates to a computer program. The invention also relates to a machine-readable storage medium. Background Art

[0002] A number of methods are known for automatically guiding a vehicle to a parking position, in particular a parking position. These methods usually provide for at least partially automatically guiding the vehicle to a parking position identified by the vehicle and / or the driver. In addition, a sensor device is known from the publication DE 10 2012 204 386 A1, which, after the driver of a vehicle has selected a potential parking position, indicates to the driver of the vehicle whether the parking position provides sufficient space on both sides of the vehicle so that passengers of the vehicle, for example wheelchair passengers, can get on and off the vehicle. Summary of the invention

[0003] The object of the present invention may be to find an efficient method for providing control signals for at least partially automatically guiding a vehicle to a stop position, wherein the stop position facilitates boarding and exiting of a wheelchair passenger.

[0004] This object is achieved by means of the respective subject matter of the independent claims. Advantageous embodiments of the invention are the subject matter of the respective dependent claims.

[0005] According to one aspect of the present invention, a method for providing a control signal is provided, wherein the control signal is used to at least partially automatically guide a vehicle to a stop position, the method comprising the following method steps: receiving a vehicle's surrounding environment signal; processing the surrounding environment signal to: a) detect a boarding / disembarking area for a wheelchair passenger to board and / or disembark; b) check whether the boarding / disembarking area has the following spatial size range (Ausmaße), wherein the spatial size range is required for the wheelchair passenger to board / disembark; c) identify: the boarding / disembarking area has the following spatial size range, wherein the spatial size range is required for the wheelchair passenger to board / disembark; d) check: whether the boarding / disembarking area is independently navigable (selbstständig befahrbar); e) identifying that the boarding / disembarking area is independently navigable for the wheelchair passenger; f) if method steps c) and e) are performed, determining a stopping position adjacent to the boarding / disembarking area for stopping the vehicle and generating a control signal for at least partially automatically guiding the vehicle to the stopping position.

[0006] According to a second aspect, a device is provided which is set up to carry out all method steps of a method for providing a control signal, wherein the control signal is used to at least partially automatically guide a vehicle to a parking position.

[0007] According to a third aspect, there is provided a vehicle comprising the apparatus described.

[0008] According to a fourth aspect, a computer program is provided, which includes the following instructions, which, when the computer program is executed by a computer or a control device of a vehicle, cause the control device to implement a method for providing a control signal, wherein the control signal is used to at least partially automatically guide the vehicle to a stop position.

[0009] According to a fifth aspect, there is provided a machine-readable storage medium on which the described computer program is stored.

[0010] The invention is based on the recognition that the above object can be achieved by selecting a stopping position having a boarding / disembarking area for stopping a vehicle based on an ambient signal, wherein the ambient signal represents at least a partial area of ​​the vehicle's surroundings, the boarding / disembarking area having a spatial size that is required for a wheelchair passenger to board / disembark and can be independently traversed by the wheelchair passenger.

[0011] This results in the following technical advantages, for example: the accessibility of the boarding / disembarking area of ​​the parking position for wheelchair passengers and the spatial size range can be taken into account as selection criteria for a suitable parking position. The boarding / disembarking area must therefore not only allow boarding / disembarking but also the independent movement of the wheelchair passenger to and / or out of the vehicle. If a potential parking position does not have such a boarding / disembarking area, the corresponding parking position is rejected and another parking position is sought.

[0012] Therefore, the following technical advantages are caused: a method for providing a control signal is provided, wherein the control signal is used to at least partially automatically guide a vehicle to a stopping position, which enables a wheelchair passenger to get on / off the vehicle independently and the wheelchair passenger can independently pass through the stopping position, so that the wheelchair passenger can independently move to the vehicle and / or leave the vehicle.

[0013] The expression “at least partially automatically guided” includes the following situations: partially automatically controlled or guided; highly automatically controlled or guided; fully automatically controlled or guided; controlled or guided without a driver.

[0014] Partially automated control or guidance means that the longitudinal and lateral guidance of the vehicle is automatically controlled in certain application situations (e.g. driving on the highway; driving in a parking lot; overtaking an object; driving in a lane defined by lane markings). The driver of the vehicle does not have to manually control the longitudinal and lateral guidance of the vehicle himself. However, the driver must continuously monitor the automatic control of the longitudinal and lateral guidance of the vehicle in order to be able to intervene manually if necessary.

[0015] Highly automated control or guidance means that the longitudinal and lateral guidance of the vehicle is automatically controlled in certain application situations (e.g. driving on the highway; driving in a parking lot; overtaking an object; driving in a lane defined by lane markings). The driver of the vehicle does not need to manually control the longitudinal and lateral guidance of the vehicle himself. The driver does not need to constantly monitor the automatic control of the longitudinal and lateral guidance of the vehicle in order to be able to intervene manually if necessary. If necessary, a takeover request (Übernahmeaufforderung) is automatically output to the driver for taking over the control of the longitudinal and lateral guidance. The driver must therefore be potentially able to take over the control of the longitudinal and lateral guidance.

[0016] Fully automated control or guidance means that the longitudinal and lateral guidance of the vehicle is automatically controlled in certain application situations (e.g. driving on the motorway; driving in a parking lot; overtaking an object; driving in a lane defined by lane markings). The driver of the vehicle does not need to manually control the longitudinal and lateral guidance of the vehicle himself. The driver does not need to monitor the automatic control of the longitudinal and lateral guidance of the vehicle in order to be able to intervene manually if necessary. In certain application situations, a driver is not necessary.

[0017] Control or guidance without a driver means that the longitudinal guidance and lateral guidance of the vehicle are automatically controlled regardless of the specific application situation (e.g. driving on the highway; driving in a parking lot; overtaking an object; driving in a lane defined by lane markings). The driver of the vehicle does not need to manually control the longitudinal guidance and lateral guidance of the vehicle himself. The driver does not need to monitor the automatic control of the longitudinal guidance and lateral guidance of the vehicle so that he can intervene manually if necessary. The longitudinal and lateral guidance of the vehicle is thus automatically controlled, for example, under all road types, speed ranges and environmental conditions. The driver's complete driving task is thus automatically taken over. The driver is therefore no longer necessary. The vehicle can therefore also drive from any starting position to any target position without a driver. Potential problems are automatically solved.

[0018] In the present context, a stopping position may be a position in which the vehicle can be brought to a complete standstill at least for a period of time that is required for a passenger boarding or alighting process.

[0019] The parking position may be a temporary parking position, in particular a parking position at the edge of a roadway, which is only used for loading and / or unloading of the vehicle. The parking position may also be a well-marked parking position, in particular a parallel parking space and / or a transverse parking space, in which the vehicle can be parked for a longer period of time.

[0020] The boarding / disembarking area of ​​the parking position can be directly adjacent to the area of ​​the parking position and can be oriented both laterally and parallel to the parking position. Thus, it can be ensured that wheelchair passengers can board / disembark or wheelchairs can be loaded (Verladen) not only at the side of the vehicle but also at the rear of the vehicle.

[0021] The spatial size of the boarding / disembarking area can include a horizontal component, via which the base area of ​​the boarding / disembarking area can be determined. The base area can include a minimum width and a minimum length, which the base area must meet in order to allow a wheelchair passenger to board / disembark.

[0022] Furthermore, the spatial size of the loading / unloading area can include a vertical component, via which a minimum height of the loading / unloading area can be defined, wherein the minimum height is required for loading a wheelchair passenger or for loading / unloading by means of a loading device provided on the vehicle.

[0023] According to one specific embodiment, the control signal for at least partially automatically guiding the vehicle to the stopping position also includes stopping the vehicle in the stopping position.

[0024] This achieves the technical advantage of an efficient stopping process of the vehicle in a parking position.

[0025] According to one embodiment, the method further comprises the following method steps: g) detecting a route leading away from and / or leading to the boarding / disembarking area; h) checking whether the route is navigable independently for the wheelchair passenger; i) identifying whether the route is navigable independently for the wheelchair passenger, wherein method step f) is implemented if at least method steps c) and e) and i) are performed.

[0026] This results in the following technical advantages: The presence of a route connecting the boarding / disembarking area can also be taken into account as a further criterion for selecting a suitable stopping position, wherein the route enables the wheelchair passenger to independently leave the vehicle or move onto the vehicle. Thus, after leaving the vehicle, the wheelchair passenger can independently continue his or her path to the destination. Furthermore, the wheelchair passenger can independently approach the vehicle in order to start driving with the vehicle.

[0027] According to one specific embodiment, method step d) of the method further comprises the following method steps: j) detecting an object within the boarding / disembarking area; k) checking whether the object constitutes an obstacle for the wheelchair passenger that prevents the wheelchair passenger from independently passing through the boarding / disembarking area.

[0028] This results in the technical advantage of an accurate assessment of the accessibility of the boarding / disembarking area for a wheelchair passenger. The presence of obstacles can thus be taken into account as a further selection criterion for selecting a suitable stopping position. It can thus be avoided that a stopping position is selected which has a boarding / disembarking area which, although it allows a wheelchair passenger to disembark, does not allow the wheelchair passenger to leave the area independently due to the obstacle or does not allow the wheelchair passenger to have access thereto due to the obstacle.

[0029] According to one embodiment, obstacles for a wheelchair passenger are objects from the following list, which list includes: steps, curb edges, tracks, roadblocks, walls, fences, flower baskets, fire hydrants, trash cans, movable objects, in particular vehicles and / or comparable objects and / or combinations of the mentioned objects.

[0030] This can achieve the technical advantage that an object can be accurately determined as an obstacle for a wheelchair occupant.

[0031] According to one specific embodiment, method step d) of the method further comprises the following method steps: 1) detecting the floor surface of the boarding / disembarking area; m) determining the slope of the floor surface; n) checking, based on the slope, whether the floor surface is suitable for passage by a wheelchair passenger.

[0032] This in turn leads to the technical advantage of an accurate assessment of the accessibility of the boarding / disembarking area for wheelchair passengers. Therefore, a further exclusion criterion for selecting a suitable stopping position is derived from the slope of the floor of the boarding / disembarking area. Potential stopping positions with a boarding / disembarking area whose floor has a slope that exceeds a predetermined limit value are discarded as stopping positions.

[0033] According to one embodiment, method step d) of the method further comprises the following method steps: o) detecting the floor of the boarding / disembarking area; p) determining the floor surface of the floor; q) checking based on the floor surface whether the floor is suitable for passage by wheelchair passengers.

[0034] This in turn leads to the technical advantage of an accurate assessment of the accessibility of the boarding / disembarking area for a wheelchair passenger. Therefore, a further exclusion criterion for selecting a suitable stopping position is derived from the floor surface of the boarding / disembarking area. Potential stopping positions with a boarding / disembarking area whose floor surface has a floor surface that is assessed as unsuitable for independent passage of a wheelchair passenger are discarded as stopping positions.

[0035] According to one embodiment, the ground surface comprises a concrete surface, an asphalt road surface, cobblestones, a gravel walkway, a forest path, a gravel road, a slippery layer, a snow layer, a mud layer, a leaf litter layer, a sand layer and / or comparable materials and / or combinations of the mentioned ground surfaces.

[0036] This results in the technical advantage that an accurate assessment of the ground surface of the ground in the boarding / getting-off area is achieved.

[0037] According to one specific embodiment, data from a database, in particular data from a digital map, are used for at least one of method steps a) to q).

[0038] This achieves the following technical advantage: the information of the database can be effectively taken into account. This also achieves the following technical advantage: suitable stopping positions can be determined more quickly and / or more frequently.

[0039] According to one specific embodiment, the stopping position in a predefined target range is determined based on data from a database.

[0040] This achieves the following technical advantage: A preselection of potential stopping locations, in particular marked parking possibilities with suitable boarding / disembarking areas having the above-described properties, can be performed by the vehicle already at the start of the journey or during the journey based on data stored in a corresponding database. This information can then be included in the route planning from the current location and / or from the location at the start of the journey to the destination, so that faster, more efficient and more cost-effective transportation can be ensured.

[0041] According to one specific embodiment, the surroundings signal includes surroundings sensor data from one or more surroundings sensors of the vehicle.

[0042] The environmental sensor is, for example, one of the following environmental sensors: a radar sensor, a light radar sensor, an ultrasonic sensor, an infrared sensor, a magnetic field sensor, and a video sensor.

[0043] According to one specific embodiment, it is provided that the vehicle according to the third aspect is set up or configured to carry out or execute the described method.

[0044] According to one specific embodiment, it is provided that a method for providing a control signal is carried out or executed with the described device and / or with the described vehicle, wherein the control signal is used to at least partially automatically guide the vehicle to a parking position.

[0045] Analogously, device features are derived from corresponding method features and vice versa. This means, in particular, that the technical functionality of the method according to the first aspect is derived from the corresponding technical functionality of the device according to the second aspect.

[0046] This means, in particular, that further embodiments of the device according to the second aspect follow analogously from corresponding embodiments of the method according to the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The present invention is further described below according to a preferred embodiment. In this case, wherein:

[0048] Figure 1 A flow chart showing a method for providing a control signal according to a first embodiment, wherein the control signal is used to at least partially automatically guide a vehicle to a stop position;

[0049] Figure 2 Show Figure 1 A schematic diagram of the actual implementation of the method;

[0050] Figure 3 A flow chart showing a method for providing a control signal according to another embodiment, wherein the control signal is used to at least partially automatically guide a vehicle to a parking position;

[0051] Figure 4 A flow chart showing a method for providing a control signal according to another embodiment, wherein the control signal is used to at least partially automatically guide a vehicle to a parking position;

[0052] Figure 5 A flow chart showing a method for providing a control signal according to another embodiment, wherein the control signal is used to at least partially automatically guide a vehicle to a parking position;

[0053] Figure 6 A flow chart showing a method for providing a control signal according to another embodiment, wherein the control signal is used to at least partially automatically guide a vehicle to a parking position;

[0054] Figure 7 A device for carrying out a method for providing a control signal is shown, wherein the control signal is used to guide a vehicle to a stop position at least partially automatically;

[0055] Figure 8 showing the vehicle; and

[0056] Fig. 9 A machine-readable storage medium is shown. DETAILED DESCRIPTION

[0057] Figure 1 A method 100 for providing a control signal for at least partially automatically guiding a vehicle to a stop position is shown, the method comprising the following method steps:

[0058] receiving a surrounding environment signal of the vehicle 101;

[0059] Processing 103 the ambient environment signal for:

[0060] a) detecting 105 a boarding / unboarding area for boarding and / or unboarding of wheelchair passengers;

[0061] b) checking 107 whether the boarding / disembarking area has a spatial extent that is required for the boarding / disembarking of a wheelchair passenger;

[0062] c) Recognition 109 that the boarding / disembarking area has a spatial extent that is required for boarding / disembarking a wheelchair passenger;

[0063] d) Test 111: whether the boarding / disembarking area is independently navigable for the wheelchair passenger;

[0064] e) Identification 113: The boarding / disembarking area is independently navigable for the wheelchair passenger;

[0065] f) determining 115 a stopping position adjacent to the boarding / unboarding area for stopping the vehicle and generating 117 a control signal for at least partially automatically guiding the vehicle to the stopping position.

[0066] In a first method step 101 , surroundings signals of the vehicle are received by the vehicle, in particular by correspondingly configured devices of the vehicle.

[0067] The surroundings signal may be a signal of a surroundings sensor of the vehicle and represent at least a portion of the surroundings of the vehicle.

[0068] In a subsequent method step 103 , the received surroundings signal is processed by the device, in particular by a processor of the device which is provided for this purpose.

[0069] In a subsequent method step 105 , the processor detects a boarding / disembarking area for boarding and / or disembarking a wheelchair passenger based on the processed surroundings signals.

[0070] For this purpose, corresponding features can be implemented in a database or in a processor or in a computer program, which the boarding / disembarking area for the wheelchair passenger to board / disembark must have. To detect the boarding / disembarking area, the processor can determine features of the detected surface area and compare them with stored features of the boarding / disembarking area in order to detect whether the detected surface area has the features of the boarding / disembarking area.

[0071] If the processor does not detect a boarding / disembarking area in method step 105, the processor continues to search for a boarding / disembarking area and a suitable stopping position. To this end, the processor can guide the vehicle to another boarding / disembarking area by generating and outputting corresponding control signals to corresponding control devices of the vehicle in order to receive new surrounding signals. For example, the processor can also cause another surrounding signal to be re-recorded by re-activating the corresponding surrounding sensors. For example, the processor can also re-analyze the surrounding signals that have already been received in order to detect another boarding / disembarking area.

[0072] If the processor detects a boarding / disembarking area in method step 105 , it then checks in a subsequent method step 107 whether the boarding / disembarking area has a spatial size that is required for boarding / disembarking a wheelchair passenger.

[0073] For this purpose, corresponding limit values ​​for the spatial size range of the boarding / disembarking area, which the boarding / disembarking area for the boarding / disembarking of a wheelchair passenger must have, can be implemented in a database or a processor or in a computer program. To evaluate the spatial size range of the boarding / disembarking area, the processor can determine the spatial size range of the detected boarding / disembarking area and compare it with the stored values.

[0074] For example, a boarding / exit area having a base area for the boarding / exit area of ​​less than 180×180 cm 2 may be evaluated as being too small.

[0075] If the processor evaluates the spatial size range of the detected boarding / disembarking area as insufficient in method step 107, the processor recognizes in the subsequent method step 109 that the boarding / disembarking area does not have the following spatial size range, wherein the spatial size range is required for the boarding / disembarking of wheelchair passengers. Next, the processor discards the boarding / disembarking area and the corresponding stop position as unsuitable and continues the method with method step 105, in which the processor searches for other boarding / disembarking areas. To this end, the processor can guide the vehicle to other boarding / disembarking areas by generating and outputting corresponding control signals to the corresponding control device of the vehicle in order to receive new surrounding signals. For example, the processor can also cause the re-recording of other surrounding signals by re-controlling the corresponding environmental sensors. For example, the processor can also re-analyze the surrounding signals that have been received in order to detect other boarding / disembarking areas.

[0076] If the processor evaluates the detected spatial size of the boarding / disembarking area as sufficient in method step 107 , the processor recognizes in a subsequent method step 109 that the boarding / disembarking area has the following spatial size, wherein the spatial size is required for the boarding / disembarking of a wheelchair passenger.

[0077] Next, the processor checks in a subsequent method step 111 whether the wheelchair passenger is able to independently navigate the boarding / disembarking area.

[0078] For this purpose, corresponding limit values ​​for different characteristics of the boarding / getting-off area which influence the passability of the boarding / getting-off area can be implemented in a database or in a processor or in a computer program. In order to evaluate the passability of the detected boarding / getting-off area, the processor can determine the corresponding characteristics of the detected boarding / getting-off area and compare them with the stored limit values.

[0079] The boarding / disembarking area can be assessed, for example, as not being navigable independently by a wheelchair passenger if the boarding / disembarking area is either not navigable at all or the wheelchair passenger requires assistance for mobility.

[0080] If the check according to method step 111 shows that the boarding / disembarking area is not independently passable by the wheelchair passenger, the processor recognizes in the next method step 113 that the boarding / disembarking area is not independently passable for the wheelchair passenger. Next, the processor abandons the boarding / disembarking area and the corresponding stop position and continues the method with method step 105 in that the processor searches for other boarding / disembarking areas. To this end, the processor can guide the vehicle to other boarding / disembarking areas by generating and outputting corresponding control signals to the corresponding control device of the vehicle in order to receive new surrounding signals. For example, the processor can also cause the re-recording of other surrounding signals by re-controlling the corresponding environmental sensors. For example, the processor can also re-analyze the surrounding signals that have already been received in order to detect other boarding / disembarking areas.

[0081] If the check according to method step 111 shows that the boarding / disembarking area is passable by the wheelchair passenger independently, the processor recognizes in a subsequent method step 113 that the wheelchair passenger can pass through the boarding / disembarking area.

[0082] Next, in a subsequent method step 115 , the processor determines as a stopping position for stopping the vehicle a stopping position which adjoins the boarding / disembarking area identified as suitable according to method steps 109 and 113 .

[0083] After determining the parking position according to method step 115 , the processor generates a control signal in a subsequent method step 117 for at least partially automatically guiding the vehicle to the parking position in order to at least partially automatically guide the vehicle to the parking position.

[0084] The control signal generated by the processor according to method step 117 for at least partially automatically guiding the vehicle to the stopping position may likewise include stopping the vehicle at the stopping position.

[0085] exist Figure 1 In the embodiment of the method 100 shown in , the processor performs a method step 107 of checking whether the boarding / disembarking area has the required spatial size range before the method step 111 of checking whether the wheelchair passenger can independently pass through the boarding / disembarking area. However, the present invention should not be limited to this. Instead, the processor can perform method steps 107 and 111 in any temporal order, wherein a negative result of one of the method steps 107 and 111 automatically leads to an interruption of the checking process and to the continuation of the method 100 with method step 105, in that the processor continues to search for a suitable boarding / disembarking area.

[0086] Figure 2 Show Figure 1 , a schematic diagram of a practical implementation of a method 100 for providing a control signal for at least partially automatically guiding a vehicle 201 to a stop position 203 .

[0087] according to Figure 2 The basic functionality of a method 100 for providing a control signal for at least partially automatically guiding a vehicle 201 to a stop position 203 according to a first specific embodiment will be explained below.

[0088] exist Figure 2 In the fragment a), a vehicle 201 is first shown, which moves itself on a roadway 207 provided for this purpose in an at least partially automated manner controlled by a processor and a control device. Using devices provided for this purpose, such as environmental sensors, the vehicle 201 senses the surroundings in order to generate the following surroundings signal, which represents at least a part of the surroundings of the vehicle 201, so that a parking position 203 with a boarding / disembarking area can be detected with the aid of the processor based on the surroundings signal.

[0089] In fragment a), the following situation is shown: although the processor of the vehicle 201 detects a stop position 203 for stopping the vehicle 201, the stop position 203 does not have a boarding / disembarking area. If the processor of the vehicle does not detect a boarding / disembarking area 205, the method 100 provides that the processor searches for another stop position 203 until a boarding / disembarking area 205 is detected. To this end, the processor can move the vehicle further along the roadway 207 and guide it to another stop position 203 by generating and outputting corresponding control signals to corresponding control devices of the vehicle. For example, the processor can also record other surrounding signals by means of environmental sensors of the vehicle. For example, the processor can also reprocess the already recorded surrounding signals in order to detect other boarding / disembarking areas.

[0090] In segment b), the following situation is shown: vehicle 201 travels to a further parking position and a boarding / disembarking area 205 for a wheelchair passenger to board / disembark is detected by a processor of vehicle 201. According to method step 107 of method 100, when detecting boarding / disembarking area 205, the processor checks whether the detected boarding / disembarking area 205 has a spatial size that enables a wheelchair passenger to board or disembark from vehicle 201.

[0091] In segment b), the detected boarding / disembarking area 205 does not have such a spatial size range that allows a wheelchair passenger to board / disembark. In this case, the method 100 provides that the processor evaluates the boarding / disembarking area 205 as unsuitable and discards the corresponding stopping position 203 as a potential stopping position 203. In addition, the method 100 provides that the processor of the vehicle 201 then continues to search for a stopping position 203 with a suitable boarding / disembarking area 205. For this purpose, the processor can guide the vehicle along the roadway to another stopping position 203 by generating and outputting corresponding control signals to corresponding control devices of the vehicle. For example, the processor can also record other surrounding signals by means of environmental sensors of the vehicle. For example, the processor can also reprocess the already recorded surrounding signals in order to detect other boarding / disembarking areas.

[0092] For example, a boarding / exit area having a base area for the boarding / exit area of ​​less than 180×180 cm 2 may be evaluated as being too small.

[0093] In fragment c), the following situation is shown: the vehicle is again driven to a different parking position while searching for a suitable boarding / disembarking area and the processor of vehicle 201 detects a parking position 203 with a boarding / disembarking area 205. In addition, the processor of vehicle 201 recognizes that the detected boarding / disembarking area 205 has sufficient space for a wheelchair passenger to board / disembark. However, the check performed by the processor according to method step 111 has shown that the wheelchair passenger cannot pass through the detected boarding / disembarking area 205 independently. For this case, the method 100 provides that the processor also evaluates this boarding / disembarking area 205 as unsuitable and rejects the corresponding parking position 203 as a possible parking position 203. In the meantime, the method 100 continues with method step 105 in that the processor of vehicle 201 continues to search for a parking position 203 with a suitable boarding / disembarking area 205.

[0094] Method step 107 for checking the spatial size of the boarding / disembarking area 205 and method step 111 for checking whether a wheelchair passenger is able to independently pass through the corresponding boarding / disembarking area 205 can be executed by the processor in any temporal sequence and a negative result leads to the direct termination of all check steps.

[0095] In segment d), the following situation is shown: the vehicle drives back to another parking position, and the processor of vehicle 201 detects a parking position 203 having a boarding / disembarking area 205 that has a suitable spatial size and through which a wheelchair passenger can independently pass. For such a boarding / disembarking area 205, the processor recognizes according to method steps 109 and 113 that the boarding / disembarking area 205 has a suitable spatial size and can be independently passed by a wheelchair passenger, and according to method step 115 determines a parking position 203 adjacent to the boarding / disembarking area 205 as a suitable parking position 203 for stopping vehicle 201.

[0096] Detail e) shows the end of method 100. After the processor has identified the boarding / disembarking area 205 as suitable according to method steps 109 and 113 and has determined the corresponding parking position in detail d) as a suitable parking position according to method step 115, the processor of vehicle 201 outputs a control signal according to method step 117 in order to guide the vehicle to the determined parking position 203 and stop it there, so that vehicle 201 drives to parking position 205 and stops there.

[0097] exist Figure 2 In the figure, the parking position 203 is shown as a parking position 203 oriented longitudinally with respect to the roadway edge. However, the parking position can also be a transverse parking space or a longitudinal parking space defined by a barrier and marked in detail. The parking position 203 can also be a parking position or parking space in a corresponding parking lot or parking building.

[0098] Figure 3 A flow chart of a method 100 for providing a control signal for at least partially automatically guiding a vehicle to a parking position according to a further specific embodiment is shown.

[0099] exist Figure 3 It is not shown in detail Figure 1 Method steps 101 , 103 and 117 of method 100 in FIG.

[0100] Attached to Figure 1 These method steps of the method in Figure 3 The method 100 of another embodiment of the present invention comprises the following method steps:

[0101] g) detecting 301 a road section leading away from the boarding / unboarding area and / or leading to the boarding / unboarding area;

[0102] h) Check 303: whether the road section is navigable independently for the wheelchair passenger;

[0103] i) Identification 305: The road section is navigable independently for the wheelchair passenger.

[0104] After the processor has detected the boarding / disembarking area according to method steps 101, 103, 105, 107, 109 and 111 and has recognized that the boarding / disembarking area not only has a suitable spatial size but is also navigable by a wheelchair passenger independently, the processor detects a route leading out of the boarding / disembarking area and / or to the boarding / disembarking area according to method step 301. Such a route can be a section of a sidewalk, a bicycle path, a roadway or a comparable surface section through which a passenger, in particular a wheelchair passenger, can move out of the vehicle and / or can move to the vehicle.

[0105] If the processor does not detect such a section in method step 301, wherein the section leads to the detected boarding / disembarking area and / or leads away from the boarding / disembarking area, the processor evaluates the detected boarding / disembarking area as unsuitable and discards the boarding / disembarking area and the corresponding stop position and the method 100 continues with method step 105, in which the processor searches for other boarding / disembarking areas. To this end, the processor can guide the vehicle to other boarding / disembarking areas by generating and outputting corresponding control signals to the corresponding control device of the vehicle in order to receive new surrounding signals. For example, the processor can also cause the re-recording of other surrounding signals by re-controlling the corresponding environmental sensors. For example, the processor can also re-analyze the surrounding signals that have been received in order to detect other boarding / disembarking areas.

[0106] If the processor detects a route section connected to the boarding / disembarking area in method step 301 , then in a subsequent method step 303 the processor checks the route section as follows: whether the detected route section is navigable independently by a wheelchair passenger.

[0107] The passability of the road section for wheelchair passengers can in this case be determined according to criteria comparable to the passability of the boarding / disembarking area according to method step 111. For example, the road section may also have to have a minimum width of more than 150 cm in order to be able to be evaluated as passable for wheelchair passengers. In order to check the passability of the road section, corresponding limit values ​​for different characteristics of the road section that cause the passability of the road section can be implemented in a database or a processor or in a computer program. In order to evaluate the passability of the detected road section, the processor can determine the corresponding characteristics of the detected road section and compare them with the stored limit values.

[0108] If the check performed by the processor according to method step 303 shows that the road section is not suitable for the wheelchair passenger to pass independently, the processor discards the boarding / disembarking area and the corresponding stopping position and the method 100 continues with method step 105 in that the processor searches for other boarding / disembarking areas. To this end, the processor can guide the vehicle to other boarding / disembarking areas by generating and outputting corresponding control signals to corresponding control devices of the vehicle in order to receive new surrounding signals. For example, the processor can also cause the re-recording of other surrounding signals by re-controlling the corresponding environmental sensors. For example, the processor can also re-analyze the surrounding signals that have already been received in order to detect other boarding / disembarking areas.

[0109] In the case of a positive conclusion of the check performed by the processor according to method step 303 , the processor recognizes in a subsequent method step 305 that the route section is navigable autonomously for a wheelchair passenger.

[0110] exist Figure 3 In the embodiment of the present invention, the processor determines the stop position in the next method step 115 and uses the Figure 1 The execution of described method step 117 terminates the method by the processor generating a control signal for at least partially automatically guiding the vehicle to a stop position.

[0111] In the described embodiment, the processor executes method step 301 only after executing method step 105. However, the processor can also execute method steps 105 and 301 in another temporal order. The processor can also execute method steps 107, 111 and 303 in any temporal order different from that in the described embodiment. Thus, the processor can first detect the route section and check the passability of the route section and then detect the boarding and alighting area connected to the route section and check it according to the described method steps 107 and 111.

[0112] Figure 4 A flow chart of a method 100 for providing a control signal for at least partially automatically guiding a vehicle to a parking position according to a further specific embodiment is shown.

[0113] According to another embodiment, the method step 111 of the method 100 further includes the following method steps:

[0114] j) detecting 401 an object within the boarding / unboarding area;

[0115] k) Check 403 whether the object constitutes an obstacle for the wheelchair passenger which prevents the wheelchair passenger from independently passing through the boarding / disembarking area.

[0116] In order to determine the autonomous accessibility of the boarding / disembarking area for a wheelchair passenger, the processor according to a further embodiment takes into account the presence of obstacles for the wheelchair passenger in the boarding / disembarking area.

[0117] For this purpose, after the processor has detected the boarding / unboarding area according to method step 105 and has evaluated it as suitable with regard to its spatial size according to method step 109 , the processor first detects objects in the boarding / unboarding area according to method step 401 .

[0118] If the processor does not detect an object in the boarding / disembarking area in method step 401, the processor terminates the check for obstacles in the boarding / disembarking area. The processor then continues the check of the boarding / disembarking area with respect to the passability of the wheelchair passenger according to method step 111 and / or terminates method step 111 with a positive or negative result. Depending on the result of the check in method step 111, the processor identifies in method step 113 whether the boarding / disembarking area is independently passable or not independently passable for the wheelchair passenger and whether the boarding / disembarking area is independently passable or not passable for the wheelchair passenger. Figure 1 The method 100 is continued analogously with method step 115 or method step 105 , respectively.

[0119] If the processor detects an object in the boarding / disembarking area in method step 401 , the processor checks according to the following method step 403 whether the object constitutes an obstacle for the wheelchair passenger.

[0120] In this context, obstacles can be any object that a wheelchair user cannot independently overcome or navigate around, such as steps, curb edges, tracks, barriers, walls, fences, flower baskets, fire hydrants, trash cans, or even vehicles that are only temporarily parked, etc.

[0121] For the check according to method step 403 , the corresponding objects classified as obstacles can be implemented in a database or in a processor or in a computer program. To assess whether the detected object constitutes an obstacle, the processor can compare the corresponding properties of the detected object with stored objects.

[0122] If the processor does not evaluate the detected object as an obstacle for the wheelchair passenger in method step 403, the processor terminates the check. The processor then continues the check of the boarding / disembarking area with respect to the passability of the wheelchair passenger according to method step 111 and / or terminates method step 111 with a positive or negative result. Depending on the result of the check in method step 111, the processor recognizes in method step 113 whether the boarding / disembarking area is independently passable or not independently passable for the wheelchair passenger and is compatible with the vehicle. Figure 1 The method 100 is continued analogously with method step 115 or method step 105 , respectively.

[0123] If the processor evaluates the detected object as an obstacle for a wheelchair passenger in method step 403, the processor therefore recognizes in the following method step 113 that the boarding / disembarking area is not independently passable for a wheelchair passenger. Next, the processor abandons the boarding / disembarking area and the corresponding stop position and continues the method with method step 105 in that the processor searches for other boarding / disembarking areas. To this end, the processor can guide the vehicle to other boarding / disembarking areas by generating and outputting corresponding control signals to the corresponding control device of the vehicle in order to receive new surrounding signals. For example, the processor can also cause the re-recording of other surrounding signals by re-controlling the corresponding environmental sensors. For example, the processor can also re-analyze the surrounding signals that have already been received in order to detect other boarding / disembarking areas.

[0124] Figure 5 A flow chart of a method 100 for providing a control signal for at least partially automatically guiding a vehicle to a parking position according to a further specific embodiment is shown.

[0125] According to another embodiment, method step 111 of method 100 further comprises the following method steps:

[0126] l) Detect the ground in the boarding / disembarking area of ​​501;

[0127] m) determine the slope of the 503 ground;

[0128] n) A check 505 is performed based on the slope to determine whether the ground surface is suitable for passage by a wheelchair user.

[0129] According to the further specific embodiment, the processor takes into account the slope of the floor of the boarding / disembarking area in order to determine the autonomous passability of the boarding / disembarking area according to method step 111 .

[0130] For this purpose, after the processor has detected the boarding / disembarking area according to method step 105 and has evaluated it as suitable with respect to its spatial size according to method step 109 , the processor detects the floor of the boarding / disembarking area according to method step 501 .

[0131] In a subsequent method step 503 , the processor determines the slope of the terrain.

[0132] In a subsequent method step 505 , the processor checks whether the floor surface with the determined slope is navigable independently by the wheelchair user.

[0133] The slope of the floor of the boarding / disembarking area can include in this case: the longitudinal slope and / or the transverse slope of the floor relative to a preferred direction. As a preferred direction, for example, the longitudinal direction of the vehicle or the longitudinal direction of the parking position can be used. For example, a slope with a drop of more than 6% can be evaluated as unsuitable for passage of a wheelchair passenger.

[0134] For the check according to method step 505, corresponding limit values ​​for different slopes as suitable and / or unsuitable for passability for a wheelchair passenger are implemented in a database or a processor or a computer program. To assess the passability of the floor of the detected boarding / disembarking area, the processor can determine the slope of the floor of the detected boarding / disembarking area and compare it with the stored limit values.

[0135] If the processor evaluates the floor surface with the determined slope as being independently navigable for a wheelchair passenger in method step 505, the processor terminates the checks performed according to method steps 501, 503 and 505. The processor then continues to test the boarding / disembarking area with respect to the navigability of a wheelchair passenger in method step 111 and / or terminates method step 111 with a positive or negative result. Depending on the result of the check in method step 111, the processor identifies in method step 113 whether the boarding / disembarking area is independently navigable or not independently navigable for a wheelchair passenger and determines ... Figure 1 The method 100 is continued analogously with method step 115 or method step 105 , respectively.

[0136] If the processor evaluates the ground with the determined slope as not being able to be independently passed for a wheelchair passenger in method step 505, the processor recognizes in the following method step 113 that the boarding / disembarking area is not able to be independently passed for a wheelchair passenger. Next, the processor abandons the boarding / disembarking area and the corresponding stop position and continues the method with method step 105 in that the processor searches for other boarding / disembarking areas. To this end, the processor can guide the vehicle to other boarding / disembarking areas by generating and outputting corresponding control signals to the corresponding control device of the vehicle in order to receive new surrounding signals. For example, the processor can also cause other surrounding signals to be re-recorded by re-controlling the corresponding environmental sensors. For example, the processor can also re-analyze the surrounding signals that have already been received in order to detect other boarding / disembarking areas.

[0137] Figure 6 A flow chart of a method 100 for providing a control signal for at least partially automatically guiding a vehicle to a parking position according to a further specific embodiment is shown.

[0138] According to another embodiment, the method step 111 of the method 100 further includes the following method steps:

[0139] o) detecting the ground surface of the boarding / disembarking area described in 601;

[0140] p) determining the surface layer of the ground referred to in 603;

[0141] q) A check 605 is carried out based on the floor surface to determine whether the floor surface is suitable for passage by a wheelchair user.

[0142] In order to assess the autonomous accessibility of the boarding / disembarking area for a wheelchair occupant, the floor surface of the floor of the boarding / disembarking area may therefore also be taken into account.

[0143] For this purpose, after the processor has detected the boarding / disembarking area according to method step 105 and evaluated it as suitable with regard to its spatial size according to method step 109 , it detects the floor of the boarding / disembarking area according to method step 601 .

[0144] Next, the processor determines the ground surface of the ground in a subsequent method step 603 .

[0145] The processor then checks in a subsequent method step 605 whether the floor surface having the determined floor surface is navigable independently by the wheelchair user.

[0146] When evaluating the ground surface of the ground, the wheel properties for the wheelchair can be taken into account. For example, the material, strength and smoothness of the ground surface can be taken into account for this purpose. For example, a distinction can be made between concrete surfaces, asphalt road surfaces, cobblestones, gravel walkways, forest roads, gravel roads and the like.

[0147] In addition, the following adhesion can be considered, wherein the ground surface can provide the wheelchair tire with said adhesion. In this connection, for example, moisture or a layer of snow, mud, fallen leaves or sand on the ground can be included.

[0148] The ground surface can, for example, be assessed as unsuitable for the independent and autonomous passage of a wheelchair passenger if the ground surface is too uneven and hinders the wheelchair tires from rolling off, and / or if the ground surface does not have sufficient strength and causes the wheelchair tires to sink into the ground, and / or if the ground surface is too smooth, in order to pass in a non-dangerous manner.

[0149] Different floor surfaces that are suitable and / or unsuitable for wheelchair accessibility can be implemented in a database or in a processor or in a computer program for the check according to method step 605. To assess the accessibility of the floor of the boarding / disembarking area, the processor can determine the floor surface of the detected boarding / disembarking area and compare it with stored values.

[0150] If the processor evaluates the floor surface as suitable for the wheelchair passenger's autonomous passage in method step 605, the processor terminates the test of the floor surface according to method steps 601, 603 and 605. The processor then continues the test of the boarding / disembarking area with regard to the passability of the wheelchair passenger according to method step 111 and / or terminates method step 111 with a positive or negative result. Depending on the test result in method step 111, the processor recognizes in method step 113 that the boarding / disembarking area is autonomously passable or not autonomously passable for the wheelchair passenger and that Figure 1 The method 100 is continued analogously with method step 115 or method step 105 , respectively.

[0151] If the processor evaluates the ground surface as unsuitable for the independent passage of a wheelchair passenger in method step 605, the processor recognizes in the following method step 113 that the boarding / disembarking area is not independently passable for a wheelchair passenger. Next, the processor abandons the boarding / disembarking area and the corresponding stop position and continues the method with method step 105 in that the processor searches for other boarding / disembarking areas. To this end, the processor can guide the vehicle to other boarding / disembarking areas by generating and outputting corresponding control signals to corresponding control devices of the vehicle in order to receive new ambient signals. For example, the processor can also cause other ambient signals to be re-recorded by re-controlling corresponding ambient sensors. For example, the processor can also re-analyze the ambient signals that have already been received in order to detect other boarding / disembarking areas.

[0152] For at least one of the above-described method steps a) to q), the processor can additionally take into account data from a database or data from a digital map in relation to the surroundings signal. For example, information about the position and spatial size of the stop position and / or the boarding / unboarding area, information about corresponding road sections adjacent to the boarding / unboarding area, information about permanent obstacles, information about the slope of the ground in the boarding / unboarding area and / or information about the ground surface of the boarding / unboarding area can be extracted from the database data.

[0153] Therefore, a stopping position in a previously determined target area can also be determined based on the data of a database or a digital map, so that potential stopping positions can already be selected at the beginning of the journey or during the journey, or stopping positions can be excluded in advance.

[0154] For example, in addition to the desired destination, certain requirements for the corresponding stop position can be informed to the vehicle at the beginning of the journey and / or during the journey. For example, the vehicle can also be informed that, for example, a wheelchair passenger should be transported as a passenger, and the vehicle automatically recognizes the corresponding requirements for the stop position caused by the passenger. According to the data of the database or the data of the digital map, the vehicle or the processor of the vehicle can then select a stop position with the following boarding / disembarking area among the stop positions in the surrounding range (Umkreis) around the destination, which can also be determined by the passenger, and the boarding / disembarking area meets the corresponding requirements. The vehicle can then determine a suitable stop position and operate accordingly to determine its availability and, if necessary, stop the vehicle in one of the stop positions. Therefore, the preselection of potential stop positions can be performed according to the individual requirements for the corresponding boarding / disembarking areas of the stop position caused by the passengers before reaching the destination.

[0155] Figure 7A device 701 is shown which is designed to carry out a method 100 for providing a control signal, wherein the control signal is used to guide a vehicle to a parking position at least partially automatically.

[0156] For example, the device 701 is configured to implement Figure 1 The device 701 comprises an input 703 for receiving an environment signal, wherein the environment signal represents at least a part of the environment of the vehicle. The device further comprises a processor 705 for processing the environment signal in order to detect a boarding / unboarding area, to check the spatial size of the boarding / unboarding area, to identify the spatial size of the boarding / unboarding area, to check the boarding / unboarding area with respect to accessibility for a wheelchair passenger, to identify accessibility for a wheelchair passenger to the boarding / unboarding area, and to determine a stopping position.

[0157] Processor 705 is also designed to generate a control signal for at least partially automatically guiding the vehicle to a parking position.

[0158] The device 701 further comprises an output 707 for outputting the generated control signal in order to guide the vehicle to a parking position at least partially automatically. For example, the generated control signal is output to a control device 803, which is designed to control the lateral and longitudinal guidance of the vehicle at least partially based on the output control signal.

[0159] Instead of the one processor 705 , a plurality of processors are also conceivable. Information, data and / or signals can be received via the input 703 . Signals can be output via the output 707 .

[0160] Figure 8 A vehicle 201 is shown, which includes Figure 7 device 701, environmental sensor 801, such as a video sensor and a control device 803.

[0161] Environmental sensor data of environmental sensor 801 may be provided to input 703 of device 701 so that the environmental sensor data of environmental sensor 801 can be processed by processor 705 to determine a stopping position having a pickup / drop-off area having the characteristics described above.

[0162] Vehicle 201 may have other environmental sensors in addition to environmental sensor 801. Different types of environmental sensors 801 may also be provided on vehicle 201, so that, for example, a video sensor, a radar sensor, and an ultrasonic sensor may be arranged together on vehicle 201. Environmental sensor 801 may also be provided at any desired location on vehicle 301.

[0163] The control signal may be output via output 707 to a control device 803 of vehicle 201 , wherein the control device is designed to at least partially automatically control a transverse and longitudinal guidance of vehicle 201 as a function of the control signal.

[0164] Fig. 9 A machine-readable storage medium 901 is shown, on which a computer program 903 is stored. The computer program 903 includes instructions, which, when executed by a computer, cause, for example, Figure 7 The method 100 for providing a control signal is implemented by a device 701 of the embodiment of the present invention, wherein the control signal is used to guide the vehicle to a stop position at least partially automatically.

[0165] The vehicle may be, for example, a shuttle, a car, a robotaxi, or a commercial vehicle.

Claims

1. A method (100) for providing a control signal, wherein the control signal is used to at least partially automatically guide a vehicle (201) to a stop position (203), the method comprising the following method steps: Receiving (101) a surrounding environment signal of the vehicle (201); Processing (103) the ambient environment signal for: a) detecting (105) a boarding / disembarking area (205) for boarding and / or disembarking a wheelchair passenger; b) checking (107) whether the boarding / disembarking area (205) has the spatial dimensions that are required for boarding / disembarking a wheelchair passenger; c) identifying (109) that the boarding / disembarking area (205) has a spatial size that is required for boarding / disembarking a wheelchair passenger; d) checking (111): whether the boarding / disembarking area (205) is navigable independently and without assistance for the wheelchair passenger; e) identifying (113) that the boarding / disembarking area (205) is navigable independently and without assistance by the wheelchair passenger; f) if the method steps c) and e) are performed, determining (115) a stopping position (203) adjacent to the boarding / unboarding area (205) for stopping the vehicle (201), and A control signal is generated (117) for at least partially automatically guiding the vehicle (201) to the stop position (203).

2. The method (100) of claim 1, wherein the control signal for at least partially automatically guiding the vehicle (201) to the stop position (203) further comprises: The vehicle (201) is stopped at the stop position (203).

3. The method (100) according to claim 1, further comprising the following method steps: g) detecting (301) a road section leading away from the boarding / unboarding area (205) and / or leading to the boarding / unboarding area (205); h) checking (303) whether the road section is navigable independently for the wheelchair passenger; i) Recognition ( 305 ) that the route section is autonomously navigable for the wheelchair passenger, wherein method step f) is carried out if at least method steps c) and e) and i) are fulfilled.

4. The method (100) according to claim 1, wherein the method step d) further comprises the following method steps: j) detecting (401) an object within the boarding / unboarding area (205); k) Check (403) whether the object constitutes an obstacle for the wheelchair passenger, which prevents the wheelchair passenger from independently passing through the boarding / disembarking area (205).

5. The method (100) according to claim 4, wherein the obstacle for the wheelchair passenger is an object in the following list, wherein the list includes: Steps, kerbs, tracks, barriers, walls, fences, flower baskets, fire hydrants, trash cans and / or movable objects and / or combinations of the mentioned objects.

6. The method (100) according to claim 1, wherein the method step d) further comprises the following method steps: 1) detecting (501) the ground surface of the boarding / disembarking area (205); m) determining (503) the slope of the ground; n) A check ( 505 ) is carried out based on the slope to determine whether the ground surface is suitable for passage by a wheelchair user.

7. The method (100) according to claim 1, wherein the method step d) further comprises the following method steps: o) detecting (601) the ground surface of the boarding / disembarking area (205); p) determining (603) a ground surface layer of the ground; q) Checking (605) based on the floor surface whether the floor surface is suitable for passage by a wheelchair passenger.

8. The method (100) of claim 7, wherein the ground surface layer comprises: Concrete surfaces, asphalt road surfaces, cobblestones, graveled footpaths, forest paths, gravel roads, wet layers, snow, mud, leaf litter, sand and / or combinations of the mentioned ground surfaces.

9. The method (100) according to any one of claims 1 to 8, wherein data from a database are used for at least one of the method steps a) to q).

10. The method (100) according to claim 9, wherein the stopping position in a predefined target area is determined based on data from the database.

11. The method (100) of claim 5, wherein the movable object is a vehicle.

12. The method (100) according to claim 9, wherein data of a digital map are used for at least one of the method steps a) to q).

13. A device (701) for providing a control signal, wherein the control signal is used to at least partially automatically guide a vehicle to a stop position, the device being configured to carry out the method (100) according to any one of claims 1 to 12.

14. A vehicle (201) comprising a device (701) according to claim 13.

15. A computer program product (903), comprising instructions which, when executed by a computer or a control device (805) of the vehicle (201), cause the control device to implement the method (100) according to any one of claims 1 to 12.

16. A machine-readable storage medium (901) on which a computer program product (903) according to claim 15 is stored.

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