Method and system for providing navigation prompts for a route from a current stop of a mobile unit to a target location

Abstract

In a method for providing navigation instructions for a route from a current stop point of a mobile unit (2) to a target location, stop point environment data are detected in a first detection area (4a) by means of the mobile unit (2). Reference environment data are detected in a second detection area (7a). At least one common environment feature (3) is determined based on the stop point environment data and the reference environment data, wherein the common environment feature (3) is arranged both in the first detection area (4a) and in the second detection area (7a). The relative arrangement of the mobile unit (2) relative to the target location is determined, and navigation instructions are generated and output based on the relative arrangement. The system for providing navigation instructions for a route from a current stop point of a mobile unit (2) to a target location comprises a mobile detection unit (7), a reference detection unit (4) and a calculation unit (5).

Description

Technical Field

[0001] The present invention relates to a method and system for providing navigation prompts for a route from a current stop of a mobile unit to a target location. Background Art

[0002] An important application area for mobile devices is navigation to certain destinations, especially in unknown environments or when the destination is not specifically known to the user. Modern transportation concepts provide, for example, for autonomous vehicles to be requested and made available when needed. In this case, the user knows neither the exact appearance of the vehicle nor its exact location or the path to get there.

[0003] Conversely, the autonomous vehicle also does not know the exact location of the user. Especially in large cities, this leads to new and very flexible pickup situations, for example when the provided vehicle can only be parked briefly in a parking lot or when the vehicle's visibility is restricted due to time-varying conditions.

[0004] Furthermore, there is a need to make it easier for people who, for example, have limited vision, are disoriented or are in unfamiliar surroundings to find a target location and in particular a provided vehicle.

[0005] Known systems use, for example, special devices that are carried by the target vehicle and navigation can be performed by positioning these devices. In addition, satellite-based methods are used to determine the position, but these methods usually do not work accurately enough in densely built cities.

[0006] WO 2014 / 170758 A2 describes a visual positioning system in which a plan view of an interior space is detected and a path through the interior space is determined. An interior view of a reference object is generated for the path. The view can be output to enable a user to identify the direction. By comparing the image detected by the user with the interior view, the GPS data can be improved.

[0007] In the method proposed in DE 10 2018 118 029 A1 for classifying traffic participants and for measuring and reporting position and kinematic parameters via a digital telecommunication network, a message from a mobile device with kinematic user parameters is received by a server and made available to a vehicle.

[0008] A method for identifying passengers and the associated vehicle is known from US Pat. No. 10,139,237 B2, in which a code is provided which is communicated by means of light signals and which gives information about the position of the vehicle.

[0009] US 2017 / 0178269 A1 describes a display logo for a ride-sharing service, which is output on an LED display of a target vehicle.

[0010] WO 2018 / 035848 A1 describes a method for supporting a user in finding a vehicle, wherein the vehicle provides information about its location, such as an image of its surroundings. The vehicle can also send a key to the user. Summary of the invention

[0011] The object of the present invention is to provide a method and a system of the type mentioned at the outset which allow navigation instructions to be provided with particularly efficient utilization of available resources.

[0012] According to the invention, this object is achieved by a method according to the invention and a system according to the invention. Advantageous embodiments and improvements are apparent from the description.

[0013] In the method according to the invention for providing navigation instructions for a route from a current stop point of a mobile unit to a target location, stop point environmental data are detected in a first detection area by means of the mobile unit. Reference environmental data are detected in a second detection area. At least one common environmental feature is determined based on the stop point environmental data and the reference environmental data. Here, the common environmental feature is arranged both in the first detection area and in the second detection area. The relative arrangement of the mobile unit relative to the target location is determined, and navigation instructions are generated and output based on the relative arrangement.

[0014] The method advantageously uses data that can usually already be detected by widely available units. For example, sensors of the vehicle and sensors integrated in mobile phones or other mobile devices are used to perceive the surroundings in order to detect the data required for the method.

[0015] The navigation instructions generated in the method are in particular transmitted to a mobile unit and output by the mobile unit. The output is in particular visually, acoustically and / or tactilely perceptible to the user. The navigation instructions are output in such a way that the user can detect information about the route from the current stop to the target location. The navigation instructions can here relate to the entire route or a route section, in particular a section starting from the current stop. The output can, for example, include a map display of the route and, if necessary, features of the environment, and it can also be output by means of an output unit in the form of an augmented reality, in particular as a view of the route displayed superimposed on a view of the environment.

[0016] In the method, the stop point environment data and the reference environment data are detected from a "viewing angle" having a starting position and a detection angle. The corresponding detection area is defined in particular by the starting position, the detection angle and the detection range. For example, the detection range may depend on whether the detected signal is attenuated by influences in the surrounding environment, such as air, moisture or objects that cause obstruction, and the degree of attenuation.

[0017] The method makes use in particular of the fact that the stopping point environment data and the reference environment data are detected in such a way that the corresponding detection areas overlap one another. In this overlapping area, common environmental features are determined and used to determine the relative arrangement of the mobile unit relative to the target position and the common environmental features.

[0018] Common environmental features can in principle be any feature that can be detected by means of suitable sensors and detectable based on environmental data, in particular physical objects that can be associated with a specific shape, color, position or other attributes. Environmental features can be, for example, features of vegetation or buildings. In addition, common environmental features can include directions, signs or other features of a road or another drivable path. Other examples for potential environmental features are traffic signs or signal facilities (especially under certain conditions) or other traffic participants. That is, the arrangement of common environmental features can be static relative to the earth's coordinate system, or can change over time.

[0019] In the method, in particular the position, orientation or posture of an object can be determined as an environmental feature based on the resting point environmental data and the reference environmental data. In this case, the common environmental feature is detected from different perspectives depending on its position and orientation relative to the resting point of the mobile unit and relative to the target position. Based on these different perspectives in the resting point environmental data and the reference environmental data, in particular the relative arrangement of the mobile unit relative to the target position is then determined.

[0020] In contrast to known methods, in particular the actual perspective and therefore also the position are taken into account when detecting the reference environmental data, and the relative arrangement is determined in such a way that it also involves the arrangement of the mobile unit relative to the target position or to the corresponding detected position of the detection of the reference environmental data. This means that a comparison is made between how the environment with common environmental features from the perspective of the mobile unit is presented at the current stop and how it is presented from the target position. The relative arrangement is determined by comparison. In contrast, known methods only map environmental features and only orient themselves relative to the position of the individual environmental features.

[0021] For example, it can be determined from the stop point environment data and the reference environment data that the mobile unit is located to the left of a certain house front and the target position is located to the right of it; in addition, for example, distances or angles can be determined. Navigation instructions are then generated based on this information about the arrangement of the mobile unit and the target position relative to each other.

[0022] In one embodiment of the method according to the invention, reference surroundings data are detected from the target position. This advantageously makes it possible to determine the relative arrangement of the mobile unit with respect to the target position particularly easily.

[0023] In this case, it is possible to directly compare how the perspective of the rest point environment data detected from the current rest point of the mobile unit differs from the perspective of the reference environment data detected from the target location.

[0024] In another embodiment, the reference environment data can be detected from a different position than the target position, for example, by other detection units arranged in the surroundings. For example, if there are not enough possibilities for detecting the reference environment data at the target position, but there are detection units in the relevant environment, this situation can be envisaged. For example, a plurality of video cameras and / or other sensors, such as fixedly installed detection devices or other mobile units with suitable detection devices, can be present in one area. Such areas can include, for example, city centers, airports, amusement parks, company sites, certain buildings, parking lots, parking garages or traffic routes, in which cameras or other suitable sensors are arranged, or in which there are other vehicles equipped with cameras or other sensors, and their data can be accessed, for example, by means of a car-to-car network or other networks. In this case, the arrangement of the target position relative to the mechanism for detecting the reference environment data is particularly detected so that the relative arrangement of the mobile unit relative to the target position can be determined.

[0025] The mobile unit may be, for example, a mobile phone or other mobile user equipment carried by a user. In this case, the navigation prompt may be output in such a way that the user can detect the navigation prompt and navigate to the target location. For example, there is a vehicle at the target location.

[0026] Furthermore, the mobile unit can be designed as another movable unit, such as a vehicle that is at least partially automatically controlled. In this case, navigation instructions can be output in such a way that, for example, a control signal is generated in such a way that the vehicle is navigated to a target location, such as a waiting user; the vehicle is hereby controlled, in particular automatically, as a function of the control signal, or driving instructions are output, for example, for a human driver.

[0027] In one embodiment of the method, the mobile unit is a mobile user device of the user including a camera, and at the target location there is a vehicle which is also provided with a camera. The mobile user device can be, for example, a mobile phone, a smartwatch, a tablet or a device for "virtual reality" or "augmented reality". In addition, units worn on the user's body can be used, such as glasses with an integrated camera, a body camera or other devices with a camera and / or other sensors and possibly output means for outputting information to the user. For example, a device is conceivable which supports the safe movement of blind people or users whose vision is limited.

[0028] In one embodiment of the method according to the invention, the stopping point surroundings data include image data. In particular, the reference surroundings data may include image data. This advantageously allows the surroundings data to be evaluated particularly efficiently.

[0029] The stop point environment data and the reference environment data are detected in a manner known per se, for example by means of an image or video detection unit; alternatively or additionally, further sensors can be used which detect environment data by means of other physical operating methods, for example by means of radar, lidar, ultrasound, infrared or ultraviolet light. Furthermore, user inputs can be evaluated and / or environment data can be detected from external sources, for example from a server or from an external detection unit, by means of a data technology connection.

[0030] In another embodiment of the method according to the invention, the stopping point environment data include an initial position estimate and / or orientation. Similarly, the reference environment data may include an initial position estimate and / or orientation. Thus, when evaluating the stopping point environment data and the reference environment data, it can be advantageously taken into account where the first and / or second detection area is approximately located.

[0031] For example, the initial position estimate and / or orientation may be detected based on signals from a satellite navigation system (eg, GPS, compass, and / or gyroscope).

[0032] In one embodiment, a detection request is generated and outputted as a function of the initial position estimate and / or orientation. The output can be detected, for example, visually, acoustically or tactilely for a user or as a function of a control signal for actuating a detection unit.

[0033] The detection request includes, for example, information about a direction along which the stop point environment data and / or the reference environment data should be detected. For example, the user is asked to detect the stop point environment data by orienting the camera of the mobile unit in such a way that it includes specific environmental features, such as particularly prominent buildings, traffic signs, vegetation elements or specific road markings. Conversely, for example, the camera used to detect the reference environment data can be automatically oriented toward specific environmental features. This ensures, for example, that the first and second detection areas overlap sufficiently and that common environmental features are optimally detected. For example, the detection request can cause the stop point environment data to be detected within a certain angle, for example, by requesting the user to turn around the longitudinal axis of his body while holding the camera in front of the body, or by manipulating the posture of the camera in such a way that the camera swings within a certain angle.

[0034] In a further development of the method according to the invention, a request signal for the stop point environmental data and / or the reference environmental data is generated in direct temporal relation, and the stop point environmental data and / or the reference environmental data are detected according to the request signal. This makes it possible to advantageously detect environmental data in a particularly targeted manner.

[0035] The request signal is generated in particular so as to ensure a direct temporal association for detecting the stop point environment data and the reference environment data, that is to say, detecting the stop point environment data and the reference environment data at a coordinated time point. In particular, the stop point environment data and the reference environment data are detected simultaneously, or are detected with a certain maximum time offset.

[0036] The request signal is generated, for example, to start the method according to the invention and, for this purpose, to cause the detection of the stopping point environment data and the reference environment data. The request signal is particularly formed in such a way that the detection of the stopping point environment data and the reference environment data is triggered, wherein the relative time of the detection is particularly determined by the request signal. In addition, the request signal can be generated in such a way that it includes parameters for the detection of the stopping point environment data and the reference environment data (e.g., to what extent the environment data are detected or how the corresponding detection area is configured), for example by determining a certain direction, range of action, detection angle or sensor type.

[0037] The request signal is generated in particular by a unit at the target location (for example a vehicle located there), wherein the detection of reference environment data by the unit at the target location itself and the detection of stop point environment data by the mobile unit are caused thereby. In addition, the mobile unit can be requested to transmit the detected stop point environment data to the unit at the target location.

[0038] In one construction scheme, the request signal is configured so that the reference environmental data is detected in such a way that a second detection area is formed based on the detected stop point environmental data. Conversely, the request signal can be formed so that a first detection area is formed based on the detected reference environmental data. For example, a particularly concise environmental feature that is particularly well suited for orientation can be determined. The first and / or second detection area can then be configured, for example, by a specific orientation of the detection unit or by selecting a specific sensor so that the environmental data particularly clearly includes concise environmental features. This can be achieved by parameters for the automatic detection of environmental data, or by requesting the user to detect environmental data in a special way. For example, an output with a directional prompt is generated, wherein the user is asked to point the camera of the mobile unit to a certain building, or the camera of the vehicle is adjusted to detect a certain building.

[0039] In another embodiment of the method according to the invention, the stop point environment data and the reference environment data are detected at short time intervals, in particular at most 2 hours, preferably at most 30 minutes, further preferably at most 2 minutes, further preferably at most 30 seconds. This advantageously achieves a particularly close temporal correlation between the stop point environment data and the reference environment data.

[0040] In this method, particularly current environmental data can be used so that, for example, short-term effects of movable objects and changing light conditions, traffic conditions and weather conditions can be taken into account. In this method, movable objects can also be used as environmental features for orientation, even if these objects are only temporarily in a certain position. When navigating based on common environmental features, it is important to detect environmental data under similar conditions. For example, the performance of environmental features may be very different, depending on the following: in what weather, at what time and on what day of the week these environmental features are detected, whether a certain area is experiencing a specific event, and whether there are temporary environmental features, such as market stalls, obstacles, signs or crowds, whether there is peak-time traffic or how the traffic flow is managed, which, for example, can lead to congestion. Therefore, in order to evaluate, it is necessary to understand the time relationship between the stop point environmental data and the reference environmental data. In particular, when the stop point environmental data and the reference environmental data are actually detected simultaneously, the relative arrangement can also be determined based on the movable environmental features. This movable environmental feature can be, for example, a traffic participant, but similarly, the variable state of the environmental feature can also be used, for example, by means of an object displayed by a display device, the state of a light signal facility or similar environmental features.

[0041] In a further development of the method according to the invention, the stopping point environment data and / or the reference environment data are detected in the area of ​​a specific spatial environment around the stopping point or the target position, in particular within a radius of at most 1 km, preferably at most 500 m, further preferably at most 100 m. This advantageously ensures that the surrounding data are detected in the relevant geographical area.

[0042] In particular, environmental data are provided here which are detected during the movement towards a specific position. For example, the vehicle can detect reference environmental data during its approach to a parking space, so that these environmental data include the larger environment around the parking space. The reference environment can then be formed in such a way that it includes environmental data that are currently detectable at a certain point in time as well as environmental data previously detected in the spatial environment. In particular, the parking position is the target position, and in the method, the user is supported in navigating from his current stop to the target position or the parking position of the vehicle using the mobile unit. Since the reference environmental data relate to the larger environment, navigation can be improved and navigation can also be achieved, in particular, if no common environmental features can be detected by the mobile unit and from the parking position at the current point in time.

[0043] In a construction scheme of the method, reference environment data are detected at the target location and are also stored in a storage unit at the target location, in particular in a vehicle located there. The stop point environment data are detected by a mobile unit at the current stop point, optionally preprocessed, and transmitted to the target location, in particular to the vehicle. A local network can be used here, for example by means of Bluetooth, WLAN or other short-range wireless connections between the vehicle at the target location and the mobile unit. In this construction scheme, the reference environment data are not transmitted from the target location to other units; for example, the reference environment data remain in the vehicle at the target location. In this case, further processing, in particular the determination of common environmental features and navigation instructions, is also carried out at the target location. This advantageously ensures improved data protection and increased data security, because external agencies cannot access the reference environment data detected at the target location.

[0044] In another embodiment of the method according to the invention, the stop point environment data and the reference environment data are transmitted to a central computing unit, wherein the navigation instructions are generated by the central computing unit. The central computing unit is in particular an external unit, for example an external server. This advantageously enables processing with greater computing power and storage of data, in particular temporary storage, for example in order to be able to provide further environment data from other units or other instances of the method for carrying out the method. In particular, additional measures are provided here to ensure data protection and data security.

[0045] In a further development of the method according to the invention, intermediate environmental data are detected in a third detection area at an intermediate position, wherein the relative arrangement of the mobile unit relative to the target position is also determined relative to the intermediate position. In particular, the first detection area and the third detection area overlap, and common environmental features are determined in the overlapping partial area. This advantageously enables the mobile unit to "query" the target position when the first and second detection areas do not overlap, i.e., when no common environmental features are detected from the current stop and from the target position.

[0046] For example, an initial stop point estimation is performed for the mobile unit, for example by user input or by position determination by means of methods known per se. In this example, it is then determined that no common environmental features can be detected, for example because obstacles prevent the first and second detection areas from overlapping. An intermediate position is determined, wherein in particular suitable means for detecting intermediate environmental data are present.

[0047] The intermediate environmental data detected at the intermediate position can be transmitted to a central computing unit, which performs processing of the environmental data and in particular performs determination of common environmental features. For example, the intermediate environmental data are transmitted to a vehicle at a target position, wherein, in this case, the detection at the intermediate position serves as an extension of the detection possibilities for the vehicle at the target position. In addition, navigation instructions for a route from the current stop point of the mobile unit to the intermediate position can be generated, wherein the generation is performed here at the intermediate position or by a unit located there. In particular, a vehicle-to-vehicle or vehicle-to-infrastructure network is constructed or used to ensure the transmission of intermediate environmental data or other data for providing navigation instructions.

[0048] In another embodiment, obstacles on the route from the current stop to the target location are determined based on the stop environment data and / or the reference environment data, and a warning prompt is generated and output. In particular, obstacles relevant to walking users, such as steps, slopes, objects protruding on the road, or other traffic participants with which there is a risk of collision, are determined. In particular, obstacles are determined in such a way and prompts are formed in such a way that users who cannot perceive obstacles themselves, for example due to limited vision, are warned.

[0049] In a further development, a visually perceptible prompt is output at the target location, which prompt is detected based on the stop point environment data, and a navigation prompt is generated based on the prompt. This makes navigation easier because the mechanism at the target location can be noticed. For example, an active light signal can be generated, for example, by projecting onto surrounding surfaces, or emitting light towards the current stop point, for example by means of light pulses of a specific color, intensity, frequency or with a specific pulse pattern. In particular, light frequency ranges that are imperceptible to the human eye, such as infrared, are used here. The prompt is detected in particular by a mobile unit based on the detected stop point environment data, and the mobile unit generates a navigation prompt. In particular, the mobile unit receives information about the prompt, in particular so that it can recognize the prompt. For example, the mobile unit receives information about which prompt was used to identify the vehicle at the target location.

[0050] In another embodiment, calendar data of the user are detected, which are in particular stored in the mobile unit, and an initial position estimate for the current stop of the mobile unit is generated based on the calendar data. For example, the calendar data include location information and time information, in particular for an appointment, based on which it is determined which position the mobile unit is at a certain point in time. For example, it can be determined that after the end of the appointment, the user is in a building in the exit area of ​​the building, for example to wait for a requested vehicle.

[0051] The system for providing navigation prompts for a route from a current stop point of a mobile unit to a target location according to the present invention comprises: a mobile detection unit configured to detect stop point environment data in a first detection area; a reference detection unit configured to detect reference environment data in a second detection area; and a calculation unit configured to determine at least one common environment feature based on the stop point environment data and the reference environment data. Here, the common environment feature is arranged both in the first detection area and in the second detection area. Here, the calculation unit is also configured to determine the relative arrangement of the mobile unit relative to the target location, and to generate and output navigation prompts based on the relative arrangement.

[0052] The system according to the invention is designed in particular to implement the method according to the invention described above. The system therefore has the same advantages as the method according to the invention.

[0053] The system comprises in particular a vehicle located at a target location, in such a way that in particular a reference detection unit is integrated. The mobile unit can be a mobile device carried by a user, such as a mobile phone, in which in particular a mobile detection unit is integrated.

[0054] In another embodiment, the system comprises an output unit which is provided for outputting navigation instructions in a visually, acoustically and / or tactilely perceptible manner. The output unit is here in particular integrated in a mobile unit which has, for example, a display, a loudspeaker or a vibration unit. The output can be output, for example, by means of a mobile phone, a mechanism arranged on the user's body, a walking aid or a cane for the blind with a corresponding output unit. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] The present invention will now be described according to embodiments with reference to the accompanying drawings.

[0056] Figure 1 shows an embodiment of a system according to the present invention; and

[0057] Figures 2 to 6 An exemplary situation for applying the method according to the invention is shown. DETAILED DESCRIPTION

[0058] refer to Figure 1 An embodiment of a system according to the invention is described.

[0059] The vehicle 1 comprises a computing unit 5, to which the reference detection unit 4 and the interface 6 are coupled. In this exemplary embodiment, the reference detection unit 4 comprises a camera, which is formed in a manner known per se and has a first detection area 4a. In other exemplary embodiments, the reference detection unit 4 alternatively or additionally comprises other sensors, such as a stereo camera, a time-of-flight camera, a lidar sensor, a radar sensor or an ultrasonic sensor or an infrared camera.

[0060] The mobile unit 2, which is designed as a mobile phone 2 in this embodiment, also comprises a computing unit 8, to which a movement detection unit 7 and a display unit 9 are coupled. The movement detection unit 7 of the mobile phone 2 is also designed as a camera with a second detection area 7a. Similar to the reference detection unit 4, the movement detection unit 7 can also alternatively or additionally comprise other sensors. In this embodiment, the user carries the mobile phone 2 with him. He assumes that the first detection area 4a of the reference detection unit 4 and the second detection area 7a of the movement detection unit 7 overlap and both include a common environmental feature 3, in this embodiment a tree 3.

[0061] In this embodiment, a direct connection can be established between the interface 6 of the vehicle 1 and the computing unit 8 of the mobile phone 2, wherein methods known per se for establishing a data technology connection are used, such as WLAN or Bluetooth. In other embodiments, the vehicle 1 and / or the mobile phone 2 also have a connection to another network, in particular to an external unit or an external server, or the connection between the interface 6 and the processing unit 8 is established indirectly via another network.

[0062] Reference Figure 1 Exemplary embodiments of the method according to the invention are explained Starting from the above-explained exemplary embodiments of the system according to the invention, the system is further explained in detail by the description of the method.

[0063] The user initiates the method to support navigation from his current stop to the vehicle 1 parked at the target location. The reference detection unit 4 of the vehicle 1 and the movement detection unit 7 of the mobile phone 2 detect reference environment data or stop environment data in the respective detection areas 4a, 7a substantially simultaneously. In this embodiment, the stop environment data detected by the mobile phone 2 is directly transmitted to the vehicle 1 via the interface 6, wherein a pre-processing step is optionally performed, in particular in order to reduce the amount of data to be transmitted.

[0064] The computing unit 5 of the vehicle 1 performs processing steps for determining common environmental features based on the reference environmental data and the stop point environmental data. In this case, the tree 3 is identified as a common environmental feature 3. Based on the reference and stop point environmental data, it is determined what attitude, i.e. what position and orientation, the mobile unit 2 at the stop point and the vehicle 1 at the target position adopt relative to the tree 3 and relative to each other. The distance and angle relative to the tree 3 are determined here. In addition, the orientation of the corresponding detection unit 4, 7 relative to the tree 3 is determined, which allows the determination of the orientation of the vehicle 1 and the mobile phone 2 when the orientation of the corresponding detection unit 4, 7 relative to the vehicle 1 or the mobile phone 2 is known. Based on this information, the relative arrangement of the vehicle 1, the mobile phone 2 and the tree 3 with respect to each other is also determined.

[0065] In other embodiments, the common environmental feature 3 is constructed differently. For example, building facades, trucks or other traffic participants, traffic signs, infrastructure or other environmental features can be used. In addition, a combination of different environmental features or different types of environmental features can be interpreted as a common environmental feature.

[0066] In this embodiment, further route-related information is also determined based on the reference and stop point environment data, wherein a suitable path is identified, in particular around the current stop point. Relevant obstacles, in particular when walking along the identified path, are also determined here. In another embodiment, an initial position estimate for the current stop point and / or the target position is detected, wherein methods known per se for determining the position, such as GPS, are used. Based on this initial position estimate, map data and other information can be detected and used as route-related information.

[0067] Navigation instructions are now generated based on the relative arrangement and, if necessary, other route-related information, transmitted to the mobile phone 2 and output by means of the display unit 9. Depending on the available information and the respective traffic conditions, the navigation instructions are generated in such a way that the user with the mobile phone 2 is supported in orienting and moving toward the vehicle 1. The navigation instructions can be formed in such a way that they include a direction indication, by which, for example, the direction to the vehicle at the target position or to a traversable path is displayed. In addition, the navigation instructions can include one or more movement instructions, for example, a request to move in a certain direction, to turn, to turn or to change the direction of sight.

[0068] Furthermore, in this embodiment, when an obstacle is detected on the path from the stop point to the target location, a warning prompt is output.

[0069] In another embodiment, a prompt is output via the display unit 9 of the mobile phone 2, by which the user is asked to align the mobile detection unit 7 of the mobile phone 2, for example in order to perform a swing of the mobile detection unit and find or better detect common environmental features; in particular, thereby changing the detection area 7a of the mobile detection unit 7. Similarly, the reference detection unit 4 of the vehicle 1 can be oriented or adjusted so that its detection area 4a is changed or the parameters of the detection are adjusted.

[0070] In other exemplary embodiments, the navigation instructions are output alternatively or additionally acoustically perceptibly by voice output and / or haptically perceptible by means of vibrations.

[0071] refer to Figures 2 to 6 , according to various situations, embodiments of the method according to the invention are described. Starting from the above described embodiments of the system according to the invention, the system is further described in detail by describing the method. The method is basically as described above with reference to Figure 1Therefore, not all method steps are repeated below, but mainly different or new features are explained. Figures 2 to 6 In the drawings, similar structures and objects are provided with the same reference numerals.

[0072] exist Figure 2 In the case shown in , a vehicle 21 is located at a target location and a user with a mobile phone 22 is located at a current stop. The vehicle 21 comprises a detection unit 24 with two cameras, with the aid of which reference environmental data can be detected in a first detection area 24a. The mobile phone 22 also comprises a camera (not shown), with the aid of which stop point environmental data can be detected in a second detection area 27a. The first detection area 24a and the second detection area 27a overlap, and a tree 23 is present in the overlapping area. In other embodiments, the detection unit 24 and / or the mobile unit 22 may have a different number of cameras and / or other sensors.

[0073] When executing an embodiment of the method, a request signal is first generated, according to which the detection unit 24a of the vehicle 21 detects the reference environment data, and the camera of the mobile phone 22 detects the stop point environment data. It is ensured that the environment data are detected as simultaneously as possible. In another embodiment, a time delay of up to 2 hours, preferably up to 30 minutes, more preferably up to 2 minutes, and more preferably up to 30 seconds is allowed between the detection of the reference environment data and the detection of the stop point environment data.

[0074] The stop point environment data detected by the mobile phone 22 are transmitted to the vehicle 21 and, in addition taking into account the reference environment data, the tree 23 is determined as a common environment feature. In addition, it is determined that the current stop point of the mobile phone 22 (e.g. Figure 2 ) is located between vehicle 21 and tree 23, and the camera of mobile phone 22 is oriented in the opposite direction to vehicle 21. Assume that the user of mobile phone 2 is oriented in the same direction as his / her line of sight, and this direction is understood by the user as the direction of "straight ahead".

[0075] A navigation prompt is generated and outputted by means of a display of the mobile phone 22, wherein the user is asked to turn around and walk in the direction of the vehicle. In this embodiment, the navigation prompt is also outputted acoustically by means of a voice output and tactilely perceptible via a vibration, according to a certain signal code. For example, an acoustic instruction is outputted that the user should turn around his axis until a vibration is outputted. In another example, a variable acoustically or tactilely perceptible signal is outputted in such a way that it outputs the distance to the entrance of the vehicle 21, for example by changing the pitch, volume, frequency and / or intensity of the signal.

[0076] exist Figure 3In the situation shown in , the user points a mobile phone 22 with a camera at a vehicle 21. Steps 30 are arranged between the user and the vehicle 21. These steps are detected in the detection area 27a of the camera of the mobile phone and are identified as obstacles in the path from the user's current stop to the vehicle 21.

[0077] The method is performed substantially as described above, wherein the steps 30 are determined as common environmental features and are used to determine the relative arrangement of the user and the vehicle 21, provided that they are also detected by the detection unit 24 of the vehicle 21. In addition to the navigation prompt, a warning prompt is generated and output, by which the user is informed of the location of the steps 30. Users with limited vision or reduced mobility can then react to the presence of the steps 30. In other embodiments, an alternative path from the user to the target location, such as an obstacle-free path, is determined and output based on the stop point environmental data and / or the reference environmental data and possibly available relevant map data, wherein the steps 30 as obstacles are bypassed.

[0078] exist Figure 4 In the situation shown in FIG, vehicle 21 is located at a target position in an area hidden behind a corner of a house and not visible to a user with mobile phone 22. It is also assumed that no environmental data can be detected in the overlapping area. In this exemplary embodiment, a data technology connection 40 is established from vehicle 21 to a further vehicle 41, for example by means of Bluetooth, WLAN or car-to-car technology, wherein the further vehicle 41 comprises a further reference detection unit 44. It is assumed that data can be detected in a detection area that overlaps with the detection area 27a of the camera of mobile phone 22 by means of the reference detection unit 44 of the further vehicle 41, so that common environmental features can be determined.

[0079] In this exemplary embodiment, navigation instructions are first generated in such a way that the user is guided to an intermediate location, in particular a stop of another vehicle 41, before the user is guided from there to the target location of vehicle 21. Furthermore, the user can be guided for a period of time in the direction of the intermediate location until he is in an area in which environmental data can be detected in such a way that common features can be detected both by mobile phone 22 and by vehicle 21 with its detection unit 24.

[0080] In another embodiment, further reference environment data detected by further vehicles 41 are merged with the reference environment data detected by vehicle 21, in order to virtually expand the available detection area for the reference environment data with the aid of the external detection unit. Navigation instructions can then be formed and output in such a way that instructions are output to the user for a route directly to vehicle 21 at the target location without first having to navigate an intermediate location.

[0081] In another exemplary embodiment, other external detection units may be used, such as traffic monitoring agencies, security cameras, suitable mobile devices or other units that can be connected to vehicle 21 in terms of data technology, for example by means of vehicle-to-infrastructure or vehicle-to-X technology or other networks.

[0082] In a further embodiment, it is provided that no detection unit is available at the target location, but only other detection units are used to detect reference environment data. This can be used in particular in areas that are fully monitored by sensors, in particular video cameras, for example in airports, private or company premises, amusement parks and / or correspondingly equipped vehicle parking facilities. The method can also be used here to transmit a stop point estimate to the mobile unit 22 as an alternative or in addition to a navigation prompt.

[0083] In particular, an initial position estimate is generated, for example by means of GPS or by user input, for the current stop of the mobile phone 22 and / or the target position of the vehicle 21. Based on this information, a suitable further vehicle 41 or other device for detecting surrounding data is determined, a data connection 40 is established, and the required data is detected and transmitted.

[0084] In a further exemplary embodiment, an initial position estimate for the mobile unit 22 and a target position (ie, for example, the vehicle 22 ) are detected and, starting from this, the relative arrangement is optimized using the method according to the invention.

[0085] exist Figure 5 In the case shown in , there is a temporary obstacle 50 between the user's mobile phone 22 and the detection unit 24 of the vehicle 21, in this case a market stall 50, which is arranged at this location only at a specific time point. In other embodiments, the temporary obstacle 50 can also be a delivery vehicle or other traffic participant, for example.

[0086] In this embodiment, it is detected based on the detected stop point environment data and the reference environment data that the stop point of the mobile phone 22 is located on a side of the market stall 50 that is different from the vehicle 21. Based on the detected environment data and possibly existing map data, a route is determined and outputted, on which the user bypasses the market stall 50 to reach the vehicle 21.

[0087] exist Figure 6In the case shown in , a user with a mobile phone 22 and a vehicle 21 are located in front of a building facade 60, on which a sign with a letter combination is arranged. Alternatively or additionally, for example, virtually any character string, logo, text or advertisement can be provided. They can be identified based on the detected stop point environment data and reference environment data and used to determine the relative arrangement. The display of the sign can be formed flexibly, for example by means of a display surface or a dynamic advertising surface. In addition, in the method, a display device near the vehicle 21 can be controlled in such a way that, for example, in a parking garage, specific environmental features are output to facilitate an easier search for a specific destination.

[0088] In another embodiment, the vehicle 21 or another mechanism emits a light signal at the target location. The light signal is located based on the detected stop point environment data and is used to determine the arrangement relative to the target location. In particular, information about the light signal is transmitted to the mobile phone 22, which information enables the light signal to be identified; for example, the light signal is formed with a specific color, duration, or as a specific sequence of longer and shorter signals, and can be associated with a specific target location in this way. The mobile phone 22 then receives information about the light signal in particular so that it can be identified and distinguished from other signals. Similarly, symbols can be displayed on the screen, or specific colors and / or graphic displays can be output on the surface. The light signal can also be generated in the infrared range, wherein then a suitable detection unit must be used, and the light signal can be emitted very discretely.

[0089] For example, a display may be provided at the target location, for example in the vehicle 21, which is actuated to output a light signal, for example a character string, a graphic object or a symbol. The mobile unit 22 can then receive information about which light signal to navigate to.

[0090] In the previous description, it was mainly assumed that the vehicle 1, 21 is located at the target location. This is usually not necessarily the case, so that navigation to the vehicle 1, 21 can always be understood as navigation to the target location. Similarly, the mobile unit 2, 22 does not necessarily have to be a mobile phone 2, 22, but the method according to the invention can be performed in principle with any mobile unit.

[0091] Reference numerals list:

[0092] 1 Vehicle

[0093] 2 mobile unit; mobile phone

[0094] 3. Environmental characteristics: trees

[0095] 4 Reference detection unit

[0096] 4a First detection area (vehicle)

[0097] 5 computing units (vehicles)

[0098] 6 interfaces

[0099] 7Mobile detection unit

[0100] 7a Second detection area (mobile phone)

[0101] 8 Computing Unit (Mobile Phone)

[0102] 9 Display unit (mobile phone)

[0103] 21 vehicles

[0104] 22Mobile Phone

[0105] 23 Tree

[0106] 24 Detection unit (vehicle)

[0107] 24a First detection area (vehicle)

[0108] 27a Second detection area (mobile phone)

[0109] 30 Obstacles; Stairs

[0110] 40Data Technology Connections

[0111] 41 Other vehicles

[0112] 44 Reference detection unit (vehicle)

[0113] 50 Temporary obstacles; market stalls

[0114] 60 Building frontage.

Claims

1. A method for providing navigation instructions for a route from a current stop of a mobile unit (2) that can be carried by a person to a target location remote from the mobile unit (2), wherein: Detecting the stop point environment data in a first detection area (4a) by means of a movement detection unit (7) of the mobile unit (2); detecting reference environmental data in a second detection area (7a) by means of a reference detection unit (4) disposed at a target position away from the mobile unit (2); Determine at least one common environmental feature based on the stop point environmental data and the reference environmental data (3); wherein, The common environmental feature (3) is arranged both in the first detection area (4a) and in the second detection area (7a); determining the relative arrangement of the mobile unit (2) with respect to the target location, and The navigation prompt is generated and output according to the relative arrangement.

2. The method according to claim 1, It is characterized in that The stop point environment data includes image data.

3. The method according to claim 1, It is characterized in that The stop environment data includes an initial position estimate and / or orientation.

4. The method according to any one of claims 1 to 3, It is characterized in that generating a request signal for the stop point surroundings data and / or the reference surroundings data in direct temporal relation; and The stop point environment data and the reference environment data are detected according to the request signal.

5. The method according to any one of claims 1 to 3, It is characterized in that The stop point environment data and the reference environment data are detected at short time intervals.

6. The method according to claim 5, It is characterized in that The stop point environment data and the reference environment data are detected at a time interval of at most 2 hours.

7. The method according to claim 6, It is characterized in that The stop point environment data and the reference environment data are detected at a maximum time interval of 30 minutes.

8. The method according to claim 7, It is characterized in that The stop point environment data and the reference environment data are detected at a time interval of at most 2 minutes.

9. The method according to claim 8, It is characterized in that The stop point environment data and the reference environment data are detected at a time interval of at most 30 seconds.

10. The method according to any one of claims 1 to 3, It is characterized in that The stopping point environment data and / or the reference environment data are detected in an area of ​​a specific spatial environment around the stopping point or the target position.

11. The method according to claim 10, It is characterized in that The stopping point environment data and / or the reference environment data are detected within a radius of at most 1 km around the stopping point or the target position.

12. The method according to claim 11, It is characterized in that The stopping point environment data and / or the reference environment data are detected within a radius of at most 500 m around the stopping point or the target position.

13. The method according to claim 12, It is characterized in that The stopping point environment data and / or the reference environment data are detected within a radius of at most 100 m around the stopping point or the target position.

14. The method according to any one of claims 1 to 3, It is characterized in that The stop point environment data and the reference environment data are transmitted to a central computing unit; wherein, The navigation instructions are generated by the central processing unit.

15. The method according to any one of claims 1 to 3, It is characterized in that detecting intermediate environmental data in a third detection area at an intermediate position; in, Furthermore, the relative arrangement of the mobile unit (2) with respect to the target position is determined with respect to the intermediate position.

16. A system for providing navigational instructions for a route from a current stop of a mobile unit (2) that can be carried by a person to a target location remote from the mobile unit (2), comprising: A mobile detection unit (7) disposed in the mobile unit (2), which is configured to detect stop point environment data in a first detection area (7a); a reference detection unit (4) disposed at a target position away from the mobile unit (2), and configured to detect reference environmental data in a second detection area (4a); and A calculation unit (5) is configured to determine at least one common environmental feature (3) based on the stop point environmental data and the reference environmental data; wherein: The common environmental feature (3) is arranged both in the first detection area (4a) and in the second detection area (7a); wherein: The computing unit (5) is further configured to determine a relative arrangement of the mobile unit (2) relative to the target location; and The navigation prompt is generated and output according to the relative arrangement.

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