Vehicle, device and method for positioning an automatically drivable vehicle

Abstract

The present invention relates to a means of transportation (1), a device and a method for positioning an automatically drivable means of transportation (1). The method comprises the following steps: automatic identification of a future occupant (19), automatic acquisition of the current position of the future occupant (19), automatic determination of an optimal positioning of the means of transportation (1) for the predefined door for entering the means of transportation relative to other doors of the means of transportation, and output of a signal (29) for implementing the positioning of the means of transportation (1).

Description

Technical Field

[0001] The present invention relates to a device, a means of transport, and a method for positioning an automatically drivable means of transport. Background Art

[0002] Considerable efforts have been made in the prior art to facilitate the production of vehicles with a high level of driving automation. In addition, these vehicles are used by private customers and in corporate fleets; similarly, efforts are being made to target the transport service industry (such as an automated taxi service or car sharing). Means of transport used in the transport service industry are particularly distinguished by the fact that they can only be assigned to a passenger for a short period of time. The implementation and use of automatically drivable vehicles (especially in the last-mentioned area) depend on the user acceptability of the automated means of transport (user acceptability is accompanied by the comfort of use). A high level of comfort in the use of an automatically drivable vehicle can be achieved, for example, by systems and methods that specifically match the implementation form and functionality of the means of transport to the expectations and needs of the occupants. Here, for example, it can be understood as a suitable seat position assignment, a predefined driving flexibility of the means of transport, the setting of the seat or ventilation. This setting is based on the definable or learned settings assigned to the occupants and is particularly possible for a means of transport that can be fixed and permanently assigned to an occupant.

[0003] DE 10 2007 023 140 A1 discloses a system that is integrated into an autonomous vehicle and used for identifying passengers. In addition, a communication module is disclosed here, which enables personalized communication between the vehicle and the passengers.

[0004] WO 2017 / 005 495 A1 discloses a system for seat position marking in a transport unit, where the seat position assignment for each passenger is visibly displayed for orientation and furthermore according to the reservation date and the route.

[0005] DE 10 2017 119 577 A1 generally discloses a time planning of an autonomous vehicle with the aid of a mobile device.

[0006] DE 10 2018 212 901 A1 discloses a method for obtaining a parking position for an automatically operating vehicle, by which the automatically operating vehicle can be stopped in the front area of a bus stop.

[0007] DE 10 2018 210 450 A1 discloses a method for outputting control signals for controlling an autonomous vehicle, in which the seat position of a vehicle occupant in the vehicle determines how the vehicle positions itself at the destination based on the received environmental data.

[0008] DE 10 2018 113 781 A1 discloses a method for providing improved passenger utilization of an autonomous vehicle, in which disembarkation obstacles in a target area are identified by the vehicle and communicated to the occupant (passenger) if necessary.

[0009] DE 10 2018 119 239 A1 relates to a user recognition system and method for an autonomous vehicle, by means of which user gestures of a pedestrian are recognized by the sensing means of the autonomous vehicle as "summoning" gestures without depending on the presence of an electronic wireless communication terminal device. In this way, a pedestrian can summon an autonomous vehicle / taxi without using a portable wireless communication terminal device.

[0010] DE 10 2017 214 855 A1 relates to a method for determining a parking point for a vehicle for highly automated and / or fully automated operation. In this method, hazard values in at least two areas in the immediate vicinity of the destination are acquired and the parking point is determined taking into account the acquired hazard values.

[0011] DE 10 2017 120 972 A1 relates to a passenger pick-up and drop-off system and method in the case of using an autonomous shuttle vehicle, in which the position of a future passenger is determined based on signal exchange between the vehicle and the electronic device of the future passenger.

[0012] DE 10 2018 132 140 A1 discloses a method for assisting the loading of a vehicle with a wheelchair, in which a lidar sensor is used to obtain that a user is positioned within a threshold distance from the vehicle and, in response thereto, ambient lights generate a light projection down to the side of the vehicle. Summary of the Invention

[0013] Starting from the above prior art, the object of the present invention is to increase the acceptance of the utilization of a transport vehicle capable of automated driving in such a way that comfort is increased, especially in the case of a passenger getting on and off the vehicle.

[0014] The above object is achieved according to the present invention by a method, a device and a transport vehicle for positioning a transport vehicle capable of automated driving, wherein the positioning is carried out in particular by means of seat position allocation or by means of detected equipment items of the user. The transport vehicle can be, for example, a car, a transporter, a truck, an airplane and / or a ship.

[0015] In a first step, a future occupant is identified. For this purpose, the vehicle is in the vicinity of the future occupant (in particular at a distance of <10 m) and in particular data sensed and preferably acquired by sensors integrated in the vehicle for environmental recognition or data of a portable user terminal device of the future occupant are used. The identification is preferably carried out by checking a logical assignment with data stored in an internal or external database. In other words, the prospective occupant is authenticated. In response to the authentication of the future occupant, preferably pre-determined seat position information is linked to the occupant data. The occupants of the vehicle can be passengers and / or drivers of the vehicle. In a second step, the current position of the authenticated future occupant is acquired. To acquire the position of the future occupant, the future occupant is preferably in the immediate vicinity of the vehicle and preferably there is a line-of-sight connection between the vehicle and the occupant. For this purpose, in particular data sensed and acquired by (in particular optical) sensors integrated in the vehicle for environmental recognition (also referred to as "environmental sensing means") or position data of a portable user terminal device of the future occupant are used. The sensors for environmental recognition can in particular be cameras for traffic sign recognition and / or for detecting pedestrians and / or ultrasonic sensors used for parking assistance, in particular cameras. Depending on the current position of the future occupant, the parking position of the vehicle is determined. The parking position is in particular characterized by the relative positioning of the autonomously drivable vehicle with respect to the position of the future occupant and is also referred to as optimal positioning. Furthermore, optimal positioning is characterized in that, after the positioning is completed, the future occupant has better access to a pre-defined door of the vehicle compared to other doors. Better access can be characterized by better accessibility, which is understood here as a shorter distance between the current position of the future occupant and the pre-defined door. A pre-defined reference can be included in the determination of the positioning, and the pre-defined reference is, for example, understood as vehicle-specific parameters, in particular the geometry and dimensions of the vehicle, the position of the door handle, etc. or environmental parameters of the boarding or alighting point. The positioning of the vehicle is carried out based on the corresponding signals, thus improving user comfort.

[0016] The dependent claims indicate preferred improvements of the invention.

[0017] The optimal positioning of the vehicle at the boarding point of the occupants is derived in particular from the best accessibility of the future occupants to the set entry point of the pre-defined (i.e., assigned to the occupant) door. For the assignment of the door (wherein, by door is understood all passenger-related openings of the vehicle, i.e., all passenger doors and luggage covers, such as the luggage compartment lid), for example, an automatic assessment is carried out as to whether the equipment items should or must be stored in the luggage compartment based on their size or the future occupant should directly occupy the seat position assigned to him. Based on the assigned door, an optimized determination of the positioning of the vehicle is carried out in combination with the current position of the future occupant. Thus, the positioning of the vehicle in the case where the seat position is assigned to the front area of the vehicle (wherein, for example, it is parked to the extent of the B-pillar) is different from the positioning in the case where the seat position is assigned to the rear area of the vehicle (wherein, for example, it is parked to the extent of the C-pillar), or different from the positioning carried out based on the equipment items, i.e., the future occupant can directly place the equipment items in the luggage compartment after the positioning of the vehicle and, for example, it is parked to the extent of the vehicle rear end. In the so-called 5-door vehicles commercially available, there are accordingly 4 passenger doors and one luggage compartment door (also referred to as the "rear lid" or "luggage compartment lid"). According to the above system, the front passenger door is the door closest to the front passenger seat, which is in turn located between the A-pillar and the B-pillar on the right side of the vehicle. Other vehicle-specific assignment points and logics are conceivable and do not have restrictive features. The best accessibility of the set entry point of the future occupants is outstanding in particular by the shortest travel distance between the door assigned to the future occupant and the position of the waiting occupant, wherein the vehicle-specific geometry and dimensions, such as the opening range of the door, are ideally included in the calculation of the optimal positioning. The optimal positioning of the vehicle at the alighting point of the occupants is outstanding in particular by the fact that the occupants of the vehicle can leave their seat positions as directly and safely as possible. The ambient parameters of the boarding point and the alighting point, such as the position and equipment of the boarding point or the alighting point (which are, for example, located on the street, on the sidewalk or in the parking lot and may include different elements such as slopes), can further affect the acquisition of the optimal positioning. If the positioning of more than one future occupant boarding at the boarding position or leaving the vehicle at the alighting position should be determined, preferably the arithmetic median position of the waiting occupants is obtained and used to obtain the shortest average travel distance or the minimum value of the sum of the distances of all boarding occupants to the vehicle is obtained and the secondary position of the vehicle is used as the positioning data for the vehicle. Thus, multiple parking processes at the "total" boarding position or alighting position can be avoided or combined.

[0018] The positioning of the means of transport based on the assigned seat position is carried out in particular taking into account the doors associated with the future seat position, the vehicle geometry, and the ambient parameters at the boarding and alighting points. If the direct accessibility of the assigned door from the waiting point of the passenger is not possible, for example when the passenger is waiting at the roadside and is assigned a seat position on the left vehicle side in the case of right-hand traffic, the means of transport is preferably positioned while maintaining the shortest travel distance between the waiting passenger and the boarding point, i.e., for example, taking into account the vehicle geometry with the right-front or right-rear corner of the means of transport beside the waiting passenger. The assignment of the door relative to the seat position can be pre-defined and then includes either a unique assignment of the seat position relative to the door or an alternative assignment of the seat position relative to different doors (when, for example, a middle seat can be reached equally well by a door on the left vehicle side as well as by a door on the right vehicle side). Here, the current occupancy status of additional seat positions can also be taken into account automatically or based on sensors, through which the future passenger can reach the seat position assigned to him. The seat position is distinguished by the fact that it is arranged in the conveyance and has clear seat position parameters. The seat position parameters can be associated with different feature classes. The feature classes can include general parameters regarding the seat position and / or parameters describing the equipment of the seat position and / or parameters describing the configuration of the seat position. The feature classes do not have restrictive features and are only used for a better understanding of the parameters that may have an impact on obtaining the seat position to be assigned. General seat position parameters, in other words, include in particular information about the specific position of the seat position within the means of transport and its orientation, for example with respect to the direction of travel, as well as a description of its accessibility via at least one door. The information about accessibility can also include information about whether another seat position has to be crossed after boarding in order to reach the seat position and / or on which vehicle side the door closest to the seat position is located and / or where the door is located with respect to the means of transport. Starting from the general seat position parameters, the seat position can be associated with additional features that can be used for passenger- and travel-task-specific seat position assignments. This can relate to seat position-specific equipment or configuration, where seat position-specific equipment is understood, for example, as equipment with a child seat, seat heating / ventilation / massage function, entertainment system, table, cup holder, and / or a certain degree of legroom, etc.; and seat position-specific configuration is understood, for example, as a defined setting of the backrest, preparation of the desired reading material, provision of a certain video or audio entertainment offering, and / or service of food or drink, etc. Having (dimensions / position / equipment (seat heating / seat ventilation / massage function) / adaptation for (small) children or infants). The vehicle geometry gives information about the specific geometry of the means of transport and its absolute dimensions, which describe the doors of the means of transport and in particular the position of its operating elements and can be used to calculate the shortest distance between the current position of the future passenger and the assigned door.In addition, the ambient parameters at the boarding or alighting points can affect seat position allocation. If, for example, the boarding point is selected at a busy multi-lane road, the allocated seat positions are ideally arranged on the right vehicle side in countries with right-hand traffic in order to ensure a safe boarding for the occupants; in contrast, in the case of a boarding point at a parking lot, in most cases all doors can be used for a safe boarding of the occupants. Furthermore, parameters of the infrastructure (such as ramps) can be ambient parameters at the boarding and alighting points, which are taken into account in the case of seat position allocation.

[0019] To reduce the complexity of obtaining the optimal positioning of the seat positions allocated to future occupants, the seat positions can be grouped into seat rows (Sitzplatzreihen) that are correspondingly subject to the same access parameters and doors. Especially in the case of minibuses, one seat row or multiple seat rows are often accessible via the same door. In this regard, the seat positions are simply characterized by the door (collectively) associated with them in this case and the seat positions allocated to future occupants are automatically dependent on the door and, if necessary, its opening range.

[0020] The occupants can bring one or more equipment items along with them. Here, the vehicle geometry available in data technology provides information about the specific geometry of the rear area where the trunk door is usually arranged, and the dimensions of the vehicle that can be used to calculate the shortest path between the current position of the future occupants and the trunk door. If there are structural restrictions at the boarding or alighting points, for example, which relate to the implementation of the planned luggage storage process, these structural constraints are included in the positioning plan. Equipment items should be understood in particular as luggage pieces, such as boxes or backpacks, baby carriages, walking aids, wheelchairs or umbrellas. The equipment items that can be brought along in the trunk can be automatically obtained, for example, sensorially, especially based on cameras, and especially in the case of using a digital object database (objektdatenbank) or via an input in such a way that the future occupants enter through an intermediary at the booking window, for example, using the corresponding input and / or selection fields or information in the front end of the digital booking system.

[0021] To simplify getting in and out or the loading or unloading of equipment items, after positioning, automatic unlocking of the doors can be carried out which is pre-determined and thus logically linked to getting in or out or loading or unloading. Accordingly, the (future) occupants can open the pre-determined doors and get in or out or put their equipment items into the luggage compartment or take them out of the luggage compartment. The doors can also be opened automatically, i.e., automatedly, and / or swung outwards. This achieves a further improvement in comfort as the (future) occupants can enter or leave the means of transport without using their hands (hands-free), i.e., without manual intervention, or can put equipment items into the luggage compartment of the means of transport or take them out of the luggage compartment of the means of transport without using their hands (hands-free).

[0022] The assignment of seat positions to future occupants can be automated by a technical system or carried out manually by the assignment and handover of digital information. Here, the assignment decision is based in particular on the sensed detection of future occupants, the predefined references at the boarding or alighting points and the consideration of ambient parameters, as well as the planned sequence of the boarding and alighting processes derived from the route planning. Decisive parameters can, however, also be determined within the scope of a digital reservation by the user and their predefined preferences here. Here, a tour is defined as the combination of at least two driving tasks into one overall driving task. The route planning is derived from the sequential planning of the task processing of a tour. In a tour, it is thus possible to achieve at least sometimes the simultaneous completion of more than one driving task, and the process steps regarding the driving tasks, which include the navigation of the vehicle to the boarding point, the identification of the occupants, the boarding of the occupants, the driving task-related transport to the destination point, the alighting of the occupants and the associated information and communication processes, are thus partially superimposed into an accumulated overall process chain related to the tour. The visual measurement of future occupants before boarding should in particular be understood as the sensed detection of future occupants, from which, for example, body dimensions can be obtained. Thus, for example, children are preferably assigned seat positions that are not in the front seat position rows. For the sensed detection, the ambient sensing devices of the vehicle are preferably used, which are here understood, for example, as cameras for road sign recognition, pedestrian recognition or camera-based parking assistance systems. The following should in particular be understood as predefined references: the specific requirements of future occupants, in other words the requirements for seat positions expressed by the occupants. To express the occupants' requirements for seat positions, corresponding input and / or selection fields can be provided in the front end of the digital reservation system; it is also conceivable to express the requirements indirectly, for example, by means of an intermediary, such as at the reservation window, and / or by means of the description of equipment items that cannot be transported in the trunk and / or by means of the automatic recognition of equipment items that cannot be carried along in the trunk. Equipment items that cannot be carried along in the trunk can be, for example, handbags, backpacks or caged dogs. The seat position assignment is carried out by selecting the seat position that best meets the predefined references, taking into account the available seat positions and their specific seat position parameters, as well as the more important requirements of all driving tasks of the tour. The seat position assignment can be changed based on the current seat position occupancy or unforeseeable events, which can be understood, for example, as the occupancy of another seat position by an occupant and / or a previously boarded occupant and / or the prevention of seat position occupancy, or unforeseeable ambient parameters at the boarding or alighting point.

[0023] For the identification of future occupants, biometric data (which should be understood here as geometric data, such as interpupillary distance or nose size or iris scans) and / or non-geometric data, such as individually assignable movement patterns and / or unique personal identification features, are used by the means of sensors in a vehicle, which can be identified by comparison with information from an existing data set or by means of a logical and unique association. The unique personal identification features can exist, for example, in the form of identification documents, in particular identity cards or driver's licenses, the MAC address associated with the occupant of a portable user terminal device associated with the occupant (such as an audio or video device, a computer, in particular a laptop or tablet, a mobile phone, in particular a smartphone, a wearable device, in particular a smartwatch) and / or by means of an assessment of the Bluetooth identification, radio connection or the like of a portable user terminal device associated with the occupant. For identification, a logical and / or unique assignment by means of an optical identification mechanism (such as the presentation of a specific color, barcode or pattern on a portable user terminal device associated with the occupant) can also be used. Based on the identification of the occupant, a logical connection is made between their personal data and the seat position assigned to them. The biometric identification features can be acquired, in particular, based on sensors and / or in the case of using optical sensors, such as camera-based sensors, and further processed by means of an evaluation unit. In order to verify the personal identification features, an optical sensor for acquiring an image of the item to be verified or an evaluation of the connection of a portable user terminal device associated with the occupant can also be used. The use of the optical identification mechanism is based on the idea that identification features, preferably defined via a digital system platform, are transmitted to a portable user terminal device associated with the occupant, which then digitizes these specific features for verification, for example by means of an optical sensor, and transfers them to the system for checking. As a non-limiting example, the occupant can be informed in an App associated with a driving service / vehicle parking lot / taxi service of specific features, such as a barcode, which the occupant sends to the system for verification using a barcode scanner or an optical camera installed in the vehicle. If the waiting person cannot be identified, a signal is output in such a way that information about the waiting person and / or the activation of alternative identification methods and / or the prevention of boarding are set in such a way that the waiting person is refused entry to the vehicle.

[0024] Sensors used in a means of transportation to obtain the current position of an occupant may include sensors that are additionally integrated for this application or that have been used for other applications. Obtaining position data is particularly necessary because the near-field positioning of an automated means of transportation depends in particular on the assigned seat position or the best accessibility of the trunk by future and identified occupants. The system used for position acquisition may belong to the means of transportation and / or to a portable user terminal device and / or be associated with an external system. In order to utilize sensor-based detection, a system that obtains the distance between the means of transportation and a future occupant and integrates the position data into the coordinate system of the means of transportation may be used. Alternatively or additionally, global position data may be obtained, such as satellite-assisted position data or position data obtained by radio technology, where, for example, the data acquisition may be carried out by means of a combination of LoRaWAN (Low Power Wide Area Network) and BLE (Bluetooth Low Energy) or in the case of using positioning by means of RSSI (Received Signal Strength Indication). For sensor-based positioning determination, optical sensors, preferably optical cameras (wherein preferably a front camera and / or a side camera integrated, for example, into the exterior rearview mirror) or ultrasonic sensors may be particularly used. Similarly, the use of radar, lidar sensors, lidar ranging devices or the data evaluation of a portable user terminal device carried by a future occupant or of an App on a portable user terminal device carried by an occupant is feasible. Information fusion and / or sensor fusion of different data sources may be particularly provided to optimize the accuracy of the position data.

[0025] To mark the assigned and thus pre-determined seat positions, it is preferred to output such a signal, which can be wireless or wired and responsive to at least one actuator, which informs the future occupant of the seat position set for him. The display of the assigned seat positions can be carried out by means of the vehicle and / or by means of an external system and / or by means of the interaction between the external system and the vehicle. As an external system for displaying the assigned seat positions, it is preferably possible to use a portable user terminal device associated with the occupant, on which the boarding position to be sought is uniquely marked, for example by means of text messages and / or schematic diagrams. In the case of the interaction between the external system (for example in the form of a portable user terminal device associated with the occupant) and the vehicle, the use of, for example, color coding is conceivable, in which the boarding positions of the vehicle are equipped with corresponding color markings, and the corresponding colors are also displayed on the portable user terminal device associated with the occupant at the approaching boarding time. The marking at the vehicle can preferably be carried out by means of text messages or schematic diagrams on a central display. This display can additionally or alternatively be specifically associated with the boarding point. In addition, the display should preferably be arranged so as to be well visible to the future occupant. Alternatively or additionally, an acoustic signal can be implemented, which is preferably output via a loudspeaker. Finally, a unique marking of the boarding position can also be carried out, which is understood, for example, as an optical, colored and / or shape-related marking, which can preferably be designed as a door light or LED backlighting. Alternatively or additionally, a communication interface can be provided between the vehicle and the occupant. This communication interface can be arranged centrally or dispersedly and is preferably implemented for communication between the vehicle system and the occupant by means of a portable user terminal device associated with the occupant and / or a display. In addition, voice control and / or gesture-based control can be provided. The marking of the assigned seat positions can additionally or alternatively also be carried out inside the vehicle, where systems similar to or the same as those in the external area can be used. The signal for displaying the assigned seat positions can be further processed by the external system in such a way that, for example, the pathfinding system of an electric wheelchair processes the position of the pre-determined boarding point as a target parameter. This signal can additionally or alternatively be provided for informing the occupants already in the vehicle and / or technically enabling the occupants to board the vehicle in such a way that, for example, the door lock is actuated. At the end of a specific journey of the occupant, a signal is preferably output. This signal can be transmitted wired or wirelessly and is also preferably provided for informing the occupant, where the occupant is thereby informed of the arrival at his destination point. This information can preferably be implemented by means of an optical signal or text message in color-coded form by means of a display in the vehicle. This display can be arranged centrally or dispersedly. Alternatively or additionally, an acoustic signal can inform the occupant of the arrival at his destination point. This signal can be output, for example, via the loudspeaker of the vehicle's audio system or a seat position-specific audio system.Finally, the passenger can also be informed of the arrival at the destination via the display of the associated portable user terminal device. Additionally, the signal can be configured to display the nearest and / or preferably available disembarkation point in the case of arriving at the passenger-specific destination point by means of the same or a similar system as described for displaying the arrival at the passenger-specific destination point. Additionally, the signal can be configured to request leaving the means of transport and / or technically enable leaving the means of transport, i.e., for example, canceling the door lock and / or automatically opening the door and / or unlocking and / or automatically opening the trunk when the passenger is associated with the equipment items being transported therein.

[0026] According to a second aspect of the invention, a device for positioning an automatically drivable means of transport is proposed. The device can be permanently integrated into the means of transport. It includes a data input unit, which can, for example, include a bus participant. A data connection to an internal or external data memory can be established via the data input unit. Additionally or alternatively, a data connection to an electronic controller can be established thereby. Finally, digital sensor signals and / or wireless signals of a user terminal device can also be received via the data input unit. The information technology connection to the data input unit can be made wirelessly or wired. A Bluetooth and / or W-LAN connection to the portable user terminal device can be established additionally or alternatively by means of the data input unit. The connection between the portable user terminal device and the means of transport can also be an Internet transmission for the purposes of the present invention. Additionally, an evaluation unit is provided in the device, which can be designed as a programmable processor, a microcontroller, and / or an electronic controller. By means of this evaluation unit, the device is capable of performing the logical steps of the method implemented in connection with the first-mentioned aspect of the invention. Additionally, a data output unit is provided, which is information technology-connected to the evaluation unit. The evaluation unit is configured to automatically identify future passengers by means of the data input unit and to obtain their current position by evaluating the sensor data of the surrounding environment sensing device and to determine the optimal positioning of the means of transport with respect to the current position of the future passengers, which enables better access to a predefined door of the means of transport relative to other doors. Better access can be distinguished by the following: better accessibility, which is understood as a shorter distance between the current position of the future passenger and the predefined door. The predefined reference can be included in the acquisition of the positioning, and the predefined reference is, for example, understood as vehicle-specific parameters, in particular the geometry and dimensions of the means of transport or the environmental parameters of the boarding or disembarking points. In combination with the data output unit, the evaluation unit is additionally configured to automatically output a signal for implementing the positioning of the means of transport.

[0027] The features, feature combinations, and advantages resulting therefrom of the device according to the invention and its preferred design are so clearly in agreement with the implementation in connection with the above method that, to avoid repetition, reference is made to the above embodiments.

[0028] According to a third aspect of the present invention, a means of transportation (such as a sedan, transporter, truck, motorcycle, land vehicle, and / or ship) is proposed, which includes the device according to the second aspect of the invention mentioned above and the dependent claims. Similarly, regarding the means of transportation, reference is made to the above embodiments in view of the features, feature combinations, and advantages in order to avoid repetition.

[0029] Next, the design solutions and various features of the examples of the present invention are explored without restrictive features. For example, future passengers wait for the arrival of an autonomously driving sedan. In the case of a specific journey plan, a specific seat position behind the co-driver seat is assigned to the passenger considering their reservation expectations and in line with the specific driving tasks of the journey. When the sedan arrives at the boarding point, its identity is verified by evaluating the radio technology connection of the portable user terminal device of the waiting future passenger, and the position of the waiting future passenger is sensed and detected by the means of transportation. For this purpose, a camera installed in the exterior rearview mirror of the means of transportation is used. It is determined as follows, that is, the future passenger does not carry any equipment items. In response to this identification and the logical connection with the seat position to be assigned, and considering the determined position of the waiting future passenger and the vehicle-specific geometry and dimensions, the best positioning of the means of transportation beside the waiting future passenger is determined and achieved. Based on the seat position assignment, the means of transportation then stops beside the waiting future passenger with the right C-pillar in this embodiment. The door to be used is displayed in text form on the display attached to the door to the waiting future passenger. The waiting passenger opens the door and goes to their seat position. After transportation and in the case of arriving at the predefined disembarkation point, the passenger is informed of the arrival at the destination and the upcoming disembarkation process via a speaker, and the predefined right rear door is opened. By the passenger seat position-specific and demand-oriented positioning of the autonomously driving means of transportation during the boarding and disembarkation processes, the comfort and thus the acceptance of the use of the autonomously driving means of transportation can be improved. Description of the Drawings

[0030] Further details, features, and advantages of the present invention are derived from the following description and the drawings. Among them:

[0031] Figure 1 A schematic illustration of an embodiment of a means of transportation according to the present invention is shown, including an embodiment of the device according to the present invention; and

[0032] Figure 2 A flowchart showing the illustrative steps of an embodiment of a method for passenger seat position-specific positioning of an autonomously driving means of transportation according to the present invention is shown. Detailed Description of the Invention

[0033] Figure 1Shows a sedan 1 as an embodiment of a vehicle according to the present invention, in which a device in the form of an electronic controller 31 is installed as an evaluation unit including a data input unit 26 and a data output unit 27. The data input unit 26 is connected in an information technology manner with an antenna 25 to a smartphone 24 (as an embodiment of a portable user terminal device of a future occupant 19 waiting on the sidewalk 22) and exchanges a wireless communication signal 32 with the antenna 25. Additionally, the data input unit 26 is connected in an information technology manner to a camera 3 integrated into the exterior mirror 2, to an electronic controller 29, and to a data memory 30 and exchanges a signal 29 transmitted by wire therewith. The data output unit 27 is connected in an information technology manner to a display 18 located at the doors 13, 14, 15, 16 by means of the antenna 25 to the smartphone 24 of the waiting future occupant 19 and by means of a signal 29 transmitted by wire to a speaker 34, to the data memory 30, and to an electronic controller 28. The sedan has four doors 13, 14, 15, 16 and five seat positions 4, 5, 6, 7, 8 and a trunk accessible via a trunk lid 9. A-pillars 10 are arranged on both sides in front of the front doors 13, 14, B-pillars 11 are arranged on both sides between the front doors 13, 14 and the rear doors 15, 16, and C-pillars 12 are arranged on both sides behind the rear doors 15, 16, by means of whose positions a geometric description of the sedan 1 can be achieved. To derive a specific boarding position, the opening range 17 of the corresponding door is included therein, which opening range is shown here by way of example for door D16. An occupant 20 is sitting in the left front seat position A 4 in the sedan. The seat positions B 5, seat positions C 6, seat positions D 7, and seat positions E 8 are not occupied at this time. A table 21 is a specific equipment of seat position C6. The forward-pointing driving direction 33 is oriented at the longitudinal axis of the sedan 1 and describes a motion vector in the line of sight direction of the occupant 20. In the data memory 30, information about the waiting occupants and the seat positions 4, 5, 6, 7, 8 to be allocated is maintained and transmitted to the evaluation unit 31 via the data input unit. The identification of the future occupant 19 is carried out by evaluating a wireless communication signal 32 emitted by the smartphone 24 of the future occupant 19 waiting on the sidewalk 22, which enters via the antenna 25 at the data input unit 26 of the evaluation unit 31. The exact position of the waiting future occupant 19 is obtained by the evaluation unit 31 by evaluating image information transmitted as a wired signal 29, which image information is collected by means of a camera 3 (as an embodiment of an optical sensor) located at the exterior mirror 2. Based on the identification of the future occupant, a logical allocation of the seat positions 4, 5, 6, 7, 8 (seat position E8 in this example) to be allocated is carried out.In response thereto and based on the following factual situation, namely that the item of equipment is not recognized sensorially by the camera 3 (as an embodiment of an optical sensor) located at the exterior rearview mirror 2, a signal 29 is output via the data output unit 27, based on which the door D16 intended for boarding is indicated by means of a visual fade-in on the display 18 located at the door D16. In addition, the determination of the positioning for calculating the best parking position of the motor vehicle 1 by means of the evaluation unit 31 is carried out in order to obtain the shortest possible distance between the position of the future passenger 19 waiting and the predefined boarding point, (taking into account the seat position E8 assigned to the future passenger 19 waiting, the closest door D16 associated with this seat position, and the vehicle geometry-specific door opening range 17 and ambient parameters). The positioning data is transmitted via the data output unit 27 to the electronic controller 28 for further processing. Thus, the motor vehicle 1 is optimally positioned according to the invention for the future passenger 19 waiting to reach the assigned seat position E8, so as to improve its comfort in the boarding process when using the automatic motor vehicle 1 in this way.

[0034] Figure 2 The flowchart shows the illustrated steps of an embodiment of a method for occupant seat position-specific positioning of an automatic vehicle according to the invention. In a first step 100, the future passenger is automatically recognized. For this purpose, in particular, sensor information and digital connection information of the passenger's portable user terminal device are used. In step 200, the current position of the passenger is automatically acquired. In order to acquire the current position, in particular, the sensors and position data of the portable user terminal device are used. Based on this information, in step 300, the optimal positioning is automatically determined in relation to the current position of the future passenger and with the aid of a predefined reference, and in response thereto, in step 400, a signal is output that is set for implementing the positioning and display of the predefined boarding position. As a result, the conveyance is optimally positioned according to the method of the invention with respect to the requirements of the future passenger waiting, so as to improve the comfort of the boarding process when using an automatic conveyance in this way.

[0035] List of reference signs

[0036] 1 motor vehicle

[0037] 2 exterior rearview mirror

[0038] 3 camera

[0039] 4 seat position A

[0040] 5 seat position B

[0041] 6 seat position C

[0042] 7 seat position D

[0043] 8 Seat position E

[0044] 9 Luggage compartment lid

[0045] 10 A-pillar

[0046] 11 B-pillar

[0047] 12 C-pillar

[0048] 13 Door A

[0049] 14 Door B

[0050] 15 Door C

[0051] 16 Door D

[0052] 17 Opening range of Door 4

[0053] 18 Display

[0054] 19 Future occupant waiting

[0055] 20 Occupant

[0056] 21 Table

[0057] 22 Sidewalk

[0058] 23 Lane edge

[0059] 24 Smart phone

[0060] 25 Antenna

[0061] 26 Data input unit

[0062] 27 Data output unit

[0063] 28 Electronic controller

[0064] 29 Signal

[0065] 30 Data memory

[0066] 31 Evaluation unit

[0067] 32 Wireless communication signal

[0068] 33 Driving direction

[0069] 34 Speaker.

Claims

1. A method for positioning a transport vehicle (1) for automated driving, comprising the following steps: - Automatically identifying (100) a future occupant (19), - Automatically acquiring (200) the current position of the future occupant (19) by means of a surrounding environment sensing device, - allocating a seat position by means of the transport means (1) based on a sensor-based measurement of the future occupant (19), wherein, The assignment of the door relative to the seat position can be pre-defined, - Automatically determining (300) the optimal position of the transport vehicle (1) for entering the transport vehicle (1) through other doors relative to the transport vehicle (1) with respect to a pre-defined door, and in response thereto - Outputting (400) a signal (29) for positioning the transport vehicle (1), wherein the positioning of the transport vehicle is performed in consideration of the accessibility of the door associated with the future seat position and / or the vehicle geometry and / or the surrounding environment parameters of the boarding and alighting points based on the positioning of the assigned seat position.

2. The method according to claim 1, further comprising, in the case of the positioning - Automatically acquiring the seat position (8) assigned to the future occupant (19), and - Automatically considering - The future seat position (8) and / or - The accessibility of the assigned seat position (8) and / or - The vehicle geometry and / or - The surrounding environment parameters of the boarding and / or alighting points.

3. The method according to claim 2, wherein, The seat position (8) is associated with a seat row and the positioning is performed depending on the seat row.

4. The method according to any one of claims 1 to 3, further comprising: - Automatically acquiring the equipment items attached to the future occupant (19) and considering the attached equipment items in the case of the positioning.

5. The method according to claim 4, wherein, The equipment item is a luggage item and the positioning is performed depending on the position of the luggage compartment of the transport vehicle.

6. The method according to any one of claims 1 to 3, wherein The door logically associated with the positioning is unlocked in response to the positioning.

7. The method according to claim 6, wherein, The door logically associated with the positioning is automatically opened in response to the positioning.

8. The method according to any one of claims 1 to 3, wherein, The assignment of the seat position (8) - Is performed automatically and / or - Is based on a pre-defined reference and / or - Is based on the surrounding environment parameters at the boarding and / or alighting points and / or - Is based on the planned sequence of the boarding and alighting processes.

9. The method according to any one of claims 1 to 3, wherein, The identification of the future occupant (19) is performed based on biometric data and / or unique personal identification features, which are acquired by the transport vehicle (1) through sensors and compared with the stored data sets.

10. The method according to any one of claims 1 to 3, wherein, The acquisition of the current position of the future occupant (19) - Is based on sensors by means of an optical sensor (3), and / or - By means of an ultrasonic sensor, and / or - By means of a radar sensor, and / or - By means of a laser ranging device and / or, - By means of data evaluation of a portable user terminal device (24) carried by the occupant (19) together, and / or - By means of an App on the portable user terminal device (24) carried by the occupant (19) together To be performed.

11. The method according to claim 10, wherein, The optical sensor (3) is an optical camera.

12. The method according to claim 10, wherein, The laser ranging device is a lidar sensor.

13. The method according to any one of claims 1 to 3, wherein A wireless or wired signal (29) for marking the seat position (8) is output, and the signal prompts the marking of the seat position (8) - as a visual signal, and / or - as an auditory signal, and / or - on a portable user terminal device (24), and / or - on a display (18) of the vehicle (1), and / or - as the sole marking of the boarding location.

14. The method according to claim 13, wherein, The visual signal is color-coded, and / or text information, and / or a schematic illustration.

15. A device for positioning an automatically drivable vehicle (1), comprising: - a data input unit (26), - an evaluation unit (31), - a data output unit (27); wherein the evaluation unit (31) is configured to - by means of the data input unit (26) - automatically identify a future occupant (19), - automatically acquire the current position of the future occupant (19) by means of a surrounding environment sensing device, - allocate a seat position based on a sensed measurement of the future occupant (19) by means of the vehicle (1), wherein the allocation of the door relative to the seat position can be pre-defined, and - determine the optimal positioning of the vehicle (1) relative to a pre-defined door for entering the vehicle through other doors of the vehicle with reference to the current position of the future occupant (19), and in response thereto - output a signal (29) for implementing the positioning of the vehicle (1) in connection with the data output unit (27), wherein the positioning of the vehicle based on the allocated seat position is carried out taking into account the accessibility of the door associated with the future seat position and / or the vehicle geometry and / or the environmental parameters of the boarding and alighting points.

16. The device according to claim 15, which is configured to carry out the method according to any one of claims 1 to 14.

17. A vehicle (1) comprising the device according to claim 15 or 16.

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