Method for at least partially automated guidance of a motor vehicle

Abstract

The invention relates to a method for at least partially automated guiding of a motor vehicle within a parking lot using at least one environmental sensor arranged within the parking lot, the environmental sensor having a scanning plane each, the scanning plane defining a virtual wall of a driving corridor for the motor vehicle each, the method comprising the steps of receiving a measurement data signal representing measurement data of the at least one environmental sensor, deriving based on the measurement data whether an object has crossed the virtual wall, generating a control signal for at least partially automated controlling of a lateral guidance and / or a longitudinal guidance of the motor vehicle based on a result of the derivation whether at least one object has crossed the virtual wall, and outputting the generated control signal. The invention further relates to a device, a system, a computer program and a machine readable storage medium.

Description

Technical Field

[0001] This invention relates to a method for at least partially automating the guidance of motor vehicles in a parking lot. The invention also relates to an apparatus, a system, a computer program, and a machine-readable storage medium. Background Technology

[0002] Publication DE 10 2017 212 376 A1 discloses a method and a system for detecting vacant areas in a parking lot.

[0003] Publication DE 10 2015 201 209 A1 discloses a method for automating the transfer of vehicles from a delivery area. A method for taking a person to an assigned parking space within a pre-defined parking area.

[0004] Publication DE 10 2012 015 968 A1 discloses a method for moving a vehicle to a parking surface without a driver. The method. Summary of the Invention

[0005] The objective of this invention can be viewed as providing a solution for efficiently and at least partially automating the guidance of motor vehicles within a parking lot.

[0006] This task is accomplished by means of the corresponding subject matter of the independent claims. The advantageous configurations of the invention are the subject matter of the various dependent claims.

[0007] According to a first aspect, a method is provided for at least partially automated guidance of motor vehicles in a parking lot using at least one environmental sensor arranged within the parking lot, each having a scanning plane that defines a virtual wall of a fahrkorridor for the motor vehicle, the method comprising the following steps:

[0008] Receive measurement data signals representing measurement data from the at least one environmental sensor.

[0009] Based on the measurement data, determine whether the object has passed through the virtual wall.

[0010] Control signals are generated based on the result of determining whether at least one object has crossed the virtual wall. These control signals are used to at least partially automate the lateral and / or longitudinal guidance of the vehicle.

[0011] The output generates control signals.

[0012] According to the second aspect, an apparatus is provided, the apparatus being configured to perform all the steps of the method according to the first aspect.

[0013] According to a third aspect, a system is provided for guiding motor vehicles in a parking lot in a manner that is at least partially automated, the system comprising:

[0014] At least one environmental sensor is deployed within the parking lot, the environmental sensor having a scanning plane that defines a virtual wall of the driving corridor for the vehicle.

[0015] According to the equipment in the second aspect.

[0016] According to a fourth aspect, a computer program is provided, the computer program including instructions that, when executed by a computer, for example by a device according to a second aspect and / or by a system according to a third aspect, cause the computer to perform the method according to a first aspect.

[0017] According to a fifth aspect, a machine-readable storage medium is provided on which a computer program according to a fourth aspect is stored.

[0018] This invention is based on and incorporates the understanding that the aforementioned task can be solved by monitoring whether an object has crossed a virtual wall of the driving corridor, which defines the long side of the driving corridor. Therefore, objects that may pose a potential hazard to the vehicle can be detected efficiently. Accordingly, the vehicle can be guided, for example, at least partially automatically, to avoid collisions with such objects. Thus, vehicles can be guided efficiently and at least partially automatically in a parking lot in an advantageous manner.

[0019] The phrase "at least partially automated guidance" includes one or more of the following: assisted guidance, partially automated guidance, highly automated guidance, and fully automated guidance.

[0020] Assisted guidance means that the driver of the motor vehicle continuously performs lateral or longitudinal guidance of the vehicle. Separate driving tasks are performed automatically (i.e., controlling the longitudinal or lateral guidance of the vehicle). This therefore means that when a motor vehicle is assisted in being guided, either lateral or longitudinal guidance is automatically controlled.

[0021] Partially automated guidance means that the longitudinal and lateral guidance of a vehicle is automatically controlled under specific conditions (e.g., driving on a highway, driving in a parking lot, overtaking an object, driving in a lane defined by lane markings) and / or for a specific time period. The driver does not need to manually control the longitudinal and lateral guidance. However, the driver must continuously monitor the automated control of longitudinal and lateral guidance to be able to intervene manually if necessary. The driver must be prepared to take full control of the vehicle's guidance at any time.

[0022] Highly automated guidance means automatically controlling the longitudinal and lateral guidance of a vehicle for specific time periods and under specific conditions (e.g., driving on a highway, driving in a parking lot, overtaking an object, driving in a lane defined by lane markings). The driver does not need to manually control the longitudinal and lateral guidance. The driver does not need to continuously monitor the automated control of longitudinal and lateral guidance to be able to intervene manually when necessary. When needed, a takeover request is automatically output to the driver, particularly with sufficient time margin, to take over control of longitudinal and lateral guidance. Therefore, the driver must potentially be able to take over control of longitudinal and lateral guidance. The boundaries for automatically controlling lateral and longitudinal guidance are automatically identified. In highly automated guidance, it is not possible to automatically achieve the state of least risk in every initial situation.

[0023] Fully automated guidance means that the longitudinal and lateral guidance of a vehicle is automatically controlled under specific conditions (e.g., driving on a highway, driving in a parking lot, overtaking an object, driving in a lane defined by lane markings). The driver does not need to manually control the longitudinal and lateral guidance. The driver does not need to monitor the automated control of longitudinal and lateral guidance to intervene manually when necessary. Before the automated control of lateral and longitudinal guidance ends, a request is automatically made to the driver, with sufficient time leeway, to take over the driving task (control of lateral and longitudinal guidance). If the driver does not take over, the system automatically returns to the state of least risk. The limits of automated control of lateral and longitudinal guidance are automatically identified. Automatic return to the state of least risk is possible in all situations.

[0024] According to one embodiment, the at least one environmental sensor is an element selected from the following group of environmental sensors: radar sensor, lidar sensor—particularly 2D lidar sensor, ultrasonic sensor, video sensor, magnetic field sensor, and infrared sensor.

[0025] In one embodiment, the at least one object includes a motor vehicle, wherein determining whether the object has passed through the virtual wall based on measurement data includes: determining whether the motor vehicle has passed through the virtual wall from the inside relative to the driving corridor based on the measurement data, wherein the control signal is generated based on the result of determining whether the motor vehicle has passed through the virtual wall from the inside relative to the driving corridor.

[0026] This achieves, for example, the following technical advantages: It enables efficient detection of whether a motor vehicle has at least partially left its assigned driving corridor, thus allowing for efficient countermeasures in such cases. For example, control signals can be generated such that, when the lateral and / or longitudinal guidance of the motor vehicle is controlled at least partially automatically based on the output control signals, the motor vehicle is at least partially automatically guided back into the driving corridor. For example, the motor vehicle can be at least partially automatically stopped.

[0027] In one embodiment, the at least one object includes a protrusion. The step of determining whether an object has passed through the virtual wall based on measurement data includes: determining whether the protrusion has passed through the virtual wall from the outside relative to the travel corridor based on the measurement data, wherein the control signal is generated based on the result of determining whether the protrusion has passed through the virtual wall from the outside relative to the travel corridor.

[0028] This enables, for example, the efficient detection of objects extending into the driving corridor from the outside. Such objects, i.e., protrusions, may be potential collision targets for motor vehicles. Accordingly, appropriate countermeasures can be taken efficiently in such cases. These countermeasures include, for example, stopping or avoiding the vehicle, guided at least partially automatically based on the corresponding control signals generated.

[0029] In the sense of this specification, a protrusion is specifically one that extends beyond its own bottom surface. Such objects include, for example, the open tailgate of another motor vehicle. Such objects also include, for example, the open cargo hatch of another motor vehicle, particularly a truck.

[0030] In the context of this specification, a protrusion is specifically an object disposed on or included by another object, wherein the protrusion extends beyond the bottom surface of the other object. Such an object is, for example, a bicycle rack or luggage rack disposed on another motor vehicle (the other object). Such an object is, for example, disposed on the top of another motor vehicle and extends forward and / or backward beyond the bottom surface of the other motor vehicle. For example, such an object is partially disposed in the trunk of another motor vehicle and extends from the trunk beyond the bottom surface of the other motor vehicle.

[0031] A protrusion can be called a protrusion object.

[0032] According to one implementation, determining whether an object has passed through a virtual wall based on the measurement data includes comparing the measurement data with reference measurement data.

[0033] This achieves, for example, the following technical advantage: the determination can be performed efficiently. The reference measurement data corresponds, for example, to a reference measurement when no object passes through the virtual wall. By comparing the measurement data with the reference measurement data, changes in the virtual wall can be identified. For example, if a change is identified, an object passing through the virtual wall is detected. For example, if no change is identified, it is determined that no object passed through the virtual wall.

[0034] According to one embodiment, the virtual wall is divided into multiple wall segments extending along a driving corridor. Determining whether an object has passed through the virtual wall based on the measurement data includes: selecting at least one wall segment from the wall segments based on the movement of the vehicle. The determination of whether an object has passed through the selected at least one wall segment is performed only for the selected at least one wall segment, and the determination of whether an object has passed through the unselected wall segments is not performed for the unselected wall segments.

[0035] This achieves, for example, the following technical advantage: the determination can be performed efficiently. Therefore, for example, it is not necessary to select a wall section located behind the vehicle's direction of travel. Objects extending into the travel corridor from behind the vehicle's direction of travel via a wall section generally do not pose a danger to the vehicle, at least not a direct danger.

[0036] Therefore, for example, the retrieval can be performed in a time-efficient and processor-efficient manner, i.e., computationally efficient way.

[0037] According to one implementation, the method of the first aspect is a computer-implemented method.

[0038] According to one embodiment, the method of the first aspect is implemented or performed by means of the device of the second aspect.

[0039] The technical functionality of the equipment according to the second aspect and / or the system according to the third aspect is directly derived from the corresponding technical functionality of the method according to the first aspect, and vice versa. This in particular means that equipment features and / or system features are derived from the corresponding method features, and vice versa.

[0040] In one implementation, environmental sensors are positioned on the roof of the parking lot.

[0041] In one implementation, environmental sensors are mounted on pillars in the parking lot.

[0042] According to one implementation, the virtual wall is relative to the driveway or driving surface. Generally, it is either perpendicular or not perpendicular to the ground of the parking lot.

[0043] According to one embodiment, the method according to the first aspect includes: controlling the lateral and / or longitudinal guidance of a motor vehicle at least partially automatically based on the output control signals.

[0044] According to one implementation, at least partially automated control of the lateral and / or longitudinal guidance of a motor vehicle includes remote control of the lateral and / or longitudinal guidance of the motor vehicle.

[0045] The phrase "at least one" includes "one or more". Multiple environmental sensors may be, for example, the same environmental sensor or, for example, different environmental sensors. In the case of multiple environmental sensors, for example, one or more environmental sensors are arranged at the top of the parking lot and / or, for example, one or more environmental sensors are respectively arranged on the pillars of the parking lot. According to one embodiment, multiple environmental sensors are spatially distributed within the parking lot. Environmental sensors may be arranged statically within the parking lot, for example.

[0046] In the case of multiple environmental sensors, in one embodiment, these sensors are arranged such that virtual walls defined by corresponding scanning planes demarcate the travel corridor on both sides in the longitudinal direction. Thus, for example, a first virtual wall and a second virtual wall opposite to the first virtual wall are provided, these virtual walls demarcating the travel corridor in the longitudinal direction, wherein the first and second virtual walls are, for example, parallel to each other.

[0047] The abbreviation "bzw." means "or". The expression "or" specifically means "also or". The expression "also or" especially includes the expressions "and / or". Attached Figure Description

[0048] Embodiments of the invention are illustrated in the accompanying drawings and described in more detail in the following description. The drawings show:

[0049] Figure 1 A flowchart of a method for guiding motor vehicles with at least partial automation.

[0050] Figure 2 A type of equipment,

[0051] Figure 3 A machine-readable storage medium.

[0052] Figure 4 A protrusion,

[0053] Figure 5 A type of parking lot.

[0054] Figure 6 Another type of protrusion, and

[0055] Figure 7A system for guiding motor vehicles, at least partially automatically. Detailed Implementation

[0056] Figure 1 A flowchart illustrates a method for at least partially automating the guidance of motor vehicles within a parking lot using at least one environmental sensor arranged within the parking lot, each sensor having a scanning plane that defines a virtual wall of a travel corridor for the motor vehicle. The method includes the following steps:

[0057] Receive a measurement data signal 101 representing measurement data from at least one environmental sensor.

[0058] Based on the measurement data, determine whether object 103 has passed through at least one virtual wall.

[0059] Based on the result of determining whether at least one object has passed through the at least one virtual wall, a control signal 105 is generated, which is used to at least partially automate the lateral and / or longitudinal guidance of the vehicle.

[0060] Output 107 to generate the control signal.

[0061] Figure 2 Device 201 is shown, which is configured to perform all the steps of the method according to the first aspect.

[0062] Figure 3 A machine-readable storage medium 301 is shown, on which a computer program 303 is stored. The computer program 303 includes instructions that, when executed by a computer, cause the computer to perform the method according to the first aspect.

[0063] Figure 4 A motor vehicle 401 is shown parked in parking space 403. The motor vehicle 401 is transporting an object in its trunk 407, wherein an object 405 extends out of the trunk 407.

[0064] The bottom surface of motor vehicle 401 is indicated by curly braces with reference mark 409.

[0065] Object 405 extends beyond bottom surface 409 with a protrusion length 411, wherein the protrusion length 411 is indicated by curly brackets.

[0066] The height of object 405 relative to parking space 403 is indicated by curly braces with reference mark 413.

[0067] Therefore, object 405 extends beyond the bottom surface 409 of vehicle 401. For the purposes of this specification, object 405 is a protrusion.

[0068] For example, a vehicle passing by vehicle 401 may collide with object 405.

[0069] Therefore, there is a need to detect this protrusion 405.

[0070] This can be achieved based on the scheme described herein.

[0071] Figure 5 A parking lot 501 is shown, comprising multiple parking spaces 503. A first vehicle 505 and a second vehicle 507 are parked in the multiple parking spaces 503.

[0072] The third vehicle 509 travels between two parked vehicles 505 and 507 to, for example, search for an available parking space or to travel toward the exit (not shown) of parking lot 501. The third vehicle 509 is guided, for example, at least partially automatically.

[0073] Define or specify the travel corridor 511, which is marked by curly braces. For clarity, two dashed lines are drawn to define the travel corridor 511 on both sides, that is, on the left and right sides relative to the plane of the paper. The left dashed line has reference mark 513, while the right dashed line has reference mark 515.

[0074] The third motor vehicle 509 travels in the direction marked by the arrow with reference mark 517 in the travel corridor 511.

[0075] If, for example, the first motor vehicle 503 or the second motor vehicle 507 is similar to, according to Figure 4 If a motor vehicle 410 is transporting a corresponding protruding object in its trunk, then a third motor vehicle 517 may collide with the protruding object.

[0076] In this regard, according to the scheme described herein, environmental sensors are spatially distributed within parking lot 501, wherein each environmental sensor has a scanning plane that defines a virtual wall. For clarity, [the text abruptly ends here]. Figure 5 These environmental sensors are shown in the diagram. See [link to diagram] for an example arrangement. Figure 7 .

[0077] Figure 5 A schematic top view of parking lot 501 is shown. Virtual walls, for example, are perpendicular to the ground 519 of parking lot 501 and extend along dashed lines 513 and 515 on the left and right sides respectively, thus virtually defining the driving corridor 511 in the longitudinal direction.

[0078] Figure 6The illustration shows a motor vehicle 601, specifically a VAN (large van), parked in parking space 603. The motor vehicle 601 has a tailgate 605 in an open position or posture. Therefore, the open tailgate 605 extends beyond the bottom surface 607 of the motor vehicle 601, and is thus a protrusion according to this specification.

[0079] Figure 7 Parking lot 701 is shown. Parking lot 701 includes a driving surface 703 for motor vehicles.

[0080] Parking lot 701 includes a first environmental sensor 705 and a second environmental sensor 707 spatially distributed within parking lot 701. The first environmental sensor 705 is, for example, a lidar sensor, such as a 2D lidar sensor. The second environmental sensor 707 is, for example, a lidar sensor, such as a 2D lidar sensor.

[0081] For example, two environmental sensors 705 and 707 are respectively arranged on the pillars (not shown) of the parking lot 701. For example, two environmental sensors 705 and 707 are arranged at the top (not shown) of the parking lot 701.

[0082] The first environmental sensor 705 has a first scanning plane 709. The second environmental sensor 707 has a second scanning plane 711.

[0083] The two scanning planes 709 and 711 preferably extend perpendicularly to the driving surface 703. The first scanning plane 709 defines a first virtual wall 713. The second scanning plane 711 defines a second virtual wall 715.

[0084] Therefore, the two virtual walls 713 and 715 virtually demarcate the travel corridor 717 in the longitudinal direction, in which motor vehicles 719 can be guided at least partially automatically.

[0085] In addition, it is set according to Figure 2 The device 201 is connected to two environmental sensors 705 and 707. In this regard, the two environmental sensors 705 and 707 can provide their corresponding measurement data signals to the device 201.

[0086] Now, device 201 can determine, based on the measurement data, whether an object has passed through, for example, the first virtual wall 713 and / or the second virtual wall 715. Based on the corresponding result, device 201 generates control signals for at least partially automated control of the lateral and / or longitudinal guidance of the vehicle 719. Device 201 then outputs the generated control signals. For example, the generated control signals are output to a wireless communication interface (not shown), through which the generated control signals can be transmitted to the vehicle 719 as remote control signals.

[0087] Therefore, it is advantageous to enable the detection of objects that have passed through the virtual walls 713, 715 from the outside relative to the travel corridor 717. Furthermore, it is advantageous to enable the detection once the vehicle 719 has passed through one or both of the virtual walls 713, 715 from the inside relative to the travel corridor 717. Thus, for example, it is advantageous to detect that the vehicle 719 has left its pre-given desired trajectory and exited the travel corridor 717. The resulting control signals for at least partially automated lateral and / or longitudinal guidance of the vehicle 719 can, for example, cause the vehicle 719 to return to the travel corridor 717 when, based on these control signals, the lateral and / or longitudinal guidance of the vehicle 719 is controlled at least partially automatically.

[0088] In one embodiment, measurement data is compared with reference measurement data, wherein the reference measurement data describes or characterizes virtual walls 713, 715 that have not been crossed by the object. If the measurement data changes relative to the reference measurement data, it can be determined, for example, that the object has crossed the corresponding virtual wall 713, 715.

[0089] In one implementation, the method is configured to be performed only when the vehicle, which is at least partially automated, is in the vicinity of at least one environmental sensor.

[0090] The maximum height and / or density of environmental sensors are related to, for example, the characteristics of the environmental sensors. For instance, a pre-defined distance from the side of a vehicle is selected based on the system's safety characteristics. This pre-defined distance is related to whether a protrusion is permissible or allowed. The length is related to, and / or to, the maximum permissible speed of other motor vehicles and / or pedestrians, and / or to, the maximum permissible deviation of motor vehicles that are at least partially automated from the desired trajectory.

[0091] In this regard, Figure 7 The diagram shows a system 721 for guiding motor vehicles in a parking lot with at least partial automation, wherein the system 721 includes two environmental sensors 705, 707 and device 201.

Claims

1. A method for at least partially automating the guidance of a motor vehicle (719) within a parking lot (501, 701) using at least one environmental sensor (705, 707) arranged within the parking lot (501, 701), the environmental sensor having scanning planes (709, 711) respectively defining virtual walls (713, 715) of driving corridors (511, 717) for the motor vehicle (719), the method comprising the steps of: Receive measurement data signals representing measurement data from at least one environmental sensor (705, 707). Based on the measurement data, determine whether the object has passed through the virtual wall (713, 715). A control signal is generated based on the result of determining whether at least one object has passed through the virtual wall (713, 715), the control signal being used to at least partially automate the lateral and / or longitudinal guidance of the motor vehicle (719), and The output control signal Wherein, the at least one object includes a protrusion (405, 605), wherein determining whether the object has passed through the virtual wall (713, 715) based on the measurement data includes: determining whether the protrusion (405, 605) has passed through the virtual wall (713, 715) from the outside relative to the travel corridor (511, 717) based on the measurement data, wherein the control signal is generated based on the result of determining whether the protrusion (405, 605) has passed through the virtual wall (713, 715) from the outside relative to the travel corridor (511, 717).

2. The method according to claim 1, wherein, The at least one object includes the motor vehicle (719), wherein determining whether the object has passed through the virtual wall (713, 715) based on the measurement data includes: determining whether the motor vehicle (719) has passed through the virtual wall (713, 715) from the inside relative to the driving corridor (511, 717) based on the measurement data, wherein the control signal is generated based on the result of determining whether the motor vehicle (719) has passed through the virtual wall from the inside relative to the driving corridor (511, 717).

3. The method according to claim 1 or 2, wherein, Determining whether an object has passed through the virtual wall (713, 715) based on the measurement data includes comparing the measurement data with reference measurement data.

4. The method according to claim 1 or 2, wherein, The virtual wall (713, 715) is divided into multiple wall segments extending along the driving corridor (511, 717), wherein determining whether an object has passed through the virtual wall (713, 715) based on the measurement data includes: selecting at least one wall segment from the wall segments according to the movement of the motor vehicle (719), wherein determining whether an object has passed through the selected at least one wall segment is only performed for the selected at least one wall segment, and not performing determining whether an object has passed through the unselected wall segments.

5. An apparatus (201) configured to perform all steps of the method according to any one of the preceding claims.

6. A system (721) for at least partially automating the guidance of motor vehicles (719) within a parking lot (501, 701), the system comprising: At least one environmental sensor (705, 707) is arranged within the parking lot (501, 701), the environmental sensor having a scanning plane (709, 711) that defines virtual walls (713, 715) of the driving corridor (511, 717) for the motor vehicle (719), and The device (201) according to claim 5.

7. A computer program product comprising instructions that, when executed by a computer, cause the computer to perform the method according to any one of claims 1 to 4.

8. A machine-readable storage medium (301) having instructions stored thereon, which, when executed by a computer, cause the computer to perform the method according to any one of claims 1 to 4.

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