Method for finding emergency parking position for motor vehicle

Abstract

The invention relates to a method for finding an emergency parking position for safely parking a motor vehicle in an emergency by using at least one drone having a monitoring device, comprising the following steps: generating a control signal for controlling the at least one drone, when the drone is controlled on the basis of the generated control signal, at least one drone monitors the surroundings of the motor vehicle by means of its monitoring device and outputs monitoring data based on the monitoring; outputting the generated control signal so as to control the at least one unmanned aerial vehicle based on the generated control signal; receiving monitoring data of at least one unmanned aerial vehicle after outputting the generated control signal; analyzing the monitoring data in order to find an emergency parking position in an emergency so as to safely park the motor vehicle; and outputting an analysis result of the monitoring data analysis. The invention relates to a device, to a system for finding an emergency parking position for safe parking of a motor vehicle in the event of an emergency, to a computer program and to a machine-readable storage medium.

Description

Technical Field

[0001] The invention relates to a method for finding an emergency parking position in an emergency situation to safely park a motor vehicle, a system for finding an emergency parking position in an emergency situation to safely park a motor vehicle, a device, a computer program and a machine-readable storage medium. Background Art

[0002] The published patent application DE 10 2016 215 301 A1 discloses a method for supporting a parking process of a vehicle by using a drone.

[0003] The published patent application DE 10 2020 005 596 A1 discloses a method for rear area monitoring by means of an unmanned aerial vehicle.

[0004] Patent document US 9,371,133 B2 discloses a drone system for supporting the reversing of a loaded vehicle.

[0005] Publication US 2019 / 0227555 A1 discloses a method and system for assisting a vehicle by using a drone during driving on a road.

[0006] Publication US 2020 / 0005642 A1 discloses a method for moving a parked emergency vehicle by using a drone.

[0007] Publication US 2020 / 0285255 A1 discloses a method for warning a rider by using a drone before the vehicle moves.

[0008] Publication US 2021 / 0064020 A1 discloses a method for controlling a vehicle by using a drone. Summary of the invention

[0009] The object of the present invention is to provide a solution for efficiently finding an emergency parking position in an emergency situation in order to safely park a motor vehicle.

[0010] This object is achieved by means of the respective subject matter of the independent claims. Advantageous embodiments of the invention are the subject matter of the respective dependent claims.

[0011] According to a first aspect, a method for safely parking a motor vehicle by finding an emergency parking position using at least one drone having a monitoring device in an emergency situation is provided, comprising the following steps:

[0012] generating a control signal for controlling at least one drone, so that when the drone is controlled based on the generated control signal, the at least one drone monitors the surroundings of the motor vehicle with the aid of its monitoring device and outputs monitoring data based on the monitoring,

[0013] outputting the generated control signal so as to control at least one drone based on the generated control signal,

[0014] After outputting the generated control signal, receiving monitoring data of at least one UAV,

[0015] The monitoring data is analyzed so as to find an emergency parking position to safely park the motor vehicle in an emergency, and an analysis result of the monitoring data analysis is outputted.

[0016] According to a second aspect, a device is provided, which is configured to implement all steps of the method according to the first aspect.

[0017] According to a third aspect, a system for finding an emergency parking position to safely park a motor vehicle in an emergency is provided, comprising:

[0018] at least one drone, wherein at least one drone has a monitoring device; and

[0019] The device according to the second aspect.

[0020] According to a fourth aspect, a computer program is provided, comprising the following instructions, when the computer program is implemented by a computer, for example by an apparatus according to the second aspect and / or by a system according to the third aspect and / or by a drone including a monitoring device, the instructions cause them to implement the method according to the first aspect.

[0021] According to a fifth aspect, a machine-readable storage medium is provided, on which the computer program according to the fourth aspect is stored.

[0022] The invention is based on and includes the knowledge that the aforementioned object can be achieved by using one or more drones to find a suitable emergency parking position at which a motor vehicle can be safely parked in an emergency. At least one drone, i.e. the one or more drones, is controlled in such a way that it monitors the surroundings of the motor vehicle with the aid of its corresponding monitoring device and outputs monitoring data based on the monitoring. This provides knowledge about the surroundings of the motor vehicle in an advantageous and efficient manner. This knowledge is used to find a suitable emergency parking position at which the motor vehicle can be safely parked in an emergency.

[0023] The use of one or more drones for this purpose has the technical advantage, in particular, that the monitoring device of the drone can also monitor areas in the surroundings of the motor vehicle that cannot be monitored by the motor vehicle's own environmental sensors or by the motor vehicle's own environmental sensors. Thus, for example, the motor vehicle's environmental sensors have a certain range. However, the drone can be controlled, for example, in such a way that it monitors areas of the motor vehicle's surroundings that are outside the range of the motor vehicle's environmental sensors. This means that information about the motor vehicle's surroundings is provided that cannot be provided by the motor vehicle's own environmental sensors.

[0024] In particular, the technical advantage achieved thereby is that one or more suitable emergency parking positions can be efficiently searched for, so that emergency parking positions can also be efficiently found in the surroundings of the motor vehicle, which emergency parking positions cannot be found by the motor vehicle's own surroundings sensors.

[0025] In summary, a solution is provided for efficiently finding an emergency parking position in order to safely park a motor vehicle in an emergency situation.

[0026] Parking means, in particular, that the motor vehicle stops running, i.e. stops moving. This means, in particular, that the motor vehicle that is looking for an emergency parking position or is to find an emergency parking position is a moving or moving motor vehicle. The expression "parking the motor vehicle in a safe manner" can be supplemented, for example, as follows: "parking a moving motor vehicle in a safe manner" or "parking a moving motor vehicle in a safe manner". A motor vehicle can therefore, in particular, always be interpreted as a motor vehicle that is running or moving, i.e. a moving or moving motor vehicle. The motor vehicle thus has, in particular, a speed greater than 0 km / h. The motor vehicle is thus not at a standstill, i.e. has not yet been parked.

[0027] The expression "parked" thus clearly indicates that the motor vehicle is currently driving, ie moving, and has not yet been parked, since a parked motor vehicle cannot be parked again.

[0028] This means in particular that at the point in time or at the time when the emergency parking position for the motor vehicle is searched for based on the monitoring data according to the approach described here, the motor vehicle is driving, ie moving, and has not yet been parked.

[0029] This means that the monitoring data are evaluated in particular in order to find an emergency parking position in order to safely park a moving or traveling motor vehicle in an emergency situation.

[0030] Emergency situations or emergency situations are in particular situations in which the physical integrity of an object, in particular a motor vehicle, an animal or a person, in particular an occupant of a motor vehicle, is in imminent danger. Emergency situations or emergency situations are in particular situations in which the motor vehicle has a malfunction, that is to say in which a component and / or system of the motor vehicle has a malfunction. A system of a motor vehicle is, for example, a driver assistance system. Emergency situations or emergency situations are in particular situations in which an at least partially automated driving function of a motor vehicle has a malfunction. The terms "emergency situation" and "emergency situation" may be used in particular synonymously.

[0031] If the singular is used for drones in the specification, it should always be read as plural, and vice versa. Embodiments related to one drone apply similarly to multiple drones, and vice versa.

[0032] The expression “at least one” means “one or more”. This means, in particular, that, for example, a plurality of drones can be used. The plurality of drones can be, for example, identical or, for example, different.

[0033] The monitoring devices of the drones are, for example, at least partially, in particular completely, identical or, for example, at least partially, in particular completely different.

[0034] A monitoring device in the sense of the description includes, for example, one or more environmental sensors. This means in particular that the drone has, for example, one or more environmental sensors. The drone is therefore in particular equipped with one or more environmental sensors.

[0035] The environmental sensor of the monitoring device detects, for example, the surroundings of the motor vehicle and outputs environmental sensor data based on the detection. For example, the monitoring data includes the environmental sensor data.

[0036] This means, in particular, that monitoring within the meaning of this description includes the detection of the surroundings of the motor vehicle by means of environmental sensors of the monitoring device.

[0037] If the singular is used for an environmental sensor, it should always be read as the plural, and vice versa. Embodiments relating to one environmental sensor apply analogously to a plurality of environmental sensors, and vice versa.

[0038] An environmental sensor within the meaning of the description is, for example, one of the following environmental sensors: a LiDAR sensor, a radar sensor, an image sensor, in particular an image sensor of a camera or a stereo camera, an ultrasonic sensor, an infrared sensor and a magnetic field sensor.

[0039] The surroundings sensors may, for example, be identical or may, for example, be different.

[0040] In one embodiment of the method, the method comprises the following step: controlling at least one drone based on the outputted control signal.

[0041] In one specific embodiment of the method, the method comprises the step of monitoring the surroundings of the motor vehicle by means of at least one drone.

[0042] In one specific embodiment of the method, the method comprises the following step: detecting the surroundings of the motor vehicle by means of an environment sensor of the monitoring device.

[0043] In one embodiment of the method, the method comprises the following steps: wirelessly transmitting the output control signal to at least one drone. The wireless transmission, for example, comprises transmitting the control signal via a wireless communication network, such as a mobile network and / or a WLAN network.

[0044] The receiving of the monitoring data includes, for example, wireless receiving of the monitoring data, in particular wireless receiving of the monitoring data via a wireless communication network, such as a mobile network and / or a WLAN network.

[0045] In one embodiment of the method, the method is a computer-implemented method.

[0046] Even if not explicitly described, the embodiments and examples described in the specification can be combined with each other in any form.

[0047] The analysis result indicates, for example, whether the emergency parking position has been found. If the emergency parking position has been found, the analysis result indicates, for example, the position of the found emergency parking position.

[0048] For example, a plurality of emergency parking positions may be found. The embodiments relating to the emergency parking position apply analogously to the plurality of emergency parking positions, and vice versa.

[0049] The analysis of the monitoring data includes, for example, the processing of the monitoring data. The processing of the monitoring data is, for example, performed by means of a processor or by means of a plurality of processors. This means, for example, that the analysis can be performed by means of a computer or by means of a plurality of computers.

[0050] In one embodiment of the method, it is provided that the analysis includes determining a danger level for the found emergency parking position, which danger level indicates how dangerous it is for the motor vehicle at the found emergency parking position and / or how dangerous it is for the surroundings of the found emergency parking position when the motor vehicle is parked at the found emergency parking position.

[0051] The technical advantage achieved thereby, for example, is that it is possible to efficiently assess to what extent the motor vehicle itself is dangerous when it is parked in the found emergency parking position and / or to what extent the surroundings of the found emergency parking position are dangerous when the motor vehicle is parked in the found emergency parking position.

[0052] The risk level indicates, for example, the risk of a collision of the motor vehicle with one or more road users in the surroundings or the environment of the motor vehicle when the motor vehicle is parked in the emergency parking position.

[0053] A traffic participant is, for example, one of the following traffic participants: a pedestrian, a motor vehicle, a motorcycle, a cyclist.

[0054] The risk of the motor vehicle and / or the surroundings of the found emergency parking position being dangerous when the motor vehicle is parked in the found emergency parking position is quantified, in particular by means of a risk level.

[0055] In one embodiment of the method, it is provided that a dimension signal is received, which represents one or more dimensions of the motor vehicle, wherein monitoring data are analyzed based on the dimension signal, wherein the analysis includes checking the found emergency parking position as follows: whether the motor vehicle can be parked in the found emergency parking position due to its dimensions.

[0056] This achieves the technical advantage that, for example, the suitability of a found emergency parking position can be checked efficiently to see whether the motor vehicle, due to its size, ie, due to its dimensions, completely matches the found emergency parking position.

[0057] A dimension is, for example, one of the following dimensions: length, width, height.

[0058] In one specific embodiment of the method, it is provided that the analysis includes a check on the found emergency parking position to determine whether the found emergency parking position is accessible to a motor vehicle.

[0059] This achieves the technical advantage that, for example, it can be efficiently ensured that the found emergency parking position is completely accessible to the motor vehicle, ie whether the motor vehicle can completely drive into the found emergency parking position.

[0060] The check as to whether the found emergency parking position is fully accessible to the motor vehicle comprises, for example: a check as to whether the entrance to the emergency parking position, in particular to the entrance to the parking space, is sufficient so that the motor vehicle can drive through the entrance; and / or a check as to whether there are one or more objects, such as construction site markings or arrows, such as construction site arrows, in front of the emergency parking position which would impede or obstruct the entrance to the emergency parking position; and / or a check as to whether the entrance radius required for the entrance to the emergency parking position is possible for the motor vehicle due to the maximum possible steering angle of the motor vehicle.

[0061] In one embodiment of the method, it is provided that a fault signal is received, which indicates a fault in an at least partially automatic driving function of the motor vehicle, wherein monitoring data are analyzed based on the fault signal, wherein the analysis includes checking whether the found emergency parking position is at least partially automatically achievable for the motor vehicle despite the fault in the at least partially automatic driving function.

[0062] This achieves the technical advantage that, for example, it can be ensured in an efficient manner that the motor vehicle can be driven at least partially automatically into the found emergency parking position.

[0063] The fault may include, for example, a fault of one or more surroundings sensors of the motor vehicle. It may be checked, for example, whether the found emergency parking position can be driven into at least partially automatically despite the fault.

[0064] The check whether the found emergency parking position is at least partially automatically drivable for the motor vehicle despite a fault in the at least partially automated driving function comprises, for example, a check whether the found emergency parking position is at least partially automatically drivable for the motor vehicle with a restricted functionality. The restricted functionality comprises, for example, driving at a lower speed than when the at least partially automated driving function is not faulty. Thus, for example, the found emergency parking position can always be driven into at least partially automatically even at a lower speed.

[0065] The expression "at least partially automated driving" includes one or more of the following: assisted driving, partially automated driving, highly automated driving, and fully automated driving. The expression "at least partially automated" includes one or more of the following: assisted, partially automated, highly automated, and fully automated.

[0066] Assisted driving means that the driver of the motor vehicle continuously performs lateral or longitudinal steering of the motor vehicle. The corresponding other driving tasks (i.e. lateral or longitudinal steering of the motor vehicle) are automatically performed. In other words, in assisted driving of the motor vehicle, lateral or longitudinal steering is automatically controlled.

[0067] Partially automated driving means that the longitudinal and lateral steering of the vehicle is automatically controlled in certain situations (e.g. driving on a motorway, driving in a parking lot, overtaking an object, driving in a lane defined by lane markings) and / or for a certain period of time. The driver of the vehicle does not have to manually control the longitudinal and lateral steering of the vehicle himself. However, the driver must continuously monitor the automatic control of the longitudinal and lateral steering so that he can intervene manually if necessary. The driver must be ready to take over the driving of the vehicle completely at any time.

[0068] Highly automated driving means that the longitudinal and lateral driving of a motor vehicle is automatically controlled in certain situations within a certain period of time (for example: driving on a highway, driving in a parking lot, overtaking an object, driving in a lane determined by lane markings). The driver of the motor vehicle does not have to manually control the longitudinal and lateral driving of the motor vehicle. The driver does not have to continuously monitor the automatically controlled longitudinal and lateral driving so that he can intervene manually when necessary. When necessary, a takeover request is automatically output to the driver to take over the control of the longitudinal and lateral driving, especially when sufficient time is reserved. In other words, the driver must be able to take over the control of the longitudinal and lateral driving. The automatic control limits of the lateral or longitudinal driving are automatically identified. It is not possible in highly automated driving to automatically achieve a state of risk minimization in any initial situation.

[0069] Fully automated driving means that in certain situations (e.g. driving on a highway, driving in a parking lot, overtaking an object, driving in a lane defined by lane markings), the longitudinal and lateral driving of a motor vehicle is automatically controlled. The driver of the motor vehicle does not have to manually control the longitudinal and lateral driving of the motor vehicle. The driver does not have to monitor the automatic control of the longitudinal and lateral driving so that he can intervene manually when necessary. Before the automatic control of the lateral or longitudinal driving is terminated, the driver is automatically requested to take over the driving task (control the lateral or longitudinal driving of the motor vehicle), especially if sufficient time is reserved. If the driver does not take over the driving task, the system automatically returns to the state with the lowest risk. The automatic control limits of the lateral or longitudinal driving are automatically identified. In all cases, it is possible to automatically return to the system state with the lowest risk.

[0070] In one specific embodiment of the method, it is provided that an emergency route signal is generated, which indicates an emergency route for the motor vehicle from a starting position to the found emergency parking position, wherein the generated emergency route signal is output.

[0071] The technical advantage achieved by this, for example, is that the motor vehicle can be efficiently guided to the found emergency parking position. That is, in particular, a determined emergency route is predetermined for the motor vehicle, based on which the motor vehicle can travel to the found emergency parking position.

[0072] The starting position is, for example, the current position of the motor vehicle or, for example, the future position of the motor vehicle. The future position of the motor vehicle can, for example, be predicted.

[0073] In one specific embodiment of the method, it is provided that the analysis includes determining an optimal emergency parking position from among a plurality of found emergency parking positions.

[0074] This achieves the technical advantage that, for example, it can be ensured in an efficient manner that an optimal emergency parking position for the motor vehicle is found with regard to safe parking.

[0075] The optimal emergency parking position is, for example, the emergency parking position that is closest to the motor vehicle and the driving direction of the motor vehicle. The optimal emergency parking position is, for example, the emergency parking position among the emergency parking positions that have been found, which provides the largest space for parking the motor vehicle. The optimal emergency parking position is, for example, the emergency parking position among the emergency parking positions that have been found, which is the best for the parked motor vehicle to drive into. Best can, for example, mean that there are no objects that hinder or obstruct the entrance to the emergency parking position. Best can, for example, additionally or alternatively mean that the required entrance radius is the smallest relative to the required entrance radius of other emergency parking positions.

[0076] In one specific embodiment of the method, provision is made for receiving a route signal which represents a current route of the motor vehicle, on which the motor vehicle is currently travelling, wherein a control signal is generated based on the route signal and / or wherein monitoring data is evaluated based on the route signal.

[0077] This achieves the technical advantage, for example, that control signals can be generated efficiently and / or monitoring data can be evaluated efficiently.

[0078] According to this embodiment, the following knowledge is provided, which direction the motor vehicle is traveling. The drone can accordingly specify by means of a control signal which area in the surroundings of the motor vehicle the drone is to monitor with its monitoring device, so that the drone then also monitors this area with its monitoring device according to the control signal. Thus, for example, the drone specifies by means of a control signal to monitor the following area in the surroundings of the motor vehicle, which area is located ahead of the motor vehicle in accordance with the current route of the motor vehicle in the direction of travel.

[0079] When it is known where the motor vehicle is going to travel, the area in front of the motor vehicle in the travel direction of the current route can also be analyzed accordingly to determine possible emergency parking positions, so that the monitoring data can be analyzed accordingly and efficiently.

[0080] According to one specific embodiment of the method, it is provided that an environmental signal is received, which represents the surroundings of the motor vehicle, wherein the control signal is generated based on the environmental signal and / or wherein the monitoring data is evaluated based on the environmental signal.

[0081] This achieves the technical advantage, for example, that control signals can be generated efficiently and / or monitoring data can be evaluated efficiently.

[0082] According to this embodiment, additional knowledge about the surroundings of the motor vehicle is provided, which can be used together with the monitoring data in order to find a suitable emergency parking position and find it accordingly. When additional knowledge about the surroundings of the motor vehicle is provided, the drone can be advantageously controlled in an efficient manner so that the drone does not collide with infrastructure objects, for example. Infrastructure objects are, for example, buildings, light signal systems or, for example, telephone poles or, for example, traffic signs. Objects that may collide with the drone include, for example, vegetation, such as trees and / or bushes. The knowledge about the vegetation can also be represented, for example, by environmental signals.

[0083] In one specific embodiment of the method, it is provided that the surroundings signal comprises a surroundings signal which is emitted by another motor vehicle which is located ahead of the motor vehicle with respect to the driving direction of the motor vehicle.

[0084] The technical advantage achieved thereby is, for example, that particularly suitable environmental signals can be used for generating control signals and / or for evaluating monitoring data. That is, according to this embodiment, additional knowledge about the surroundings of the motor vehicle is provided by another motor vehicle, which detects its own surroundings using its own motor vehicle environmental sensors or its own motor vehicle environmental sensors, wherein of course the own surroundings are included in the surroundings of the motor vehicle, so that corresponding knowledge about the surroundings of the motor vehicle in the direction of travel can be provided in an efficient manner.

[0085] In one specific embodiment of the method, it is provided that the surroundings signal comprises a map signal which represents a digital map of the surroundings of the motor vehicle.

[0086] This achieves the technical advantage that, for example, particularly suitable environmental signals can be used for generating control signals and / or for evaluating monitoring data. According to this embodiment, a digital map of the surroundings of the motor vehicle is provided.

[0087] In one specific embodiment of the method, it is provided that one, a plurality of or all method steps are carried out on the motor vehicle side and / or on the infrastructure side and / or on the drone side.

[0088] This achieves, for example, the technical advantage that the individual method steps can be carried out efficiently.

[0089] In one embodiment of the method, it is provided that the method is not started until an emergency situation occurs, or that the method is actively started before an emergency situation occurs.

[0090] This achieves, for example, the technical advantage that the individual method steps can be carried out efficiently.

[0091] Active embodiments have the advantage, for example, that the emergency parking position can be driven into if it is determined that, although there is no emergency situation currently, the emergency situation will occur in the foreseeable future, in particular with a predetermined probability. Whether an emergency situation will occur in the foreseeable future can be determined, for example, based on diagnostic data of the motor vehicle. As a result, for example, subsequent failures and / or motor vehicle damage and / or motor vehicle defects can be avoided or at least reduced in terms of the severity that would result from the emergency situation.

[0092] If the method is not started until an emergency occurs, the resources required for the method, in particular computing resources, can be used efficiently in an advantageous manner. For example, the energy storage of the drone can be used efficiently. This is because the drone is not started until an emergency occurs, for example.

[0093] In one specific embodiment of the method, it is provided that infrastructure assistance data are determined based on the evaluation result for infrastructure-assisted assistance of the motor vehicle during at least partially automated driving to the found emergency parking position and that the infrastructure assistance data are transmitted to the motor vehicle.

[0094] This achieves the technical advantage, for example, that infrastructure auxiliary data can be determined efficiently.

[0095] The infrastructure assistance data include, for example, operating recommendations for the motor vehicle and / or, for example, remote control instructions for remotely controlling the lateral or longitudinal steering of the motor vehicle. The infrastructure assistance data include, for example, analysis results. The infrastructure assistance data include, for example, a determined emergency route from a starting position to a found emergency parking position.

[0096] In one specific embodiment of the method, it is provided that, based on the evaluation result, a motor vehicle control signal is generated and output for at least partially automatically controlling the lateral or longitudinal steering of the motor vehicle.

[0097] This achieves the technical advantage, for example, that motor vehicle control signals can be generated efficiently.

[0098] In one specific embodiment of the method, the method comprises the step of controlling a lateral or longitudinal steering of the motor vehicle based on the output motor vehicle control signal.

[0099] In one specific embodiment of the method, it is provided that the control signal is generated in such a way that the monitoring of the surroundings during the control of the drone based on the generated control signal includes monitoring of road traffic in the surroundings of the motor vehicle.

[0100] The technical advantage achieved thereby is, for example, that road traffic in the surroundings of the motor vehicle can be efficiently monitored. The additional information can be used in an advantageous manner to determine a route from a starting position to a found emergency parking position and / or can be used, for example, in an advantageous manner to find a suitable emergency parking position and / or can be used, for example, to determine a risk level.

[0101] In one embodiment of the method, it is provided that the monitoring data and / or the analysis results are transmitted to a traffic control center.

[0102] This achieves, for example, the technical advantage that a traffic control center can efficiently plan and, for example, correspondingly control and / or coordinate one or more actions based on analysis results and / or based on monitoring data.

[0103] In one specific embodiment of the method, it is provided that in an emergency situation information is sent to one or more road users in the surroundings of the motor vehicle, which information informs about the emergency situation and / or the found emergency parking position and / or the parking process of the motor vehicle at the found emergency parking position.

[0104] The technical advantage achieved thereby, for example, is that an emergency situation and / or a found emergency parking position and / or a process of parking a motor vehicle at a found emergency parking position can be efficiently notified to one or more road users, who can accordingly react to this in an efficient manner.

[0105] In one embodiment of the method, it is provided that the control signal is generated such that when the drone is controlled based on the generated control signal, monitoring of the surroundings includes real-time monitoring of the surroundings of the motor vehicle, so that the monitoring data includes real-time monitoring data.

[0106] This achieves the technical advantage, for example, that the surroundings of the motor vehicle can be efficiently monitored so that a suitable emergency parking position can be found in an efficient manner.

[0107] Device features and / or system features are derived analogously from corresponding method features, and vice versa. Implementations related to the method and / or the device and / or the system are analogously applicable to implementations related to the system and / or the device and / or the method, and vice versa.

[0108] In one embodiment, the method is implemented at a key location, such as a construction site, a tunnel, a highway entrance, or a highway exit.

[0109] This means in particular that the motor vehicle can be efficiently supported by the at least one drone when driving through the critical location.

[0110] In one embodiment of the method, it is provided that at least one drone is assigned to a motor vehicle. This means, for example, that the at least one drone belongs to the motor vehicle and is used by the motor vehicle. This means, for example, that the at least one drone is controlled by means of the motor vehicle. This means, in particular, that control signals are generated and output on the motor vehicle side. The motor vehicle wirelessly transmits the generated and output control signals, for example, to at least one drone in order to control the drone. For example, at least one drone accompanies the motor vehicle and flies, for example, in front of the motor vehicle with respect to the direction of travel of this motor vehicle. For example, when a fault is detected, for example a fault in an at least partially automatic driving function of the motor vehicle, the motor vehicle activates at least one drone. For example, the motor vehicle activates at least one drone in an emergency.

[0111] In one embodiment of the method, it is provided that at least one drone is assigned to the infrastructure. This means, for example, that at least one drone belongs to the infrastructure. At least one drone is, for example, assigned to a key location, i.e., assigned to a road or a key road area. This means, for example, that at least one drone waits for its use at the key location and is then activated accordingly. At least one drone can, for example, fly continuously, and, for example, even if at least one drone is not currently used for the method for finding an emergency parking position according to the first aspect, it can also be used for other tasks. The control of at least one drone can, for example, be implemented on the infrastructure side, i.e., through the infrastructure. This means that a control signal is generated and output on the infrastructure side. The infrastructure sends the output control signal, for example, wirelessly to at least one drone. A road management system and / or a drone system that takes over the control can be provided in the infrastructure.

[0112] In the specific embodiment described, according to which the drone is assigned to the infrastructure, the control can alternatively or additionally also be carried out by a motor vehicle.

[0113] In one specific embodiment of the method, it is provided that a status signal is received, which indicates a status of the motor vehicle, wherein the monitoring data is evaluated based on the status signal and / or wherein the control signal is generated based on the status signal.

[0114] This achieves the technical advantage, for example, that control signals can be generated efficiently and / or monitoring data can be evaluated efficiently.

[0115] The generation of the control signal is carried out, for example, by using a digital map of the surroundings of the motor vehicle. The generation of the control signal can be carried out, for example, based on the current route of the motor vehicle. The generation of the control signal for at least one drone can be carried out, for example, based on possible routes of the motor vehicle. This means that the control signal can be generated, for example, based on possible routes of the motor vehicle.

[0116] The status indicates, for example, the corresponding functionality of one, several or all motor vehicle components. A motor vehicle component is, for example, one of the following motor vehicle components: a drive system, a brake system, an environmental sensor, a transmission, a tire, a steering system, a control unit, in particular a control unit for at least partially automated driving functions, a driver assistance system, a lighting system, an actuator, a communication interface, in particular a mobile radio interface or a WLAN interface.

[0117] In one embodiment of the method, it is provided that the control signal is generated in such a way that the at least one drone flies over all possible routes of the motor vehicle in front of the motor vehicle with respect to the direction of travel of the motor vehicle and monitors all possible routes accordingly with its monitoring device. This means that according to this embodiment, it is provided that the at least one drone searches for all possible emergency parking positions in the surroundings of the motor vehicle, which are in front of the motor vehicle with respect to the direction of travel of the motor vehicle, but in this case the specific route or the specific destination of the motor vehicle is not known.

[0118] In one embodiment of the method, it is provided that known data about the road area, generally about the surroundings of the motor vehicle, are provided to or sent to the at least one drone. The known data include, for example, data about the road width, emergency stops, and the location of signs. The data usually include data about static objects, i.e., for example, where the emergency stops are.

[0119] According to one embodiment, the data include dynamic data, i.e. information about whether the emergency stop is actually occupied, for example. The monitoring device can be used to check whether the parking space is actually occupied. In general, the known data can be verified by at least one drone by analyzing and evaluating the monitoring data accordingly.

[0120] In one embodiment of the method, it is provided that data of one or more other motor vehicles located ahead of the motor vehicle, in particular with respect to the direction of travel of the motor vehicle, are also used. The data are represented, for example, by a surroundings signal transmitted from a further motor vehicle as described here.

[0121] In one embodiment of the method, the drone is used to verify known data, for example from a digital map and / or an environmental signal, which represents the surroundings of the motor vehicle, wherein the environmental signal is sent, for example, by another motor vehicle which is located in front of the motor vehicle with respect to the driving direction of the motor vehicle.

[0122] In one specific embodiment of the method, it is provided that at least one drone is completely controlled on the vehicle side and / or on the infrastructure side.

[0123] In one embodiment of the method, it is provided that at least one drone is an intelligent drone. This means that at least one drone can autonomously monitor the surroundings of the motor vehicle or the surroundings of the motor vehicle. At least one drone is capable of self-control and taking actions.

[0124] In one specific embodiment of the method, it is provided that at least one drone is learned during each use, in particular by using a machine learning method.

[0125] The machine learning method checks, for example, whether the planned goal can be achieved by executing the old method. The goal is, for example, that the found emergency parking position can be driven into and / or that sufficient space, ie, sufficiently large size, is provided.

[0126] The machine learning method checks, for example, whether the dimensions of the motor vehicle matched the determined dimensions of the emergency parking space performed by the old method, i.e. whether the motor vehicle is suitable for entering the emergency parking space found at that time, or whether the motor vehicle requires a larger emergency parking space at that time.

[0127] The machine learning method checks, for example, whether a target trajectory planned for safe parking on the found emergency parking position can be driven at least partially automatically by the motor vehicle in an emergency situation. If not, the algorithm for determining the target trajectory can be adjusted, for example.

[0128] Machine learning methods simulate the execution of e.g.

[0129] The machine learning method uses data from one or more other motor vehicles and / or drones, for example, in order to determine one or more optimal control parameters, for example for controlling the drone, and thereby generate a control signal for the drone in an emergency situation based on the one or more optimal control parameters.

[0130] The results of the machine learning method are used, for example, during the current execution of the method.

[0131] According to one embodiment, the method comprises the execution of a machine learning method.

[0132] In one embodiment of the method, it is provided that any combination of non-intelligent to intelligent drones is possible. This means that although at least one drone can be an intelligent drone, it is additionally monitored on the vehicle side and / or on the infrastructure side.

[0133] In one specific embodiment of the method, it is provided that the at least one drone is not started until an emergency situation has been detected, in particular a fault in the at least partially automated driving function of the motor vehicle.

[0134] In one embodiment of the method, it is provided that at least one drone is already actively started, in particular when a malfunction or emergency situation may be imminent.

[0135] The communication with the motor vehicle is, for example, direct communication, which means that data and / or signals can be exchanged directly between the at least one drone and the motor vehicle.

[0136] In one embodiment of the method, it is provided that the communication between the drone and the motor vehicle is indirect communication, which means that data and / or signals are transmitted between at least one drone and the motor vehicle via an external system, such as a cloud system and / or a backend system and / or a local parking system or a road management and / or a drone system.

[0137] The backend system comprises, for example, a server system, which is located, for example, in an operations center. In particular, in the backend, for example, the location of the server system is known. The cloud system comprises, for example, a server system, the location of which is, for example, unknown. The cloud is also a server system, at which the location may be unknown.

[0138] In one embodiment of the method, it is provided that the communication between the drone and the motor vehicle and the infrastructure is a secure connection. This means, for example, that the communication can be protected, in particular encrypted, by using certificates.

[0139] At least one drone has, for example, a monitoring device, which includes one or more environmental sensors. The environmental sensors are, for example, environmental sensors according to different sensor technologies. The environmental sensors are, for example, radar sensors, image sensors and / or LiDAR sensors. In addition to the image, other information can be determined, such as the distance to an object, the size. In particular, this increases safety when a plurality of environmental sensors are used in a redundant sense and different environmental sensors are used in a diverse sense.

[0140] In one embodiment of the method, it is provided that at least one drone monitors the traffic around the motor vehicle and / or in front of the motor vehicle by means of its monitoring device. As a result, the motor vehicle can better navigate through the traffic, especially in emergency situations.

[0141] In one embodiment of the method, it is provided that the monitoring data and / or the analysis results and / or, for example, infrastructure auxiliary data are sent to a traffic center and / or a highway center. The center can, for example, plan other actions. The other actions include, for example, traffic diversion and / or updating occupancy data of emergency stops.

[0142] Emergency stops can also be called stopping points. This means, for example, that a stopping intersection within the meaning of the German Road Traffic Act is an emergency stop.

[0143] In one embodiment of the method, it is provided that one or more other road users in the surroundings of the motor vehicle are informed of the current problematic situation and / or the parking process. This can be implemented, for example, on the motor vehicle side and / or on the drone side and / or on the infrastructure side. This means that, for example, the motor vehicle and / or the infrastructure and / or the drone wirelessly transmits the corresponding information to one or more motor vehicles in the surroundings of the motor vehicle, wherein the information is communicated accordingly.

[0144] In one embodiment of the method, it is provided that a highway center and / or a traffic center and / or a road traffic center is continuously and / or promptly informed of the process. The center can, for example, plan and control and / or coordinate other actions. The actions include, for example, the use of services or assistance, such as by the police, the fire brigade and / or a towing service. The actions include, for example, traffic rearrangement.

[0145] If one of the terms road traffic centre, highway centre, traffic centre or traffic control centre is used, the other terms should also be used. These terms are used synonymously.

[0146] In one specific embodiment of the method, it is provided that the surroundings of the motor vehicle are monitored in real time by means of a monitoring device of at least one drone.

[0147] In one embodiment of the method, it is provided that one, a plurality of or all method steps are recorded, in particular in a blockchain.

[0148] The system according to the third aspect is, for example, configured to carry out all steps of the method according to the first aspect.

[0149] In one embodiment of the method according to the first aspect, it is provided that the method is carried out with the aid of a system according to the third aspect.

[0150] A drone in the sense of the specification is an unmanned aerial vehicle.

[0151] The drone is, for example, a quadcopter, a helicopter, an octorotor, a hexacopter or a general multi-rotor aircraft.

[0152] In one embodiment, it is provided that the method and / or the device and / or the system and / or the storage medium and / or the motor vehicle and / or the drone are safe.

[0153] "Sicher (safe)" in the sense of the description refers in particular to "safe" and "secure". Although these two English words are usually translated as "sicher (safe)" in German, they have partially different meanings in English.

[0154] The term "safe" refers in particular to the subject of accidents and accident prevention. Therefore, "safe" refers in particular to measures taken to ensure the correct operation of the device and / or system and / or storage medium and / or the execution of method steps.

[0155] The term "secure" refers in particular to the subject of computer protection and hacker protection, i.e. in particular: How secure are the device and / or storage medium and / or system and its components against unauthorized access and data manipulation by third parties, so-called "hackers"? Therefore, a "secure" method and / or storage medium and / or device and / or system as a basis for carrying out the method steps and the functions of the device and / or system should in particular have adequate and sufficient computer protection and hacker protection.

[0156] Safe means, for example, that one or more safety conditions are met.

[0157] For example, it is provided that one, more or all components involved in executing the method and / or comprised by the device and / or the system, such as a motor vehicle and / or a drone and / or a storage medium, are safe, i.e., for example, one or more safety conditions are met.

[0158] In particular, the technical advantage achieved thereby is that the system and / or the method and / or the device and / or the storage medium are safe in the sense of the description, ie in particular in the sense of the English words “safe” and “secure”.

[0159] In one embodiment, it is provided that the one or more safety conditions are respectively selected from one of the following groups of safety conditions: there is a predetermined minimum ASIL and / or minimum SIL in at least one of the components; there is redundancy in at least one of the components; there is diversity in at least one of the components; there is at least one plan, which includes measures for reducing errors and / or measures taken when at least one of the components fails and / or measures for analyzing errors and / or measures taken when a misreading occurs; there are one or more backup plans.

[0160] This achieves the technical advantage, for example, that particularly suitable safety conditions are provided.

[0161] The abbreviation "ASIL" stands for the English term "Automotive Safety Integrity Level", which can be translated into German as "Automotive (Automotive Safety Integrity Level)". "Automotive Safety Integrity Level" is a key component of the standard ISO 26262. ASIL distinguishes four different ASIL risk levels, denoted ASIL-A, ASIL-B, ASIL-C and ASIL-D.

[0162] The abbreviation "SIL" stands for the English term "Safety Integrity Level", which can be translated into German as " (Safety Integrity Level)". "Safety Integrity Level" is a key component of the standard IEC EN61508. SIL distinguishes four different SIL risk levels denoted as SIL-1, SIL-2, SIL-3 and SIL-4.

[0163] In one embodiment of the method, it is provided that one, several or all steps of the method are carried out only if one or more safety conditions, in particular one or more of the above-mentioned safety conditions, are met.

[0164] For example, the method is performed only when the one or more safety conditions are met.

[0165] In one specific embodiment of the method, it is provided that the ambient signal comprises an ambient signal emitted by a traffic center.

[0166] The technical advantage achieved thereby, for example, is that particularly suitable environmental signals can be used to generate control signals and / or to analyze monitoring data. That is, additional knowledge about the surroundings of the motor vehicle is provided by the traffic center according to this embodiment. The traffic center usually provides current knowledge about the surroundings of the motor vehicle, which, for example, has not yet been entered into a digital map of the surroundings. For example, the traffic center knows the location of a newly established construction site, but this location has not yet been marked on the digital map. For example, the traffic center knows that the construction site marked in the digital map no longer exists or that the location of the construction site has changed. This knowledge is represented by the environmental signals. BRIEF DESCRIPTION OF THE DRAWINGS

[0167] The present invention will be described in detail below with the aid of preferred embodiments.

[0168] Figure 1 A flow chart showing a method according to the first aspect,

[0169] Figure 2 A device according to the second aspect is shown,

[0170] Figure 3 A system according to a third aspect is shown,

[0171] Figure 4 A machine-readable storage medium according to the fifth aspect is shown, and

[0172] Figure 5 A tunnel is shown. DETAILED DESCRIPTION

[0173] Figure 1 A flow chart showing a method for finding an emergency parking location for safely parking a motor vehicle in an emergency by using at least one drone with a monitoring device, comprising the following steps:

[0174] generating 101 a control signal for controlling at least one unmanned aerial vehicle, so that when the unmanned aerial vehicle is controlled based on the generated control signal, the at least one unmanned aerial vehicle monitors the surroundings of the motor vehicle with the aid of its monitoring device and outputs monitoring data based on the monitoring,

[0175] outputting 103 the generated control signal so as to control at least one drone based on the generated control signal,

[0176] After outputting the generated control signal, receiving 105 monitoring data from at least one drone,

[0177] Analyze 107 monitoring data to find emergency parking locations to safely park motor vehicles in emergency situations, and

[0178] Output 109 the analysis results of the monitoring data analysis.

[0179] In one specific embodiment of the method, it is provided that the motor vehicle is an at least partially autonomously driven motor vehicle.

[0180] In one specific embodiment of the method, it is provided that the method comprises the step of safely parking the motor vehicle in the found emergency parking position.

[0181] According to an embodiment of the method, safe parking comprises at least partially automated safe parking.

[0182] Figure 2 A device 201 is shown. The device 201 is arranged to carry out all steps of the method according to the first aspect.

[0183] According to an embodiment not shown, the device 201 includes an input terminal, which is configured to receive the signal and / or data described in the specification. According to an embodiment not shown, the device 201 includes one or more processors, which are configured to implement the analysis and / or processing and / or determination steps described in the specification. According to an embodiment not shown, the device 201 includes an output terminal, which is configured to output the signal and / or data described in the specification. The device 201, for example, includes an input terminal, a processor, and an output terminal. The input terminal, for example, includes a wireless communication interface. The output terminal, for example, includes a wireless communication interface. The input terminal and the output terminal are, for example, the same. The device 201, for example, includes a wireless communication interface for two-way communication, i.e., for receiving and sending the signal and / or data described in the specification.

[0184] The device 201 may be installed, for example, in a drone used for the method according to the first aspect.

[0185] Figure 3 A system 301 is shown for finding an emergency parking location to safely park a motor vehicle in an emergency situation.

[0186] System 301 includes Figure 2 Device 201.

[0187] The system 301 includes a drone 303. The drone 303 includes a monitoring device 305. The monitoring device 305 includes a first camera 307 and a second camera 309, each of which includes an image sensor (not shown) as an environmental sensor.

[0188] In an embodiment not shown, the monitoring device 305 may include further environmental sensors in addition to or instead of one or both cameras 307 , 309 .

[0189] In an embodiment not shown, the system 301 includes a plurality of drones, which are designed to be, for example, identical or different.

[0190] Figure 4 A machine-readable storage medium 401 is shown, on which a computer program 403 is stored. The computer program 403 comprises instructions which, when executed by a computer, cause the computer to execute the method according to the first aspect.

[0191] Figure 5 A tunnel 501 is shown as an example of a key location mentioned in the specification. The tunnel 501 includes a tunnel entrance 503.

[0192] For example, motor vehicle 505, which is an at least partially automated motor vehicle, is traveling on road 507 in the direction of tunnel entrance 503. The driving direction of motor vehicle 505 is indicated by an arrow with reference numeral 509. Driving direction 509 of motor vehicle 505 extends from left to right with respect to the plane of the paper.

[0193] Road 507 has a stop 511 which is located before tunnel entrance 503 .

[0194] A drone 513 is provided which includes a monitoring device 515 , wherein the monitoring device 515 has a camera 517 which includes an image sensor (not shown).

[0195] Drone 513 can be controlled, for example, so that it detects the occupancy status of parking stop 511, so that it knows whether parking stop 511 is occupied. This information can be sent, for example, to motor vehicle 505, so that the motor vehicle can already plan corresponding measures before an emergency occurs. If, for example, parking stop 511 is occupied, motor vehicle 505 knows that it cannot drive to parking stop 511 in an emergency, but must find an alternative emergency parking location.

[0196] Drone 513 can be controlled, for example, in such a way that it searches for other emergency parking locations that are suitable for motor vehicle 505. The result of the search, ie the result of the analysis, can be transmitted to motor vehicle 505, for example, wirelessly.

[0197] According to one embodiment of the method, the analysis result comprises a determined risk level.

[0198] According to one specific embodiment of the method, the result of the analysis includes the result of a check whether the motor vehicle can be parked in the found emergency parking position due to its dimensions.

[0199] According to one specific embodiment of the method, the evaluation result includes a result of a check as to whether the found emergency parking position is accessible to the motor vehicle.

[0200] According to one specific embodiment of the method, the evaluation result includes a check as to whether the found emergency parking position is at least partially automatically achievable for the motor vehicle despite a fault in the at least partially automated driving function.

[0201] According to one specific embodiment of the method, an emergency route signal is sent to the motor vehicle.

[0202] In one specific embodiment of the method, it is provided that the optimal emergency parking position is transmitted to the motor vehicle.

[0203] In one embodiment of the method, it is provided that the motor vehicle sends a route signal to the infrastructure. This means in particular that the route signal is received from the motor vehicle on the infrastructure side. The route signal can thus be used, for example, on the infrastructure side for analyzing monitoring data and / or for generating control signals.

[0204] In one specific embodiment of the method, it is provided that the infrastructure assistance data are determined based on the emergency route and / or based on route signals.

[0205] In one specific embodiment of the method, it is provided that the motor vehicle control signal is generated based on the emergency route signal.

[0206] In summary, a concept is provided in particular, according to which one or more drones, each including a monitoring device, are used to search for one or more suitable emergency parking positions for the motor vehicle in the surroundings of the motor vehicle, in particular in the surroundings of the motor vehicle in front of the motor vehicle in the direction of travel of the motor vehicle. The search is carried out in particular in an emergency situation, for example in the event of a fault, for example in the event of a fault in an at least partially automated driving function of the motor vehicle.

[0207] Advantageously, the motor vehicle can thereby be parked safely and efficiently in an emergency situation.

Claims

1. A method for finding an emergency parking location (511) for safely parking a motor vehicle (505) in an emergency situation by using at least one drone (303, 513) having a monitoring device (305, 515), comprising the following steps: generating (101) a control signal for controlling the at least one drone (303, 513), so that when the drone (303, 513) is controlled based on the generated control signal, the at least one drone (303, 513) monitors the surroundings of the motor vehicle (505) with the aid of its monitoring device (305, 515) and outputs monitoring data based on the monitoring, outputting (103) the generated control signal so as to control the at least one drone (303, 513) based on the generated control signal, After outputting the generated control signal, receiving (105) monitoring data of the at least one drone (303, 513), analyzing (107) the monitoring data to find an emergency parking location (511) to safely park the motor vehicle (505) in an emergency situation, and The analysis result of the monitoring data is output (109).

2. The method according to claim 1, wherein: The analysis includes determining a danger level for the found emergency parking position (511), the danger level indicating how dangerous it is for the motor vehicle (505) at the found emergency parking position (511) and / or how dangerous it is for the surroundings of the found emergency parking position (511) when the motor vehicle (505) is parked at the found emergency parking position (511).

3. The method according to claim 1 or 2, wherein: A size signal is received, the size signal representing one or more sizes of the motor vehicle (505), wherein the monitoring data is analyzed based on the size signal, wherein the analysis includes checking the found emergency parking position (511) as follows: whether the motor vehicle (505) can be parked at the found emergency parking position (511) due to its one or more sizes.

4. A method according to any one of the preceding claims, wherein: The analysis includes checking the found emergency parking position (511) to see whether the found emergency parking position is accessible to the motor vehicle (505).

5. The method according to claim 4, wherein: A fault signal is received, the fault signal indicating a fault in an at least partially automatic driving function of the motor vehicle (505), wherein the monitoring data is analyzed based on the fault signal, wherein the analysis includes checking whether the found emergency parking position (511) is at least partially automatically achievable for the motor vehicle (505) despite the fault in the at least partially automatic driving function.

6. A method according to any one of the preceding claims, wherein: An emergency route signal is generated, which indicates an emergency route for the motor vehicle (505) from a starting position to a found emergency parking position (511), wherein the generated emergency route signal is output.

7. A method according to any one of the preceding claims, wherein: The analysis includes determining an optimal emergency parking position (511) among a plurality of found emergency parking positions (511).

8. A method according to any one of the preceding claims, wherein: A route signal is received, wherein the route signal represents a current route of the motor vehicle (505), and the motor vehicle (505) is currently traveling based on the current route, wherein the control signal is generated based on the route signal, and / or wherein the monitoring data is analyzed based on the route signal.

9. A method according to any one of the preceding claims, wherein: An environmental signal is received, the environmental signal representing the surroundings of the motor vehicle (505), wherein the control signal is generated based on the environmental signal, and / or wherein the monitoring data is analyzed based on the environmental signal.

10. The method according to claim 9, wherein: The surroundings signal comprises a surroundings signal sent by another motor vehicle (505) which is located ahead of the motor vehicle (505) with respect to the driving direction of the motor vehicle (505).

11. The method according to claim 9 or 10, wherein: The surroundings signal comprises a map signal which represents a digital map of the surroundings of the motor vehicle (505).

12. The method according to any one of claims 9 to 11, wherein: The environmental signal includes an environmental signal sent by a traffic center.

13. A method according to any one of the preceding claims, wherein: One, several or all method steps are carried out on the motor vehicle side and / or on the infrastructure side and / or on the drone side.

14. A method according to any one of the preceding claims, wherein: The method is initiated in an emergency situation, or wherein the method is initiated proactively before an emergency situation occurs.

15. A method according to any one of the preceding claims, wherein: Based on the analysis result, infrastructure assistance data are determined for infrastructure-assisted assistance of the motor vehicle (505) during at least partially automated driving to the found emergency parking location, and the infrastructure assistance data are sent to the motor vehicle (505).

16. A method according to any one of the preceding claims, wherein: Based on the analysis result, a vehicle control signal is generated and output for at least partially automatically controlling the lateral or longitudinal steering of the vehicle (505).

17. A method according to any one of the preceding claims, wherein: The control signal is generated so that when the drone (303, 513) is controlled based on the generated control signal, monitoring of the environment includes monitoring of road traffic in the surroundings of the motor vehicle (505).

18. A method according to any one of the preceding claims, wherein: The monitoring data and / or the analysis result are sent to a traffic control center.

19. A method according to any one of the preceding claims, wherein: In an emergency, information is sent to one or more traffic participants in the surroundings of the motor vehicle (505), the information notifying the emergency and / or the found emergency parking position (511) and / or the process of parking the motor vehicle (505) at the found emergency parking position (511).

20. A method according to any one of the preceding claims, wherein: The control signal is generated so that when the at least one drone (303, 513) is controlled based on the generated control signal, the monitoring of the environment includes real-time monitoring of the surrounding environment of the motor vehicle (505), so that the monitoring data includes real-time monitoring data.

21. A method according to any one of the preceding claims, wherein: One, several or all steps of the method are carried out only if one or more safety conditions are met.

22. A device (201) arranged to carry out all the steps of the method according to any one of the preceding claims.

23. A system (301) for finding an emergency parking location (511) to safely park a motor vehicle (505) in an emergency, comprising: at least one drone (303, 513), wherein the at least one drone (303, 513) has a monitoring device (305, 515); and The device (201) according to claim 22.

24. A computer program (403) comprising instructions which, when the computer program (403) is executed by a computer, cause the computer to execute the method according to any one of claims 1 to 21.

25. A machine-readable storage medium (401) on which a computer program (403) according to claim 24 is stored.

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