Monitoring of motor vehicle during at least highly automated driving in parking lot

Abstract

The invention relates to a method for monitoring at least highly automated driving of a motor vehicle in a parking lot, i.e., a method for monitoring at least highly automated driving of a motor vehicle in a parking lot on the infrastructure side, comprising the following steps: receiving, on the infrastructure side, motor vehicle state data transmitted by the motor vehicle during the at least highly automated AVP type 1 travel in the parking lot, the motor vehicle state data describing a motor vehicle state during the at least highly automated AVP type 1 travel of the motor vehicle; the at least highly automated AVP type 1 driving of the motor vehicle is monitored on the basis of the received motor vehicle state data on the infrastructure side. The invention relates to an AVP system for a parking lot, to a method for at least highly automated driving of a motor vehicle, to an AVP system for a motor vehicle, to a motor vehicle, to a computer program, and to a machine-readable storage medium.

Description

Technical Field

[0001] The present invention relates to a method for monitoring at least highly automated travel of motor vehicles in a parking lot on the infrastructure side, an AVP system for an infrastructure, in particular a parking lot, a method for at least highly automated travel of motor vehicles in a parking lot, an AVP system for a motor vehicle, a motor vehicle, a computer program and a machine-readable storage medium. Background Art

[0002] The abbreviation "AVP" stands for "Automatic Valet Parking" and can be translated into the German "automatischer Parkservice (automatic parking service)". The AVP process comprises at least highly automated guiding of an AVP motor vehicle, for example from a drop-off area (also called handover position or drop-off area) to a parking position and at least highly automated guiding of a motor vehicle, for example from a parking position to a pick-up position, also called a pickup area. At the handover position, i.e. the drop-off area, the driver of the motor vehicle hands over the motor vehicle for the AVP process. After the AVP process is concluded, the motor vehicle is picked up at the pick-up position, i.e. the pickup area. The AVP process thus begins in particular at the drop-off area. The AVP process thus ends in particular at the pickup area. The pickup area can be identical to or different from the drop-off area.

[0003] Thus, an AVP vehicle is a vehicle that can participate in the AVP process.

[0004] Published patent application DE 10 2012 222 562 A1 discloses a system for managing a parking area for transferring vehicles from a starting position to a target position. Summary of the invention

[0005] The object of the present invention is to provide a concept which provides for efficient monitoring of motor vehicles in a parking lot during at least highly automated driving according to AVP Type 1.

[0006] This object is achieved by the respective subject matter of the independent claims. Advantageous embodiments of the invention are respectively the subject matter of the dependent claims.

[0007] According to a first aspect, a method for infrastructure-side monitoring of at least highly automated travel of motor vehicles in a parking lot is provided, comprising the following steps:

[0008] receiving, on the infrastructure side, motor vehicle status data transmitted by the motor vehicle during at least highly automated AVP type 1 travel in the parking lot, the motor vehicle status data describing a motor vehicle status during the at least highly automated AVP type 1 travel of the motor vehicle;

[0009] At least highly automated AVP type 1 driving of the motor vehicle is monitored on the infrastructure side based on the received motor vehicle status data.

[0010] According to a second aspect, there is provided an AVP system for a parking lot, which is configured to perform all steps of the method according to the first aspect.

[0011] According to a third aspect, a method for at least highly automated driving of a motor vehicle in a parking lot by using an AVP system of the motor vehicle on the motor vehicle side is provided, comprising the following steps:

[0012] At least highly automated AVP type 1 driving of motor vehicles in the parking lot by means of the AVP system on the motor vehicle side;

[0013] During at least highly automated AVP type 1 driving, vehicle state data describing the vehicle state during the at least highly automated AVP type 1 driving of the vehicle are determined by the vehicle-side AVP system and transmitted to the infrastructure-side AVP system.

[0014] According to a fourth aspect, there is provided an AVP system for a motor vehicle, which is arranged to perform all steps of the method according to the third aspect.

[0015] According to a fifth aspect, there is provided a motor vehicle comprising the AVP system according to the fourth aspect.

[0016] According to a sixth aspect, a computer program is provided, comprising instructions which, when the computer program is executed by a computer, cause the computer to perform the method according to the first aspect and / or according to the third aspect.

[0017] According to a seventh aspect, there is provided a machine-readable storage medium on which the computer program according to the sixth aspect is stored.

[0018] The invention is based on and includes the following recognition for achieving the above-mentioned object: the monitoring of motor vehicles on the infrastructure side is based on motor vehicle status data, which the motor vehicles send to the infrastructure, i.e. the AVP system of the parking lot, during their at least highly automated AVP type 1 travel in the parking lot. The sending of the motor vehicle status data by the motor vehicle to the infrastructure particularly brings about the following technical advantage: the infrastructure, i.e. the AVP system according to the second aspect, can effectively monitor the motor vehicles.

[0019] A parking lot in the sense of this specification may also be referred to as a parking area and is used as a parking area for vehicles. Thus, a parking lot in particular forms a continuous area with a plurality of parking spaces (in the case of a parking lot on private property) or parking spaces (in the case of a parking lot on public property). According to one embodiment, a parking lot may be included in a parking garage. In particular, a parking lot is included in a garage.

[0020] The abbreviation "AVP" stands for "Automatic Valet Parking" and can be translated into the German "automatischer Parkservice (automatic parking service)". The AVP process comprises at least highly automated guiding of a motor vehicle, for example from a drop-off area (also called the handover position) to a parking position and at least highly automated guiding of a motor vehicle, for example from a parking position to a pick-up position (also called the pickup area). At the handover position, i.e. the drop-off area, the driver of the motor vehicle hands over the motor vehicle for the AVP process. After the AVP process has ended, the motor vehicle is picked up at the pick-up position, i.e. the pickup area. The AVP process thus begins in particular in the drop-off area. The AVP process thus ends in particular in the pickup area. The pickup area can be identical to or different from the drop-off area.

[0021] Thus, an AVP vehicle is a vehicle that can participate in an AVP procedure.When the term "vehicle" is written above and below, it should always be understood that this refers to an AVP vehicle, even if the term "AVP" is not explicitly used.

[0022] The AVP procedure is performed on the infrastructure side using or by the AVP system according to the second aspect, and on the vehicle side using or by the AVP system according to the fourth aspect.

[0023] The AVP procedure may be an AVP procedure according to one of the following AVP types: AVP type 1, AVP type 2, and AVP type 3. However, within an AVP procedure, the AVP type may also change. This means, for example, that a portion of the AVP procedure is performed according to AVP type 1, while another portion of the AVP procedure is performed according to AVP type 2 or AVP type 3. This means, for example, that the AVP procedure may be divided into sub-AVP procedures, which are respectively performed according to one of AVP types 1, 2, and 3.

[0024] AVP type 1 is characterized by a vehicle-centric AVP process. The main responsibility of this AVP process lies with the vehicle, that is, the AVP system on the vehicle side.

[0025] AVP type 2 is characterized by an infrastructure-centric AVP process. The main responsibility of this AVP process lies with the infrastructure, that is, the AVP system on the infrastructure side.

[0026] AVP type 3 is characterized by a vehicle-infrastructure shared AVP process. Here, the main responsibility for the AVP process is shared by the vehicle (ie, the AVP system on the vehicle side) and the AVP system on the infrastructure side.

[0027] The AVP process includes the following processes or functions:

[0028] 1. Determine the target position of the motor vehicle in the parking lot.

[0029] 2. Plan a route from the starting location to the target location within the parking lot.

[0030] 3. Detecting objects and / or events and reacting accordingly to the detected objects and / or detected events.

[0031] 4. Locate the motor vehicle in the parking lot.

[0032] 5. Calculate the given trajectory of the vehicle based on the planned route.

[0033] 6. Control the lateral and longitudinal guidance of the vehicle based on the calculated given trajectory.

[0034] The allocation of these processes or functions to be executed by a vehicle, i.e., a vehicle-side AVP system or an infrastructure-side AVP system according to the AVP type is shown in the following table, where "I" represents "infrastructure", i.e., an infrastructure-side AVP system, and "K" represents "vehicle", so that "I" indicates that the process is executed by the AVP system, and "K" indicates that the process is executed by the vehicle:

[0035]

[0036]

[0037] In the above table, for each function, it is specifically indicated for each AVP type whether the function is executed by the infrastructure, that is, by the infrastructure-side AVP system, or by the vehicle, that is, by the vehicle-side AVP system. In some cases, it can be provided that the function is executed not only by the infrastructure-side AVP system but also by the vehicle.

[0038] With regard to object detection and event detection of AVP type 1, it can optionally be provided that, in addition to motor vehicles, an infrastructure-side AVP system of the infrastructure also performs this function.

[0039] The AVP types 1, 2, and 3 introduced here are described in further detail in ISO standard 23374-1:2021(E).

[0040] The motor vehicle is an at least highly automated motor vehicle. Such a motor vehicle is designed for at least highly automated driving. According to the definition of the Federal Highway Research Institute (BASt), highly automated driving corresponds to automation level 3.

[0041] The fact that the motor vehicle is configured at least for highly automated driving includes both the situation that the motor vehicle is configured for highly automated driving and the situation that the motor vehicle is configured for fully automated driving and autonomous driving. According to the definition of BASt, fully automated driving corresponds to automation level 4.

[0042] Highly automated driving means that the longitudinal and lateral guidance of the motor vehicle is automatically controlled for a certain period of time and 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). The driver of the motor vehicle does not have to manually control the longitudinal and lateral guidance of the motor vehicle himself. The driver does not have to permanently monitor the automatic control of the longitudinal and lateral guidance in order to be able to intervene manually when necessary. When necessary, a takeover request is automatically issued to the driver to take over the control of the longitudinal and lateral guidance, in particular if there is sufficient time reserve. The driver must therefore potentially be able to take over the control of the longitudinal and lateral guidance. The limits of the automatic control of the lateral and longitudinal guidance are automatically identified. In highly automated driving, the state of minimal risk cannot be automatically achieved in every initial situation.

[0043] The wording “takes over control of the longitudinal and lateral guidance” could also be replaced by the wording “takes over the longitudinal and lateral guidance”.

[0044] Fully automated driving means that the longitudinal and lateral guidance of the motor vehicle is automatically controlled in certain situations (e.g. driving on motorways, driving in parking lots, overtaking objects, driving in lanes defined by lane markings). The driver of the motor vehicle does not have to manually control the longitudinal and lateral guidance of the motor vehicle himself. The driver does not have to monitor the automatic control of the longitudinal and lateral guidance in order to be able to intervene manually if necessary. Before the automatic control of the lateral and longitudinal guidance ends, the driver is automatically requested to take over the driving task (control of the lateral and longitudinal guidance of the motor vehicle), in particular with sufficient time reserve. If the driver does not take over the driving task, the system automatically returns to the state with the lowest risk. The limits of the automatic control of the lateral and longitudinal guidance are automatically detected. In all situations, the system can automatically return to the state with the lowest risk.

[0045] Automated driving or driving means the automatic control of the longitudinal and lateral guidance of a motor vehicle in all situations, not just in one or more specific situations. The driver is no longer required as a backup level. The motor vehicle can therefore be driven without a human driver. Automated driving corresponds to automation level 5 according to SAE (J3016), where SAE stands for "Society of Automotive Engineers".

[0046] In one specific embodiment of the method according to the first aspect, it is provided that, based on the monitoring, a decision is made on the infrastructure side whether at least highly automated AVP type 2 travel of a motor vehicle in a parking lot is permitted or denied on the infrastructure side.

[0047] This brings about technical advantages such as the following: the AVP process can be performed securely.

[0048] One objective of the monitoring is, in particular, whether the travel according to AVP type 1 was correct or error-free. This means, for example, that if it is determined on the infrastructure side that the AVP motor vehicle is not traveling correctly, then a takeover on the infrastructure side by the AVP system on the infrastructure side is (probably) not possible. This is, for example, if the motor vehicle is away from the route specified on the infrastructure side, i.e., for example, outside a predetermined error range. If necessary, errors on the motor vehicle side can still be corrected on the motor vehicle side, if, for example, an error is detected or identified on the infrastructure side and reported to the motor vehicle by the AVP system on the infrastructure side, so that the motor vehicle can correct the error itself.

[0049] If the error is not or cannot be corrected, or the error is too large or problematic, then the AVP session or AVP process is aborted immediately, for example, and one or more actions are initiated, for example.

[0050] One goal of the monitoring is, in particular, to check whether, for example, the correct motor vehicle is approaching and is correctly identified at the handover point or handover area from AVP type 1 travel to AVP type 2 travel.

[0051] One objective of the monitoring is, in particular, to check whether, for example, the motor vehicle is being driven correctly, ie, for example, on a (predetermined) route and not, for example, in a parking space and / or on a sidewalk.

[0052] One of the goals of monitoring is, among other things, to ensure safety.

[0053] The correct motor vehicle is then taken over by the AVP system on the infrastructure side, so that the motor vehicle drives according to AVP type 2 after the takeover.

[0054] In one embodiment of the method according to the first aspect, it is provided that at least one handover condition is specified for a motor vehicle on the infrastructure side, which handover condition is associated with allowing AVP type 2 driving on the infrastructure side, wherein a check is performed on the infrastructure side to determine whether the motor vehicle has satisfied the at least one specified handover condition, wherein, based on the result of the check on the infrastructure side, a decision is made on the infrastructure side whether at least highly automated AVP type 2 driving of the motor vehicle in the parking lot is permitted or denied on the infrastructure side.

[0055] This brings about technical advantages such as the following: the AVP process can be performed securely.

[0056] If security cannot be guaranteed, the AVP procedure will specifically not be performed, or an ongoing AVP procedure will specifically be aborted or stopped.

[0057] For example, if a motor vehicle cannot be reliably identified or distinguished by the AVP system on the infrastructure side, safety cannot be guaranteed. This brings about the following technical advantages, for example: it can effectively prevent the wrong motor vehicle from being controlled by the infrastructure.

[0058] For example, if the motor vehicle is not driving on the correct (predetermined) trajectory and / or route, because, for example, it is partially driving in the opposite lane, safety cannot be guaranteed. In this case, there may be an error and the current AVP process is no longer safe, so sometimes the AVP vehicle may not be correctly taken over by the infrastructure, i.e. driven.

[0059] If the motor vehicle does not comply with infrastructure-side specifications or regulations (eg a prescribed maximum speed), an error may necessarily be present.

[0060] This usually means, in particular, that the AVP process must be terminated for safety reasons whenever it is determined on the basis of the monitoring that the motor vehicle is not being driven correctly or in an irregular manner.

[0061] The handover condition is therefore, in particular, that the motor vehicle is driven correctly or according to regulations or rules. The switching condition is, in particular, that the motor vehicle is correctly identified by the AVP system on the infrastructure side.

[0062] Specifications are, for example: trajectory, route, target position.

[0063] Rules are, for example: maximum permissible speed, minimum distance to be maintained from objects, prohibition of driving in certain areas or within certain ranges.

[0064] In one specific embodiment of the method according to the first aspect, it is provided that the infrastructure-side monitoring includes checking the plausibility of the motor vehicle status data.

[0065] This brings, for example, the following technical advantages: the driving of the motor vehicle can be effectively monitored. This brings, for example, the following technical advantages: the AVP process can be performed safely.

[0066] In one specific embodiment of the method according to the first aspect, it is provided that the infrastructure-side monitoring includes checking whether the motor vehicle complies with at least one predetermined specification and / or at least one predetermined rule.

[0067] This brings about the technical advantage, for example, that the driving of the motor vehicle can be checked efficiently.

[0068] In one embodiment of the method according to the first aspect, it is provided that the infrastructure-side monitoring includes checking whether the motor vehicle follows a given route transmitted to the motor vehicle on the infrastructure side and / or a given trajectory transmitted to the motor vehicle on the infrastructure side, in particular within a predetermined error range.

[0069] This brings about the following technical advantage, for example: the travel of the motor vehicle can be checked efficiently. In particular, this brings about the following technical advantage: knowledge is obtained on the infrastructure side as to whether the motor vehicle follows a given route transmitted and / or a given trajectory transmitted. Depending on the result of this check, an action can be executed on the infrastructure side, or a plurality of actions can be executed on the infrastructure side, as will be explained in more detail below.

[0070] In one specific embodiment of the method according to the first aspect, it is provided that the monitoring on the infrastructure side includes checking whether the motor vehicle whose motor vehicle status data is received on the infrastructure side is the motor vehicle expected on the infrastructure side in the AVP process.

[0071] This brings about the technical advantage, for example, that it is possible to efficiently check whether the motor vehicle is the one expected by the infrastructure during the AVP process.

[0072] Based on monitoring, the AVP system on the infrastructure side can track or trace the vehicle, for example. Based on tracking, the AVP system on the infrastructure side can identify the vehicle at a handover point or handover area from AVP type 1 to AVP type 2.

[0073] In one embodiment of the method according to the first aspect, it is provided that when abnormal behavior of a motor vehicle is identified on the infrastructure side based on monitoring, and / or when erroneous behavior of a motor vehicle is identified on the infrastructure side based on monitoring, at least one action is performed on the infrastructure side in order to respond to the identified situation.

[0074] This results in the technical advantage, for example, that an effective response can be made to detected anomalies and / or detected errors in the behavior of the motor vehicle.

[0075] For example, a motor vehicle is considered to be in error if it does not follow the rules. An error is, for example, that the motor vehicle drives over a pedestrian crossing and / or a sidewalk and / or a garden, etc., and / or drives against the direction of travel specified by a one-way street. A garden includes, for example: green belts and / or plant nurseries between lanes and / or between paths and / or between parking areas, i.e., in particular everything that can be between and / or beside and / or outside barrier-free facilities and / or parking areas.

[0076] A deviation from the route or a change in trajectory, for example, due to avoiding an object, is an anomaly, wherein the behavior of the motor vehicle is logical in this case. That is, if the behavior of the motor vehicle deviates from the expected behavior, but this deviation is logical, it is an anomaly, for example.

[0077] In one embodiment of the method according to the first aspect, it is provided that at least one action is an element selected from the following action group: notifying the motor vehicle of the identified situation, sending an emergency stop command to the motor vehicle, notifying the parking lot service personnel about the identified situation, notifying one or more road users located in the parking lot.

[0078] This brings about the technical advantage, for example, that particularly suitable actions are carried out by the infrastructure.

[0079] In one specific embodiment of the method according to the first aspect, it is provided that the vehicle state is described by at least one kinematic parameter, in particular position, speed, acceleration, jerk and / or a course through the vehicle and / or a trajectory through the vehicle.

[0080] This brings about the technical advantage, for example, that the motor vehicle state can be described in a meaningful manner.

[0081] Statements made in conjunction with the method according to the first aspect apply analogously to embodiments of the method according to the third aspect, and vice versa.

[0082] For example, the method steps of the method according to the first aspect are performed using, ie performed by, the AVP system according to the second aspect.

[0083] The method steps of the method according to the third aspect are performed by the AVP system according to the fourth aspect.

[0084] In one embodiment, the AVP system according to the fourth aspect comprises a controller for at least highly automated control of lateral and longitudinal guidance of the motor vehicle.

[0085] Statements related to the method according to the first aspect apply analogously to the method according to the third aspect, and vice versa. This means that the technical functions and features of the method according to the third aspect are derived from the corresponding technical functions of the method according to the first aspect, and vice versa.

[0086] Transmission and reception in the sense of this description is, for example, transmission and reception via one or more communication networks. A communication network is, for example, a WLAN network or a mobile radio network.

[0087] The AVP system according to the fourth aspect is designed, for example, using programming techniques, to execute a computer program, the computer program comprising instructions that, when the computer program is executed by a computer, cause the computer to execute the method according to the third aspect.

[0088] The AVP system according to the second aspect is designed to execute a computer program, for example, by programming using programming techniques, the computer program comprising instructions which, when the computer program is executed by a computer, cause the computer to execute the method according to the first aspect.

[0089] The method according to the first aspect and / or the method according to the third aspect is for example a computer-implemented method.

[0090] For example, a corresponding system may be used to carry out a method within the meaning of this description.

[0091] The motor vehicle comprises, for example, one or more environmental sensors. Such environmental sensors may also be referred to as motor vehicle environmental sensors. Such environmental sensors are included, for example, in an AVP system on the motor vehicle side. The motor vehicle environmental sensor mechanism comprises, for example, one or more such environmental sensors.

[0092] The AVP system includes, for example, one or more environmental sensors that are spatially distributed and arranged in the parking lot. Such environmental sensors may be referred to as infrastructure environmental sensors, for example. The infrastructure environmental sensor mechanism includes, for example, one or more such infrastructure environmental sensors.

[0093] The area through which the motor vehicle travels according to AVP type 1 has, for example, no infrastructure surroundings sensors.

[0094] The environmental sensor, ie the vehicle environmental sensor or the infrastructure environmental sensor, is, for example, one of the following environmental sensors: a radar sensor, a lidar sensor, an image sensor, in particular an image sensor of a camera, such as an image sensor of a stereo camera, an ultrasonic sensor, a magnetic field sensor, an infrared sensor.

[0095] The embodiments and examples described here can be combined with one another in any way, even if this is not explicitly described.

[0096] Areas in which motor vehicles are to be driven at least highly automated according to AVP Type 1 may also be referred to as AVP Type 1 areas. For such areas, for example, no AVP infrastructure monitoring is performed by infrastructure surroundings sensors.

[0097] Areas in which motor vehicles are to be driven at least highly automated according to AVP Type 2 may also be referred to as AVP Type 2 areas. For such areas, AVP infrastructure monitoring is performed by infrastructure environment sensors.

[0098] AVP infrastructure monitoring is monitoring performed through one or more infrastructure environment sensors, wherein monitoring data determined during the monitoring is used in the AVP process.

[0099] This may mean that although there may be infrastructure environment sensors in the AVP Type 1 area, these infrastructure environment sensors are not used for AVP infrastructure monitoring. The reason may be, for example, that these infrastructure environment sensors do not meet certain safety requirements, which AVP infrastructure monitoring should or can advantageously meet. Such safety requirements include, for example, one or more specific safety levels. Safety levels are, for example, the following safety levels: QM, ASIL-A, ASIL-B, ASIL-C, ASIL-D, SIL-1, SIL-2, SIL-3, SIL-4.

[0100] 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 ISO26262 standard. ASIL distinguishes four different ASIL risk levels, labeled ASIL-A, ASIL-B, ASIL-C and ASIL-D.

[0101] The abbreviation "SIL" stands for the English term "Safety Integrity Level" and can be translated into German (Safety Integrity Level)". "Safety Integrity Level" is a key component of the IEC EN 61508 standard. SIL distinguishes four different SIL risk levels, labeled SIL-1, SIL-2, SIL-3 and SIL-4.

[0102] QM stands for "Quality Management" and means, among other things, that the risks are tolerable so that no special safety requirements are necessary and standard quality requirements are sufficient.

[0103] Infrastructure surroundings sensors used for AVP monitoring, for example, meet a higher safety level than infrastructure surroundings sensors which are not used for AVP monitoring but are used, for example, for detecting parking space occupancy.

[0104] The at least highly automated driving of the motor vehicle by means of the motor vehicle-side AVP system comprises, for example, at least highly automated control of the transverse and longitudinal guidance of the motor vehicle by means of the motor vehicle-side AVP system.

[0105] The AVP system according to the second aspect may be referred to as an infrastructure-side AVP system when it is implemented in an infrastructure, in particular a parking lot.

[0106] The AVP system according to the fourth aspect, when implemented in a motor vehicle, may be referred to as a motor vehicle-side AVP system. BRIEF DESCRIPTION OF THE DRAWINGS

[0107] The present invention is explained in detail below with the aid of preferred embodiments.

[0108] Figure 1 A flow chart of the method according to the first aspect is shown;

[0109] Figure 2 shows a flow chart of a method according to the third aspect;

[0110] Figure 3 An AVP system according to a fourth aspect is shown;

[0111] Figure 4 An AVP system according to the second aspect is shown;

[0112] Figure 5 A machine-readable storage medium according to a seventh aspect is shown;

[0113] Figure 6 A parking lot is shown.

[0114] In the following, the same reference numerals may be used for the same features. DETAILED DESCRIPTION

[0115] Figure 1 A flow chart of a method for infrastructure-side monitoring of at least highly automated driving of motor vehicles in a parking lot is shown, comprising the following steps:

[0116] receiving 101 on the infrastructure side vehicle status data transmitted by a motor vehicle during at least highly automated AVP type 1 travel in a parking lot, the vehicle status data describing a vehicle status of the motor vehicle during the at least highly automated AVP type 1 travel;

[0117] At least highly automated AVP type 1 driving of the motor vehicle is monitored 103 on the infrastructure side based on the received motor vehicle status data.

[0118] Figure 2 A flow chart of a method for at least highly automated driving of a motor vehicle in a parking lot by using an AVP system of the motor vehicle on the motor vehicle side is shown, which comprises the following steps:

[0119] Driving 201 the motor vehicle in at least highly automated AVP type 1 in a parking lot by means of an AVP system on the motor vehicle side;

[0120] During at least highly automated AVP type 1 driving, vehicle state data describing the vehicle state during the at least highly automated AVP type 1 driving of the vehicle are determined 203 by the vehicle-side AVP system and sent 205 to the infrastructure-side AVP system.

[0121] Figure 3 An AVP system 300 according to the fourth aspect is shown, comprised or implemented in a motor vehicle 301 according to the fifth aspect. The AVP system 300 is arranged to perform all steps of the method according to the third aspect.

[0122] For example, the AVP system 300 on the vehicle side includes a camera 303, and the camera 303 includes an image sensor 305. The camera 303 is arranged on the roof side of the vehicle 301.

[0123] For example, the AVP system 300 on the vehicle side further includes a first radar sensor 307, which is arranged on the front side of the vehicle 301. For example, the AVP system 300 on the vehicle side also includes a second radar sensor 309, which is arranged on the rear side of the vehicle 301. The AVP system 300 on the vehicle side also includes an ultrasonic sensor 311, which is arranged on the side of the vehicle 301.

[0124] Therefore, the AVP system 300 on the vehicle side includes a vehicle environment sensing mechanism, which includes several environment sensors: an image sensor 305 , radar sensors 307 , 309 and an ultrasonic sensor 311 .

[0125] These environmental sensors detect the environment of the motor vehicle and output environmental sensor data based on the detection to the controller 313 of the AVP system 300 on the motor vehicle side. The controller 313 processes these environmental sensor data to guide or drive the motor vehicle at least with a high degree of automation.

[0126] The AVP system 300 on the vehicle side further includes a wireless communication interface 315 , which is configured to communicate with an AVP system (not shown) on the infrastructure side.

[0127] Communication in the sense of this specification includes sending and receiving.

[0128] It should be noted here that instead of or in addition to Figure 3 The environmental sensors shown in , more or fewer and / or other environmental sensors may be provided.

[0129] It should be noted here that instead of or in addition to Figure 3 The controller 313 shown in FIG. 1 may include multiple controllers.

[0130] In an embodiment not shown, it is provided that the vehicle-side AVP system 300 does not include any vehicle surroundings sensors. In this case, the vehicle surroundings sensors are already part of the vehicle 301 .

[0131] Figure 4 An AVP system 401 according to the second aspect is shown. The AVP system 401 is arranged to perform all steps of the method according to the first aspect.

[0132] For example, the AVP system 401 includes a camera 403, which includes an image sensor 405. For example, the AVP system 401 includes a radar sensor 407.

[0133] The environmental sensors are spatially distributed in a parking lot (not shown) and each detects an area of ​​the parking lot. The environmental sensor data based on the detection of the environmental sensors are output to a data processing device 409, which processes the environmental sensor data and determines the environmental sensor data, for example based on the infrastructure assistance data, for assisting at least a highly automated motor vehicle in an AVP process.

[0134] It should be noted here that instead of or in addition to Figure 4 The environmental sensors shown in , more or fewer and / or other environmental sensors may be provided.

[0135] Furthermore, the infrastructure-side AVP system 401 comprises a wireless communication interface 411 which is provided for communicating with one or more at least highly automated motor vehicles located in the parking lot.

[0136] For example, the AVP system 401 includes a plurality of such wireless communication interfaces 411 , which are spatially distributed and arranged in the parking lot in order to achieve sufficient radio coverage.

[0137] The data processing device 409 may, for example, include one or more servers, wherein the one or more servers may, for example, be implemented in a cloud infrastructure.

[0138] In an embodiment not shown, it is provided that the AVP system 401 does not include any infrastructure environment sensors. In this case, the infrastructure environment sensors are already part of the parking lot.

[0139] According to AVP type 1, the parking lot area in which the motor vehicle is to be driven or is being driven is in particular not equipped with such infrastructure environment sensors.

[0140] Figure 5 A machine-readable storage medium 501 according to the seventh aspect is shown, on which a computer program 503 according to the sixth aspect is stored.

[0141] Figure 6 A parking lot 601 is shown, in which Figure 4 AVP system 401.

[0142] For example, in parking lot 601, several areas are set or demarcated: a first area 603, a second area 605, and a third area 607 overlapping first area 603 and second area 605. First area 605 and second area 605 are arranged next to each other, ie, adjacent to each other.

[0143] For example, Figure 3 Motor vehicle 301 is traveling at least highly automated in parking lot 601 . The driving direction of motor vehicle 301 is marked by an arrow with reference numeral 609 .

[0144] exist Figure 6 6 shows a plurality of cameras 611, each of which includes an image sensor 613. Figure 6 Such a camera 611 is drawn for each area shown in FIG. 611. It should be noted here that other and / or further environmental sensors may be provided instead of or in addition to the camera 611.

[0145] The camera 611 shown is intended to indicate whether the corresponding area is monitored by the infrastructure environment sensor. If there is no such monitoring, the corresponding camera 611 is crossed out with an "X" with reference numeral 615.

[0146] In a first area 603, for which no AVP infrastructure monitoring by infrastructure environment sensors is provided, the motor vehicle should travel according to AVP type 1 during the AVP process. For a second area 605, the motor vehicle should travel according to AVP type 2.

[0147] The third area 607 is a handover area, in which the AVP process will change from AVP type 1 to AVP type 2. This means that the driving responsibility is transferred from the AVP system 300 on the vehicle side of the motor vehicle 301 to the AVP system 401 on the infrastructure side of the parking lot 601. Monitoring is performed in the handover area by infrastructure sensors.

[0148] During the handover, for example, the AVP system 401 on the infrastructure side locates the motor vehicle 301 based on data that the AVP system 300 on the motor vehicle side sent to the AVP system 401 on the infrastructure side during AVP type 1 travel of the motor vehicle 301 in the first area 603 .

[0149] Typically, data sent by the vehicle-side AVP system 300 to the infrastructure-side AVP system 401 during AVP type 1 travel of the vehicle 301 within the first area 603 is used by the infrastructure-side AVP system 401 to monitor the vehicle 301 .

Claims

1. A method for monitoring at least highly automated driving of a motor vehicle (301) in a parking lot (601) on the infrastructure side, comprising the following steps: receiving (101) on the infrastructure side vehicle status data transmitted by the motor vehicle (301) during at least highly automated AVP type 1 travel in the parking lot (601), the motor vehicle status data describing the vehicle status during the at least highly automated AVP type 1 travel of the motor vehicle (301); At least highly automated AVP type 1 driving of the motor vehicle (301) is monitored (103) on the infrastructure side based on the received motor vehicle status data.

2. The method according to claim 1, wherein: Based on the monitoring, a decision is made on the infrastructure side whether at least highly automated AVP type 2 travel of the motor vehicle (301) in the parking lot (601) is permitted or denied on the infrastructure side.

3. The method according to claim 2, wherein: At least one handover condition is specified for the motor vehicle (301) on the infrastructure side, the handover condition being associated with allowing the AVP type 2 driving on the infrastructure side, wherein a check is performed on the infrastructure side to determine whether the motor vehicle (301) has satisfied the at least one specified handover condition, wherein a decision is made on the infrastructure side based on a result of the check on the infrastructure side as to whether at least highly automated AVP type 2 driving of the motor vehicle (301) in the parking lot (601) is allowed or denied on the infrastructure side.

4. A method according to any one of the preceding claims, wherein: The infrastructure-side monitoring includes checking the plausibility of the motor vehicle status data.

5. A method according to any one of the preceding claims, wherein: The infrastructure-side monitoring includes checking whether the motor vehicle (301) complies with at least one predetermined specification and / or at least one predetermined rule.

6. A method according to any one of the preceding claims, wherein: The infrastructure-side monitoring includes checking whether the motor vehicle (301) follows a given route transmitted to the motor vehicle (301) on the infrastructure side and / or a given trajectory transmitted to the motor vehicle (301) on the infrastructure side, in particular within a predetermined error range.

7. A method according to any one of the preceding claims, wherein: The monitoring on the infrastructure side includes checking whether the vehicle (301) whose vehicle status data is received on the infrastructure side is the vehicle (301) expected on the infrastructure side during the AVP process.

8. A method according to any one of the preceding claims, wherein: When the infrastructure side identifies abnormal behavior of the motor vehicle (301) based on the monitoring, and / or when the infrastructure side identifies erroneous behavior of the motor vehicle (301) based on the monitoring, at least one action is performed on the infrastructure side to respond to the identified situation.

9. The method according to claim 8, wherein: The at least one action is an element selected from the following action group: notifying the motor vehicle (301) of the identified situation, sending an emergency stop command to the motor vehicle (301), notifying the service personnel of the parking lot (601) about the identified situation, and notifying one or more road users located in the parking lot (601).

10. A method according to any one of the preceding claims, wherein: The motor vehicle state is described by at least one kinematic parameter, in particular position, speed, acceleration, rapid acceleration and / or a path through the motor vehicle (301) and / or a trajectory through the motor vehicle (301).

11. An AVP system (401) for a parking lot (601), the AVP system being arranged to perform all the steps of the method according to any one of the preceding claims.

12. A method for driving a motor vehicle (301) in a parking lot (601) at least to a high degree of automation by using an AVP system (300) of the motor vehicle (301) on the motor vehicle side, comprising the following steps: The motor vehicle (301) in the parking lot (601) is driven by the AVP system on the motor vehicle side in at least highly automated AVP type 1 driving (201); During the at least highly automated AVP type 1 driving, vehicle status data are determined (203) by the AVP system on the vehicle side and sent (205) to the AVP system on the infrastructure side, wherein the vehicle status data describes the vehicle status during the at least highly automated AVP type 1 driving of the vehicle (301).

13. An AVP system (300) for a motor vehicle (301), the AVP system being configured to perform all the steps of the method according to claim 12.

14. A motor vehicle (301) comprising the AVP system according to claim 13.

15. A computer program (503) comprising instructions which, when the computer program (503) is executed by a computer, cause the computer to perform the method according to any one of claims 1 to 10 and / or 12.

16. A machine-readable storage medium (501) on which a computer program (503) according to claim 15 is stored.

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