Highly automated driving and infrastructure support assistance method for motor vehicles in parking lot

Abstract

The invention relates to a method for at least highly automated driving and infrastructure support assistance of a motor vehicle in a parking lot, the motor vehicle being operable in a first AVP operating mode in which the motor vehicle is at least highly automated according to AVP type 1 and in a second AVP operating mode in which the motor vehicle is at least highly automated according to AVP type 2, the motor vehicle is to be driven within the parking lot according to AVP type 2 or at least highly automated according to AVP type 1 in separate areas of the parking lot. According to the invention, a handover process is carried out before switching from the at least highly automated driving according to AVP type 2 to the at least highly automated driving according to AVP type 1 or vice versa, and after successful execution, the motor vehicle is allowed to switch from the second AVP operating mode to the first AVP operating mode or vice versa. A handover process required for switching is performed when a handover area of the parking lot is reached. The invention also relates to a motor vehicle, an AVP system for a motor vehicle and an infrastructure, a computer program and a machine-readable storage medium.

Description

Technical Field

[0001] The invention relates to a method for at least highly automated driving of a motor vehicle in a parking lot, a method for infrastructure-supported assistance of a motor vehicle during at least highly automated driving of a motor vehicle in a parking lot, an AVP system for a motor vehicle, a motor vehicle, an AVP system for an infrastructure, a computer program and a machine-readable storage medium.

[0002] The abbreviation "AVP" stands for "Automated Valet Parking" and can be translated into German as "automatischer Parkservice (automatic valet parking)". The AVP process includes, for example, at least highly automated guidance of an AVP motor vehicle from a drop-off area (also called a handover position or drop-off area) to a parking position and, for example, at least highly automated guidance of the motor vehicle from a parking position to a pick-up position (also called a drop-off 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. At the pick-up position, i.e. the pick-up area, the motor vehicle is removed after the end of the AVP process. The AVP process thus begins, in particular, at the drop-off area. The AVP process thus ends, in particular, at the pick-up area. The pick-up area can be the same as or different from the drop-off area.

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

[0004] The published patent application DE 10 2012 222 562 A1 discloses a system for managing parking spaces for moving a vehicle from a starting position to a destination position.

[0005] 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.

[0006] AVP type 1 represents a vehicle-centric AVP process. The primary responsibility of this AVP process is borne by the vehicle.

[0007] AVP type 2 represents an infrastructure-centric AVP procedure. The main responsibility of this AVP procedure is borne by the infrastructure, that is, the AVP system.

[0008] AVP type 3 represents an AVP process in which the vehicle and infrastructure jointly participate. Here, the main responsibility for the AVP process is shared by the vehicle and the AVP system.

[0009] When the vehicle is driven according to AVP type 2, it is provided that the infrastructure is responsible for the detection of objects and / or events and for the corresponding reaction to the detected objects and / or events. For this purpose, a plurality of environmental sensors are arranged in the parking lot, and the environmental sensor data of the environmental sensors are used as the basis for object detection or event detection.

[0010] When a vehicle is driven according to AVP type 1, it is usually provided that the vehicle detects objects and / or events based on its own environmental sensors and reacts accordingly to the detected objects and / or events. In other words, driving according to AVP type 1 usually does not require environmental sensors in the parking lot.

[0011] However, there may be complex areas within a parking lot and / or areas that may lead to situations that are easier to resolve by driving according to AVP Type 2 by using the parking lot's environmental sensors than when the motor vehicle relies solely on its own environmental sensors. Such areas include, for example, drop-off areas, i.e. areas where the driver parks for the AVP process, or parking spaces or areas in front of stairwells or elevators, because more people are expected to be there at one time than in other areas of the parking lot.

[0012] It is technically complex and expensive to equip all areas of a parking lot, ie areas through which motor vehicles can be driven at least in a highly automated manner without environmental sensors of the parking lot.

[0013] Therefore, it is necessary to overcome these shortcomings. Summary of the invention

[0014] The object of the present invention is to provide a concept which makes it possible for a motor vehicle to be driven in a parking lot at least in a highly automated manner according to AVP type 2 or according to AVP type 1.

[0015] 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.

[0016] According to a first aspect, a method for at least highly automated driving of a motor vehicle in a parking lot is provided, wherein the motor vehicle can be operated in a first AVP operating mode and in a second AVP operating mode, wherein in the first AVP operating mode, the motor vehicle drives at least highly automated according to AVP type 1, and in the second AVP operating mode, the motor vehicle drives at least highly automated according to AVP type 2, wherein AVP type 1 is a motor vehicle-centric AVP process, wherein AVP type 2 is an infrastructure-centric AVP process, and the method comprises the following steps:

[0017] The motor vehicle is operated in the second AVP operating mode, so that the motor vehicle is driven in the parking lot at least in a highly automated manner according to AVP type 2 with the support of the infrastructure-side AVP system,

[0018] When the motor vehicle arrives at the handover area of ​​the parking lot, a handover process is performed to allow the motor vehicle to switch from the second AVP operating mode to the first AVP operating mode,

[0019] When the handover process is successfully performed, the second AVP operation mode is switched to the first AVP operation mode.

[0020] After the switch, the motor vehicle is operated in the first AVP operating mode, so that the motor vehicle drives in the parking lot at least in a highly automated manner according to AVP type 1 .

[0021] According to a second aspect, a method is provided for providing infrastructure-supported assistance to a motor vehicle during at least highly automated driving in a parking lot by using an infrastructure-side AVP system, wherein the motor vehicle can be operated in a first AVP operating mode and in a second AVP operating mode, wherein in the first AVP operating mode, the motor vehicle drives at least highly automated according to AVP type 1, and in the second AVP operating mode, the motor vehicle drives at least highly automated according to AVP type 2, wherein AVP type 1 is a motor vehicle-centric AVP process, wherein AVP type 2 is an infrastructure-centric AVP process, and the method comprises the following steps:

[0022] The infrastructure-side AVP system performs infrastructure-side assistance to the motor vehicle so that the motor vehicle is operated in the second AVP operating mode, so that the motor vehicle can be driven in the parking lot at least highly automatically according to AVP type 2 with the support of the infrastructure-side AVP system.

[0023] When the motor vehicle arrives at the handover area of ​​the parking lot, the infrastructure-side AVP system performs a handover process to allow the motor vehicle to switch from the second AVP operation mode to the first AVP operation mode.

[0024] When the handover process is successfully performed, the following specifications are sent to the motor vehicle via the infrastructure-side AVP system, namely that the motor vehicle should continue to drive at least highly automatically according to AVP type 1, thereby allowing the motor vehicle to be switched from the second AVP operating mode to the first AVP operating mode and to be operated in the first AVP operating mode after the switch, so that the motor vehicle can drive in the parking lot at least highly automatically according to AVP type 1.

[0025] According to a third aspect, an AVP system for a motor vehicle is provided, the AVP system being configured to perform all steps of the method according to the first aspect.

[0026] According to a fourth aspect there is provided a motor vehicle comprising the AVP system according to the third aspect.

[0027] According to a fifth aspect, an AVP system for an infrastructure is provided, the infrastructure being in particular a parking lot, the AVP system being configured to execute all steps of the method according to the second aspect.

[0028] According to a sixth aspect, a computer program is provided, comprising the following instructions, which, when a computer executes the computer program, causes the computer to perform the method according to the first aspect and / or according to the second aspect.

[0029] According to a seventh aspect there is provided a machine-readable storage medium on which the computer program according to the fifth aspect is stored.

[0030] According to the concept described here, a motor vehicle is to be driven in a parking lot according to AVP type 2 or at least highly automated according to AVP type 1 for separate areas of the parking lot. This means that there are one or more areas in the parking lot in which the motor vehicle is to be driven at least highly automated according to AVP type 2. This means that there are one or more areas in the parking lot in which the motor vehicle is to be driven at least highly automated according to AVP type 1.

[0031] Before switching from at least highly automated driving according to AVP type 2 to at least highly automated driving according to AVP type 1 or vice versa, a handover process is performed, wherein the motor vehicle is only allowed to switch from the second AVP operating mode to the first AVP operating mode or vice versa after successful execution. The handover process required for the switch is performed when the handover area of ​​the parking lot is reached.

[0032] This makes it possible in an efficient manner to drive the motor vehicle at least highly automatically within the scope of an AVP process according to different AVP types: in this case according to AVP type 2 and after the switch according to AVP type 1 and in particular back to AVP type 2.

[0033] In the area where the motor vehicle is driven according to AVP type 1, it is not necessary to be equipped with environmental sensors that monitor this area. The reason is that AVP type 1 is a vehicle-centric driving. The responsibility for this driving is solely borne by the AVP system on the vehicle side. For this driving, the motor vehicle uses suitable environmental sensors, which detect the surroundings of the motor vehicle. Based on this detection, the motor vehicle drives according to AVP type 1.

[0034] The area in which the motor vehicle is driven according to AVP type 2 must be equipped with environmental sensors, which monitor the area. The reason is that AVP type 2 is infrastructure-centric driving. The responsibility for this driving is borne solely by the infrastructure, here by the infrastructure-side AVP system. In order for the motor vehicle to be able to drive according to AVP type 2 in an infrastructure-centric manner, certain information (infrastructure auxiliary data) must be sent from the infrastructure to the motor vehicle. In order to be able to determine this information, information about the area in which the motor vehicle is to drive according to AVP type 2 is required. This information is determined, for example, by using one or more environmental sensors, which monitor the area. The infrastructure thus knows, for example, whether a possible collision object for the motor vehicle is located in this area and can accordingly determine a target trajectory for driving the motor vehicle around the collision object and send it to the motor vehicle.

[0035] Areas of the parking lot can thus be equipped with environmental sensors which monitor the area in which motor vehicles are driven at least highly automatically according to AVP type 2. Areas of the parking lot can thus be provided which are not equipped with environmental sensors, i.e. which are not monitored by the environmental sensors of the parking lot. This is not necessary, since motor vehicles are to be driven at least highly automatically according to AVP type 1 in this area.

[0036] As a result, the outlay for installing environmental sensors in a parking lot can be effectively reduced compared to a situation in which a motor vehicle is driven at least highly automatically in a parking lot only according to AVP type 2, since in this case the motor vehicle requires external environmental sensors.

[0037] Furthermore, fewer environmental sensors are required than in a case where the motor vehicle is driven only in a parking lot according to AVP type 2 at least in a highly automated manner.

[0038] A parking lot can also be referred to as a parking area in the context of the description and is used as a parking space for vehicles. A parking lot thus constitutes in particular a connected area having a plurality of parking spaces (in a private parking lot) or parking spaces (in a public parking lot). A parking lot can be comprised by a parking building according to one embodiment. A parking lot is in particular comprised by a garage.

[0039] The abbreviation "AVP" stands for "Automated Valet Parking" and can be translated into German as "automatischer Parkservice (automatic valet parking)". The AVP process includes, for example, at least highly automated guidance of an AVP motor vehicle from a drop-off area (also called a handover position or drop-off area) to a parking position and, for example, at least highly automated guidance of the motor vehicle from a parking position to a pick-up position (also called a drop-off 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. At the pick-up position, i.e. the pick-up area, the motor vehicle is removed after the AVP process has ended. The AVP process therefore begins, in particular, at the drop-off area. The AVP process therefore ends, in particular, at the pick-up area. The pick-up area can be the same as or different from the drop-off area.

[0040] That is, an AVP vehicle is a vehicle that can participate in the AVP process. When describing a vehicle in the front and back, even if the word "AVP" is not explicitly used, it should always be interpreted as an AVP vehicle.

[0041] The AVP procedure is performed on the infrastructure side by using the AVP system for infrastructure or by the AVP system for infrastructure and on the vehicle side by using the AVP system for vehicle or by the AVP system for vehicle.

[0042] 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, the AVP type may also be changed within an AVP procedure. This means, for example, that a part of the AVP procedure is executed according to AVP type 1 and another part of the AVP procedure is executed according to AVP type 2 or AVP type 3. This means, for example, that the AVP procedure may be divided into partial AVP procedures, which are each executed according to one of AVP types 1, 2 and 3.

[0043] AVP type 1 represents a vehicle-centric AVP process. The main responsibility for this AVP process is borne by the vehicle, that is, the vehicle-side AVP system.

[0044] AVP type 2 represents an infrastructure-centric AVP procedure. The main responsibility of this AVP procedure is borne by the infrastructure, that is, the infrastructure-side AVP system.

[0045] AVP type 3 represents an AVP process in which the vehicle and infrastructure jointly participate. Here, the main responsibility for the AVP process is jointly assumed by the vehicle, that is, the vehicle-side AVP system and the AVP system.

[0046] The AVP process includes the following processes or functions:

[0047] 1. Determine the target position of the motor vehicle in the parking lot.

[0048] 2. Plan a route from the starting location to the target location included in the parking lot.

[0049] 3. Detecting objects and / or events and responding accordingly to detected objects and / or detected events.

[0050] 4. Position the motor vehicle in the parking lot.

[0051] 5. Predict a target trajectory for the vehicle based on the planned route.

[0052] 6. Control the lateral and longitudinal guidance of the vehicle based on the predicted target trajectory.

[0053] 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:

[0054]

[0055] 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.

[0056] With regard to the detection of objects and events for AVP type 1, it can optionally be provided that, in addition to motor vehicles, an infrastructure-side AVP system of the infrastructure also performs the described functions.

[0057] AVP types 1, 2, and 3 described herein are described in more detail in ISO standard 23374-1:2021(E).

[0058] The motor vehicle is an at least highly automated motor vehicle. Such a motor vehicle is designed for at least highly automated driving. Highly automated driving corresponds to automation level 3 according to the Federal Roads Authority (BASt).

[0059] The motor vehicle is provided at least for highly automated guidance, which includes the case where the motor vehicle is provided for highly automated guidance and fully automated guidance, as well as for autonomous guidance. Fully automated guidance corresponds to automation level 4 according to the definition of BASt.

[0060] Highly automated guidance means that the longitudinal and lateral guidance of the motor vehicle is automatically controlled for a certain period of time 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 constantly monitor the automatic control of the longitudinal and lateral guidance in order to be able to intervene manually if necessary. If necessary, a request to assume control of the longitudinal and lateral guidance is automatically made to the driver, in particular with sufficient time left. This means that the driver must be able to assume control of the longitudinal and lateral guidance. The limits of the automatic control of the lateral and longitudinal guidance are automatically identified. With highly automated guidance, it is not possible to automatically reach a risk-minimized state in every initial situation.

[0061] The expression "assumes control of the longitudinal and lateral guidance" can also be replaced by the expression "assumes control of the longitudinal and lateral guidance".

[0062] Fully automated driving means that the longitudinal and lateral guidance of the vehicle is automatically controlled in certain situations (e.g. driving on motorways, driving in parking lots, 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. The driver does not have to monitor the automatic control of the longitudinal and lateral guidance in order to intervene manually if necessary. Before the automatic control of the lateral and longitudinal guidance is terminated, a request to take over (control of the lateral and longitudinal guidance of the motor vehicle) is automatically made to the driver, in particular with sufficient time, in particular with sufficient time reserve. If the driver does not take over the driving task, he or she is automatically returned to the state of minimal risk. The limits of the automatic control of the lateral and longitudinal guidance are automatically detected. An automatic return to the system state of minimal risk is possible in all situations.

[0063] Autonomous guidance or driving means that the longitudinal and lateral guidance of the motor vehicle is automatically controlled in all situations, and not just in one or more specific situations. A driver is no longer required as a backup. The motor vehicle can thus be driven without a driver. Autonomous guidance corresponds to automation level 5 according to SAE (J3016), where SAE stands for "Society of Automotive Engineers".

[0064] In one embodiment of the method according to the first aspect, it is provided that before the motor vehicle is operated in the second AVP operating mode, an AVP initialization process is performed by the motor vehicle-side AVP system, wherein after successful completion of the AVP initialization process, the motor vehicle is switched to the second AVP operating mode.

[0065] This achieves the technical advantage that, for example, it can be efficiently ensured that the motor vehicle is ready to switch into the second AVP operating mode and to drive at least highly automated according to AVP type 2 by means of the motor vehicle-side AVP system.

[0066] In one embodiment of the method according to the first aspect, it is provided that the execution of the AVP initialization process includes performing motor vehicle-side positioning of the motor vehicle by means of the motor vehicle-side AVP system in order to determine a current posture of the motor vehicle, wherein the current posture of the motor vehicle is sent to the infrastructure-side AVP system by means of the motor vehicle-side AVP system, whereby the infrastructure-side AVP system can check the posture of the motor vehicle determined on the motor vehicle side in order to identify the motor vehicle, wherein in order to successfully end the AVP initialization process, confirmation of successful identification of the motor vehicle must be received from the infrastructure-side AVP system by means of the motor vehicle-side AVP system.

[0067] For example, the technical advantage achieved thereby is that by determining the current posture of the motor vehicle, the infrastructure-side AVP system can efficiently identify the motor vehicle by checking the posture determined on the motor vehicle side. Successful identification of the motor vehicle by the infrastructure-side AVP system is an important prerequisite that should or must be met before the infrastructure-side AVP system assumes responsibility for at least highly automated driving according to AVP type 2. In other words, the infrastructure-side AVP system must know for which motor vehicle it is responsible before it assumes responsibility. This is particularly relevant when there are multiple motor vehicles that want to carry out an AVP procedure in a parking lot.

[0068] In one embodiment of the method according to the first aspect, it is provided that a digital map of the parking lot is received from the infrastructure-side AVP system by the vehicle-side AVP system, the vehicle is positioned based on the digital map in order to determine the current position of the vehicle in the digital map.

[0069] This achieves the technical advantage that, for example, the motor vehicle can be efficiently positioned and thus the current attitude can be efficiently determined.

[0070] In one embodiment of the method according to the first aspect, it is provided that during at least highly automated driving according to AVP type 2, the motor vehicle is continuously positioned on the motor vehicle side by the motor vehicle-side AVP system, based on which the motor vehicle is driven at least highly automated according to AVP type 2 by the motor vehicle-side AVP system.

[0071] The technical advantage achieved thereby, for example, is that at least highly automated driving according to AVP type 2 can be efficiently performed. In particular, the technical advantage achieved thereby is that the motor vehicle knows where it is in the parking lot. This knowledge enables the motor vehicle-side AVP system to be used in an efficient manner for at least highly automated driving according to AVP type 2.

[0072] In one embodiment of the method according to the first aspect, it is provided that during at least highly automated driving according to AVP type 2, the motor vehicle is continuously positioned on the motor vehicle side by the AVP system on the motor vehicle side, based on which the arrival of the handover area is detected on the motor vehicle side by the AVP system on the motor vehicle side, and the handover process is thus initiated by the AVP system on the motor vehicle side.

[0073] The technical advantage achieved thereby is, for example, that the motor vehicle can efficiently know when the motor vehicle arrives at the handover area, so that the motor vehicle-side AVP system can start itself, ie, begin the handover process.

[0074] In one embodiment of the method according to the first aspect, it is provided that the execution of the handover process includes checking the handover conditions that must be met for the switch on the motor vehicle side through the motor vehicle side AVP system, wherein, when the check is successful, a switch request is sent on the motor vehicle side through the motor vehicle side AVP system to the infrastructure side AVP system.

[0075] This achieves the technical advantage that the handover is only carried out if certain conditions are met, which ensure safety. The technical advantage achieved by checking the handover conditions on the motor vehicle side is that it is checked on the motor vehicle side itself whether the motor vehicle is generally ready for the handover. If the motor vehicle AVP system informs the infrastructure-side AVP system in the event of a successful check, the infrastructure-side AVP system has the technical advantage that the infrastructure-side AVP system effectively knows whether the motor vehicle is ready for the handover from its perspective.

[0076] One handover prerequisite is, for example, that the motor vehicle must be certified for AVP and in particular for AVP type 1 and AVP type 2.

[0077] One handover prerequisite is, for example, that the motor vehicle must be ready for a switch and / or at least highly automated driving according to AVP type 1. Ready means, in particular, that all components of the motor vehicle required for at least highly automated driving must be ready. Ready means, in particular, that no faults are present or have occurred.

[0078] One handover prerequisite is, for example, that the infrastructure-side AVP system must be ready for switching. Ready means, in particular, that all components of the infrastructure-side AVP system required for switching must be ready. Ready means, in particular, that no faults exist or occur.

[0079] In one embodiment of the method according to the first aspect, it is provided that the execution of the handover process includes receiving a target location and a suggestion for a route to the target location from an infrastructure-side AVP system on the motor vehicle side through the motor vehicle-side AVP system, and based on the suggestion, causing the motor vehicle to drive at least highly automatically according to AVP type 1 after the switch through the motor vehicle-side AVP system.

[0080] The technical advantage achieved thereby, for example, is that the motor vehicle can efficiently drive at least highly automatically according to AVP type 1 after the switch. That is, the motor vehicle-side AVP system knows where the motor vehicle should drive. At the same time, a suggestion for a route to the target location is transmitted from the infrastructure-side AVP system to the motor vehicle, so that the motor vehicle-side AVP system can efficiently plan driving at least highly automatically according to AVP type 1 based on the suggestion.

[0081] The route to the target location is, for example, a route from the current location of the motor vehicle to the target location. The route to the target location is, for example, a route from the future location of the motor vehicle to the target location.

[0082] The target location can be, for example, a parking space or a parking space in a parking lot. The target location can be, for example, the starting point of a critical area, from which the motor vehicle is no longer allowed to drive at least highly automated according to AVP type 1, but rather to drive at least highly automated according to AVP type 2. The critical area is, for example, the area in front of a stairwell or an elevator, because usually more people are waiting at one time than in other areas of the parking lot.

[0083] In one embodiment of the method according to the first aspect, it is provided that during at least highly automated driving according to AVP type 1, the environment of the motor vehicle is detected on the motor vehicle side by using a motor vehicle environment sensor mechanism, wherein, when an obstacle detected by the motor vehicle environment sensor mechanism is detected on the motor vehicle side, the suggested route is replanned on the motor vehicle side by the motor vehicle side AVP system to avoid the obstacle, so that the motor vehicle drives to the target location at least highly automatically according to AVP type 1 based on the replanned route by the motor vehicle side AVP system.

[0084] The technical advantage achieved thereby is, for example, that an obstacle on the proposed route does not cause the motor vehicle to stop in front of the obstacle and then be unable to continue driving, which is called "dead-lock" in English. Specifically, according to this embodiment, it is provided that the motor vehicle-side AVP system replans the proposed route so that the motor vehicle can also drive to the target location at least highly automatically according to AVP type 1 when the obstacle is on the original route.

[0085] In one embodiment of the method according to the first aspect, it is provided that at the end of the handover process, the motor vehicle side receives the following specifications from the infrastructure-side AVP system via the motor vehicle-side AVP system, namely, according to which AVP type the motor vehicle should continue to drive at least highly automatically, wherein the specifications are followed on the motor vehicle side via the motor vehicle-side AVP system.

[0086] The technical advantage achieved thereby, for example, is that the infrastructure-side AVP system has the final say on the switch. If it should be decided at the end of the handover process that the motor vehicle is not allowed to continue driving at least highly automated according to AVP type 1, this is notified to the motor vehicle by transmitting the corresponding specifications. This means that the infrastructure-side AVP system is the authority that makes the final decision on whether to switch to the first AVP operating mode. This means, for example, that from the perspective of the motor vehicle AVP system, the switch is possible. However, the motor vehicle AVP system first has to wait for the following clear specifications from the infrastructure AVP system, namely that it is allowed to switch to the first AVP operating mode.

[0087] The safety of the motor vehicle and its surroundings can thereby be effectively increased.

[0088] In one embodiment of the method according to the second aspect, it is provided that before infrastructure-side assistance is provided to the motor vehicle, an AVP initialization process is performed by the infrastructure-side AVP system, wherein, when the AVP initialization process is successfully completed, the infrastructure-side AVP system sends a first driving permission to the motor vehicle, thereby allowing the motor vehicle to be switched to the second AVP operating mode.

[0089] The technical advantage achieved thereby, for example, is that it can be efficiently ensured that everything is ready, so that before the motor vehicle drives out, the motor vehicle can drive at least highly automatically according to AVP type 2. The motor vehicle is only allowed to switch to the second AVP operating mode and drive out accordingly after receiving the first driving permission. The infrastructure-side AVP system is also the authority that finally decides whether to allow the motor vehicle to drive out according to AVP type 2. For example, if the motor vehicle AVP system decides that everything is fine from its point of view to drive out according to AVP type 2, it still does not do so, but waits for the first permit from the infrastructure-side AVP system. Because it may happen that the environmental sensors of the motor vehicle, that is, the motor vehicle environmental sensors, do not detect collision objects that may be present in its environment, but this is detected by the infrastructure environmental sensors.

[0090] In one embodiment of the method according to the second aspect, it is provided that the execution of the AVP initialization process includes receiving a current posture of the motor vehicle determined on the motor vehicle side from the motor vehicle via the infrastructure-side AVP system, wherein the motor vehicle is positioned via the infrastructure-side AVP system so as to determine the current posture of the motor vehicle on the infrastructure side, wherein the current posture determined on the infrastructure side is compared with the current posture determined on the motor vehicle side via the infrastructure-side AVP system so as to identify the motor vehicle, wherein, based on the comparison, a confirmation of successful identification of the motor vehicle is sent to the motor vehicle via the infrastructure-side AVP system.

[0091] The technical advantage achieved thereby, for example, is that the infrastructure-side AVP system can efficiently identify the motor vehicle. The infrastructure-side AVP system checks the current posture determined on the motor vehicle side and the current posture determined on the infrastructure side. Only in the case of agreement, in particular in the case of agreement within a predetermined tolerance range, is a confirmation of successful identification of the infrastructure-side AVP system sent to the motor vehicle-side AVP system. The successful conduction or successful execution of the AVP initialization process requires the confirmation.

[0092] In one specific embodiment of the method, it is provided that a digital map of the parking lot is transmitted to the motor vehicle by the infrastructure-side AVP system, based on which the motor vehicle can be localized.

[0093] The technical advantage achieved thereby, for example, is that the motor vehicle is efficiently provided with the possibility of efficiently locating itself in the digital map. This means that, according to this embodiment, the current posture of the motor vehicle determined on the motor vehicle side is related to the digital map of the parking lot.

[0094] In one specific embodiment of the method, it is provided that the execution of the AVP initialization process includes a check by the infrastructure-side AVP system whether the motor vehicle can be driven out without collision, wherein the first driving permission is only sent if the motor vehicle can be driven out without collision.

[0095] The technical advantage achieved by this is, for example, that it can be efficiently ensured that the motor vehicle can drive out without collision at the end of the AVP initialization process. That is, when the motor vehicle-side AVP system receives the first driving permission from the infrastructure-side AVP system, the motor vehicle can assume that it can drive out without collision.

[0096] The check whether the motor vehicle can be driven out without collision is performed, for example, by using one or more environmental sensors of the parking lot, by means of which the surroundings of the motor vehicle are detected in order to detect a possible collision object. If the collision object is detected, the first driving permission is not sent to the motor vehicle. That is, the first driving permission is not sent as soon as the possible collision object is present.

[0097] In one embodiment of the method according to the second aspect, it is provided that the execution of the handover process includes receiving a switching request from a motor vehicle via an infrastructure-side AVP system, wherein, in response to the receipt of the switching request, the infrastructure-side AVP system checks the handover conditions that must be met for the switching, wherein, in the event of a successful check, a target location and a suggestion for a route to the target location are determined by the infrastructure-side AVP system and sent to the motor vehicle.

[0098] The technical advantage achieved thereby, for example, is that the infrastructure-side AVP system can efficiently ensure that certain conditions, handover prerequisites, are met before the vehicle is allowed to switch to the first AVP operating mode. Thus, it can be efficiently ensured on the infrastructure side that continued driving according to AVP type 1 is safe.

[0099] In one specific embodiment of the method according to the second aspect, it is provided that, if the handover process is not successfully concluded, the infrastructure-side AVP system sends the specification to the motor vehicle that the motor vehicle should continue to drive at least highly automated according to AVP type 2.

[0100] The technical advantage achieved thereby is, for example, that the motor vehicle can still continue the AVP process even if the handover process is unsuccessful. This is done according to AVP type 2.

[0101] The embodiments implemented in conjunction with the method according to the first aspect apply analogously to the method according to the second aspect and vice versa. This means that the technical functions and features of the method according to the second aspect are derived from the corresponding technical functions of the method according to the first aspect and vice versa.

[0102] Transmission and reception in the context of this specification are, for example, transmission and reception via one or more communication networks, such as WLAN networks or mobile networks.

[0103] The vehicle-side AVP system is, for example, programmed to execute a computer program according to the fifth aspect, which includes instructions which, when the computer program is executed by a computer, cause the computer to execute the method according to the first aspect.

[0104] The infrastructure-side AVP system is, for example, programmed to execute a computer program according to the fifth aspect, which includes instructions that, when the computer program is executed by a computer, cause the computer to execute the method according to the second aspect.

[0105] The method according to the first aspect and / or the method according to the second aspect is, for example, a computer-implemented method.

[0106] The motor vehicle, for example, includes one or more environmental sensors. The environmental sensors may also be referred to as motor vehicle environmental sensors. The environmental sensors, for example, include an AVP system on the motor vehicle side. The motor vehicle environmental sensor mechanism, for example, includes one or more of the environmental sensors.

[0107] The AVP system includes, for example, one or more environmental sensors, which are spatially distributed and arranged in the parking lot. The environmental sensors may be referred to as infrastructure environmental sensors, for example. The infrastructure environmental sensor mechanism includes, for example, one or more infrastructure environmental sensors.

[0108] An environmental sensor, ie a motor vehicle environmental sensor or an 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.

[0109] The embodiments and exemplary embodiments described here can be combined with one another in any desired manner, even if this is not explicitly described.

[0110] In one embodiment of the method according to the first aspect, it is provided that the execution of the handover procedure comprises receiving a handover confirmation on the vehicle side from the infrastructure-side AVP system via the vehicle-side AVP system.

[0111] In one embodiment of the method according to the second aspect, it is provided that the execution of the handover process comprises sending a handover confirmation to the motor vehicle via the infrastructure-side AVP system.

[0112] In one embodiment, the vehicle-side AVP system comprises a control unit for at least highly automated control of the lateral and longitudinal guidance of the vehicle.

[0113] According to the approach described here, it is generally provided, for example, that an AVP procedure is started in the second AVP operating mode and / or is ended in the second AVP operating mode.

[0114] At this point it is worth noting that if it is specified above and / or below that the motor vehicle performs a certain step or a plurality of certain steps, this means that these steps are performed using the motor vehicle-side AVP system. Therefore, the method steps of the method according to the first aspect are performed by the motor vehicle AVP system.

[0115] Accordingly, the method steps of the method according to the second aspect are performed by using the infrastructure-side AVP system, in particular by the infrastructure-side AVP system.

[0116] Instead of the term “handover”, the term “transfer” can also be used.

[0117] The infrastructure-side AVP system according to the method of the second aspect is an AVP system for infrastructure, especially parking lots, according to the fifth aspect. That is, when the AVP system is implemented in infrastructure, especially parking lots, the AVP system according to the fifth aspect can be called an infrastructure-side AVP system.

[0118] The vehicle-side AVP system of the method according to the first aspect is the AVP system for a vehicle according to the third aspect. That is, when the AVP system is implemented in a vehicle, the AVP system according to the third aspect may be referred to as a vehicle-side AVP system.

[0119] A method within the meaning of this description is carried out, for example, with the aid of a corresponding AVP system. BRIEF DESCRIPTION OF THE DRAWINGS

[0120] The present invention will be described in detail below with the aid of preferred embodiments.

[0121] Figure 1 A flow chart showing a method according to the first aspect,

[0122] Figure 2 A flow chart showing a method according to the second aspect,

[0123] Figure 3 An AVP system according to a third aspect is shown,

[0124] Figure 4 An AVP system according to a fifth aspect is shown,

[0125] Figure 5 A machine-readable storage medium according to the seventh aspect is shown,

[0126] Figures 6 to 8 The parking lots are shown separately.

[0127] Fig. 9 A block diagram showing a process flow of an AVP process according to the scheme described herein, and

[0128] Figures 10 to 13 Shown separately Fig. 9 Additional details of the process flow are shown.

[0129] The same reference numerals may be used below for the same features. DETAILED DESCRIPTION

[0130] Figure 1A flow chart of a method for at least highly automated driving of a motor vehicle in a parking lot by using a motor vehicle-side AVP system is shown, wherein the motor vehicle can be operated in a first AVP operating mode and in a second AVP operating mode, wherein in the first AVP operating mode, the motor vehicle drives at least highly automated according to AVP type 1, and in the second AVP operating mode, the motor vehicle drives at least highly automated according to AVP type 2, wherein AVP type 1 is a motor vehicle-centric AVP process, wherein AVP type 2 is an infrastructure-centric AVP process, and the method comprises the following steps:

[0131] The motor vehicle is operated in the second AVP operating mode 101 by the motor vehicle-side AVP system, so that the motor vehicle drives in the parking lot at least highly automatically according to AVP type 2 with the support of the infrastructure-side AVP system.

[0132] When the motor vehicle arrives at the handover area of ​​the parking lot, a handover process is performed 103 by the motor vehicle-side AVP system to allow the motor vehicle to be switched from the second AVP operating mode to the first AVP operating mode,

[0133] When the handover process is successfully performed, the vehicle-side AVP system switches 105 from the second AVP operating mode to the first AVP operating mode.

[0134] After the switch, the motor vehicle is operated 107 in the first AVP operating mode by the motor vehicle-side AVP system, so that the motor vehicle drives in the parking lot at least in a highly automated manner according to AVP type 1 .

[0135] Operation of the motor vehicle in the first AVP operating mode and / or in the second AVP operating mode by the motor vehicle-side AVP system, for example, includes at least highly automated control of the transverse and longitudinal guidance of the motor vehicle by the motor vehicle-side AVP system, i.e., the motor vehicle-side AVP system assumes the transverse and longitudinal guidance of the motor vehicle.

[0136] Figure 2 A flow chart of a method for infrastructure-supported assistance of a motor vehicle during at least highly automated driving in a parking lot by using an infrastructure-side AVP system is shown, wherein the motor vehicle can be operated in a first AVP operating mode and in a second AVP operating mode, wherein in the first AVP operating mode the motor vehicle drives at least highly automated according to AVP type 1, and in the second AVP operating mode the motor vehicle drives at least highly automated according to AVP type 2, wherein AVP type 1 is a motor vehicle-centric AVP process, wherein AVP type 2 is an infrastructure-centric AVP process, and the method comprises the following steps:

[0137] The infrastructure-side AVP system performs infrastructure-side assistance 201 for the motor vehicle so that the motor vehicle is operated in the second AVP operating mode, so that the motor vehicle can be driven in the parking lot at least highly automatically according to AVP type 2 with the support of the infrastructure-side AVP system.

[0138] When the motor vehicle arrives at the handover area of ​​the parking lot, a handover process is performed 203 by the infrastructure-side AVP system to allow the motor vehicle to be switched from the second AVP operating mode to the first AVP operating mode,

[0139] When the handover process is successfully performed, the following specifications are sent 205 to the motor vehicle via the infrastructure-side AVP system, namely that the motor vehicle should continue to drive at least highly automatically according to AVP type 1, thereby allowing the motor vehicle to be switched from the second AVP operating mode to the first AVP operating mode and to be operated in the first AVP operating mode after the switch, so that the motor vehicle can drive in the parking lot at least highly automatically according to AVP type 1.

[0140] The infrastructure-side assistance of the motor vehicle by the infrastructure-side AVP system comprises, for example, the transmission of infrastructure assistance data to the motor vehicle.

[0141] The infrastructure auxiliary data include, for example, a target trajectory to be driven by the motor vehicle. The infrastructure auxiliary data include, for example, driving instructions. The infrastructure auxiliary data include, for example, an object list of objects in the environment of the motor vehicle. The infrastructure auxiliary data include, for example, a digital environment model of the environment of the motor vehicle. The infrastructure auxiliary data include, for example, environment data, which represent or describe the environment of the motor vehicle.

[0142] Figure 3 The vehicle-side AVP system 300 according to the third aspect is shown, and the vehicle-side AVP system is included in a vehicle 301 according to the fourth aspect. The AVP system 300 is configured to perform all steps of the method according to the first aspect.

[0143] The vehicle-side AVP system 300 includes, for example, a camera 303 including an image sensor 305. The camera 303 is arranged on the roof side of the vehicle 301.

[0144] The vehicle-side AVP system 300, for example, further includes a first radar sensor 307, which is arranged at the front side of the vehicle 301. The vehicle-side AVP system 300, for example, further includes a second radar sensor 309, which is arranged at the rear side of the vehicle 301. The vehicle-side AVP system 300, for example, further includes an ultrasonic sensor 311, which is arranged at the side of the vehicle 301.

[0145] Thus, the vehicle-side AVP system 300 includes a vehicle environment sensor system, which includes a plurality of environment sensors: an image sensor 305 , radar sensors 307 , 309 and an ultrasonic sensor 311 .

[0146] The environmental sensors detect the environment of the motor vehicle and output environmental sensor data based on the detection to a control unit 313 of the motor vehicle AVP system 300. The control unit 313 processes the environmental sensor data in order to guide the motor vehicle at least in a highly automated manner.

[0147] The vehicle-side AVP system 300 further includes a wireless communication interface 315 configured to communicate with an infrastructure-side AVP system (not shown).

[0148] Communication in the sense of this specification includes sending and receiving.

[0149] It is worth noting at this point that the alternative Figure 3 More, fewer and / or additional environmental sensors may be provided in addition to or in addition to the environmental sensors shown in FIG.

[0150] In one specific embodiment (not shown), it is provided that the vehicle-side AVP system 300 does not include a vehicle surroundings sensor. In this case, the vehicle surroundings sensor is already part of the vehicle 301 .

[0151] Figure 4 An AVP system 401 for an infrastructure, in particular a parking lot, is shown. The infrastructure-side AVP system 401 is configured to perform all steps of the method according to the second aspect.

[0152] The AVP system 401 includes, for example, a camera 403, which includes an image sensor 405. The AVP system 401 includes, for example, a radar sensor 407.

[0153] The environmental sensors are spatially distributed in a parking lot (not shown) and respectively detect areas of the parking lot. Environmental sensor data of the environmental sensors based on the detection are output to a data processing device 409, which processes the environmental sensor data and determines, for example based on the infrastructure assistance data, assistance for at least a highly automated motor vehicle within the framework of an AVP process.

[0154] It is worth noting at this point that the alternative Figure 4 More, fewer and / or additional environmental sensors may be provided in addition to or in addition to the environmental sensors shown in FIG.

[0155] The infrastructure-side AVP system 401 further includes a wireless communication interface 411 , which is configured to communicate with one or more at least highly automated motor vehicles in the parking lot.

[0156] The AVP system 401 includes, for example, a plurality of wireless communication interfaces 411 , which are spatially distributed and arranged in the parking lot to achieve sufficient radio coverage.

[0157] The data processing device 409 may, for example, include one or more servers, wherein, for example, the one or more servers may be implemented in a cloud infrastructure.

[0158] In one embodiment not shown, it is provided that the AVP system 401 does not include infrastructure environment sensors. In this case, the infrastructure environment sensors are already part of the parking lot.

[0159] In particular, the area of ​​the parking lot in which the motor vehicle is to be driven or is to be driven according to AVP type 1 is not equipped with the infrastructure surroundings sensor.

[0160] Figure 5 A machine-readable storage medium 501 according to the sixth aspect is shown, on which a computer program 503 according to the fifth aspect is stored.

[0161] Figures 6 to 8 Parking lots are shown separately. Figure 6 Specifically, the first parking lot 601 is shown. Figure 7 A second parking lot 701 is shown. Figure 8 A third parking lot 801 is shown.

[0162] Within the three parking lots 601 , 701 , 801 , a plurality of areas are defined or defined, wherein at least highly automated motor vehicles are to be driven within the scope of an AVP process according to AVP type 1 or according to AVP type 2 .

[0163] For according to Figure 6 and 7 Parking lot 601 , 701 defines four areas: a first area 603 , a second area 605 , a third area 607 and a fourth area 609 , which are each arranged directly adjacent to one another.

[0164] The first area 603 represents a drop-off area of ​​the parking lot 601 or 701. The driver of the motor vehicle hands over the motor vehicle or parks it in the drop-off area 603. The AVP process starts at the drop-off area.

[0165] Within the scope of the AVP procedure, for example, a motor vehicle is to move into fourth area 609 , since, according to the exemplary embodiment shown here, this represents a parking space in parking lot 601 or 701 .

[0166] A second area 605 and a third area 607 are defined between the drop-off area and the parking spaces.

[0167] For parking lot 3 801 follow Figure 8 Five regions are determined or defined: a first region 803 , a second region 805 , a third region 807 , a fourth region 809 , and a fifth region 811 .

[0168] The first area 803 indicates a drop-off area of ​​the third parking lot 801. The fifth area 811 indicates parking spaces of the third parking lot 801.

[0169] A second region 805, a third region 807, and a fourth region 809 are defined between the first region 803 and the fifth region 811. The five regions 803 to 811 are respectively arranged directly adjacent to each other.

[0170] exist Figures 6 to 8 611, each of which includes an image sensor 613. Figures 6 to 8 Each of the regions shown in shows one of the cameras 611. At this point it should be noted that, instead of the cameras 611 or in addition thereto, further and / or other environmental sensors can be provided.

[0171] The cameras 611 shown are intended to indicate whether the corresponding area is monitored by infrastructure environment sensors. If there is no such monitoring, the corresponding camera 611 is crossed out with an "X" with a reference symbol 615.

[0172] In areas where no infrastructure monitoring by infrastructure environment sensors is provided, the motor vehicle should be driven within the scope of the AVP procedure according to AVP type 1. For other areas, the motor vehicle should be driven according to AVP type 2.

[0173] Within the scope of the approach described here, provision is made before a switch from one AVP operating mode to another AVP operating mode to carry out a handover process when a handover region is reached.

[0174] Reference numeral 617 denotes a first handover area, which is also encompassed by the area in which the motor vehicle is to travel according to AVP type 2, ie, the area where monitoring by infrastructure surroundings sensors exists.

[0175] When the first handover area 617 is reached, a handover process is performed according to the above and / or below-described embodiments to switch from the second AVP operating mode to the first AVP operating mode.

[0176] Reference numeral 619 denotes a second handover area, which is encompassed by an area in which the motor vehicle is to travel according to AVP type 1, ie, where there is no monitoring by infrastructure surroundings sensors.

[0177] In the second handover region 619 , a further handover process is carried out similarly to the handover process corresponding to the first handover region in order to switch from the first AVP operating mode to the second AVP operating mode.

[0178] Therefore, according to Figures 6 to 8 The first handover zone 617 ends at the transition from the area in which the motor vehicle is traveling according to AVP type 2 to the directly adjacent area in which the motor vehicle is traveling according to AVP type 1.

[0179] Similarly, the second transfer area ends at the transition from the area in which the motor vehicle is to travel according to AVP type 1 to the adjacent area in which the motor vehicle is to travel according to AVP type 2 or at a boundary therebetween.

[0180] Fig. 9 A block diagram illustrating an exemplary AVP process flow according to the scheme described herein.

[0181] According to the first functional block 901, a request is issued after the AVP process is executed for the motor vehicle in the parking lot. For example, another attempt can be made for the AVP process that has been started but cancelled or suspended, instead of issuing a request.

[0182] This means that, for example, the driver of a motor vehicle can request an AVP procedure according to function block 901. This can also be performed by the vehicle itself, for example.

[0183] The AVP initialization process is specified in the second functional block 903 described below. After the AVP initialization process 903 is successfully executed, it is specified that the motor vehicle travels or operates according to AVP type 2 corresponding to the third functional block 905. This is followed by a fourth functional block 907, according to which a handover process is performed when the handover area is reached. When the handover process 907 is successfully carried out, it is specified that the motor vehicle operates in the first AVP operating mode according to the fifth functional block 909, so that the motor vehicle travels in the parking lot at least highly automatically according to AVP type 1. When reaching another handover area, another handover process according to the sixth functional block 911 is specified similarly to the fourth functional block 907 in order to switch back to the second AVP operating mode. After the successful execution of another handover process, the process continues in the third functional block 905 again.

[0184] When the target location is reached, the AVP process is terminated according to the seventh functional block 913. For example, the AVP process is terminated when the motor vehicle is parked or when the motor vehicle has arrived at a drop-off area and stopped there. The drop-off area is usually the area where the driver picks up his motor vehicle after the AVP process is completed.

[0185] Figures 10 to 13 More specifically, Fig. 9 One of the processes shown by the various functional blocks.

[0186] therefore, Fig.10 An exemplary AVP initialization process 903 is further shown in detail.

[0187] The AVP initialization process 903 includes a function block 1001, according to which a prerequisite check and a wake-up of the vehicle are performed. Specifically, the vehicle backend checks or verifies the AVP prerequisites together with the vehicle-side AVP system of the vehicle that should perform the AVP process and the operator backend. After successfully checking the AVP prerequisites, the vehicle backend wakes up the vehicle. The wake-up means starting the vehicle through the vehicle-side AVP system.

[0188] The motor vehicle backend is the backend of the motor vehicle manufacturer.

[0189] The operator backend is the backend of the operator of the AVP system on the infrastructure side.

[0190] The AVP prerequisites include, for example, one or more of the following conditions: The motor vehicle must be certified for AVP and in particular for AVP Type 1 and AVP Type 2. The motor vehicle must be ready for the AVP procedure. Ready means, in particular, that all components of the motor vehicle required for the AVP procedure must be ready. Ready means, in particular, that no faults exist or occur. The infrastructure-side AVP system must be ready for the AVP procedure. Ready means, in particular, that all components of the infrastructure-side AVP system required for the AVP procedure must be ready. Ready means, in particular, that no faults exist or occur.

[0191] Function block 1001 is followed by function block 1003, according to which one or more vehicle certificates are exchanged. Specifically, vehicle certificates or vehicle certificates are exchanged between the vehicle-side AVP system or the vehicle backend and the operator backend. By using the certificates, the operator backend can, for example, access one or more vehicle components.

[0192] Next is function block 1005, according to which a connection is established between the vehicle-side AVP system and the infrastructure-side AVP system. Specifically, the vehicle is wirelessly connected to the infrastructure system on the infrastructure side through the vehicle-side AVP system.

[0193] According to functional block 1007 , the infrastructure-side AVP system sends a digital map of the parking lot to the motor vehicle, whereby the motor vehicle-side AVP system can reliably locate the motor vehicle within the map. According to functional block 1009 , the positioning on the motor vehicle side is specified.

[0194] Specifically, the vehicle is positioned in the digital map by the vehicle-side AVP system, in particular accurately, ie reliably, so as to determine the current posture of the vehicle with respect to the digital map. The current posture determined on the vehicle side is sent to the infrastructure-side AVP system by the vehicle-side AVP system.

[0195] The infrastructure-side AVP system verifies or checks the current position transmitted by the motor vehicle by, for example, determining the position of the motor vehicle itself.

[0196] Furthermore, the infrastructure-side AVP system identifies the vehicle based on the current posture determined on the vehicle side and the current posture of the vehicle determined on the infrastructure side, as specified in functional block 1009. This means that if the two postures are consistent from the perspective of the infrastructure-side AVP system, the vehicle can be correctly or successfully identified.

[0197] The infrastructure-side AVP system sends a confirmation of successful identification to the vehicle.

[0198] The access token is coordinated according to the subsequent functional block 1011. Specifically, this means coordination of the motor vehicle inspection authorization.

[0199] After successful vehicle identification, the OEM backend (vehicle backend) generates a token for coordinating the authorization. The token is forwarded to the stolen vehicle, both directly from the OEM backend to the vehicle and via the OEM backend to the AVP backend and from the AVP backend directly or indirectly to the vehicle. Indirectly means that the token is forwarded, for example, to the parking lot management system of the parking lot and from there to the infrastructure-side AVP system and from there to the vehicle. The vehicle compares the two tokens. This serves as confirmation of the connection to the correct infrastructure.

[0200] A successful comparison is reported directly from the vehicle to the OEM backend through the same channel by which the vehicle received the token.

[0201] In the subsequent functional block 1013 , time synchronization, a so-called clock comparison, is performed between the vehicle-side AVP system and the infrastructure-side AVP system.

[0202] According to the subsequent functional block 1015 , the infrastructure-side AVP system checks the collision-free exit of the motor vehicle. This means in particular that the infrastructure-side AVP system checks the surroundings of the motor vehicle with respect to collision-free exit by using one or more infrastructure surroundings sensors.

[0203] Only when there is a collision-free departure of the motor vehicle, the infrastructure-side AVP system sends the first driving permission according to function block 1017, so that the motor vehicle-side AVP system switches the motor vehicle to the second AVP operating mode according to function block 1019, so that the motor vehicle departs at least highly automatically according to AVP type 2, in particular from the drop-off area.

[0204] Fig.11 Specifically, travel according to AVP type 2 is shown.

[0205] According to function block 1101 , it is provided that the vehicle-side AVP system locates the vehicle while the vehicle is being driven in the parking lot at least in a highly automated manner according to AVP type 2. The location is in particular carried out continuously.

[0206] According to function block 1101 , it is further provided that the infrastructure-side AVP system locates the motor vehicle, in particular continuously, during at least highly automated driving according to AVP type 2 .

[0207] Based on the positioning on the infrastructure side, the AVP system on the infrastructure side can check whether the target trajectory predetermined for the motor vehicle is followed according to the function block 1103 immediately following the function block 1101. Thus, based on the positioning on the infrastructure side, the AVP system can check whether the actual trajectory of the motor vehicle is consistent with the target trajectory. The target trajectory is planned by the AVP system on the infrastructure side.

[0208] According to a function block 1105 following function block 1103 , it is provided that the vehicle-side AVP system carries out, in particular continuously carries out, a time synchronization with the infrastructure-side AVP system.

[0209] The motor vehicle complies with the driving regulations of the infrastructure system, ie, the AVP system on the infrastructure side.

[0210] Since the vehicle-side AVP system locates the vehicle during at least highly automated driving of the vehicle in the parking lot according to AVP type 2, the vehicle-side AVP system can detect the vehicle on the vehicle side when the vehicle arrives at the handover area.

[0211] Function blocks 1101 , 1103 and 1105 are executed continuously in this manner until the motor vehicle has reached the handover area.

[0212] Upon reaching the handover area, a handover procedure 907 is defined.

[0213] Fig.12 The handover process is specifically shown.

[0214] As already described, the arrival of the handover area is detected by the vehicle-side AVP system of the vehicle according to functional block 1201. This is based on the positioning on the vehicle side. Thus, according to the further functional block 1203, it is determined that the vehicle has arrived at the handover area.

[0215] In the following functional block 1205, the vehicle-side AVP system checks or verifies the handover prerequisites. If the check is successful, the vehicle-side AVP system 7 requests a handover from the infrastructure-side AVP system according to the following functional block 120. This means that the vehicle-side AVP system sends a handover request 1209 to the infrastructure-side AVP system.

[0216] According to functional block 1211, the infrastructure-side AVP system checks the handover prerequisites in response to the handover request 1209. If the check is successful, the infrastructure-side AVP system determines the target position of the motor vehicle and determines a suggestion for a route to the target position according to a further functional block 1213. According to functional block 1213, the determined suggestion and the determined target position are sent from the infrastructure-side AVP system to the motor vehicle.

[0217] According to the function block 1215, the infrastructure-side AVP system then confirms the handover. Specifically, the infrastructure-side AVP system sends a handover confirmation 1217 to the vehicle.

[0218] After sending the switch confirmation 1217, it is provided that according to a further functional block 1219, the infrastructure-side AVP system sends the following specification 1221 to the motor vehicle, i.e., in which AVP operating mode the motor vehicle should continue to drive. Thus, the specification can be, for example, that the motor vehicle is already continuing to drive according to AVP type 2, i.e., switching to the first AVP operating mode is not allowed. Alternatively, the specification can be that the motor vehicle switches to allow continuing to drive according to AVP type 1.

[0219] In the latter case, the motor vehicle is switched according to function block 909 and is driven at least highly automated according to AVP type 1 .

[0220] Fig.13 Specifically, at least highly automated driving according to AVP type 1 is shown.

[0221] During at least highly automated driving according to AVP type 1, it is provided according to function block 1301 that the vehicle-side AVP system positions the vehicle in the parking lot, in particular continuously.

[0222] According to function block 1303, the vehicle-side AVP system guides the vehicle at least highly automatically so that the vehicle follows, in particular accurately follows, the proposed route to the target location. If the vehicle-side AVP system detects an obstacle on the proposed route by using the vehicle's own environmental sensor system, according to function block 1303, the vehicle-side AVP system replans the originally proposed route and continues to drive to the target location at least highly automatically according to AVP type 1 based on the replanned route.

[0223] When the further handover region is reached, a further handover process is specified according to the sixth functional block 911 in a manner similar to the fourth functional block 907 in order to switch back to the second AVP operating mode. If the further handover process is successfully performed, the process continues again in the third functional block 905 .

[0224] According to function block 1305 , the vehicle-side AVP system checks the surroundings of the vehicle with respect to possible obstacles using the vehicle's own surroundings sensor system in order to avoid a collision with these obstacles.

[0225] In summary, the approach described here is based in particular on the existence of one or more areas in the parking lot in which the motor vehicle is to be driven or is driven according to AVP type 1. The AVP process begins with at least highly automated driving according to AVP type 2. The AVP process ends with at least highly automated driving according to AVP type 2.

[0226] In areas where the motor vehicle is to be driven according to AVP type 1, for example, no infrastructure environment sensors are provided. That is to say, there is no infrastructure monitoring in these areas. In these areas, the motor vehicle is driven in a motor vehicle-centric manner and therefore drives through the infrastructure without support.

[0227] A particular advantage of the approach described here is that at any one time only one party or one authority, namely the motor vehicle or the infrastructure, namely the vehicle-side AVP system or the infrastructure-side AVP system, is responsible for at least highly automated driving and thus exercises this responsibility solely.

Claims

1. A method for at least highly automated driving of a motor vehicle (301) in a parking lot (601, 701, 801) by using an AVP system (300) on the motor vehicle side, wherein: The motor vehicle (301) can be operated in a first AVP operating mode and in a second AVP operating mode, wherein in the first AVP operating mode, the motor vehicle (301) is driven at least highly automatically according to AVP type 1, and in the second AVP operating mode, the motor vehicle (301) is driven at least highly automatically according to AVP type 2, wherein AVP type 1 is a motor vehicle-centric AVP process, wherein AVP type 2 is an infrastructure-centric AVP process, and the method comprises the following steps: The motor vehicle (301) is operated in the second AVP operating mode (101) by the motor vehicle-side AVP system (300), so that the motor vehicle (301) drives in the parking lot (601, 701, 801) at least highly automatically according to AVP type 2 with the support of the infrastructure-side AVP system (401), When the motor vehicle (301) arrives at a handover area (617) of the parking lot (601, 701, 801), a handover process (907) is performed (103) by the motor vehicle-side AVP system (300) to allow the motor vehicle (301) to be switched from the second AVP operating mode to the first AVP operating mode, When the handover process (907) is successfully performed, the vehicle-side AVP system (300) switches (105) from the second AVP operating mode to the first AVP operating mode, After the switch, the motor vehicle (301) is operated (107) in the first AVP operating mode by the motor vehicle-side AVP system (300), so that the motor vehicle (301) drives in the parking lot (601, 701, 801) at least highly automatically according to AVP type 1.

2. The method according to claim 1, wherein: Before the motor vehicle (301) operates in the second AVP operating mode, an AVP initialization process (903) is performed by the motor vehicle-side AVP system (300), wherein after the AVP initialization process (903) is successfully completed, the motor vehicle (301) is switched to the second AVP operating mode.

3. The method according to claim 2, wherein: The execution of the AVP initialization process (903) includes the motor vehicle side positioning of the motor vehicle (301) by the motor vehicle side AVP system (300) in order to determine the current posture of the motor vehicle (301), wherein the current posture of the motor vehicle (301) is sent to the infrastructure side AVP system (401) by the motor vehicle side AVP system (300), whereby the infrastructure side AVP system (401) can check the posture of the motor vehicle (301) determined on the motor vehicle side in order to identify the motor vehicle (301), wherein in order to successfully end the AVP initialization process (903), it is necessary to receive confirmation from the infrastructure side AVP system (401) regarding the successful identification of the motor vehicle (301) on the motor vehicle side through the motor vehicle side AVP system (300).

4. The method according to claim 3, wherein: The digital map of the parking lot (601, 701, 801) from the infrastructure-side AVP system (401) is received by the vehicle-side AVP system (300), and the vehicle (301) is positioned based on the digital map so as to determine the current posture of the vehicle (301) within the digital map.

5. A method according to any one of the preceding claims, wherein: During at least highly automated driving according to AVP type 2, the motor vehicle (301) is continuously located on the motor vehicle side by the motor vehicle-side AVP system (300), based on which the motor vehicle (301) is driven at least highly automated according to AVP type 2 by the motor vehicle-side AVP system (300).

6. A method according to any one of the preceding claims, wherein: During at least highly automated driving according to AVP type 2, the motor vehicle (301) is continuously positioned on the motor vehicle side by the motor vehicle side AVP system (300), based on which the arrival of the handover area (617) is detected on the motor vehicle side by the motor vehicle side AVP system (300), and the handover process (907) is initiated by the motor vehicle side AVP system (300).

7. A method according to any one of the preceding claims, wherein: The execution of the handover process (907) includes checking the handover conditions that must be met for the handover on the motor vehicle side through the motor vehicle side AVP system (300), wherein, upon successful checking, a handover request is sent on the motor vehicle side through the motor vehicle side AVP system (300) to the infrastructure side AVP system (401).

8. A method according to any one of the preceding claims, wherein: The execution of the handover process (907) includes receiving a target location and a suggestion for a route to the target location from the infrastructure-side AVP system (401) on the motor vehicle side through the motor vehicle-side AVP system (300), and based on the suggestion, causing the motor vehicle (301) to drive at least highly automatically according to AVP type 1 after the handover through the motor vehicle-side AVP system (300).

9. The method according to claim 8, wherein: During at least highly automated driving according to AVP type 1, the motor vehicle side detects the environment of the motor vehicle (301) by using a motor vehicle environment sensor mechanism, wherein when an obstacle detected by the motor vehicle environment sensor mechanism is detected on the motor vehicle side, the motor vehicle side AVP system (300) replans a suggested route to avoid the obstacle, so that the motor vehicle (301) drives to the target location at least highly automated according to AVP type 1 based on the replanned route by the motor vehicle side AVP system (300).

10. A method according to any one of the preceding claims, wherein: At the end of the handover process (907), the motor vehicle side receives the following specifications from the infrastructure side AVP system (401) via the motor vehicle side AVP system (300), namely, according to which AVP type the motor vehicle (301) should continue to drive at least highly automatically, wherein the specifications are followed on the motor vehicle side via the motor vehicle side AVP system (300).

11. A method for infrastructure-supported assistance of a motor vehicle (301) during at least highly automated driving in a parking lot (601, 701, 801) by using an infrastructure-side AVP system (401), wherein: The motor vehicle (301) can be operated in a first AVP operating mode and in a second AVP operating mode, wherein in the first AVP operating mode, the motor vehicle (301) is driven at least highly automatically according to AVP type 1, and in the second AVP operating mode, the motor vehicle (301) is driven at least highly automatically according to AVP type 2, wherein AVP type 1 is a motor vehicle-centric AVP process, wherein AVP type 2 is an infrastructure-centric AVP process, and the method comprises the following steps: The infrastructure-side AVP system (401) performs infrastructure-side assistance (201) on the motor vehicle (301) so that the motor vehicle (301) operates in the second AVP operating mode, so that the motor vehicle (301) can be driven in the parking lot (601, 701, 801) at least highly automatically according to AVP type 2 with the support of the infrastructure-side AVP system (401), When the motor vehicle (301) arrives at a handover area (617) of the parking lot (601, 701, 801), a handover process (907) is performed (203) by the infrastructure-side AVP system (401) to allow the motor vehicle (301) to be switched from the second AVP operating mode to the first AVP operating mode, When the handover process (907) is successfully executed, the following specifications are sent (205) to the motor vehicle (301) via the infrastructure-side AVP system (401), namely that the motor vehicle (301) should continue to drive at least highly automatically according to AVP type 1, thereby allowing the motor vehicle (301) to be switched from the second AVP operating mode to the first AVP operating mode and to be able to operate in the first AVP operating mode after the switch, so that the motor vehicle (301) can drive at least highly automatically according to AVP type 1 in the parking lot (601, 701, 801).

12. The method according to claim 11, wherein: Before the motor vehicle (301) is assisted on the infrastructure side, an AVP initialization process (903) is performed by the infrastructure-side AVP system (401), wherein, when the AVP initialization process (903) is successfully completed, the infrastructure-side AVP system (401) sends a first driving permission to the motor vehicle (301), thereby allowing the motor vehicle to be switched to the second AVP operating mode.

13. The method according to claim 12, wherein: The execution of the AVP initialization process (903) includes receiving the current posture of the motor vehicle (301) determined on the motor vehicle side from the motor vehicle (301) through the infrastructure-side AVP system (401), wherein the motor vehicle (301) is positioned through the infrastructure-side AVP system (401) so as to determine the current posture of the motor vehicle (301) on the infrastructure side, wherein the current posture determined on the infrastructure side is compared with the current posture determined on the motor vehicle side through the infrastructure-side AVP system (401) so as to identify the motor vehicle (301), wherein, based on the comparison, a confirmation of successful identification of the motor vehicle (301) is sent to the motor vehicle (301) through the infrastructure-side AVP system (401).

14. The method according to claim 13, wherein: The digital map of the parking lot (601, 701, 801) is sent to the motor vehicle (301) via the infrastructure-side AVP system (401), and the motor vehicle (301) can be located based on the digital map.

15. The method according to any one of claims 12 to 14, wherein: The execution of the AVP initialization process (903) includes checking, by the infrastructure-side AVP system (401), whether the motor vehicle (301) can be driven out without collision, wherein the first driving permission is sent only when it is possible to drive out without collision.

16. The method according to any one of claims 11 to 15, wherein: The execution of the handover process (907) includes receiving a handover request from the motor vehicle (301) through the infrastructure-side AVP system, wherein, in response to receiving the handover request, the infrastructure-side AVP system (401) checks the handover conditions that must be met for the handover, wherein, upon successful checking, a target location and a suggestion for a route to the target location are determined by the infrastructure-side AVP system (401) and sent to the motor vehicle (301).

17. The method according to any one of claims 11 to 16, wherein: If the handover process (907) is not successfully concluded, the infrastructure-side AVP system (401) sends the following specification to the motor vehicle (301), namely that the motor vehicle (301) should continue to drive at least highly automated according to AVP type 2.

18. An AVP system (300) for a motor vehicle (301), the AVP system being configured to perform all steps of the method according to any one of claims 1 to 10.

19. A motor vehicle (301) comprising the AVP system (300) according to claim 18.

20. An AVP system (401) for an infrastructure, in particular a parking lot, the AVP system being configured to perform all steps of the method according to any one of claims 11 to 17.

21. 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 17.

22. A machine-readable storage medium (501) on which a computer program (503) according to claim 21 is stored.

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