Method and driver assistance device for assisting in performing return driving maneuver

Abstract

Embodiments of the present disclosure relate to a method and a driver assistance device for assisting in performing a return driving maneuver. The invention relates to a driver assistance device for assisting in the execution of a return driving maneuver of a motor vehicle on the basis of a correspondingly recorded forward driving maneuver. The driver assistance device is configured to detect that the motor vehicle deviates from a travel trajectory of the return driving maneuver and is now located at an ambient position around the travel trajectory of the return driving maneuver. The driver assistance device is also configured to check, at the ambient position, whether the motor vehicle can be automatically guided back to the travel trajectory of the return driving maneuver starting from the ambient position, and to determine whether the motor vehicle can be automatically guided back to the travel trajectory of the return driving maneuver from the ambient position, if it is determined that the motor vehicle can be automatically guided back to the travel trajectory of the return driving maneuver from the ambient position. If so, a proposal for automatically performing the return driving maneuver at the ambient location is output.

Description

Technical Field

[0001] The invention relates to a method and a corresponding driver assistance device which are intended for assisting a user of a (motor) vehicle when performing a corresponding return driving maneuver based on a previously recorded outbound driving maneuver. Background Art

[0002] The vehicle may have an assistance device that enables a user of the vehicle to record and store a driving trajectory that was driven in manual driving mode. The driving trajectory may relate to a parking maneuver of the vehicle, during which the vehicle is driven into a parking space (in particular a transverse or longitudinal parking space). The recorded and stored driving trajectory may be used at a later point in time to automatically guide the vehicle along the stored driving trajectory to the same parking space or to drive out of the parking space along a trajectory determined based on the stored driving trajectory. As a result, the comfort of the vehicle with respect to carrying out the parking maneuver may be increased.

[0003] It may happen that the user has already started a driving maneuver (in particular a maneuvering maneuver) during manual driving operation and only decides at a later point in time to have the driving maneuver performed automatically. Summary of the invention

[0004] The technical object of this document is to enable a previously recorded driving maneuver to be executed as robustly as possible, in particular in order to increase the usability and comfort of a driver assistance device for repeatedly executing a recorded driving maneuver. In this case, the robustness should be increased in particular when executing a return driving maneuver based on a previously recorded outbound driving maneuver.

[0005] This task is solved by each independent claim. Advantageous embodiments are described in particular in the dependent claims. It should be pointed out that the additional features of the patent claims that are subordinate to the independent patent claims can form a separate invention and an invention that is independent of the combination of all the features of the independent patent claims without the features of the independent patent claims or only in combination with a partial amount of the features of the independent patent claims, which invention can become the subject of an independent claim, a divisional application or a subsequent application. The same applies to the technical teachings described in the specification, which can form an invention that is independent of the features of the independent patent claims.

[0006] According to one aspect, a driver assistance device is described for assisting in carrying out a recorded driving maneuver, in particular a parking maneuver, of a (motor) vehicle. The purpose of the driving maneuver may be to guide the vehicle into a defined parking space or to guide it out of a defined parking space. The driver assistance device may be designed in particular to assist in carrying out a return driving maneuver of the motor vehicle based on the corresponding recorded outbound driving maneuver.

[0007] The driver assistance device can be configured to record a trajectory traveled by the vehicle when performing a (forward) driving maneuver in order to determine the recorded trajectory (and store it in a storage unit of the vehicle). In this case, in the recording mode, the longitudinal and / or (in particular) transverse guidance of the vehicle can be manually initiated by the driver of the vehicle when performing the driving maneuver.

[0008] Within the scope of recording trajectory data (of the onward driving maneuver), trajectory data can be detected and recorded. The trajectory data can be specified for a plurality of points and / or positions along the driving trajectory (starting from the starting position to the end position of the trajectory and with a certain spatial resolution, for example at least one point and / or position per 10 cm or per 50 cm or per meter):

[0009] - coordinates of each location;

[0010] - the orientation and / or direction of the vehicle at each location; and / or

[0011] - The speed of the vehicle at each location.

[0012] The trajectory data of the driving trajectory (outbound driving maneuver) can be stored in a storage unit of the vehicle. In addition, the trajectory data can also be used in a playback mode (of the driver assistance device) to automatically guide the vehicle along a driving trajectory based on the recorded driving trajectory (of the outbound driving maneuver) (with automatic lateral guidance and, if necessary, automatic longitudinal guidance). The end position of the recorded driving trajectory can be located at a parking space for the vehicle. The starting position can be located at the entrance to a parking area (e.g. a parking garage or a parking lot).

[0013] Thus, the recorded and stored driving trajectory of the recorded outbound driving maneuver can be used to guide the vehicle in the opposite direction with automatic transverse guidance (and, if necessary, automatic longitudinal guidance) from the end position to the starting position. Thus, the recorded driving trajectory of the outbound driving maneuver, in particular the trajectory data, can be used for the automatic return of the vehicle.

[0014] Therefore, the recorded (outbound) driving maneuver may include outbound travel from a starting position to an end position. The outbound travel may be performed in the forward direction of the motor vehicle if necessary. Automatically performing a return driving maneuver corresponding to the recorded outbound driving maneuver may include return travel from the end position to the starting position. The return travel may be performed in the return direction of the motor vehicle if necessary. The driver assistance device may be configured to determine a driving trajectory for the return driving maneuver based on the outbound driving maneuver and / or based on the driving trajectory recorded during the outbound driving maneuver. Here, at least the end position of the outbound driving maneuver may be located on the driving trajectory of the return driving maneuver. The end position of the outbound driving maneuver may correspond to the position where the driving trajectory of the return driving maneuver begins.

[0015] It should be noted that the term "driving trajectory" can define a series of positions that are reached or should be reached in succession during a driving maneuver. Therefore, a driving trajectory can define a driving path. Therefore, the term "driving trajectory" in this document can be understood as a driving path. In particular, a driving trajectory can be a driving path.

[0016] The driver assistance device is configured to detect that the motor vehicle deviates from the driving trajectory of the return driving maneuver and is now located at an environmental position around the driving trajectory of the return driving maneuver. For example, the motor vehicle can deviate from the driving trajectory of the return driving maneuver from the end position of the outbound driving trajectory (i.e., the starting point of the driving trajectory of the return driving maneuver). Based on the position data of the GNSS (Global Navigation Satellite System) receiver of the motor vehicle and / or based on the sensor data of one or more environmental sensors (e.g., one or more cameras) of the motor vehicle and / or based on the mileage measurement data about the mileage measurement of the motor vehicle, it can be recognized that the motor vehicle deviates from the driving trajectory of the return driving maneuver. In addition, if necessary, the position (especially the distance) of the motor vehicle relative to the driving trajectory of the return driving maneuver can be determined.

[0017] The longitudinal and lateral guidance of the motor vehicle can be manually initiated by the driver of the motor vehicle. Thus (starting from the starting point of the driving trajectory of the return maneuver, which usually corresponds to the end position of the outbound driving maneuver), manual driving can be initiated by the driver along a manual trajectory, wherein the manual trajectory guides the motor vehicle away from the driving trajectory of the return driving maneuver.

[0018] Alternatively, the return maneuver can be automatically carried out (starting from the starting point of the driving trajectory of the return maneuver). In this case, the lateral guidance can be automatically brought about by the motor vehicle, while the longitudinal guidance can be brought about by the driver of the motor vehicle. This can cause the motor vehicle to deviate from the driving trajectory of the return maneuver.

[0019] It can thus be detected that the motor vehicle is guided away from the driving trajectory of the return driving maneuver (e.g., from the starting point of the driving trajectory of the return driving maneuver) along a trajectory from the driving trajectory of the return driving maneuver to the vicinity of the driving trajectory of the return driving maneuver (and thus deviates from the driving trajectory of the return driving maneuver). This actual driving trajectory of the motor vehicle can have a series of surrounding positions (wherein the individual surrounding positions are respectively located around the driving trajectory of the return driving maneuver). The (actually driven) trajectory can be a manual trajectory. Alternatively, the (actually driven) trajectory can be a trajectory caused when the return driving maneuver is automatically performed.

[0020] The driver assistance device can be configured to repeatedly determine the distance of the corresponding environmental position from the driving trajectory of the return driving maneuver at a single environmental position of a series of environmental positions along the (actually driven) trajectory, in particular along the manual trajectory, if necessary, and compare the distance with a distance threshold, for example, with a first distance threshold and / or with a second distance threshold. The second distance threshold can be greater than the first distance threshold. The first distance threshold can be, for example, 30 cm or less, for example 15 cm. The second distance threshold can be 40 cm or more, about 50 cm.

[0021] If the distance is equal to or less than the (second) distance threshold, it can be determined that the motor vehicle is located around the driving trajectory of the return driving maneuver. If the distance is greater than the (second) distance threshold, it can be determined that the motor vehicle is not (and if necessary no longer) located around the driving trajectory of the return driving maneuver. The distance can be the vertical distance between the corresponding environmental position and the driving trajectory of the recorded driving maneuver.

[0022] If it is detected that the motor vehicle is no longer located in the vicinity of the driving trajectory of the return driving maneuver, the output of a proposal for automatically carrying out the return driving maneuver can be suppressed (in principle and / or completely).

[0023] The driver assistance device is also configured to (repeatedly) check at individual environmental positions of a series of environmental positions along the (actually driven) trajectory, in particular along a manual trajectory, whether the motor vehicle can be automatically guided back to the driving trajectory of the return driving maneuver starting from the corresponding environmental position.

[0024] In this context, the driver assistance device can be configured to check at a corresponding environmental position of a series of environmental positions whether a return trajectory can be determined (or not), along which the motor vehicle can be automatically guided from the corresponding environmental position back to the driving trajectory of the return driving maneuver. In particular, it can be checked whether a return trajectory can be determined that meets one or more boundary conditions. The one or more boundary conditions can include:

[0025] - boundary conditions that no objects obstructing the motor vehicle are arranged on the return trajectory; and / or

[0026] - the return trajectory does not deviate from the boundary condition of the driving trajectory of the return driving maneuver by more than a maximum permissible distance (in particular a vertical distance) at any point; and / or

[0027] The limiting condition that the return trajectory does not exceed a maximum curvature at any point, for example a maximum permissible, achievable and / or possible curvature (which can still be achieved by the steering of the motor vehicle).

[0028] If a (valid) return trajectory (which satisfies one or more boundary conditions) can be determined, it can be determined that the motor vehicle can be automatically guided back to the driving trajectory of the return driving maneuver starting from the corresponding surrounding position. On the other hand, it can be determined that if a (valid) return trajectory (which satisfies one or more boundary conditions) cannot be determined, the motor vehicle cannot be automatically guided back to the driving trajectory of the return driving maneuver starting from the surrounding position.

[0029] The driver assistance device is further configured to output (in particular maintain) a proposal for automatically executing the return driving maneuver at a corresponding environmental position in the series of environmental positions if it is determined that the motor vehicle can be automatically guided back to the driving trajectory of the return driving maneuver from the corresponding environmental position. The proposal for automatically executing the return driving maneuver can be (continuously) output, in particular at a single environmental position in the series of environmental positions, as long as it is determined that the motor vehicle can be automatically guided back to the driving trajectory of the return driving maneuver from the corresponding environmental position. On the other hand, the proposal for automatically executing the return driving maneuver can be inhibited from one environmental position in the series of environmental positions after it is determined that the motor vehicle can no longer be automatically guided back to the driving trajectory of the return driving maneuver.

[0030] The driver assistance device can therefore be configured to check whether it is possible to automatically guide the vehicle back to the driving trajectory of the return driving maneuver (if necessary also during manual driving of the vehicle and / or without explicit activation of the driver assistance by the user of the vehicle). As a result, the robustness and usability of the automatically executed return driving maneuver can be increased.

[0031] The driver assistance device can be configured to repeatedly check at individual surrounding positions of a series of surrounding positions along the (actually driven) trajectory, in particular along a manual trajectory, whether the motor vehicle can be automatically guided back to the driving trajectory of the return driving maneuver starting from the corresponding surrounding position, in particular along a return trajectory (determined within the scope of the check),

[0032] - without previously activating a driving assistance for repeatedly performing the recorded driving maneuver; and / or

[0033] - without prior user input for activating duplicate checking.

[0034] If necessary, the driver of the motor vehicle can open the parking panel of the user interface, whereby the driver of the motor vehicle indicates that he is basically interested in automatically executing the previously recorded driving maneuver (or the return driving maneuver derived therefrom). However, a specific selection of the recorded driving maneuver (especially the return driving maneuver) may also not be performed.

[0035] Thus, a repetitive check of the driving trajectory of the motor vehicle automatically guided back to the return driving maneuver can be passively initiated in the background. Thus, the robustness and usability of the automatically executed return driving maneuver can be increased in a particularly comfortable and reliable manner.

[0036] As already explained above, the driver assistance device can be configured to repeatedly determine the distance between the corresponding environmental position and the driving trajectory of the return driving maneuver at a single environmental position in a series of environmental positions, and compare the distance with a (first and / or second) distance threshold. At an environmental position at which the distance is greater than the (second) distance threshold, in particular starting from this environmental position, a proposal for automatically executing the recorded driving maneuver can be prohibited. On the other hand, if necessary, the output of the proposal for automatically executing the recorded driving maneuver can only be realized when the distance is equal to or less than the (second) distance threshold. Therefore, the robustness of the automatic execution of the return driving maneuver can be further improved.

[0037] The driver assistance device can be configured to output a proposal for automatically executing a return driving maneuver at a corresponding environmental location in the sequence of environmental locations if, in particular as long as, the distance is equal to or less than a first distance threshold, without first checking whether the motor vehicle can be automatically guided back to the driving trajectory of the return driving maneuver from the corresponding environmental location.

[0038] Alternatively or additionally, the driver assistance device may be configured to prohibit checking whether the motor vehicle can be automatically guided back to the driving trajectory for returning to the driving maneuver from the corresponding environmental position if, in particular as long as, the distance is equal to or less than a first distance threshold. Alternatively or additionally, the driver assistance device may be configured to check whether the motor vehicle can be automatically guided back to the driving trajectory for returning to the driving maneuver from the corresponding environmental position only when the distance is greater than the first distance threshold (and less than a second distance threshold).

[0039] Therefore, it can be effectively assumed that the return driving maneuver can continue to be automatically executed when there is a relatively small deviation from the driving trajectory of the return driving maneuver. Therefore, the availability of the automatically executed return driving maneuver is further increased in an effective manner.

[0040] The driver assistance device can be configured to detect a user input (by a user, in particular a driver of a motor vehicle) regarding a proposal to accept an output. In response to the user input, the motor vehicle can be automatically guided back to a center position on the driving trajectory of the return driving maneuver, in particular along a (previously determined) return trajectory. The longitudinal guidance of the motor vehicle can be manually initiated by the driver of the motor vehicle. On the other hand, the transverse guidance of the motor vehicle can be automatically initiated by the motor vehicle.

[0041] Furthermore, it can be caused that the recorded driving maneuver is automatically executed starting from the neutral position. Thus, a particularly robust and reliable execution of the return driving maneuver can be caused.

[0042] The driver assistance device can be configured so that when executing the return driving maneuver, the lateral guidance of the motor vehicle is automatically initiated by the motor vehicle. On the other hand, it can be required that when executing the return driving maneuver, the longitudinal guidance of the motor vehicle is manually initiated by the driver of the motor vehicle.

[0043] As already explained, the driver assistance device can be configured to respectively detect the driver's movement at a single environmental position (for example at a single environmental position from a series of environmental positions on the (actually driven) trajectory).

[0044] - determining the distance between the corresponding surrounding position and the driving trajectory of the return driving maneuver and comparing it with a (first and / or second) distance threshold value; and / or

[0045] - A check is made as to whether the motor vehicle can be guided back to the driving trajectory of the return driving maneuver starting from the corresponding surrounding position (along the return trajectory).

[0046] On this basis, a proposal to carry out a return driving maneuver can then be output or inhibited at the corresponding surrounding location.

[0047] It may happen that the motor vehicle (for example after the interruption of the automatically executed return driving maneuver) stops at an environmental position formed by the driving trajectory of the return driving maneuver. The aspects described in this document can also (especially for this situation) be applied individually or in combination to a single environmental position (without reference to the manual driving trajectory).

[0048] Therefore, according to one aspect, another driver assistance device is described for assisting when executing a return driving maneuver of a motor vehicle based on a corresponding recorded outbound driving maneuver. The aspects described in this document, in particular with respect to the determined environmental position of the motor vehicle, can also be applied to the driver assistance device individually or in combination.

[0049] The driver assistance device can be configured to detect that the motor vehicle is located at an environmental position around the driving trajectory of the return driving maneuver (due to automatic or manual driving) (for example because the distance to the driving trajectory of the return driving maneuver is equal to or less than a second distance threshold). In particular, the driver assistance device can be configured to detect that the motor vehicle deviates from the driving trajectory of the return driving maneuver and is now located at an environmental position around the driving trajectory of the return driving maneuver.

[0050] The driver assistance device can also be arranged to check whether the motor vehicle can be automatically guided back from the surrounding position to the driving trajectory of the return driving maneuver. For this purpose, it can be checked whether a (valid) return trajectory can be obtained.

[0051] The driver assistance device may also be provided to output (in particular maintain) a proposal for automatically carrying out a return driving maneuver at the surrounding location if it is determined that the motor vehicle can be automatically guided back to a driving trajectory of the return driving maneuver starting from the surrounding location.

[0052] The driver assistance device can be configured to detect that the motor vehicle deviates from the driving trajectory of the return driving maneuver when automatically executing a return driving maneuver (the automatic execution being started, for example, at the starting point of the driving trajectory of the return driving maneuver), and that the automatic execution of the return driving maneuver is interrupted or has been interrupted at an environmental location around the driving trajectory of the return driving maneuver, in particular by the driver of the motor vehicle.

[0053] If it is determined that the motor vehicle can be automatically guided back to the driving trajectory of the return driving maneuver starting from the environmental position at which the automatic execution of the return driving maneuver was interrupted, a proposal can be output for continuing the automatic execution of the return driving maneuver at the environmental position. As a result, the availability and robustness of the automatic execution of the return driving maneuver can be further improved.

[0054] According to a further aspect, a (road) motor vehicle, in particular a passenger car, a truck, a bus or a motorcycle, is described which comprises at least one driver assistance device described in this document.

[0055] According to another aspect, a method for assisting a user, in particular a driver, when executing a return driving maneuver of a motor vehicle based on a correspondingly recorded outbound driving maneuver is described. The method includes detecting manual guidance of the motor vehicle along a manual trajectory around a driving trajectory of the return driving maneuver. In addition, the method also includes checking at a single environmental position in a series of environmental positions along the manual trajectory whether the motor vehicle can (or cannot) be automatically guided back to the driving trajectory of the return driving maneuver starting from the corresponding environmental position. In addition, the method also includes outputting (in particular maintaining) a proposal for automatically executing the return driving maneuver at an environmental position in the sequence of environmental positions if it is determined that the motor vehicle can be automatically guided back to the driving trajectory of the return driving maneuver starting from the environmental position.

[0056] According to another aspect, another method for assisting in the execution of a return driving maneuver of a motor vehicle based on a correspondingly recorded outbound driving maneuver is described. The other method includes detecting that the motor vehicle has deviated from the driving trajectory of the return driving maneuver and is now located at an environmental position around the driving trajectory of the return driving maneuver (i.e., spaced apart from the driving trajectory of the return driving maneuver). In addition, the method also includes checking whether the motor vehicle can be automatically guided from the environmental position (with automatic lateral guidance and, if necessary, manual longitudinal guidance) back to the driving trajectory of the return driving maneuver. The method also includes outputting (in particular maintaining) a proposal for automatically executing the return driving maneuver at the environmental position if it is determined that the motor vehicle can be automatically guided from the environmental position (with automatic lateral guidance and, if necessary, manual longitudinal guidance) back to the driving trajectory of the return driving maneuver.

[0057] According to another aspect, a software (SW) program is described. The software program can be configured to be executed on a processor, for example a control unit of a vehicle, in order to thereby perform one or more of the methods described in this document.

[0058] According to another aspect, a storage medium is described. The storage medium may include a software program that can be executed on a processor in order to thereby perform one or more of the methods described in this document.

[0059] It should be noted that the methods, devices and systems described in this document can be used alone or in combination with other methods, devices and systems described herein. In addition, any aspects of the methods, devices and systems described in this document can be combined with each other in a variety of ways. In particular, the features in the claims can be combined in a variety of ways. In addition, features listed in brackets should be understood as optional features. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] The present invention will be described in more detail with reference to the embodiments.

[0061] Figure 1 : Exemplary components of a vehicle;

[0062] Figure 2a : exemplary driving trajectories for recorded driving maneuvers, in particular parking maneuvers;

[0063] Figure 2b : An exemplary return trajectory for guiding the vehicle back onto the trajectory of a recorded driving maneuver;

[0064] Figure 2c : Exemplary obstacles on the return trajectory;

[0065] Figure 2d : Exemplary proposals for performing recorded driving maneuvers;

[0066] Figure 3 : A flow chart of an exemplary method for assisting in performing a return-to-drive maneuver; and

[0067] Figure 4 : An exemplary decision tree for outputting a proposal for automatically performing a return-to-driving maneuver. DETAILED DESCRIPTION

[0068] As explained at the outset, the present document relates to improving the comfort of a vehicle user when performing a driving maneuver, in particular a maneuvering maneuver, based on previously recorded driving maneuvers. Against this background, Figure 1 An exemplary vehicle 100 is shown having one or more environment sensors 102 (e.g., at least one camera, at least one radar sensor, at least one lidar sensor, at least one ultrasonic sensor, etc.), each of which is configured to detect environment data (i.e., sensor data) about the surroundings of vehicle 100. A control device 101 of vehicle 100 may be configured to evaluate the environment data in order to detect one or more objects in the surroundings of vehicle 100.

[0069] The device 101 can also be configured to operate one or more longitudinal and / or transverse guiding actuators 103 of the vehicle 100 (e.g., drive motors, brakes, and / or steering devices) in order to automatically guide the vehicle 100 longitudinally and / or transversely. One or more actuators 103 can be operated as a function of environmental data, in particular as a function of one or more detected objects.

[0070] The vehicle 100 may also include a user interface 104 that enables interaction between a user and the vehicle 100, for example, to activate or deactivate a driving assistance function and / or to notify a user about the status of a driving assistance function. The user interface 104 may include one or more operating elements and / or one or more output elements (e.g., a display screen).

[0071] The vehicle 100 may include a driver assistance system or a driver assistance device, which is configured to record a driving trajectory driven by the vehicle 100. The driving trajectory may be driven manually by a driver of the vehicle 100 and / or driven automatically by the vehicle 100. Trajectory data regarding the driving trajectory may be stored in a storage unit 105 of the vehicle 100. The trajectory data may be obtained based on sensor data from one or more sensors 102 of the vehicle 100. Exemplary sensors 102 are one or more environmental cameras, position sensors (e.g., receivers of a global navigation satellite system (GNSS)), speed sensors, steering sensors, etc. The trajectory data may be given for a plurality of positions (i.e., points) along the driving trajectory:

[0072] - coordinates of the respective position (for example relative to the Earth's coordinate system and / or relative to the coordinate system of vehicle 100 ), which coordinates can be ascertained, for example, using a GNSS sensor of vehicle 100 ;

[0073] - the orientation and / or direction of the vehicle 100 at each location; and / or

[0074] - The driving speed of the vehicle 100 at each location.

[0075] The recording of the driving trajectory can be explicitly started and / or stopped by the user of the vehicle 100 (via the user interface 104). Therefore, the starting position and / or the end position of the stored driving trajectory can be determined in an accurate manner. On the other hand, the driver assistance device can be configured to automatically record the last x meters (e.g. x≥10 or x≥40 or x≥50) of the vehicle 100, if necessary. These last x meters are then available as a recorded driving trajectory at the end position of the outbound driving maneuver, so that the corresponding return driving maneuver can be performed on this basis.

[0076] Figure 2a An exemplary driving situation is shown, in which the vehicle 100 drives along a driving trajectory 201 to a parking space 210, wherein the parking space 210 can be arranged, for example, between two marking lines (generally markings) and / or between two obstacles (for example, between two other vehicles). The driver of the vehicle 100 can start recording the driving trajectory 201 at the starting position 204 (for example, by operating an operating element of the user interface 104). Alternatively, the driving trajectory 201 can be recorded automatically. In this case, for example, the last x meters of the driving trajectory 201 (for example, x is between 50 and 100) can be automatically recorded. This can be done in particular when the recorded trajectory 201 is to be used for a subsequent return driving maneuver (in the opposite direction).

[0077] The driver can manually guide the vehicle 100 longitudinally and / or transversely to the end position 205 on the parking space 210. The path traveled by the vehicle 100 between the starting position 204 and the end position 205 can be recorded as a driving trajectory 201 and stored in the storage unit 105 of the vehicle 100 as required. In particular, the trajectory data about the driving trajectory 201 can be stored in the storage unit 105 of the vehicle 100.

[0078] The trajectory data can be used to re-execute a recorded driving maneuver, in particular a parking maneuver for parking vehicle 100 in parking space 210. For example, a proposal to re-execute the recorded driving maneuver (in outbound direction 211) can be output to the driver of vehicle 100 via user interface 104 when or before reaching starting position 204. The user can accept the proposal (for example, by operating an operating element of user interface 104). Thus, based on the trajectory data, automatic longitudinal and / or transverse guidance of vehicle 100 is initiated, by which vehicle 100 is guided along previously recorded driving trajectory 201 (in outbound direction 211) to end position 205 in parking space 210.

[0079] Alternatively or additionally, the trajectory data for the recorded driving maneuver can be used to cause the automatic driving of the vehicle 100 in the opposite direction, i.e. in the return direction 212, from the end position 205 to the start position 204, in particular in order to drive the vehicle 100 out of the parking space 210. The driving trajectory used for the return drive in the return direction may deviate from the driving trajectory 201 recorded for the outbound drive in the outbound direction. However, the driving trajectory used for the return drive is usually calculated directly from the trajectory data for the recorded trajectory 201.

[0080] In this document, reference is made to a driving trajectory 201 for a recorded driving maneuver (e.g., for an outbound driving maneuver). This driving trajectory 201 can correspond to a driving trajectory recorded on the outbound trip. On the other hand, this driving trajectory 201 can correspond to a trajectory determined for the return trip. Trajectory data can be recorded during the outbound trip. Based on the recorded outbound driving maneuver, the return driving maneuver (from the end position 205 to the starting position 204) can be performed.

[0081] Figure 2b The driving situation in which the vehicle 100 is located in the vicinity of a return maneuver and in particular a driving trajectory 201 for the return maneuver is shown. In this case, the vehicle 100 is manually guided longitudinally and / or transversely by the driver of the vehicle 100 along a driving trajectory 220, which is referred to in this document as a manual driving trajectory (generally referred to as the actual driven trajectory, or trajectory for short) 220. It can be seen here that the vehicle 100 is manually driven in a return direction 212, which is opposite to the outbound direction 211 of the recorded outbound driving maneuver. It can also be seen, if necessary, that the vehicle 100 is driven backwards (whereas the vehicle 100 was driven forward in the recorded outbound driving maneuver).

[0082] The device 101 can be configured to check at a series of positions 224, 234 on the manual driving trajectory 220 whether the corresponding position 224, 234 has a distance equal to or less than a predetermined (first) distance threshold from the trajectory 201 of the return driving maneuver. Here, the distance from each position 224, 234 to the trajectory 201 of the return driving maneuver along a vertical line (i.e., the vertical distance) can be considered respectively.

[0083] The device 101 may be configured to output a proposal for executing a return driving maneuver as long as the determined distance of the current position 224, 234 of the vehicle 100 is equal to or less than a (first) distance threshold. The output of the proposal may be inhibited as soon as the determined distance of the current position 224, 234 of the vehicle 100 is greater than the (first) distance threshold.

[0084] When using a predefined (first) distance threshold, a relatively small distance threshold is usually used to increase the robustness of the driver assistance in order to ensure that the automated driving maneuver can actually be performed even starting from the corresponding position 224, 234. The use of a relatively small (first) distance threshold usually results in a relatively low availability of an offer for performing a return driving maneuver.

[0085] Starting from end position 205, the driver can manually drive along manual driving trajectory 220. In this case, vehicle 100 can be guided away from driving trajectory 201 for the return driving maneuver.

[0086] The device 101 can be configured to plan a return trajectory 221 at a series of (environmental) positions 224, 234 along the manual driving trajectory 220, by which the vehicle 100 can be automatically guided back to the driving trajectory 201 of the return driving maneuver, in particular to an intermediate position 225 on the driving trajectory 201 of the return driving maneuver. The return trajectory 221 can be determined based on environmental data of one or more environmental sensors 102 of the vehicle 100. In addition, the orientation of the vehicle 100 at the respective (environmental) positions 224, 234 can also be taken into account.

[0087] It can then be checked at the corresponding (environmental) position 224, 234 whether a return trajectory 221 can be ascertained, by which vehicle 100 can be automatically guided longitudinally and / or laterally back onto driving trajectory 201 of the return driving maneuver. As long as such a (valid) return trajectory 221 can be ascertained, a proposal to perform the recorded return driving maneuver can be initiated and / or maintained for output.

[0088] If (in particular once) such a (valid) return trajectory 221 can no longer be determined at a (environmental) position 234 on the manual driving trajectory 220 (for example because the trajectory 231 that can be determined does not lead to a point 235 on the driving trajectory 201 of the return driving maneuver), then the output of a proposal to perform a return driving maneuver can be prohibited at (in particular from) this (environmental) position 234.

[0089] It is thus possible (even during manual operation of vehicle 100) to check whether it is possible to automatically return (at least by means of automatic lateral guidance) to driving trajectory 201 of the return driving maneuver starting from the respective (environmental) position 224, 234 of vehicle 100. As a result, the robustness and availability of executing the return driving maneuver can be increased in a reliable manner.

[0090] For example, Figure 2c As shown in , objects around vehicle 100, in particular obstacles 240, can also be taken into account when determining return trajectory 221. In particular, it can be checked whether object 240 is located on determined return trajectory 221. If this is the case, return trajectory 221 can be abandoned, and it can be decided that a suitable (valid) return trajectory 221 cannot be determined.

[0091] Figure 2d An exemplary output 250 is shown with a proposal 251 for executing a return driving maneuver and with a request 252 whether the return driving maneuver should be executed automatically.

[0092] By means of the measures described in this document, the validity period of the passive abort criterion can be extended in the event of a deviation from a predetermined path 201, even if a return driving maneuver is not actively executed for the previously recorded outbound driving maneuver. Instead, a passive execution of the return driving maneuver can be caused, and if there is a deviation from the originally recorded path 201, it can be checked according to the function logic, in particular by means of the sensor device 102 for surroundings recognition, whether the original path 201 can be reached again (via the return trajectory 221). In this case, starting from the current vehicle position 224, 234, it can be checked whether a return path 221 with the maximum achievable curvature of the driving path can be planned. In addition, it can be checked by means of surroundings recognition whether there are no objects 240 blocking the path on this path 221. If both checks are positive, the function proposal 251 can be retained, and when the function is actually activated, it can be driven back to the original path 201 as quickly as possible (along the return trajectory 221).

[0093] If necessary, a second distance threshold for the maximum permissible distance from the trajectory 201 of the return driving maneuver can be taken into account when actively checking the availability of the return trajectory 221, wherein the second distance threshold can be greater than the first distance threshold. If necessary, the check of the availability of the return trajectory 221 can be performed only when the distance is equal to or less than the second distance threshold. Otherwise, if necessary, the output of the proposal 251 for executing the return driving maneuver can be prohibited in principle. Therefore, the robustness of executing the return driving maneuver can be further improved.

[0094] As already explained above, one or more boundary conditions may be taken into account when determining the return trajectory 221. Exemplary boundary conditions are:

[0095] - a condition that no object 240 is arranged on the return trajectory 221; and / or

[0096] The condition that the return trajectory 221 has at any point a maximum allowed distance from the trajectory 201 of the return driving maneuver (wherein the maximum allowed distance may be equal to or greater than a second distance threshold).

[0097] Therefore, the robustness of executing autonomous driving maneuvers can be further improved.

[0098] Figure 3 A flow chart of a method 300 (possibly executed by a computer) is shown for assisting in carrying out a return maneuver of a motor vehicle 100. The return maneuver can correspond to a previously recorded outbound driving maneuver. A driving trajectory 201 for the return maneuver can be determined based on the recorded trajectory of the outbound driving maneuver.

[0099] Method 300 includes detection 301 that motor vehicle 100 has deviated from driving trajectory 201 of the return driving maneuver and is now located at an environmental position 224, 234 around driving trajectory 201 of the return driving maneuver. Motor vehicle 100 can be guided manually along manual trajectory 220. Motor vehicle 100 can be guided along return direction 212 (wherein the outbound driving maneuver was performed in outbound direction 211).

[0100] The surroundings of driving trajectory 201 can be defined, for example, based on a determined (second) distance threshold. It can be determined that motor vehicle 100 is located around driving trajectory 201 of the return maneuver if, in particular as long as, the distance (in particular the vertical distance) of motor vehicle 100 from driving trajectory 201 of the return maneuver is equal to or less than the (second) distance threshold. On the other hand, it can be determined that motor vehicle 100 is not around driving trajectory 201 of the return maneuver if, in particular as soon as, the distance (in particular the vertical distance) of motor vehicle 100 from driving trajectory 201 of the return maneuver is greater than the (second) distance threshold. Detection 301 can be caused based on environmental data of one or more environmental sensors 102 of motor vehicle 100.

[0101] Method 300 also includes a check 302 as to whether motor vehicle 100 can be automatically guided back to driving trajectory 201 of the return driving maneuver starting from surrounding positions 224, 234. For this purpose, it can be checked whether a (valid) return trajectory 221 relative to driving trajectory 201 of the return driving maneuver can be determined starting from surrounding positions 224, 234, which meets one or more boundary conditions (e.g., with respect to a maximum permissible curvature and / or with respect to a maximum permissible distance from driving trajectory 201 of the recorded driving maneuver).

[0102] Furthermore, method 300 includes outputting (in particular maintaining) 303 a proposal 251 for automatically executing a return driving maneuver at surrounding locations 224, 234, if it is determined that motor vehicle 100 can be automatically guided from surrounding locations 224, 234 to driving trajectory 201 for the return driving maneuver. Proposal 251 may be output while motor vehicle 100 is traveling along manual trajectory 220, as long as it is determined that motor vehicle 100 can be automatically guided (back) from the corresponding surrounding locations 224, 234 on manual trajectory 220 (along the determined (valid) return trajectory 221) to driving trajectory 201 for the return driving maneuver. On the other hand, proposal 251 may be suppressed if, in particular as soon as it is determined that motor vehicle 100 can no longer be automatically guided (back) from the corresponding surrounding locations 224, 234 to driving trajectory 201 for the return driving maneuver (along the return trajectory 221 that satisfies one or more boundary conditions).

[0103] Figure 4 A decision flow chart 400 is shown, which can be used by the device 101 in order to decide whether to output (in particular maintain) a proposal for executing a return driving maneuver. The decision flow chart 400 shows possible transitions (ie arrows) between different nodes (eg states).

[0104] It can be determined (node ​​401) that there is a recorded outbound driving maneuver for which a corresponding return driving maneuver can be automatically performed. It can be distinguished (node ​​402) whether a manual return driving of the vehicle 100 is performed (in the return direction 212) or whether an automatic execution of the return driving maneuver has been performed, but this automatic execution (by the driver or the driver assistance device 101) has been interrupted (node ​​403) so that the vehicle 100 is arranged at a (environmental) position 224, 234 that is not on the driving trajectory 201 of the return driving maneuver.

[0105] As already explained, different situations (with respect to the respective current (surrounding) position 224 , 234 of vehicle 100 ) can be distinguished:

[0106] Node 404 : The distance of vehicle 100 from driving trajectory 201 of the return driving maneuver is equal to or less than a first distance threshold value; in this case, in principle, an output of a proposal for executing the return driving maneuver can be initiated, in particular maintained (node ​​407 );

[0107] - Node 405: The distance between the vehicle 100 and the driving trajectory 201 of the return driving maneuver is greater than a first distance threshold and equal to or less than a second distance threshold; in this case, it can be checked whether a valid return trajectory 221 can be obtained (node ​​408). Here, one or more boundary conditions can be checked (nodes 409, 410). If a valid return trajectory 221 cannot be obtained, the output of a proposal for performing the return driving maneuver can be prohibited (e.g., terminated) (nodes 411, 413). On the other hand, if a valid return trajectory 221 can be obtained, the output of a proposal for performing the return driving maneuver can be caused (in particular maintained) (node ​​412).

[0108] Node 406 : The distance of vehicle 100 from driving trajectory 201 of the return driving maneuver is greater than a second distance threshold; in this case, the output of a proposal for executing the return driving maneuver (nodes 411 , 413 ) can be suppressed (in principle), possibly regardless of whether a valid return trajectory 221 can be determined.

[0109] The aspects described in this document make it possible to increase the comfort of the user in an efficient and reliable manner when performing a return driving maneuver.

[0110] The present invention is not limited to the embodiments shown. In particular, it should be pointed out that the description and the accompanying drawings should only be used to illustrate the principles of the proposed methods, devices and systems by way of example.

Claims

1. A driver assistance device (101) for assisting in the execution of a return driving maneuver of a motor vehicle (100) based on a corresponding recorded outbound driving maneuver, wherein the driver assistance device (101) is configured to: - detecting that the motor vehicle (100) has deviated from the driving trajectory (201) of the return driving maneuver and is now located at an environmental position (224, 234) around the driving trajectory (201) of the return driving maneuver; - checking whether the motor vehicle (100) can be automatically guided back to the driving trajectory (201) of the return driving maneuver starting from the surrounding position (224, 234); and - if it is determined that the motor vehicle (100) can be automatically guided from the surrounding location (224, 234) back to the driving trajectory (201) of the return driving maneuver, a proposal (251) for automatically carrying out the return driving maneuver at the surrounding location (224, 234) is output.

2. The driver assistance device (101) according to claim 1, wherein the driver assistance device (101) is configured to: - detecting that the motor vehicle (100) is guided along a trajectory (220) starting from a position (205) on the driving trajectory (201) of the return driving maneuver to the vicinity of the driving trajectory (201) of the return driving maneuver, wherein the trajectory (220) is in particular a manual trajectory (220) manually initiated by a driver of the motor vehicle (100); - at a single environmental position (224, 234) in a series of environmental positions (224, 234) along the trajectory (220), checking whether the motor vehicle (100) can be automatically guided back to the driving trajectory (201) of the return driving maneuver starting from the corresponding environmental position (224, 234); and - if it is determined that the motor vehicle (100) can be automatically guided from the corresponding environmental position (224, 234) back to the driving trajectory (201) of the return driving maneuver, a proposal (251) for automatically executing the return driving maneuver at the single environmental position (224, 234) in the series of environmental positions (224, 234) is output.

3. The driver assistance device (101) according to any one of the preceding claims, wherein the driver assistance device (101) is configured to: - at the environmental position (224, 234), checking whether a return trajectory (221) can be determined, along which the motor vehicle (100) can be automatically guided from the environmental position (224, 234) back to the driving trajectory (201) of the return driving maneuver; - if a return trajectory (221) can be determined, determining that the motor vehicle (100) can be automatically guided back to the driving trajectory (201) of the return driving maneuver starting from the surrounding position (224, 234); and If a return trajectory (221) cannot be determined, it is determined that the motor vehicle (100) cannot be automatically guided back to the driving trajectory (201) of the return driving maneuver starting from the surrounding position (224, 234).

4. The driver assistance device (101) according to claim 3, wherein The driver assistance device (101) is configured to determine a return trajectory (221) that satisfies one or more boundary conditions, and - The one or more boundary conditions include: - boundary conditions in which no objects (240) are arranged on the return trajectory (221) which would hinder the motor vehicle (100); and / or - a boundary condition that the return trajectory (221) does not deviate from the driving trajectory (201) of the recorded driving maneuver by more than a maximum permissible distance at any point; and / or - The return trajectory (221) does not exceed the boundary condition of maximum curvature at any point.

5. The driver assistance device (101) according to any one of claims 2 to 4, wherein the driver assistance device (101) is configured to check at a single environmental position (224, 234) from a series of environmental positions (224, 34) along the trajectory (220) whether the motor vehicle (100) can be automatically guided back to the driving trajectory (201) of the return driving maneuver starting from the corresponding environmental position (224, 234), in particular automatically guided back to the driving trajectory (201) of the return driving maneuver along a return trajectory (221), - without previously activating the driving assistance for performing the return driving maneuver based on the recorded outbound driving maneuver; and / or - without prior user input for activating the duplicate check.

6. The driver assistance device (101) according to any one of claims 2 to 5, wherein the driver assistance device (101) is configured to: - if it is only required that the motor vehicle (100) can be automatically guided back to the driving trajectory (201) of the return driving maneuver from the corresponding environmental position (224, 234), a proposal (251) for automatically executing the return driving maneuver at a single environmental position (224, 234) in the series of environmental positions (224, 234) is output; and / or - prohibiting the proposal (251) to automatically execute the return driving maneuver from the following environmental position (224, 234) in the series of environmental positions (224, 234), from which it is determined that the motor vehicle (100) can no longer be automatically guided back to the driving trajectory (201) of the return driving maneuver.

7. The driver assistance device (101) according to any one of claims 2 to 6, wherein the driver assistance device (101) is configured to, at a single environmental position (224, 234) of the series of environmental positions (224, 234), respectively: - determining the distance between the corresponding environment position (224, 234) and the driving trajectory (201) of the return driving maneuver; - comparing the distance with a distance threshold, in particular with a first distance threshold; and - if the distance is equal to or less than the distance threshold, in particular less than the first distance threshold, outputting a proposal (251) for automatically executing the return driving maneuver at a corresponding environmental position (224, 234) in the series of environmental positions (224, 234), without first checking whether the motor vehicle (100) can be automatically guided back to the driving trajectory (201) of the return driving maneuver from the corresponding environmental position (224, 34); and / or - if, in particular as long as, the distance is equal to or less than the distance threshold, in particular less than the first distance threshold, a check is prohibited as to whether the motor vehicle (100) can be automatically guided back to the driving trajectory (201) of the return driving maneuver starting from the corresponding environmental position (224, 234); and / or - if the distance is greater than the distance threshold, in particular greater than the first distance threshold, it is checked whether the motor vehicle (100) can be automatically guided back to the driving trajectory (201) of the return driving maneuver starting from the corresponding surrounding position (224, 234).

8. The driver assistance device (101) according to any one of claims 2 to 7, wherein the driver assistance device (101) is configured to, at a single environmental position (224, 234) of the series of environmental positions (224, 234), respectively: - determining the distance between the corresponding environment position (224, 234) and the driving trajectory (201) of the return driving maneuver, - comparing the distance with a distance threshold, in particular with a second distance threshold; and - if the distance is greater than the distance threshold, in particular the second distance threshold, - then determining that the motor vehicle is no longer located around the driving trajectory (201) of the return driving maneuver; and / or - inhibiting a proposal (251) for automatically carrying out the return driving maneuver at a corresponding surrounding location (224, 234), in particular starting from a corresponding surrounding location.

9. The driver assistance device (101) according to any one of the preceding claims, wherein the driver assistance device (101) is configured such that - automatically causing lateral guidance of the motor vehicle (100) by the motor vehicle (100) when executing the return driving maneuver; and - when carrying out the return driving maneuver, the longitudinal guidance of the motor vehicle (100) is manually initiated by the driver of the motor vehicle (100).

10. The driver assistance device (101) according to any one of the preceding claims, wherein the driver assistance device (101) is configured to: - detecting user input regarding acceptance of the outputted offer (251); and - in response to the user input, - the motor vehicle (100) is automatically guided back, in particular along a return trajectory (221), to a center position (225) on the driving trajectory (201) of the return driving maneuver, wherein in this case, in particular, the longitudinal guidance of the motor vehicle (100) is manually initiated by the driver of the motor vehicle (100) and / or the transverse guidance of the motor vehicle (100) is automatically initiated by the motor vehicle (100); and - starting from the intermediate position (225), the return driving maneuver is automatically performed.

11. The driver assistance device (101) according to any one of the preceding claims, wherein: The recorded outbound driving maneuver includes outbound driving, in particular driving in a forward direction from a starting position (204) to an end position (205); and - automatically executing the return driving maneuver corresponding to the recorded outbound driving maneuver, including a corresponding return trip, in particular a trip in a return direction from the end position (205) to the starting position (204).

12. A driver assistance device (101) according to claim 11, wherein the driver assistance device (101) is configured to determine the driving trajectory (201) for the return driving maneuver based on the driving trajectory recorded for the outbound driving maneuver and / or during the outbound driving maneuver.

13. The driver assistance device (101) according to any one of the preceding claims, wherein the driver assistance device (101) is configured to: - detecting that the motor vehicle (100) deviates from the driving trajectory (201) of the return driving maneuver when automatically executing the return driving maneuver, and interrupting the automatic execution of the return driving maneuver at the environmental position (224, 234) around the driving trajectory (201) of the return driving maneuver, in particular by the driver of the motor vehicle (100); and - if it is determined that the motor vehicle (100) can be automatically guided from the surrounding location (224, 234) back to the driving trajectory (201) of the return driving maneuver, a proposal (251) is outputted for continuing to automatically perform the return driving maneuver at the surrounding location (224, 234).

14. A method (300) for assisting in the execution of a return driving maneuver of a motor vehicle (100) based on a corresponding recorded outbound driving maneuver, wherein the method (300) comprises: - detecting (301) that the motor vehicle (100) has deviated from the driving trajectory (201) of the return driving maneuver and is now located at an environmental position (224, 234) around the driving trajectory (201) of the return driving maneuver; - checking (302) whether the motor vehicle (100) can be automatically guided back to the driving trajectory (201) of the return driving maneuver starting from the surrounding position (224, 234); and - if it is determined that the motor vehicle (100) can be automatically guided from the surrounding location (224, 234) back to the driving trajectory (201) of the return driving maneuver, a proposal (251) for automatically carrying out the return driving maneuver at the surrounding location (224, 234) is output (303).

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