Method for checking AVP system, AVP reference system, computer program and storage medium

Abstract

The invention relates to a method for checking an infrastructure-side AVP system of a parking lot, the infrastructure-side AVP system being checked using an AVP reference system which is at least partially installed in the parking lot. The invention also relates to an AVP reference system, a computer program and a machine-readable storage medium.

Description

Technical Field

[0001] The invention relates to a method for checking an infrastructure-side AVP system of a parking lot, an AVP reference system, a computer program and a machine-readable storage medium. Background Art

[0002] AVP (Automated Valet Parking) as a business model / service is based, for example, on the following scheme: there are multiple providers for the infrastructure-side AVP system, similar to the various OEMs (Original Equipment Manufacturers) with AVP-capable motor vehicles, and there is a standardized interface between the motor vehicle-side AVP system in the motor vehicle and the infrastructure-side AVP system in the parking lot.

[0003] The interfaces for the infrastructure-side AVP system as well as the application and release scenarios are generally standardized.

[0004] Advantageously, the infrastructure-side AVP system is released after installation to perform the AVP procedures.

[0005] Such a release can be carried out, for example, by an independent organization in a lengthy test.

[0006] Publication CN 1 150 092 69A discloses an autonomous parking system.

[0007] Publication EP 3 852 342 A1 discloses a method for automatic parking. Summary of the invention

[0008] The object of the present invention is to provide a concept for checking an infrastructure-side AVP system in a parking garage.

[0009] This object is achieved by the present invention. An advantageous embodiment of the present invention is an expanded technical solution.

[0010] According to a first aspect, a method for checking an infrastructure-side AVP system of a parking lot is provided, wherein the infrastructure-side AVP system is checked using an AVP reference system at least partially installed in the parking lot.

[0011] According to a second aspect, an AVP reference system is provided, which is configured to implement all steps of the method according to the first aspect.

[0012] According to a third aspect, there is provided a computer program comprising instructions which, when the computer program is executed by a computer, in particular by an AVP reference system according to the second aspect, cause the computer to carry out the method according to the first aspect.

[0013] According to a fourth aspect, there is provided a machine-readable storage medium having stored thereon a computer program according to the third aspect.

[0014] The invention is based on and includes the following recognition: The above-mentioned object is solved by using an AVP reference system to check the infrastructure-side AVP system. The reference system serves as a reference for the AVP system to be checked. Ideally, the AVP system to be checked performs exactly the same AVP process as the AVP reference system. In particular, deviations are permissible within a predetermined tolerance range in order to release the AVP system to be checked.

[0015] By setting a reference for the AVP system to be checked, the following technical advantage can be particularly achieved: it can be effectively checked whether the AVP system to be checked complies with the technical specifications and requirements necessary for performing the AVP process.

[0016] The AVP reference system being at least partially installed in the parking lot particularly means that the AVP reference system is completely (i.e. entirely) or only partially installed in the parking lot. Thus, in the latter case one or more parts of the AVP reference system are installed in the parking lot, while one or more other parts are implemented or installed outside the parking lot.

[0017] The parts installed in the parking lot include, for example: environmental sensors, communication interfaces, and processing equipment.

[0018] By means of the communication interface, the AVP reference system can communicate, for example, with the AVP motor vehicle and / or with environmental sensors.

[0019] The communication interface is, for example, a wired communication interface, in particular an Ethernet interface, or, for example, a wireless communication interface, in particular a mobile radio interface or a WLAN interface.

[0020] The AVP reference system comprises, for example, a processing device, which can be installed, for example, in the parking lot or can be implemented, for example, in a cloud infrastructure. The processing device can thus also be implemented or installed remotely from the parking lot. Some parts of the processing device can, for example, be installed in the parking lot and / or some parts of the processing device can, for example, be implemented in a cloud infrastructure.

[0021] A processing device in the sense of this specification is a data processing device, such as a computer.

[0022] The data processing system comprises, for example, a plurality of computers or servers, which are installed, for example, in a parking garage and / or are implemented, for example, in a cloud infrastructure.

[0023] A processing device of the AVP reference system receives environmental sensor data, for example, from an environmental sensor and can, for example, analyze or reprocess these data, and perform an AVP procedure based on the environmental sensor data or based on a result of the analysis or reprocessing.

[0024] The infrastructure-side AVP system can also be installed at least partially in the parking lot similarly to the AVP reference system, ie completely or only partially. The aforementioned embodiments associated with the AVP reference system are also applicable to the infrastructure-side AVP system.

[0025] For better distinction, some parts of the AVP reference system may be referred to as reference parts, thus for example reference communication interfaces or reference environmental sensors or reference processing devices.

[0026] The infrastructure-side AVP system may also be referred to as an AVP system to be checked.

[0027] The environmental sensor may for example be attached to the processing device via a wired communication connection, for example via an Ethernet line.

[0028] In one embodiment of the method, it is provided that an AVP reference process is performed with an AVP motor vehicle through an AVP reference system in a parking lot, but at this time, under normal circumstances, control instructions for at least highly automated control of lateral guidance and longitudinal guidance of the AVP motor vehicle are not sent to the AVP motor vehicle through the AVP reference system, wherein the check includes checking, through the AVP reference system based on the AVP reference process, the AVP process performed in the parking lot by the infrastructure-side AVP system and the AVP motor vehicle.

[0029] This leads to the following technical advantages, for example: the inspection can be performed efficiently. In particular, the following technical advantages are led to: it can be effectively checked whether the AVP system to be checked meets the requirements and technical specifications related to the execution of the AVP process.

[0030] In one specific embodiment of the method, reference process data are ascertained via an AVP reference system based on an AVP reference procedure, wherein the checking comprises comparing via the AVP reference system the reference process data with process data ascertained via the infrastructure-side AVP system based on the AVP procedure.

[0031] This results in the technical advantage that, for example, the detection can be carried out efficiently.

[0032] In one embodiment of the method, it is provided that the process data and the reference process data respectively include one or more of the following data: object data, which describes the object identified by the corresponding AVP system; free space identification data, which describes the free space in the AVP motor vehicle environment determined by the corresponding AVP system; behavior data of the AVP motor vehicle, which describes the behavior of the AVP motor vehicle identified by the corresponding AVP system; communication data, which describes the corresponding state of communication between the AVP motor vehicle and at least one of the two AVP systems and / or describes the corresponding state of communication between the AVP reference motor vehicle and at least one of the two AVP systems. This state indicates, for example, whether the communication still exists or is still working. The AVP reference motor vehicle is described below.

[0033] This results in the technical advantage, for example, that particularly suitable process data can be used.

[0034] In one specific embodiment of the method, it is provided that one or more tests to be performed within the framework of the AVP procedure are specified by the AVP reference system, wherein the infrastructure-side AVP system is checked by the AVP reference system based on the corresponding test results.

[0035] This results in the following technical advantage, for example: the check can be carried out efficiently. In particular, it can be checked in an efficient manner whether the AVP system to be checked meets certain requirements with respect to the execution of the AVP process.

[0036] In one embodiment of the method, it is provided that one or more tests to be performed each include an element selected from the following test groups: performing ramp driving within the framework of an AVP process of an AVP motor vehicle; testing the reaction of the infrastructure-side AVP system to an object that directly emerges in the driving path (Fahrschlauch) of the AVP motor vehicle during the AVP process; testing the reaction of the infrastructure-side AVP system to an object that is located in the driving path and has a maximum predetermined maximum size and / or to an object that is located in the driving path and has a minimum predetermined minimum size; testing the communication between the AVP motor vehicle and at least one of the two AVP systems; testing the communication between the AVP reference motor vehicle and at least one of the two AVP systems; checking whether the AVP motor vehicle and / or the AVP reference motor vehicle are correctly identified by the infrastructure-side AVP system, in particular at the start of the AVP process and / or during the process. The AVP reference motor vehicle is described below. The start of the AVP process occurs in particular at the starting position. In other words, the AVP process starts at the starting position, which can also be referred to as the delivery position, which is further described below.

[0037] This results in the following technical advantage, for example: Particularly suitable tests can be performed. In particular, performing a ramp drive within the framework of an AVP process of an AVP motor vehicle is a particularly meaningful test, since ramp drive generally requires particularly high levels of safety and caution when performing an AVP process. The same applies to the other aforementioned tests, by which the safety of other persons in the parking lot can also be effectively increased. The test of the corresponding communication includes in particular a test whether the corresponding communication still exists or is still working, i.e. whether the corresponding communication connection is, for example, established.

[0038] In one embodiment of the method, it is provided that an emergency stop command is sent to the AVP motor vehicle via the AVP reference system when a fault is detected when the AVP process is executed by the infrastructure-side AVP system if the AVP motor vehicle is traveling according to the AVP process and / or when a potential collision between the AVP motor vehicle and a collision object in its environment is identified if the AVP motor vehicle is traveling according to the AVP process.

[0039] This results in the following technical advantage, for example: the safety for an AVP motor vehicle and / or for the environment of an AVP motor vehicle can be effectively increased.

[0040] The aforementioned normal situation describes in particular a situation in which no fault is detected in the infrastructure-side AVP system and / or in which no potential collision of the AVP motor vehicle with a collision object in its environment is identified if the AVP motor vehicle is travelling according to an AVP procedure.

[0041] In one embodiment of the method, it is provided that one, a plurality or all method steps and / or the data determined for the check are recorded, in particular in a blockchain.

[0042] This leads to the following technical advantage, for example: at a later time, it is also possible to effectively understand when and how something was executed or determined. In particular, the AVP process can also be effectively understood at a later time. In particular, a fault analysis of the AVP process can also be effectively performed at a later time.

[0043] The data determined for the inspection are in particular the above-mentioned process data and / or test results.

[0044] Records in the blockchain have the following technical advantage in particular: subsequent manipulations of recorded data can be effectively identified.

[0045] In one embodiment of the method, it is provided that the infrastructure-side AVP system and the AVP reference system each include their own environmental sensors, which are spatially distributed in the parking lot, wherein the infrastructure-side AVP system is checked by the AVP reference system based on environmental sensor data of at least some of the environmental sensors.

[0046] This results in the technical advantage that, for example, the inspection can be carried out efficiently.

[0047] In one specific embodiment of the method, it is provided that an AVP reference motor vehicle is used for the check.

[0048] This results in the technical advantage that, for example, the inspection can be carried out efficiently.

[0049] The AVP reference motor vehicle may include, for example, additional environmental sensors and / or a computer that the AVP motor vehicle does not have, so that the AVP reference motor vehicle can process additional data, in particular environmental sensor data, for the purpose of checking.

[0050] A parking lot in the sense of this specification can also be referred to as a parking area or parking space and is used as a parking surface for motor vehicles. The parking lot thus forms, for example, a continuous surface with a plurality of storage spaces (in the case of a parking lot on a private plot of land) or parking spaces (in the case of a parking lot on a public plot of land). The parking lot is, for example, a parking building or, for example, a garage. The parking building can, for example, include an underground parking lot.

[0051] A parking lot in the sense of this specification includes in particular a driveway, an entrance and an exit.

[0052] The abbreviation AVP stands for "Automated Valet Parking" and can be translated into German as "automatischer Parkservice". In the context of the AVP process, the motor vehicle is guided, for example, by an infrastructure-side AVP system from a delivery location to a parking location, is parked at the parking location and, for example, is unparked after expiration of the parking time or in response to a retrieval request and guided to the retrieval location. The AVP process begins at the delivery location. The AVP process ends at the retrieval location.

[0053] A motor vehicle in the sense of the specification is an AVP motor vehicle, even if this is not described in detail. Such a motor vehicle is arranged for carrying out an AVP procedure.

[0054] If the motor vehicle is driven within an AVP process, this is at least highly automated driving. The expression "at least highly automated" includes the following expressions: highly automated, fully automated and autonomous.

[0055] Highly automated driving corresponds to automation level 3 according to the definition of the German Highway Administration (BASt).

[0056] Fully automated driving corresponds to automation level 4 according to the definition of BASt.

[0057] Autonomous driving corresponds to automation level 5 according to SAE (J3016), where SAE stands for “Society of Automotive Engineers”.

[0058] Other interpretations of the AVP procedure are described, for example, in ISO 23374-2.

[0059] The explanations associated with the AVP reference system apply equally to the present method, and vice versa.

[0060] The AVP reference system is configured, for example, in terms of programming technology to execute the computer program.

[0061] The method is, for example, a computer-implemented method.

[0062] The method is performed, for example, with the aid of an AVP reference system.

[0063] The expression "at least one" means "one or more".

[0064] An environmental sensor in the sense of the present description is, for example, one of the following environmental sensors: a radar sensor, an ultrasound sensor, a lidar sensor, a magnetic field sensor, an infrared sensor, an image sensor, in particular an image sensor of a video camera.

[0065] The exemplary embodiments and implementations described here can be combined with one another in any desired manner, even if this is not explicitly stated.

[0066] In one specific embodiment of the method, it is provided that, based on the check, the infrastructure-side AVP system is released for carrying out the AVP process in the parking lot.

[0067] This results in, for example, the technical advantage that the release can be carried out efficiently. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] The present invention will be explained in more detail below based on preferred embodiments. The accompanying drawings show:

[0069] Figure 1 : A flow chart of the method according to the first aspect,

[0070] Figure 2 : An AVP reference system,

[0071] Figure 3 : A machine-readable storage medium,

[0072] Figure 4 : A parking lot,

[0073] Figure 5 : Multiple video cameras and

[0074] Figure 6 : An AVP motor vehicle and an AVP reference motor vehicle DETAILED DESCRIPTION

[0075] Figure 1 A flow chart of a method for checking an infrastructure-side AVP system of a parking lot is shown, wherein the infrastructure-side AVP system is checked 101 using an AVP reference system at least partially installed in the parking lot.

[0076] The expression "at least partially mounted" includes the expressions "partially mounted" and "completely mounted".

[0077] The AVP reference system is partially installed in the parking lot, for example, means that one or more parts of the AVP reference system, such as environmental sensors, communication interfaces, processing equipment, are installed in the parking lot, wherein one or more parts are installed outside the parking lot. For example, the processing equipment is implemented in a cloud infrastructure.

[0078] The processing device may, for example, have a plurality of computers, of which, for example, at least one is implemented in a cloud infrastructure and of which, for example, at least one is installed in the parking garage.

[0079] The AVP reference system is completely installed in the parking lot, for example, meaning that all parts of the AVP reference system, such as environmental sensors, communication interfaces, processing equipment, are installed in the parking lot.

[0080] Figure 2 An AVP reference system 201 is shown, which is arranged for implementing all steps of the method according to the first aspect.

[0081] The AVP reference system includes, for example, a plurality of environmental sensors (not shown) installed in the parking lot. The plurality of environmental sensors are, for example, fixedly installed or, for example, movably installed in the parking lot. For example, some of these environmental sensors are fixedly installed, and some of these sensors are movably installed.

[0082] The AVP reference system 201 comprises, for example, one or more communication interfaces (not shown) installed in the parking garage, via which, for example, communication with the AVP motor vehicle and / or with the AVP reference motor vehicle can be enabled.

[0083] The AVP reference system 201 includes, for example, a processing device (not shown), which may be implemented in a cloud infrastructure or installed in a parking garage, for example, and communicates with the AVP motor vehicle and / or with the AVP reference motor vehicle, for example, via a communication interface.

[0084] The communication includes, for example, sending an emergency stop instruction to the AVP motor vehicle and / or to an AVP reference motor vehicle.

[0085] Figure 3 A machine-readable storage medium 301 is shown, on which a computer program 303 is stored. The computer program 303 comprises instructions which, when executed by a computer, cause the computer to carry out the method according to the first aspect.

[0086] Figure 4 A parking lot 401 is shown, including a shared entrance / exit 403 for motor vehicles and a plurality of parking spaces 405 .

[0087] Furthermore, an AVP system 407 to be inspected is assigned to the parking lot 401. The AVP system 407 to be inspected includes a plurality of video cameras 409 installed in the parking lot 401. The video cameras 409 are examples of environmental sensors. In addition to or instead of the video cameras 409, other environmental sensors may be provided.

[0088] Furthermore, the AVP system to be inspected 407 comprises a processing device 411 which communicates with the video camera 409. The AVP system to be inspected 407 comprises a plurality of wireless communication interfaces 412 which are arranged spatially distributed within the parking lot 401. Via these wireless communication interfaces 412, communication with the AVP motor vehicles is possible.

[0089] Processing device 411 can, for example, ascertain control commands and wirelessly transmit them to the AVP motor vehicle within the framework of an AVP procedure using wireless communication interface 412 .

[0090] The AVP reference system 413 is configured to inspect the AVP system 407. The AVP reference system 413 includes a plurality of video cameras 415 installed in the parking lot 401 next to the video camera 409 of the AVP system 407 to be inspected.

[0091] Furthermore, the AVP reference system 413 includes, for example, a processing device 417 that can process video data of the video camera 415 .

[0092] Similarly, the processing device 411 of the AVP system 407 to be inspected may process the video data of the video camera 409 .

[0093] Furthermore, the AVP reference system 413 includes a plurality of wireless communication interfaces 419 , which are arranged in a spatially distributed manner in the parking lot 401 next to the wireless communication interface 412 of the AVP system 407 to be checked.

[0094] Via these wireless communication interfaces 419 , the processing device 417 may, for example, communicate with the AVP motor vehicle, for example send an emergency stop instruction to the AVP motor vehicle.

[0095] According to the solution described here, for example, in the parking lot, both the AVP system 407 to be checked and the AVP reference system 413 each perform their own AVP processes with an AVP motor vehicle. However, the AVP reference system 413 does not send control commands to the AVP motor vehicle under normal circumstances, but only intervenes in emergency situations.

[0096] Within the framework of the AVP process, process data are determined by the two AVP systems 407, 413, respectively, which are compared with one another after the execution of the AVP process and / or still during the execution of the AVP process, in particular in real time, by the AVP system to be checked 407. Based on the comparison, it can be determined, for example, whether the AVP system to be checked 407 has passed the check and whether it is correspondingly released to execute the AVP process.

[0097] Figure 5 A plurality of video cameras are shown.

[0098] Shown in detail is a first video camera 501 having a first image sensor 503. The first video camera 501 is mounted on a stand or tripod 505 with wheels 507. The first video camera 501 can thus be rolled across the parking lot to a particular location.

[0099] also Figure 5 A second video camera 509 is shown with a second image sensor 511. The second video camera 509 is fixed to a stand or tripod 513 with feet 515 but without rollers. Therefore, the second video camera 509 cannot be rolled to a specific location in the parking lot.

[0100] also Figure 5 A third video camera 517 with a third image sensor 519 is shown. The third video camera 517 is fixed to a further support 521 with rollers 523. Thus, the third video camera 517 can be rolled to a specific position in the parking lot. Further environmental sensors, such as a lidar sensor 525, are arranged on the third video sensor 517. Thus, in addition to the video data, lidar data are also available for the AVP process.

[0101] exist Figure 5The video cameras 501, 509, 517 shown in are, for example, comprised by an AVP reference system within the meaning of the specification.

[0102] Figure 6 An AVP motor vehicle 601 is shown. The AVP motor vehicle 601 includes environmental sensors and a motor vehicle-side AVP system, which are not shown, so that the AVP process can be performed in cooperation with the infrastructure-side AVP system.

[0103] Figure 6 A further AVP reference motor vehicle 603 is shown which, compared to a standard AVP motor vehicle, has additional environmental sensors or analysis possibilities, like an AVP motor vehicle, in order to check the infrastructure-side AVP system in cooperation with the AVP reference system.

[0104] The AVP reference motor vehicle 603 comprises, for example, a wireless communication interface 605 as well as a reference video camera 607 and a data processing device 609 for analyzing the AVP process.

[0105] The solution described here has the following advantages in particular: the infrastructure-side AVP system for releasing a parking lot can be simplified and / or supported by an AVP reference system for carrying out an AVP procedure with an AVP motor vehicle in the parking lot. The AVP reference system is used in particular as a reference for the AVP procedure. The AVP reference system can be used, for example, as a recording system, i.e. can be used, for example, for recording.

[0106] The approach described here is based in particular on the use of another AVP system, namely the AVP reference system, as reference for the infrastructure-side AVP system of the parking garage.

[0107] The AVP reference system may be a mobile system, for example. Mobile means that the AVP reference system or parts of the AVP reference system are not permanently installed in the parking garage, but are installed in the parking garage only for the method.

[0108] For example, the AVP reference system is at least partially temporarily installed in the parking lot. Temporarily means that the AVP reference system or parts thereof are installed in the parking lot only for the method. Thus, for example, the AVP reference system or the installed parts of the AVP reference system are set up and removed after the method is completed.

[0109] The AVP reference system is released or certified, for example, for carrying out the AVP procedure with an AVP motor vehicle. The release or certification is repeated regularly, for example, at certain intervals, for example every 2 years.

[0110] For example, it is configured that after the infrastructure-side AVP system or some parts thereof are installed in the parking lot, the AVP reference system or some parts thereof are installed in the parking lot to check the installed infrastructure-side AVP system.

[0111] For example, it is provided that, according to the approach described here, an infrastructure-side AVP system which has already been released in the past in order to carry out an AVP procedure with an AVP motor vehicle in a parking garage is rechecked.

[0112] The AVP reference system has, for example, the same tasks as the infrastructure-side AVP system, except that the AVP reference system does not control the AVP motor vehicle under normal circumstances.

[0113] For example, the AVP reference system can also be used as an emergency stop system in (typical) fault situations. This is, for example, when an AVP motor vehicle may have an accident due to control by the infrastructure-side AVP system.

[0114] During and / or after the AVP process, for example, the accuracy of the AVP process and / or the accuracy of the analyzed / ascertained process data of both AVP systems are compared with one another.

[0115] The process data include in particular: object data describing objects recognized by the corresponding AVP system; and / or free space recognition data describing free spaces determined by the corresponding AVP system in the environment of the AVP motor vehicle; and / or behavior data of the AVP motor vehicle describing the behavior of the AVP motor vehicle recognized by the corresponding AVP system; communication data indicating the corresponding status of the communication between the AVP motor vehicle and at least one of the two AVP systems and / or the corresponding status of the communication between the AVP reference motor vehicle and at least one of the two AVP systems. The status indicates, for example, whether the communication still exists or is still working.

[0116] For example, one or more of the following tests are performed during the AVP process: performing ramp driving within the framework of the AVP process of the AVP motor vehicle; testing the reaction of the infrastructure-side AVP system to objects that directly emerge in the driving path of the AVP motor vehicle during the AVP process; testing the reaction of the infrastructure-side AVP system to objects that are within the driving path and have a predetermined maximum size at the largest and / or to objects that are within the driving path and have a predetermined minimum size at the smallest; testing the communication between the AVP motor vehicle and at least one of the two AVP systems; testing the communication between the AVP reference motor vehicle and at least one of the two AVP systems; checking whether the AVP motor vehicle and / or the AVP reference motor vehicle are correctly identified by the infrastructure-side AVP system, in particular at the beginning of the AVP process and / or during the process.

[0117] For example, an object moves in the driving path of an AVP motor vehicle in such a way that it emerges directly into the driving path.

[0118] Such objects are, for example, a ball or a baby carriage.

[0119] The process data and / or the test results and / or the comparison results may be used, for example, to release the infrastructure-side AVP system.

[0120] When, for example, it has been proven that the AVP process, for example, executed by the infrastructure-side AVP system, is correct, and / or, for example, it has been proven that, for example, all process data is consistent within a defined error range, and / or, for example, it has been proven that, for example, all tests have passed, for example, release or authentication is authorized.

[0121] For example, one, several or all method steps and / or data acquired for the inspection, in particular process data and / or test results, are recorded, in particular in a blockchain.

[0122] For example, it is configured to use the AVP reference system for fault analysis or for supporting fault analysis when one or more faults exist in the AVP system on the infrastructure side.

[0123] The environmental sensors of the AVP reference system may be arranged, for example, at the same location or side by side with the environmental sensors of the infrastructure-side AVP system, and / or may be arranged at other locations.

[0124] In particular, the environment sensors of the two AVP systems can detect all parking lot areas relevant to the execution of the AVP process, including, for example, driveways, parking spaces, entrances and / or exits.

[0125] The environmental sensors of the AVP reference system can be temporarily fixed, for example, or can be mobile in terms of position, for example fixed on rollers or a stand.

[0126] The environmental sensors of the AVP reference system may for example be of the same technology as the environmental sensors of the infrastructure-side AVP system, for example the same camera, thus for example the same manufacturer and the same product.

[0127] The environmental sensors of the AVP reference system may, for example, be of the same technology but from a different manufacturer.

[0128] The environmental sensors of the AVP reference system may, for example, be of different technologies (eg, cameras and lidar sensors).

[0129] The environmental sensors of the AVP reference system may, for example, have additional environmental sensors that the infrastructure-side AVP system does not have. For example, the infrastructure-side AVP system only has a camera as an environmental sensor, while the AVP reference system has a camera and a lidar sensor.

[0130] For example, it can be provided that in addition to the AVP reference system, an AVP reference motor vehicle is additionally used for the inspection. An AVP reference motor vehicle is, for example, a special motor vehicle, ie in particular a non-standard AVP motor vehicle, which has additional environmental sensors and / or analysis options. Such an AVP reference motor vehicle can, for example, be used for further tests and / or research.

Claims

1. A method for inspecting an infrastructure-side AVP system (407) of a parking lot (401), wherein: The infrastructure-side AVP system (407) is checked using an AVP reference system (201, 413) at least partially installed in the parking lot (401).

2. The method according to claim 1, wherein: An AVP reference process is performed in the parking lot (401) by an AVP motor vehicle (601) via the AVP reference system (201, 413), but control instructions are not normally sent to the AVP motor vehicle (601) via the AVP reference system (201, 413) for at least highly automated control of lateral guidance and longitudinal guidance of the AVP motor vehicle (601), wherein the checking includes checking, via the AVP reference system (201, 413), the AVP process performed in the parking lot (401) by the AVP motor vehicle (601) via the infrastructure-side AVP system (407) based on the AVP reference process.

3. The method according to claim 2, wherein: Reference process data is obtained by the AVP reference system (201, 413) based on the AVP reference process, wherein the checking includes comparing the reference process data with process data obtained by the infrastructure-side AVP system (407) based on the AVP process by the AVP reference system (201, 413).

4. The method according to claim 3, wherein: The process data and the reference process data respectively include one or more of the following data: object data describing an object identified by a corresponding AVP system; free space identification data describing a free space in an environment of the AVP motor vehicle (601) determined by a corresponding AVP system; behavior data of the AVP motor vehicle (601) describing a behavior of the AVP motor vehicle (601) identified by a corresponding AVP system; Communication data indicating a corresponding status of communication between the AVP motor vehicle (601) and at least one of the two AVP systems and / or a corresponding status of communication between an AVP reference motor vehicle (603) and at least one of the two AVP systems.

5. The method according to any one of claims 2 to 4, wherein: One or more tests to be performed within the framework of the AVP procedure are predefined by the AVP reference system (201, 413), wherein the infrastructure-side AVP system (407) is checked by the AVP reference system (201, 413) based on corresponding test results.

6. The method according to claim 5, wherein: The one or more tests to be performed each comprise an element selected from the following test group: performing ramp driving within the framework of an AVP process of the AVP motor vehicle (601), testing the reaction of the infrastructure-side AVP system (407) to an object that directly emerges in the driving path of the AVP motor vehicle (601) during the AVP process, testing the reaction of the infrastructure-side AVP system (407) to an object that is within the driving path and has a maximum predetermined maximum size and / or to an object that is within the driving path and has a minimum predetermined minimum size, testing the communication between the AVP motor vehicle (601) and at least one of the two AVP systems, testing the communication between the AVP reference motor vehicle (603) and at least one of the two AVP systems, checking whether the AVP motor vehicle (601) and / or the AVP reference motor vehicle (603) are correctly identified by the infrastructure-side AVP system, in particular at the beginning of the AVP process and / or during the process.

7. The method according to any one of claims 2 to 6, wherein: When a fault is detected when the AVP motor vehicle (601) is executed by the infrastructure-side AVP system (407) according to the AVP procedure and / or when a potential collision between the AVP motor vehicle (601) and a collision object in its environment is identified if the AVP motor vehicle (601) is driven according to the AVP procedure, an emergency stop command is sent to the AVP motor vehicle (601) via the AVP reference system (201, 413).

8. The method according to any one of the preceding claims, wherein: One, several or all method steps and / or the data obtained for the check are recorded, in particular in a blockchain.

9. The method according to any one of the preceding claims, wherein: Based on the checking, the infrastructure-side AVP system (407) is released for performing the AVP process in the parking lot (401).

10. The method according to any of the preceding claims, wherein: The infrastructure-side AVP system (407) and the AVP reference system (201, 413) each include their own environmental sensors (409, 415), which are spatially distributed and arranged in the parking lot (401), wherein the infrastructure-side AVP system (407) is checked by the AVP reference system (201, 413) based on environmental sensor data of at least some of the environmental sensors (409, 415).

11. The method according to any one of the preceding claims, wherein: An AVP reference motor vehicle (603) is used for inspection.

12. An AVP reference system (201, 413) configured to perform all steps of the method according to one of the preceding claims.

13. Computer program (303) comprising instructions which, when the computer program (303) is executed by a computer, cause the computer to carry out the method according to one of claims 1 to 11.

14. A machine-readable storage medium (301) on which a computer program (303) according to claim 13 is stored.

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