Vehicle system for accessing a cargo compartment

Abstract

A motor vehicle has a front portion, a rear portion, a direction of travel directed from the rear portion to the front portion, a reverse direction of travel opposite the direction of travel, a cargo compartment entry point, and a cargo compartment accessible through the cargo compartment entry point. A user of the motor vehicle located outside the motor vehicle and in a reverse direction of travel of the motor vehicle may be detected. If the user moves away from the motor vehicle in the reverse driving direction, the motor vehicle may follow the user by autonomously driving the motor vehicle in the reverse driving direction; it may be determined whether a user intends to extend a handle into a cargo compartment. If the reply is yes, the motor vehicle may autonomously travel until the motor vehicle is stopped in such a manner that the loading distance between the cargo compartment entry point and the user is finely adjusted.

Description

Technical Field

[0001] The present disclosure relates generally to the field of vehicles and, more particularly, to a vehicle system for accessing a cargo compartment. Background Art

[0002] In autonomous vehicles, there are applications where the driver of the vehicle is inside the vehicle while the vehicle is driving autonomously, and applications where the driver is outside the vehicle and the vehicle autonomously follows the driver. In applications where the vehicle follows the driver, it is conceivable that the driver is engaged in activities in which the driver repeatedly reaches into the vehicle to remove objects. For example, the driver may provide a delivery service in which objects are delivered to customers. In another example, the objects may be traffic cones that the driver places on the road at regular intervals. In some cases, the vehicle may follow the driver in such a way that the vehicle stops at a location that requires the driver to travel a long distance in order to reach into the vehicle and take the object to a specific location. Summary of the Invention

[0003] The present disclosure includes a technique for operating a motor vehicle in which a user is outside the motor vehicle and the motor vehicle drives autonomously in such a manner that the user only needs to walk a short distance to repeatedly reach into the motor vehicle. Furthermore, the present disclosure includes computer programs and storage media for performing the methods and techniques herein.

[0004] A method according to the present disclosure is for operating a motor vehicle having a front portion, a rear portion, a driving direction pointing from the rear portion to the front portion, a reverse driving direction opposite to the driving direction, a cargo compartment access point, and a cargo compartment accessible through the cargo compartment access point. The method includes the following steps: a) detecting a user of the motor vehicle located outside the motor vehicle and in the reverse driving direction of the motor vehicle; b) if the user moves away from the motor vehicle in the reverse driving direction, causing the motor vehicle to follow the user by autonomously driving the motor vehicle in the reverse driving direction; c) querying (i.e., determining) whether the user intends to reach into the cargo compartment; and d) if the answer in step c) is yes, autonomously driving the motor vehicle until the motor vehicle comes to a stop in such a manner that a loading distance between the cargo compartment access point and the user is finely adjusted.

[0005] Since the motor vehicle follows the user in the opposite direction of travel in step b), and the cargo compartment is generally located in the rear area of ​​the motor vehicle, the user advantageously does not need to walk around the entire motor vehicle to reach the cargo compartment. Consequently, the user only needs to walk a short distance to reach the cargo compartment. By fine-tuning the loading distance in step d), the distance the user must walk can be further shortened. After the vehicle has stopped in step d), the method can continue with step b). As a result, even if the user repeatedly reaches into the cargo compartment, they can still make repeated adjustments.

[0006] To detect the user in step a), the motor vehicle may include sensors. For example, the sensors may be one or more of a camera (particularly a camera system configured to fully capture the motor vehicle's surroundings), a LIDAR (Light Detection and Ranging) system, a radar system, and a Bluetooth system. These aforementioned systems may also be used to perform the query (determination) in step c).

[0007] Preferably, in step c) querying (determining) comprises determining whether the user remains stationary.Alternatively or in addition, preferably, in step c) determining comprises determining whether the user is facing the motor vehicle.

[0008] In step b), a minimum distance between the motor vehicle and the user can be maintained. This can advantageously prevent collisions between the motor vehicle and the user. For example, the minimum distance can be in the range of 1.5 m to 3 m. It is generally preferred that the loading distance be less than the minimum distance. This allows the distance the user must travel to be further shortened. For example, the loading distance can be in the range of 0.3 m to 1.2 m.

[0009] The loading distance can be set by the user. In this way, larger users can choose a longer loading distance and smaller users can choose a shorter loading distance. This allows each user to choose the best loading distance for themselves.

[0010] The motor vehicle has a door having a closed state, wherein the cargo compartment is not accessible through the cargo compartment entry point, and an open state, wherein the cargo compartment is accessible through the cargo compartment entry point. The door may be disposed in a rear region of the motor vehicle.

[0011] If the answer in step c) is yes and the door is closed, then in step e) a query (determination) is made as to whether the user wishes to open the door. If the answer is yes, the door can be moved from the closed state to the open state in step f). For example, the determination in step e) can be performed using a sensor. In step e), it is possible to detect whether the user has a free hand, and if the answer is no, this can be interpreted as indicating that the user wishes to open the door. For example, it is possible to detect whether the user is carrying something in both hands, and if this is detected, it can be assessed that the user has no free hands. Alternatively, or in addition, it is possible to detect in step e) whether the user performs a predetermined gesture, and if the answer is yes, it can be assessed that the user wishes to open the door.

[0012] If an object other than the user is detected within the maximum distance from the user in step a), a query (i.e., a determination) is made in step b1) as to whether the user is pointing at the object. If the answer in step b1) is yes, the motor vehicle is driven autonomously until the motor vehicle comes to a stop with a predetermined motor vehicle distance between the motor vehicle and the object. This allows the user to instruct the motor vehicle to position itself relative to the object rather than the user. If the answer in step b1) is yes, the motor vehicle is driven autonomously until the motor vehicle comes to a stop with a predetermined motor vehicle orientation between the motor vehicle and the object.

[0013] The loading distance may depend on whether the door is in the closed or open state. In the closed state, the loading distance may be selected to account for the door's need to pivot to move from the closed state to the open state and to avoid collisions between the door and the user. For example, the loading distance in the closed state may be greater than the loading distance in the open state.

[0014] The cargo compartment access point can be located at the rear. This means that the distance the user has to travel is advantageously shorter.

[0015] In step a), the user detects various objects around the motor vehicle and plans the route the vehicle takes when driving autonomously based on the surrounding objects. In this way, collisions between the motor vehicle and the surrounding objects can be avoided.

[0016] The motor vehicle is suitable for carrying out the method according to the present disclosure.

[0017] The computer program according to the present disclosure has instructions which, when the program is executed by a computer of a motor vehicle, cause the computer to carry out the method according to the present disclosure.

[0018] The computer-readable storage medium has instructions that, when executed by a computer of a motor vehicle, cause the computer to perform a method according to the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present disclosure is explained in more detail below with reference to the accompanying schematic drawings, in which: Figure 1 is a top view of the motor vehicle and the user at a first point in time; Figure 2 Displays the source from the second time point Figure 1 View; Figure 3 Shown at the third time point from Figure 1 View; Figure 4 Shown at the fourth time point from Figure 1 Views; and Figure 5 It is a top view of the motor vehicle and the user at three different time points. DETAILED DESCRIPTION

[0020] If you can Figures 1 to 5 As can be seen, motor vehicle 1 has a front portion 3, a rear portion 4, a driving direction 6 pointing from rear portion 4 to front portion 3, a reverse driving direction 7 opposite to driving direction 6, a cargo compartment access point 5, and a cargo compartment accessible through cargo compartment access point 5, wherein the cargo compartment is particularly accessible from outside motor vehicle 1 through cargo compartment access point 5. Motor vehicle 1 is configured to perform the following steps: a) detect a user 2 of motor vehicle 1 located outside motor vehicle 1 and in reverse driving direction 7 of motor vehicle 1; b) if user 2 moves away from motor vehicle 1 in reverse driving direction 7, cause motor vehicle 1 to follow user 2 by autonomously driving motor vehicle 1 in reverse driving direction 7; c) query (i.e., determine) whether user 2 intends to reach into the cargo compartment; d) if the answer in step c) is yes, then autonomously drive motor vehicle 1 until motor vehicle 1 comes to a stop in such a way that the loading distance between cargo compartment access point 5 and user 2 is finely adjusted. After motor vehicle 1 has come to a stop in step d), the method can continue with step b), in which user 2 is detected throughout the method.

[0021] The motor vehicle 1 may have a sensor, which is arranged to detect the user 2 in step a). The sensor may have a field of view 10 (cf. Figures 1 to 4 ), can detect user 2 within field of view 10. The sensor can be one or more of a camera (particularly a camera system configured to fully capture the vehicle's surroundings), a LIDAR system, a radar system, and a Bluetooth system. The Bluetooth system can be configured to communicate with a device worn by the user. The sensor can also be configured to perform the query (determination) in step c).

[0022] Figures 1 to 4The method is shown at four different time points, from Figures 1 to 4 Time is advancing. Figure 1 In step a), the motor vehicle detects user 2, who is located in the reverse direction 7 of motor vehicle 1 and moving away from motor vehicle 1 along reverse direction 7 and path 11. Consequently, in step b), motor vehicle 1 follows user 2 as it autonomously travels in reverse direction 7. In step b), a minimum distance between motor vehicle 1 and user 2 can be maintained. This minimum distance can prevent a collision between motor vehicle 1 and user 2. For example, the minimum distance can be in the range of 1.5 m to 3 m.

[0023] While motor vehicle 1 is following user 2, it may be determined in step c) whether user 2 intends to reach into the cargo compartment. The determination (query) in step c) may include whether user 2 remains standing and / or whether user 2 is facing the direction of motor vehicle 1. For example, it may be determined whether user 2 is facing motor vehicle 1 by checking whether user 2's face is visible. Figure 2 User 2 is shown reaching drop location 8, stopping, and turning so they are facing motor vehicle 1. Thus, in step c), user 2's intention to reach into the cargo compartment is recognized, and the loading distance is fine-tuned in step d). The loading distance can be shorter than the minimum distance. For example, the loading distance can be in the range of 0.3 m to 1.2 m.

[0024] Figure 3 The user 2 is shown to have taken an object 9 from the cargo hold and placed the object 9 at the drop location 8. For example, the object 9 may be a traffic cone. Figure 4 The user 2 is shown moving again in the reverse driving direction 7 and along the path 11 away from the motor vehicle 1 , so that the method starts again from the beginning.

[0025] The motor vehicle 1 may have a door, which has a closed state and an open state. In the closed state, the cargo compartment is not accessible through the cargo compartment access point 5, and in the open state, the cargo compartment is accessible through the cargo compartment access point 5. In one example, if the motor vehicle 1 is a passenger car, the door may be a tailgate. In another example, if the motor vehicle 1 is a van, the door may be a cargo door.

[0026] If the answer in step c) is yes and the door is closed, a determination can be made in step e) as to whether user 2 wishes to open the door. If the answer is yes, the door can be autonomously moved from the closed state to the open state by motor vehicle 1 in step f). The determination in step e) can be performed by sensors. In step e), it can be detected whether user 2 has a free hand, and if the answer is no, this can be interpreted as meaning that user 2 wishes to open the door. Alternatively, in step e), it can be detected whether user 2 performs a predetermined gesture, and if the answer is yes, this can be interpreted as meaning that user 2 wishes to open the door.

[0027] Loading distance (refer to Figure 2 ) can be adjusted by the user 2 and / or can depend on whether the vehicle door is in a closed position or an open position. It is also conceivable that the loading distance in the closed state is greater than the loading distance in the open state.

[0028] Figures 1 to 5 The cargo compartment access point 5 can be arranged in such a way that the user 2 reaches into the cargo compartment through the cargo compartment access point 5 in the direction of travel 6. For this purpose, the cargo compartment access point 5 can be arranged in the region of the rear part 4. For example, the cargo compartment access point 5 can be arranged in the y direction (with reference to Figure 1 Alternatively, it is conceivable that the cargo compartment access point 5 is located in the middle of the vehicle opening in the y direction, which is covered by the vehicle door when the vehicle door is closed and is open when the vehicle door is open.

[0029] It is conceivable that if object 9 is detected in addition to user 2 in step a) and is within the maximum distance from user 2, a query (determination) is made in step b1) as to whether user 2 is pointing at object 9. If the answer in step b1) is yes, motor vehicle 1 autonomously drives until motor vehicle 1 stops in such a way that a predetermined motor vehicle distance is established between motor vehicle 1 and object 9. The query (determination) in step b1) can be performed using sensors. If the answer in step b1) is yes, motor vehicle 1 autonomously drives until motor vehicle 1 stops in such a way that a predetermined motor vehicle orientation is established between motor vehicle 1 and object 9.

[0030] Figure 5 In step a), various surrounding objects 13 of the motor vehicle 1 can be detected by the user 2 and a driving path 12 to be taken by the motor vehicle 1 when the motor vehicle 1 is driving autonomously can be planned based on the surrounding objects 13. Since the motor vehicle 1 is traveling in the opposite driving direction 7, the driving path 12 can be planned in such a way that the maximum steering angle of the motor vehicle 1 is used; Figure 5, in particular the driving path between the motor vehicle 1 at the second point in time and the motor vehicle 1 at the third point in time.

[0031] List of reference numerals: 1 Motor Vehicle 2 users 3Front 4 rear 5 cargo hold entry points 6 Driving direction 7 Reverse driving direction 8 put down position 9 objects 10 fields of view 11 Paths Route 12 13Surrounding objects

Claims

1. A method comprising: detecting a user of the motor vehicle located outside the motor vehicle and in a reverse direction of travel of the motor vehicle; upon detecting that the user is moving away from the motor vehicle in the reverse direction of travel, moving the motor vehicle in the reverse direction of travel to follow the user while maintaining a minimum distance between the user and the motor vehicle; as well as upon determining that the user intends to reach into the cargo compartment of the motor vehicle, stopping the motor vehicle when an entry point to the cargo compartment of the motor vehicle is within a loading distance of the user; Wherein the loading distance is less than the minimum distance. 2 . The method of claim 1 , wherein determining that the user intends to reach into the cargo space of the motor vehicle comprises determining whether the user is stationary. 3 . The method of claim 1 , wherein determining that the user intends to reach into a cargo space of the motor vehicle comprises determining whether the user is facing the motor vehicle. The method of claim 1 , wherein the loading distance is adjustable by the user.

5. The method according to claim 1, wherein the motor vehicle includes a door, the door having a closed state and an open state, wherein in the closed state the cargo compartment is not accessible through the entry point, and in the open state the cargo compartment is accessible through the entry point.

6. The method according to claim 5 further includes, when the vehicle door is in the closed state, upon determining that the user intends to reach into the cargo compartment of the motor vehicle, determining whether the user wishes to open the vehicle door, and if the answer is yes, moving the vehicle door from the closed state to the open state. 7 . The method of claim 5 , further comprising moving the vehicle door to the open state upon detecting that the user has no free hands and / or upon detecting that the user has performed a predetermined gesture. 8 . The method of claim 5 , wherein the loading distance depends on whether the vehicle door is in the closed state or the open state.

9. The method of claim 1 , wherein, in addition to detecting the user, upon detecting an object at a maximum distance from the user, determining whether the user is pointing at the object, and if so, moving the motor vehicle until the motor vehicle stops according to a predetermined distance between the motor vehicle and the object.

10. The method of claim 9, wherein upon determining that the user intends to reach into the cargo compartment of the motor vehicle, the motor vehicle is moved until the motor vehicle is stopped in such a manner that a predetermined motor vehicle orientation is between the motor vehicle and the object.

11. A computer for a motor vehicle, programmed to: detecting a user of the motor vehicle located outside the motor vehicle and in a reverse direction of travel of the motor vehicle; upon detecting that the user is moving away from the motor vehicle in the reverse direction of travel, moving the motor vehicle in the reverse direction of travel to follow the user while maintaining a minimum distance between the user and the motor vehicle; as well as upon determining that the user intends to reach into the cargo compartment of the motor vehicle, stopping the motor vehicle when an entry point to the cargo compartment of the motor vehicle is within a loading distance of the user; Wherein the loading distance is less than the minimum distance.

12. The computer of claim 11 further programmed to determine that the user intends to reach into the cargo space of the motor vehicle comprises determining whether the user is stationary.

13. The computer of claim 11, further programmed to determine that the user intends to reach into a cargo compartment of the motor vehicle comprises determining whether the user is facing the motor vehicle.

14. The computer of claim 11, wherein the loading distance is adjustable by the user.

15. A computer according to claim 11, wherein the motor vehicle includes a door, the door having a closed state and an open state, wherein the cargo compartment is not accessible through the entry point in the closed state and the cargo compartment is accessible through the entry point in the open state.

16. The computer according to claim 15 is further programmed to, when the vehicle door is in the closed state, upon determining that the user intends to reach into the cargo compartment of the motor vehicle, determine whether the user wishes to open the vehicle door, and if the answer is yes, move the vehicle door from the closed state to the open state.

17. The computer of claim 15, further programmed to move the vehicle door to the open state upon detecting that the user has no free hands and / or upon detecting that the user has performed a predetermined gesture.

18. The computer of claim 15, wherein the loading distance is dependent on whether the vehicle door is in the closed state or the open state.

19. The computer of claim 11 , further programmed to, in addition to detecting the user, upon detecting an object at a maximum distance from the user, determine whether the user is pointing at the object, and if so, move the motor vehicle until the motor vehicle comes to a stop based on a predetermined distance between the motor vehicle and the object.

20. The computer of claim 19, further programmed to, upon determining that the user intends to reach into the cargo compartment of the motor vehicle, move the motor vehicle until the motor vehicle is stopped in such a manner that a predetermined motor vehicle orientation is between the motor vehicle and the object.

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