Marker and device for determining position, positioning, moving a vehicle and determining an articulation angle

Abstract

Marker for determining the position of a vehicle (10), wherein the marker (30-32) is designed such that an image of the marker (30-32) which is captured from a current position of the vehicle (10) has angular information about an angle (α) at ​​which the marker (30-32) is seen from the current position, where the marker is a lenticular marker (30; 31), wherein the lenticular marker (31) comprises a lens field, where the angle is a two-dimensional angle corresponding to a first one-dimensional angle and a second one-dimensional angle perpendicular to the first angle, wherein the lenticular marker (31) has a circle (2) and a full circle (3) lying in this circle (2), and wherein the lenticular marker (31) is designed such that a first distance (4) along a first direction between the full circle (3) and the circle (2) corresponds to the first angle and a second distance (5) along a second direction perpendicular to the first direction between the full circle (3) and the circle (2) corresponds to the second angle.

Description

[0001] The present invention relates to a marker for determining the position of a vehicle and a device for determining the position of a vehicle, for positioning a vehicle, for moving a vehicle and for determining a turning angle for a vehicle.

[0002] DE 197 33 466 A1 concerns a marking system provided with codes according to a coding system and a corresponding marking.

[0003] DE 10 2006 021 063 B3 discloses a marker body for a three-dimensional photogrammetric survey of an object equipped with marker bodies.

[0004] DE 103 47 608 A1 describes a measuring mark with angle-coded measuring points and a method for identifying and decoding these measuring marks.

[0005] DE 10 2011 111 051 A1 discloses a method and a device for assisting a driver in controlling a vehicle.

[0006] DE 10 2012 208 132 A1 describes a method for vehicle localization.

[0007] Furthermore, the publications “SCHUBERT, Richard: 3D lenticular images of 3D-scanned art objects. Lecture EVA2000, Berlin, 2000.” and “BUCHROITHNER, Manfred Ferdinand et al.: Theoretical aspects of modeling real 3D representations. In: Lectures of the 8th Dresden Summer School for Cartography on September 25 / 26, 2003, Cartographic Building Blocks, Vol. 26, 2004, pp. 62-74, Institute for Cartography, Dresden University of Technology” are known.

[0008] State-of-the-art parking assist systems use surrounding objects and obstacles to determine a target parking position for a vehicle. However, in certain situations, such a determined target parking position may not correspond to the driver's wishes.

[0009] Therefore, the present invention aims to support, for example, a parking assist system in defining the target parking position according to the wishes of the customer or the driver.

[0010] According to the invention, this problem is solved by a marker according to claims 1 and 2, by a device for determining the position of the vehicle according to claim 5, by a device for positioning a vehicle according to claim 6, by a device for moving a vehicle according to claim 8, and by a device for determining an articulation angle for a vehicle according to claim 9. The dependent claims define preferred and advantageous embodiments of the present invention.

[0011] Within the scope of the present invention, a marker for determining the position of a vehicle is provided. The marker is designed such that an image of the marker, which is captured from the current position of the vehicle, contains angular information about the angle at which the marker is captured or seen from the current position of the vehicle.

[0012] If, for example, the marker is attached to a wall, which is particularly perpendicular to the vehicle's roadway, the angle to a straight line perpendicular to the marker or the wall can only be determined using an image of the marker taken from the vehicle's current position with a camera. Since, given the marker's known size, the distance between the camera (and thus the vehicle to which the camera is attached) and the marker can be deduced from the marker's dimensions in the captured image, the exact position of the vehicle relative to the marker can be determined from the angle information and the distance using the marker according to the invention.

[0013] Using the marker according to the invention, the target parking position of the vehicle can now be defined according to the driver's wishes. For example, the target parking position can be defined such that the longitudinal center axis of the vehicle corresponds to an axis of symmetry of the marker, which is perpendicular to the marker, and that the distance of the vehicle to the marker is defined according to the driver's wishes. When the vehicle detects the marker, it will park, in particular, centrally and perpendicularly in front of the marker to assume the desired target parking position.

[0014] According to the invention, the marker is a lenticular marker. A lenticular marker is understood to be a marker that is produced by means of lenticular printing and thus corresponds to a lenticular image. The marker or the lenticular image is a lens or prism raster image that conveys a three-dimensional or spatial impression with the aid of tiny optical lenses or prisms.

[0015] According to the invention, the lenticular marker comprises a cylindrical lens field.

[0016] According to an aspect differing from the claimed invention, the angle at which the marker is seen from the current position of the vehicle corresponds to a one-dimensional angle. In this first variant, the marker is designed such that the angle or angle information can be determined based on a continuous grayscale gradient or a continuous color gradient (i.e., the grayscale value or color value increases continuously with the angle). A value of this grayscale gradient or color gradient has a minimum when the angle has a minimum, and conversely, a value of the grayscale gradient or color gradient has a maximum when the angle has a maximum.

[0017] A cylindrical lens field is understood to mean that several cylindrical segments are arranged parallel to each other on a surface, particularly a flat one. The one-dimensional angle can, for example, be determined with respect to a surface normal of the surface and lies in a plane whose surface normal coincides with the central axis of the cylinders whose cylindrical segments form the cylindrical lens field.

[0018] The angle at which the marker is seen from the vehicle's current position can then be determined based on the grayscale or color value of the image captured by the marker. If the angle information is determined from the color gradient, the gradient could, for example, correspond to a Cb(U) gradient (i.e., from yellow to blue) or a Cr(V) gradient (i.e., from turquoise to red).

[0019] The viewing range or angular range within which angular information can be captured from the marker's image depends on the design of the cylindrical lens array (for example, the lens height, lens width, or the ratio of lens height to lens width). While values ​​of nearly -90° to +90° are achievable, in practice an angular range of -45° to +45° is sufficient, relative to the orthogonal viewing projection (i.e., perpendicular to the marker). The encoding of the angle itself (i.e., the relationship between the grayscale or color value and the angle) can be freely defined. A printed area below the lenses can be used to display the image (i.e., the grayscale or color value) encompassing the entire evaluated range (e.g., -45° to +45°) or to restrict it to smaller angular ranges, which repeat when the respective angular limits are exceeded.

[0020] If the entire angular range is divided into several smaller angular ranges, the marker contains multiple cylindrical lens field sections, each representing one of several smaller angular ranges (e.g., -45° to -22.5°, -22.5° to 0°, 0° to 22.5°, and 22.5° to 45°). In addition, there is another cylindrical lens field section whose gray or color value can be used to determine an angle within the entire angular range. By determining the angle using this additional cylindrical lens field section, the section with the smaller angular range is essentially identified, and the final, precise angle measurement is then determined based on this smaller angular range. The cylindrical lens field section with the larger angular range would therefore only be used as a first approximation, while the section with the smaller angular range serves to improve the accuracy of the measurement.

[0021] The lenticular marker can have a first reference image whose gray tone or hue corresponds to the respective minimum, and a second reference image whose gray tone or hue corresponds to the respective maximum.

[0022] Using these two reference images, the angle determination can be adjusted to the current lighting conditions based on the captured grayscale or color value. Furthermore, the reference images, captured, for example, by a vehicle camera, provide calibration data for grayscale or color value adjustment.

[0023] According to a variant of the claimed invention, the marker comprises a cylindrical lens array, and the angle corresponds to a one-dimensional angle. In this second variant, the lenticular marker has a circle and a full circle lying within this circle. In this variant, the lenticular marker is designed such that the angle can be determined from the distance between the full circle and the circle in the image captured by the marker from the current position of the vehicle.

[0024] In this second variant, the relationship between the distance between the circle and the full circle is defined by the dimensions of the cylindrical segments of the cylindrical lens field. To determine the angle from the distance, the relationship between the angle and the distance must be known. With a linear relationship between distance and angle, knowledge of the minimum distance corresponding to the minimum angle is usually sufficient. However, with a nonlinear relationship between distance and angle, which can be used, for example, to achieve greater sensitivity near the orthogonal visual projection, this nonlinear relationship must be known in order to determine the angle based on the distance.

[0025] According to the invention, the lenticular marker comprises a lens field or lens array ("fly-eye"). The lens field comprises lenses arranged on a surface, in particular a flat surface. The angle at which the marker is seen from the current position of the vehicle corresponds to a two-dimensional angle. A two-dimensional angle is understood to be, in particular, an angle comprising a first one-dimensional angle and a second one-dimensional angle perpendicular to this first angle. In this third variant, the marker is designed such that the angle or angle information can be determined using a color space encoding. The color space encoding comprises a first continuous color gradient and a second continuous color gradient perpendicular to it.A value in the first gradient has a minimum when the first angle has a minimum, while a value in the second gradient has a minimum when the second angle has a minimum. Similarly, a value in the first gradient has a maximum when the first angle has a maximum, while a value in the second gradient has a maximum when the second angle has a maximum.

[0026] In this variant, the direction is encoded within a color space. For example, the YUV color space can be used with a constant brightness value or Y-value (e.g., 0.5), where chrominances are encoded. The first color gradient could, for example, correspond to a Cb(U) gradient (i.e., from yellow to blue), and the second color gradient to a Cr(V) gradient (i.e., from turquoise to red).

[0027] If the marker is positioned on a plane, the first angle can, for example, correspond to the angle formed by a line perpendicular to the plane and a viewing direction projected onto the plane from the vehicle's current position. The second angle can then correspond to the angle formed by the line perpendicular to the plane and the viewing direction.

[0028] A grayscale image could be used as a reference image to establish the brightness level, but this would require a camera with a known color profile. Furthermore, separate reference images could show the minimum of the first color gradient, the maximum of the first color gradient, the minimum of the second color gradient, and the maximum of the second color gradient.

[0029] In a fourth variant of the lenticular marker, the marker also comprises a lens field, and the angle corresponds to a two-dimensional angle. In this fourth variant, the lenticular marker has a circle and a full circle lying within it. In this variant, the lenticular marker is designed such that, in the image captured by the marker from the vehicle's current position, a first distance along a first direction between the full circle and the circle, and a second distance along a second direction perpendicular to the first direction between the full circle and the circle, can be determined. Based on these two distances, the two-dimensional angle can then be determined, where, for example, a first angular component could correspond to the first distance and a second angular component of the angle to the second distance.

[0030] Instead of the first and second distances, the two-dimensional angle can also be determined based on a distance between the full circle and the circle and on a direction in which the full circle is moved from the center of the circle in the image captured by the marker from the current position of the vehicle.

[0031] According to a further embodiment of the invention, the marker can be a three-dimensional object comprising a circle, a rod, and a sphere arranged on this rod. The rod is arranged in the center of the circle and extends perpendicular to the circle.

[0032] Depending on the direction from which the image of the marker is captured from the vehicle's current position, the sphere's position relative to the circle's center changes. If the sphere's distance from the circle and, for example, the circle's radius are known, the angle at which the marker is seen from the vehicle's or camera's current position, and the distance between the vehicle or camera and the marker, can be determined.

[0033] Furthermore, it is possible that the marker according to the invention includes a code. This code includes, in particular, information to define a positioning or position of the vehicle relative to the marker.

[0034] The coding can be used, for example, to specify the target parking position in relation to the marker.

[0035] The coded information can also include at least a distance that the vehicle, when traveling to, for example, the target parking position, should not exceed with respect to a straight line that is parallel to the vehicle's driving plane and is perpendicular and centered on the marker. It is also possible to define a first and a second distance, where the first distance defines the distance from the straight line to the first side, and the second distance defines the distance from the straight line to the other or second side.

[0036] Such a marker according to the invention indicates an area that the vehicle must not drive over, particularly during a parking maneuver, at least in the vicinity of the marker. This concept is also known as a "virtual fence".

[0037] Within the scope of the present invention, a method for determining the position of a vehicle is also provided. This method comprises the following steps: • Capturing an image of a stationary marker according to the invention while the vehicle is in its current position. Stationary in this context means that the marker is not moving. • Analyzing the image to automatically determine the distance between the vehicle and the marker, as well as the angle at which the marker is viewed from the current position. Based on the known size or dimensions of the marker, the distance can be determined using the image of the marker. • Determining the current position of the vehicle based on the distance and angle. Knowing the distance and angle, the vehicle's position relative to the marker can be precisely determined. If the marker's position is known, the vehicle's absolute position can then also be determined.

[0038] The position determination according to the invention essentially makes it possible to automatically move the vehicle from its current position to a target position defined with respect to the marker.

[0039] Furthermore, the present invention also provides a method for positioning a vehicle. The method according to the invention comprises the following steps: • Determining the current position of the vehicle with respect to the marker using the previously described inventive method for determining the position of a vehicle. • Determining a target position relative to the marker. The target position can be determined, for example, based on information encoded in the marker. Another possibility is that the process knows in advance how to determine the target position depending on the position of the marker. • Driving the vehicle from its current position to the target position.

[0040] The marker can be used to determine both the vehicle's current position and a target position. This makes it advantageously possible to automatically move the vehicle from its current position to the target position.

[0041] The inventive method for positioning the vehicle can be used for the following applications: • Inductive charging: The vehicle is parked with centimeter precision on an inductive charging pad using a marker according to the invention. Without the marker according to the invention, positioning is very difficult, as the inductive charging pad is located underneath the vehicle and therefore outside the driver's field of vision and usually also outside the camera's field of vision. • Positioning the vehicle relative to a charging robot. The marker according to the invention enables precise positioning of the vehicle within centimeters in front of the charging robot, which supplies the vehicle with electrical energy or fuel, even with the aid of simple camera systems of the vehicle. • Positioning in parking garages and underground car parks: Due to monotonous walls and low-contrast image areas, positioning in parking garages and underground car parks presents a major problem according to the prior art. Since a target parking position can be defined using only one marker according to the invention, only the number of markers according to the invention corresponding to the number of parking spaces is required. • Positioning trucks relative to a docking station: During loading and unloading, the truck must be reversed precisely to a docking point. With the aid of the marker according to the invention, the approach angle of the truck relative to the docking point can be determined from a great distance. This enables easier approach to the docking point and, at the same time, automatic docking of the truck. • Trailer coupling: When coupling a trailer to a truck, the truck must be carefully moved towards the trailer until it engages in the trailer coupling or fifth wheel. With the marker according to the invention, which is attached to the trailer, the angle between the truck and the trailer can be determined even from a great distance, and in close proximity, automatic coupling can be carried out solely via a camera-based assistance system of the truck.

[0042] The step of determining the target position can include evaluating the image to determine a distance and a straight line parallel to the vehicle's travel plane, which is perpendicular and centered on the marker. The next step of moving the vehicle can then ensure that the vehicle is moved in such a way that it does not exceed the distance to the straight line on its way to the target position, at least within a predetermined proximity of the marker.

[0043] According to this embodiment, the vehicle moves, at least in the vicinity of the marker or the target position, within two straight lines that are twice the distance between each other and run parallel to the predefined straight line. These two straight lines essentially define a boundary, and the vehicle must move within both boundaries when near the marker or the target position.

[0044] Furthermore, the present invention provides a method for moving a vehicle. The method according to the invention comprises the following steps: • Taking an image of a stationary marker according to the invention while the vehicle is in a current position. • Evaluate the image to determine a distance and a straight line parallel to a driving plane of the vehicle, which is perpendicular and centered on the marker. • Moving the vehicle in such a way that, at least at a predetermined proximity to the marker, the vehicle does not exceed the distance to the straight line.

[0045] In a similar manner to the previously described embodiment of the method for positioning the vehicle, the inventive method for moving a vehicle prevents the vehicle from crossing the two straight lines, which are twice the distance to each other and run parallel to the predefined straight line, when near the marker (for example at a predetermined distance of e.g. 10 m from the marker).

[0046] Within the scope of the present invention, a method for determining an articulation angle for a vehicle is also provided. The method according to the invention comprises the following steps: • Capturing an image of a marker according to the invention, which is located on a trailer coupled to the vehicle, from the vehicle's perspective. That is, the image of the marker is captured by a camera mounted on the vehicle. • Evaluating the image to determine the angle at which the marker is seen from the vehicle. • Determining the articulation angle formed by the trailer with the vehicle, depending on the previously determined angle.

[0047] Since the marker according to the invention makes it possible to derive from the image of the marker the angle at which the image of the marker was captured, the marker according to the invention is advantageously also suitable for determining a bending angle.

[0048] By using the marker according to the invention, the determination of the angle is advantageously independent of the distance between the marker and the camera. This allows the articulation angle to be determined for different trailers with drawbars of varying lengths without requiring additional calibration measures.

[0049] Within the scope of the present invention, a device for determining the position of a vehicle is also provided. The device according to the invention comprises control means and a camera. The device is configured to use the camera to capture an image of a stationary marker according to the invention while the vehicle is in its current position. Furthermore, the device is configured to use the control means to evaluate the captured image in order to determine the distance between the vehicle and the marker, as well as the angle at which the marker is viewed from the current position. The device is capable of determining the current position of the vehicle as a function of the distance and the angle relative to the marker, using the control means.

[0050] The advantages of the device according to the invention for determining position essentially correspond to the advantages of the method according to the invention for determining position, which have already been explained in detail, so that a repetition is omitted here.

[0051] Within the scope of the present invention, a device for positioning a vehicle is also provided. This device again comprises control means and a camera. The device is configured to use the camera to capture an image of a stationary marker according to the invention, with the vehicle in its current position. The device is configured to use the control means to evaluate the image in order to determine from this image the distance between the vehicle and the marker, as well as the angle at which the marker is viewed from the vehicle's current position. Furthermore, the device is capable of using the control means to determine the vehicle's current position as a function of the distance and the angle.Finally, the device according to the invention is designed to determine a target position of the vehicle depending on the marker using the control means and to move the vehicle from the current position to the target position using the control means.

[0052] The advantages of the device according to the invention for positioning the vehicle essentially correspond to the advantages of the method according to the invention for positioning the vehicle, which have been described in detail above, so that a repetition is omitted here.

[0053] According to one embodiment of the invention, the positioning device is designed to determine a distance and a straight line parallel to a driving plane of the vehicle, which is perpendicular and centered on the marker, when determining the target position during image evaluation. When the vehicle is moved, the device is designed such that, with the aid of the control means, it moves the vehicle in such a way that the vehicle does not exceed the distance to the straight line, at least in a certain proximity to the marker.

[0054] Within the scope of the present invention, a device for moving a vehicle is also provided. Again, the device according to the invention comprises control means and a camera. The device is configured to capture an image of a stationary marker according to the invention using the control means while the vehicle is in its current position. The device is further configured to evaluate the image using the control means in order to determine, based on the image, a distance and a straight line parallel to a driving plane of the vehicle, which is perpendicular and centered on the marker. The device is configured such that, using the control means, it moves the vehicle in such a way that the vehicle does not exceed the distance to the straight line, at least in the vicinity (i.e., at a predetermined distance from the marker).

[0055] The advantages of the device according to the invention for moving the vehicle essentially correspond to the advantages of the method according to the invention for moving the vehicle, which have been described in detail above, so that a repetition is omitted here.

[0056] Within the scope of the present invention, a device for determining the articulation angle of a vehicle is provided. This device also comprises control means and a camera. The device is configured to use the camera to capture an image of a marker according to the invention, which is attached to a trailer coupled to the vehicle. The device is configured to use the control means to evaluate the image of the marker in order to determine, based on the image, the angle at which the marker is viewed by the camera, and then to calculate the articulation angle depending on this determined angle.

[0057] The advantages of the device according to the invention for determining the buckling angle essentially correspond to the advantages of the method according to the invention for determining the buckling angle, which have been explained in detail above, so that a repetition is omitted here.

[0058] Finally, within the scope of the present invention, a vehicle is provided which includes at least one of the devices described above according to the invention.

[0059] The present invention offers the following advantages: • With the aid of a marker according to the invention, a non-central parking position in a garage can be defined. This prevents, for example, the vehicle from colliding with winter tires hanging on the garage wall during the parking process. • Similarly, the marker according to the invention can be used to define an offset parking position in a garage. This allows the vehicle to maintain a predetermined distance from a garage door and a sufficiently large distance on the driver's side while parked. • By using the marker according to the invention, a parking space is precisely defined even if one or both adjacent parking spaces are unoccupied. In this case, prior art methods, which, for example, estimate the width of the parking space solely based on surrounding objects, struggle. • Even (automatic) parking in a parking space where the two adjacent vehicles are not centered within their marked parking space boundaries does not pose a problem due to the unambiguous definition of the parking space with the marker according to the invention.

[0060] As previously described, the marker according to the invention can be used, firstly, as a so-called "center marker". With such a center marker, the vehicle attempts to park so that it is positioned centrally and perpendicularly in front of the marker. If this is not possible, the vehicle attempts to park as close as possible to the center marker without driving over other obstacles or "virtual fences" during the parking maneuver.

[0061] Secondly, a "virtual fence" can be defined using a marker according to the invention. Depending on the marker position, a normal to the marker, and a distance to this normal, a "virtual fence" is defined which must not be crossed during the parking process.

[0062] The same marker according to the invention can be both a center marker and simultaneously serve to define a “virtual fence”.

[0063] The present invention is particularly suitable for motor vehicles. Of course, the present invention is not limited to this preferred field of application, as it can also be used in ships, aircraft, and track-bound or rail-guided vehicles. Even the use of the present invention with a mobile device (e.g., a smartphone) is conceivable in order to determine the position of the smartphone relative to a marker according to the invention by means of an image taken of that marker.

[0064] The present invention will now be described in detail with reference to the figures, using preferred embodiments according to the invention as an example. In Fig. Figure 1 illustrates the principle of a lenticular marker for determining a one-dimensional angle. With Fig. 2 A color space for use with a lenticular marker according to the invention is described. In Fig. Figure 3 shows a lenticular marker according to the invention for determining a one-dimensional angle. In Fig. Figure 4 shows a lenticular marker according to the invention for determining a two-dimensional angle. In Fig. Figure 5 shows a three-dimensional body of a marker according to the invention. In Fig. Figure 6 shows the flowchart of a method according to the invention for moving a vehicle. In Fig. Figure 7 schematically shows a vehicle according to the invention with a device according to the invention.

[0065] With Fig. Figure 1 illustrates the principle of a gray-value direction coding via gray-value phases for a lenticular marker according to the invention for determining a one-dimensional angle.

[0066] In Fig. Figure 1a shows a printing surface 12 on which a cylindrical lens array 11 is arranged. The cylindrical lens array 11 consists of several cylindrical sections arranged parallel to each other on the printing surface 12. From above, the cylindrical lens array 11 looks as shown in Fig. Figure 1b shows that to increase accuracy, the individual cylinder sections can be made smaller and the distance between adjacent cylinder sections can be reduced, as shown in Figure 1b. Fig. 1 c is shown.

[0067] Viewing such a cylindrical lens field from the left at an angle α (e.g. -45°) to a straight line 16, which is perpendicular to the printing surface 12 (the marker), reveals a dark gray tone, as shown on the right in Fig. 1d is mapped onto surface 1. If, however, the cylindrical lens field is viewed from above (i.e., at an angle of 0° to line 16), a medium gray tone is visible, as shown on the right in Fig. 1e is imaged on surface 1. If one views the cylindrical lens field 11 from the right at an angle α (e.g. +45°) to line 16, one sees a white-gray tone, as shown on the right in Fig. 1f is shown on surface 1. In summary, the gray tone of the cylindrical lens field (i.e., the marker) in an image of the cylindrical lens field corresponds to the angle at which the image of the cylindrical lens field was taken.

[0068] To adapt the evaluation of the gray value of the image from the marker according to the invention to the current exposure conditions, the marker according to the invention can comprise a first reference surface 1 and a second reference surface 1. The first reference surface 1, for example (see e.g. Fig. 1d) a gray tone whose gray value corresponds to a maximum gray value that the image of the marker exhibits when the image of the marker is captured at the maximum possible angle α. The second reference surface 1 (see e.g. Fig. 1f) can then have a shade of gray whose gray value corresponds to a minimum gray value that the image of the marker has when the image of the marker was taken at the minimum possible angle α.

[0069] To determine a two-dimensional angle using a lenticular marker according to the invention, the encoding is carried out not with a gray value within a color space, which for the YUV color model is in principle in Fig. 2 is shown. The angle coding should then be designed such that for each combination of a first angle in the x-direction and a second angle in the y-direction (i.e., for each value of the two-dimensional angle), a unique individual hue (i.e., valid only for that value of the two-dimensional angle) results.

[0070] In Fig. Figure 3 shows another embodiment of a lenticular marker 30 with a cylindrical lens field 11.

[0071] If the image of marker 30 is taken at an angle of 0° to the line perpendicular to marker 30, the resulting image is... Fig. 3a. In this case, a full circle 3 lies exactly in the center of a larger circle 2, such that a distance 4 from the smaller circle 3 to the larger circle 2 is the same in all directions.

[0072] If, on the other hand, the image of marker 30 is captured at an angle α other than 0°, the full circle 3 shifts from the center of circle 2, so that the minimum distance 4 between the full circle 3 and circle 2 becomes smaller. The marker 30 according to the invention is designed such that the one-dimensional viewing angle at which the image of marker 30 is captured can be determined based on the minimum distance 4 between the full circle 3 and circle 2. Information can be encoded using the encodings 13 arranged on the larger circle 2. For example, the distance 4 at the minimum or maximum angle can be specified using these encodings 13. Furthermore, the position of a target position of the vehicle relative to the position of the marker can be defined using these encodings 13.

[0073] In Fig. Figure 4 shows another embodiment of a lenticular marker 31, with which a two-dimensional angle can be determined using the image of the marker 31.

[0074] If the image of marker 31 is taken in the direction of the line perpendicular to marker 31, the result is the same as with marker 30 (see Fig. 3) the image of the Fig. 4a. The full circle 3 lies exactly in the center of the larger circle 2, such that a first distance 4 along a first direction between the full circle 3 and the circle 2 and a second distance 5 along a second direction, which is perpendicular to the first direction, between the full circle 3 and the circle 2 each correspond to the same value.

[0075] If the image of marker 31 is captured at an angle other than 0°, the full circle 3 shifts from the center of circle 2. The two-dimensional angle at which the image of marker 31 was captured can then be determined from the two distances 4 and 5 in the image captured by marker 31. Like marker 30, marker 31 can include a code to define, for example, the position of a target position of the vehicle relative to the position of marker 31.

[0076] In Fig. Figure 5 shows another embodiment of a marker 32 according to the invention.

[0077] The marker 32 according to the invention comprises a circular area 6 in the center of which a rod 15 extends upwards perpendicular to the circular area 6, at the end of which a sphere 7 is located. When an image of the marker 32 is taken in a direction corresponding to the direction of the rod 15, an image of the sphere 7 is located within the image of the marker 32 at the center of the circle 6. If, on the other hand, the image of the marker 32 is taken in a different direction, the position of the image of the sphere 7 in the image of the marker 32 relative to the center of the circle 6 changes depending on the angle at which the image was taken. Knowing the distance between the sphere and the circular area 6, the two-dimensional angle at which the image of the marker 32 was taken can be determined from the distance of the center of the image of the sphere from the center of the circle 6 in the image of the marker 32.

[0078] In Fig. Figure 6 shows a flowchart of a method according to the invention for moving the vehicle from a current position to a target position using a marker according to the invention.

[0079] In step S1, a camera on the vehicle captures an image of the marker. In step S2, this image is analyzed to determine the distance between the marker and the vehicle, as well as the angle at which the marker is viewed by the vehicle's camera. Based on this determined distance and angle, the vehicle's current position relative to the marker can be determined in step S3.

[0080] In step S4, a target position of the vehicle is determined in relation to the marker. This can be done, for example, by evaluating the marker's code. However, it is also possible that the vehicle is given relative data about the marker to determine the target position (for example, centered on the marker at a distance of 3 m). In step S5, the vehicle is automatically moved from its current position to the target position.

[0081] In Fig.Figure 7 schematically depicts a vehicle 10 according to the invention, which comprises a device 20 according to the invention. The device 20 itself comprises a controller 9, a camera 8, and an output device 14. With the aid of the output device 14, semi-automatic movement of the vehicle 10 can be realized by, for example, outputting driving information (e.g., steering movements, gear information) to the driver of the vehicle 10 via the output device 14, so that the driver of the vehicle 10 drives the vehicle 10 from the current position to a target position determined with the aid of a marker according to the invention. Reference symbol list 1 Reference area 2 Outer circle 3 inner circle 4 distance 5 distance 6 Circle 7 balls 8 Camera 9 Control 10 vehicles 11 cylindrical lens array 12 printing area 13 Coding 14th issue 15 bars 16 Straight lines, perpendicular to markers 20 Device 30-32 markers α angle U, V gradient

Claims

[1] Marker for determining the position of a vehicle (10), wherein the marker (30-32) is designed such that an image of the marker (30-32) which is captured from a current position of the vehicle (10) has angular information about an angle (α) at ​​which the marker (30-32) is seen from the current position, where the marker is a lenticular marker (30; 31), wherein the lenticular marker (31) comprises a lens field, where the angle is a two-dimensional angle corresponding to a first one-dimensional angle and a second one-dimensional angle perpendicular to the first angle, wherein the lenticular marker (31) has a circle (2) and a full circle (3) lying in this circle (2), and wherein the lenticular marker (31) is designed such that a first distance (4) along a first direction between the full circle (3) and the circle (2) corresponds to the first angle and a second distance (5) along a second direction perpendicular to the first direction between the full circle (3) and the circle (2) corresponds to the second angle. [2] Marker for determining the position of a vehicle (10), wherein the marker (30-32) is designed such that an image of the marker (30-32) which is captured from a current position of the vehicle (10) has angular information about an angle (α) at ​​which the marker (30-32) is seen from the current position, wherein the marker (32) comprises a circle (6), a rod (15) and a sphere (7) arranged on this rod (15), and wherein the rod (15) is arranged in the middle of the circle (6) and runs perpendicular to the circle (6). [3] Marker according to claim 1 or 2, characterized by , that the marker (30-32) includes a coding (13) which contains information to define a positioning of the vehicle (10) with respect to the marker (30-32). [4] Marker according to claim 3, characterized by , that the information includes at least a distance which the vehicle (10) should not exceed when positioning itself with respect to a straight line running parallel to a driving plane of the vehicle (10), which is perpendicular and centered on the marker (30-32). [5] Device for determining the position of a vehicle (10), wherein the device (20) comprises control means (9) and a camera (8), wherein the device (20) is configured to take an image of a stationary marker (30-32) according to one of the preceding claims using the camera while the vehicle (10) is in a current position, wherein the device (20) is configured to evaluate the image by means of the control means (9) in order to determine a distance between the vehicle (10) and the marker (30-32) as well as an angle (α) at ​​which the marker (30-32) is seen from the current position, and wherein the device (20) is designed to determine the current position of the vehicle (10) depending on the distance and the angle (α) by means of the control means (9). [6] Device for positioning a vehicle (10), wherein the device (20) comprises control means (9) and a camera (8), wherein the device (20) is configured to take an image of a stationary marker (30-32) according to one of claims 1 to 4 using the camera while the vehicle (10) is in a current position, wherein the device (20) is designed to evaluate the image by means of the control means (9) in order to determine a distance between the vehicle (10) and the marker (30-32) as well as an angle (α) at ​​which the marker (30-32) is seen from the current position, wherein the device (20) is designed to determine the current position of the vehicle (10) depending on the distance and the angle (α) by means of the control means (9), wherein the device (20) is designed to determine a target position depending on the marker (30-32) by means of the control means (9), and wherein the device (20) is designed to move the vehicle (10) from the current position to the target position by means of the control means (9). [7] Device according to claim 6, characterized by , wherein the device (20) is designed to evaluate the image by means of the control means (9) when determining the target position, in order to determine a distance and a straight line with respect to a straight line running parallel to a driving plane of the vehicle (10), which is perpendicular and centered on the marker (30-32), and wherein the device (20) is designed to move the vehicle (10) by means of the control means in such a way that the vehicle (10) does not exceed the distance to the straight line. [8] Device for moving a vehicle (10), wherein the device (20) comprises control means (9) and a camera (8), wherein the device (20) is configured to capture an image of a stationary marker (30-32) according to one of claims 1 to 4 by means of the control means (9) while the vehicle (10) is in a current position, wherein the device (20) is configured to evaluate the image by means of the control means (9) in order to determine a distance and a straight line running parallel to a driving plane of the vehicle (10), which is perpendicular and centered on the marker (30-32), and wherein the device (20) is designed to move the vehicle (10) by means of the control means (9) in such a way that the vehicle (10) does not exceed the distance to the straight line. [9] Device for determining the articulation angle of a vehicle, wherein the device (20) comprises control means (9) and a camera (8), wherein the device (20) is configured to take an image of a marker (30-32) according to one of claims 1 to 4, which is arranged on a trailer coupled to the vehicle, using the camera (8), wherein the device (20) is designed to evaluate the image by means of the control means (9) in order to determine an angle (α) at ​​which the marker (30-32) is seen from the camera (8) and to determine the bending angle depending on the angle (α).

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