Method and device for operating a vehicle

Abstract

Method for operating a vehicle (305), comprising: - Determining (101) the instantaneous position of a person (313) relative to a parking space (301) within which a vehicle (305) is parked, - Determining (103) a meeting point (307, 501, 601, 701) at which the vehicle (305) and the person (313) are to meet, based on the determined instantaneous position, - Driving (105) the vehicle (305) driverlessly to the determined meeting point (307, 501, 601, 701) so that the person (313) can take over the vehicle (305) at the meeting point (307, 501, 601, 701), - wherein the parking space (301) comprises several predetermined pick-up positions (307, 501), wherein determining the meeting point (307, 501, 601, 701) includes the selection of one of the several pick-up locations (307, 501) as the meeting point (307, 501, 601, 701) based on the determined position of the person (313).

Description

[0001] The invention relates to a method and a device for operating a vehicle. The invention further relates to a computer program. State of the art

[0002] The patent application DE 10 2012 222 562 A1 shows a system for managed parking areas for transferring a vehicle from a starting position to a destination position.

[0003] In a fully automated (autonomous) valet parking system, a vehicle is parked by its driver at a drop-off point, for example in front of a parking garage, and from there the vehicle drives itself to a parking position / parking bay and back to the drop-off point.

[0004] Parking lots can, for example, have multiple exits. In such a case, it can be stipulated, for instance, that each of the exits is assigned a pick-up point or pick-up position where the vehicle is to be picked up by the driver after a fully automated valet parking process.

[0005] In the worst case scenario, if a parking lot has several exits, the driver may have to walk through the entire parking lot to reach the pick-up point to collect their vehicle. Disclosure of the invention

[0006] The object underlying the invention is to provide an efficient concept by means of which a distance for a future driver of a vehicle from his current position to a place where he can take over the vehicle can be reduced.

[0007] This problem is solved by means of the respective subject matter of the independent claims. Advantageous embodiments of the invention are the subject matter of dependent claims.

[0008] A procedure for operating a vehicle is provided according to one aspect, comprehensively: – Determining the current position of a person relative to a parking space in which a vehicle is parked, – Determining a meeting point where the vehicle and the person are to meet, based on the determined current position – Driving the vehicle driverless to the determined meeting point, so that the person at the meeting point can take over the vehicle.

[0009] According to one further aspect, a device for operating a vehicle is provided, comprising: – an investigative device for determining the current position of a person relative to a parking space in which a vehicle is parked, – wherein the investigative unit is trained to determine a meeting point where the vehicle and the person are to meet, based on the determined current position, – a guidance system for driving the vehicle driverless to the determined meeting point, so that the person at the meeting point can take over the vehicle.

[0010] According to one aspect, a parking space is provided which includes the device for operating a vehicle.

[0011] According to another aspect, a computer program is provided which includes program code for carrying out the procedure for operating a vehicle when the computer program is executed on a computer.

[0012] The invention therefore includes, in particular and among other things, the concept of determining the meeting point where the vehicle and the person are to meet, based on the person's current position relative to the parking space. This offers the particular technical advantage of enabling efficient determination of the meeting point. In particular, an optimal meeting point can be advantageously determined. Specifically, a meeting point can be advantageously identified to which the future driver or user, i.e., the person, has to travel the shortest possible distance. This advantageously reduces the distance the person has to travel from their current position to the meeting point. This is particularly beneficial compared to the case described in the introduction, where a fixed pick-up position is provided in the parking space.In such a case, depending on the direction from which the user or person approaches the parking space, the path from the person's current position to the pick-up position may be shorter or longer.

[0013] A parking lot within the meaning of the present invention can also be referred to as a parking area and serves as a parking space for vehicles. The parking lot thus forms, in particular, a contiguous area that has several parking spaces (in the case of a parking lot on private property) or parking bays (in the case of a parking lot on public property). According to one embodiment, the parking lot is designed as a parking garage.

[0014] This means that the places, areas, or positions where the vehicle is to be parked are called parking spaces or parking bays. For the sake of simplicity, the term "parking position" is used to refer to both parking spaces and parking bays.

[0015] The concept according to the invention is therefore used in particular in the context of an automatic parking process.

[0016] During an automated parking process, the vehicle is driven from a drop-off point, where the user has left their vehicle for the automated parking process, to a parking position and parked there autonomously. The vehicle will remain parked there for a predetermined time or until the user or a parking management system requests it. After the predetermined time has elapsed or upon request, the vehicle is driven either back to the same drop-off point, which then becomes a pick-up point, or to another location within the parking lot where the user can retrieve their vehicle. Such a location, where the user is to retrieve their vehicle, is referred to as a pick-up point.

[0017] This means that the drop-off position is the location where the user leaves their vehicle before the automatic parking process begins. It also means that the drop-off position is the location where the automatic parking process is supposed to start. Finally, it means that after the vehicle is left at the drop-off position, it is driven from the drop-off position to the parking position autonomously.

[0018] This means that the pick-up position is the location where the user is to collect their vehicle after the automatic parking process has finished. In other words, a pick-up position is the location where the automatic parking process is supposed to end. This means that the vehicle is driven from the parking position to the pick-up position autonomously and parked there so that the user can retrieve it.

[0019] According to one embodiment, the automatic parking maneuver involves remote control of the vehicle. Another embodiment provides for the automatic parking maneuver to involve at least semi-autonomous, and in particular, fully autonomous, driving. A third embodiment provides for hybrid forms of the two aforementioned embodiments. This means, for example, that the vehicle can drive autonomously for a portion of the journey, while being remotely controlled for another portion.

[0020] Autonomous, as used in the present invention, means in particular that the vehicle navigates or drives itself independently, i.e., without driver intervention, in the parking lot. The vehicle thus drives itself in the parking lot without a driver having to control it. Controlling or guiding includes, in particular, lateral and / or longitudinal guidance.

[0021] A vehicle that can be driven autonomously and / or remotely, i.e., generally without a driver, within or on a parking lot, is referred to, for example, as an AVP vehicle. AVP stands for "automatic valet parking" and can be translated as automatic parking.

[0022] This means that, as part of the automated parking process, the vehicle is guided from the drop-off position to the parking position and parked there, either driverless or without an operator. After a predetermined period, which can be referred to as the parking duration, the vehicle is then driven back from the parking position, either to the same drop-off position or to another position, which can generally be referred to as a pick-up position.

[0023] The meeting point, as defined in the present invention, is a location where the person is to take possession of the vehicle. This location can therefore also be referred to as a pick-up point.

[0024] According to one embodiment, it is permissible for the meeting point to be located outside the parking lot. This means that potential meeting points located outside the parking lot are also considered when determining the meeting point. This offers the particular technical advantage of further reducing the distance a person has to travel to the vehicle for pick-up or drop-off.

[0025] In one embodiment, the vehicle is a motor vehicle. The motor vehicle is, for example, a passenger car or a truck. In another embodiment, the motor vehicle is a two-wheeled motor vehicle, for example, a motorcycle.

[0026] In one embodiment, it is provided that the parking lot comprises several predetermined pick-up positions, wherein determining the meeting point includes selecting one of the several pick-up positions as the meeting point based on the determined position of the person.

[0027] This provides the particular technical advantage that the meeting point can be determined efficiently.

[0028] According to another embodiment, the meeting point is selected from among the several pick-up positions which has the shortest route to the person's current position.

[0029] This offers the particular technical advantage that the person only has to travel a correspondingly short route to the pick-up point, i.e., the meeting point, to collect or take possession of the vehicle. The person no longer necessarily has to walk across the entire parking lot to collect or take possession of the vehicle.

[0030] In another embodiment, it is provided that a movement of the person is predicted, whereby the meeting point is determined based on the predicted movement.

[0031] This offers the particular technical advantage of enabling the efficient determination of the meeting point, especially based on predicted movement. This allows for a more precise and efficient determination of the meeting point. For example, the prediction might indicate that the person will take a detour to the parking lot, meaning that a pick-up point determined solely based on the person's current position would no longer be optimal in such a case.

[0032] In another embodiment, it is provided that the vehicle is driven without a driver in such a way that the vehicle meets the person at the meeting point.

[0033] This offers the particular technical advantage that the vehicle approaches the person at the meeting point. The person thus has a clear view of the vehicle and will therefore no longer be surprised, compared to when the vehicle approaches from behind.

[0034] In another embodiment, it is provided that the determined meeting point is transmitted via a communication network to the person as a participant of the communication network.

[0035] This provides the particular technical advantage of efficiently informing the person of the location of the determined meeting point. Transmitting the determined meeting point means, specifically, that its position is transmitted. The person is therefore a participant in the communication network. This includes, in particular, a terminal device, especially a mobile device, such as a mobile phone, especially a smartphone. The determined meeting point is thus transmitted to the person's terminal device via the communication network. The terminal device then informs the person of the meeting point. Through the terminal device, the person thus becomes a participant in the communication network.

[0036] In another embodiment, it is provided that a current position of the vehicle on its journey to the determined meeting point and / or a target trajectory to be traveled by the vehicle to the determined meeting point is transmitted via a communication network to the person as a participant of the communication network.

[0037] This provides the particular technical advantage of efficiently informing the person where their vehicle is currently located and along which trajectory the vehicle will travel to the determined meeting point.

[0038] For example, it is planned that the current position of the vehicle and / or the intended trajectory to be followed by the vehicle will be transmitted to the person's terminal device.

[0039] According to one embodiment, the communication network includes a mobile network and / or a WLAN network.

[0040] In another embodiment, communication via the communication network is encrypted.

[0041] According to one embodiment, the terminal device is a mobile terminal device, for example a mobile phone, in particular a smartphone.

[0042] The technical functionalities of the device result analogously from corresponding technical functionalities of the method and vice versa.

[0043] According to one embodiment, the device is designed or configured to operate a vehicle and to carry out the method for operating a vehicle.

[0044] The phrase "respectively" includes in particular "and / or".

[0045] The meeting point can also be described as a rendezvous point.

[0046] According to one embodiment, driverless operation includes the transmission of remote control commands for remotely controlling the vehicle and / or the determined meeting point to the vehicle via a communication network, so that the vehicle can be remotely controlled based on the remote control commands or, based on the determined meeting point, can drive at least semi-autonomously, in particular autonomously (fully autonomously), to the determined meeting point.

[0047] According to one embodiment, the detection device is designed to select one of several pick-up points as the meeting point based on the determined position of the person. This is particularly relevant when the parking lot includes several predetermined pick-up points.

[0048] In a further embodiment, the investigation device is designed to select as the meeting point the one of the several pick-up positions that has the shortest route to the current position of the person.

[0049] In another embodiment, the detection device is designed to predict a movement of the person and to determine the meeting point based on the predicted movement.

[0050] According to one embodiment, the guiding device is designed to guide the vehicle driverless in such a way that the vehicle meets the person at the meeting point.

[0051] In another embodiment, the device includes a communication interface for communication via a communication network.

[0052] According to one embodiment, the communication interface of the device is designed to transmit the determined meeting point to the person as a participant in the communication network via the communication network.

[0053] According to a further embodiment, the communication interface is designed to transmit a current position of the vehicle on its journey to the determined meeting point and / or a target trajectory to be traveled by the vehicle to the determined meeting point via a communication network to the person as a participant of the communication network.

[0054] Determining a person's current position relative to the parking space involves, for example, receiving location data from the person's device. This allows for the advantageous localization of the person themselves via their device.

[0055] According to one embodiment, determining the person's current position relative to the parking space involves detecting the person using environmental sensors. Such environmental sensors include, for example, one or more sensors. Examples of environmental sensors include radar sensors, video sensors, laser sensors, lidar sensors, ultrasonic sensors, and magnetic sensors.

[0056] This means that the person is detected using environmental sensors, allowing their current position to be determined based on this environmental data. For example, the environmental sensors can determine from which side or direction of the parking lot, or relative to the parking lot, the person is approaching. If, for instance, a video camera positioned to the east of the parking lot detects the person, then the person's current position is east of the parking lot.

[0057] According to one embodiment, predicting the movement of the person comprises determining an instantaneous movement vector of the person, such that the movement of the person is predicted based on the determined movement vector.

[0058] The invention will be explained in more detail below with reference to preferred embodiments. Here, we will show...

[0059] Fig. 1. A flowchart of a procedure for operating a vehicle,

[0060] Fig. 2 a device for operating a vehicle and

[0061] Fig. 3– Fig. 7 each schematically represents a parking space, with the person taking different routes to different meeting points.

[0062] The same reference symbols can be used for identical features in the following.

[0063] Fig. Figure 1 shows a flowchart of a procedure for operating a vehicle.

[0064] The procedure includes: - Determine 101 a person's current position relative to a parking space in which a vehicle is parked, - Determine 103 a meeting point where the vehicle and the person are to meet, based on the determined current position – driverless driving 105 of the vehicle to the determined meeting point, so that the person at the meeting point can take over the vehicle.

[0065] According to one embodiment, driverless driving includes the vehicle being remotely controlled.

[0066] According to one embodiment, driverless driving involves transmitting information to the vehicle via the communication network, based on which the vehicle can autonomously drive to the meeting point. Such information includes, for example, the following: the position of the meeting point, the desired trajectory to the meeting point, a digital map of the parking lot, and the positions of objects located within the parking lot.

[0067] Fig. 2 shows a device 201 for operating a vehicle.

[0068] The device 201 includes: – an investigative agency 203 to determine the current position of a person relative to a parking space in which a vehicle is parked, – whereby the investigative institution 203is trained to determine a meeting point where the vehicle and the person are to meet, based on the determined current position, – a management facility 205 to drive the vehicle driverless to the determined meeting point, so that the person at the meeting point can take over the vehicle.

[0069] The device 201This includes, for example, a communication interface for communicating via a communication network. For instance, the communication interface is configured to transmit remote control commands and / or information to the vehicle, enabling it to autonomously drive to the meeting point. Specifically, the communication interface is configured to transmit the determined meeting point and / or the vehicle's current position on its journey to the determined meeting point and / or the target trajectory to be followed by the vehicle to the determined meeting point via a communication network to the person as a participant in the communication network.

[0070] Instead of the phrase "transmit", the phrase "send" can generally be used.

[0071] The device 201In one embodiment, a parking management system is included. The parking management system controls and / or coordinates, in particular, the operation of the parking lot. Specifically, a parking management system coordinates and / or controls the execution of automatic parking processes for vehicles.

[0072] Fig. 3 to Fig. Figure 7 each shows a parking lot in a schematic and simplified representation, where a user has to travel different routes to different meeting points in order to take over or pick up a vehicle.

[0073] Fig. 3 shows a parking space 301 encompassing several parking positions 303 . At these parking positions 303 Vehicles can park here. A vehicle is shown. 305 , which is located in one of the parking areas 303 parked or left standing.

[0074] The parking lot 301 includes a pickup position307 , which can generally be described as a pickup zone. At such a pickup location 307 The plan is for a user to take back or retrieve their vehicle after the end of a parking period, i.e., after the end of an automatic parking process.

[0075] One route of the vehicle 305 to this pickup position 307 is marked with an arrow with the reference symbol 317 marked.

[0076] To carry out the method according to the invention, the parking lot includes 301 for example the device 201 the Fig. 2.

[0077] The parking lot 301 includes two entrance / exit areas 309 , 311 These areas 309 , 311 They can therefore be used for both entering and exiting the parking lot. 301 be used.

[0078] As the Fig. 3 shows the pickup position307 closer to the entrance / exit area 309 as at the entrance / exit area 311 .

[0079] The person who drove the vehicle 305 at the pickup position 307 If you want to take it over, it is marked with a pictogram containing the reference symbol. 313 marked. This person 313 is located outside the parking lot 301 and wants the parking lot 301 through the entrance / exit area 309 enter. A path, route, or path to be traversed by the person. 313 from their current position to the pickup position 307 is symbolically represented by an arrow with the reference sign 315 marked.

[0080] As the illustration shows Fig. 3 shows that the person must be here 313 only cover a relatively short distance compared to the case in which the person 313 the parking lot 201 through the entrance / exit area 311enters.

[0081] Fig. Figure 4 shows the case outlined above, where the person 313 via the entrance / exit area 311 to the pickup position 307 wants to achieve this. As the representation according to Fig. 4 shows the distance to be covered. 315 significantly longer than the distance to be covered 315 according to Fig. 3.

[0082] According to one embodiment, the concept of the invention comprises several pick-up positions from the parking lot. This is shown schematically and in simplified form. Fig. 5.

[0083] The parking lot 201 In addition to the pickup position, this includes 307 another pickup point 501 , which compared to the pickup position 307 closer to the entrance / exit area 311 lies.

[0084] Provided that it is recorded that the user or person 313 through the entrance area 311the parking lot 301 If someone wishes to enter to pick up their vehicle, this will be taken into account when selecting which of the two pick-up positions they will use. 307 , 501 as the pickup point where the person 313 the vehicle 305 to be picked up. According to the invention, it is therefore provided that in this case the further pick-up position 501 as the pickup position is selected where the person 313 the vehicle 305 to pick up, so that the vehicle 305 driverless or unmanned from its parking position 303 to the next pickup position 501 will be guided through the entrance / exit area. 309 the parking lot 301 If they wished to enter, in this case the vehicle would 305 to the pickup position 307 driverless, as these are closer to the entrance / exit area 309 compared to the other pickup position501 .

[0085] This means, for example, that a dynamic selection of the next pickup zone is made when there are multiple pickup zones as well as multiple entrance / exit areas in the parking lot.

[0086] The pickup locations described above 307 , 501 Each thus forms a meeting point where the vehicle 305 and the person 313 should meet so that the person 313 the vehicle 305 can take over.

[0087] Fig. Figure 6 shows another example of the concept according to the invention.

[0088] According to Fig. 6 is not a fixed pickup position analogous to Fig. 3 to Fig. 5 provided. Instead, the invention provides that a movement of the person 313 is predicted. This can advantageously predict the future position of the person. 313 be predicted.

[0089] It will now be a meeting place 601 This is determined based on the person's future position. 313 , generally on the predicted movement in which the person 313 the vehicle 305 to take over. Particular attention is paid to the fact that a distance to be covered is to be taken into account. 315 should or must be minimized or generally reduced as much as possible.

[0090] The vehicle 305 will then be taken to the determined meeting point 601 driverless.

[0091] In Fig. The identified meeting point is located at 6 601 within the parking lot 301 .

[0092] According to another embodiment, the determined meeting point is provided for 701 outside the parking lot 301 This is shown schematically in a simplified representation of the Fig. 7.

[0093] In summary, the invention therefore includes, in particular and among other things, the idea of ​​providing a technical concept that reduces or solves the problem of the "shortest pick-up route for the driver" insofar as the pick-up route for the person is reduced or minimized. Thus, a concept is provided by means of which the route for the person from their current position to the meeting point, for example, to the pick-up zone, can be minimized.

[0094] The fundamental concept of the invention lies particularly in the fact that the parking lot comprises several pickup zones and the corresponding pickup zone is dynamically selected based on the direction and / or position from which the person, generally the driver, approaches the parking lot, for example, the parking garage. According to one embodiment, the selection is determined by the parking management system, also called the parking lot administration system, based on the person's position. Thus, according to one embodiment, the parking management system is the initiator of the selection.

[0095] The person, for example the driver, is therefore informed about the current pickup zone, i.e. the determined pickup zone, as well as, for example, about the way there (for example, by means of a mobile device of the user or by means of information provided in the parking lot).

[0096] The concept can be extended to parking situations, particularly those with multiple access points to parking spaces. This is the case, for example, when the parking lot is large enough that multiple access points are beneficial for efficient operation.

[0097] The current position of a person can be determined, for example, via GPS tracking and / or GSM tracking and / or environmental sensors, such as cameras. "GSM" stands for "Global System for Mobile Communications" and is a standard for fully digital mobile networks.

[0098] Based on the detected or determined position of the person, one embodiment provides for the vehicle to travel directly to the (changing) position of the person, either driverless or autonomously, along the fastest or shortest route. For example, the vehicle can predict the future position of the person to prevent following them, such as when the person, or more generally the driver, is not moving directly towards the vehicle.

[0099] A predefined pickup zone may, but does not necessarily, become obsolete in this case. This means that the parking space no longer needs to include a pickup zone. However, it can still include such pickup zones according to one embodiment. Therefore, if no pickup zone is provided, it is no longer necessary to inform the person of its location. According to one embodiment, the person continuously receives information about the vehicle's current position and, for example, route information to their vehicle, so that they can approach the vehicle.

[0100] In one embodiment, the meeting point with the person is also located outside the parking lot, for example, outside the parking garage. This is particularly useful if the vehicle is technically equipped to drive to a meeting point located outside the parking lot, either driverless or autonomously.

[0101] The advantages of the invention are particularly evident in the shorter duration of the pickup process. In particular, the advantages of the concept according to the invention are also evident in the shorter distance traveled by the driver during the pickup process. QUOTES INCLUDED IN THE DESCRIPTION

[0102] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0103] DE 102012222562 A1

[0002]

Claims

[1] Methods for operating a vehicle ( 305 ), comprehensive: - Determine ( 101 ) a person's current position ( 313 ) relative to a parking space ( 301 ), within which a vehicle ( 305 ) is switched off, - Determine ( 103 ) a meeting point ( 307 , 501 , 601 , 701 ), at which the vehicle ( 305 ) and the person ( 313 ) should meet, based on the determined current position – driverless driving ( 105 ) of the vehicle ( 305 ) to the determined meeting point ( 307 , 501 , 601 , 701 ), so that the person ( 313 ) at the meeting point ( 307 , 501 , 601 , 701 ) the vehicle ( 305 can take over. [2] Method according to claim 1, wherein the parking space ( 301 ) several predetermined pickup positions ( 307 ,501 ) includes determining the meeting point ( 307 , 501 , 601 , 701 ) includes that, based on the determined position of the person ( 313 ) one of the several pickup positions ( 307 , 501 ) as the meeting point ( 307 , 501 , 601 , 701 ) is selected. [3] Method according to claim 2, wherein the one of the several pickup positions ( 307 , 501 ) as the meeting point ( 307 , 501 , 601 , 701 ) is selected, which is the shortest route to the person's current position ( 313 ) exhibits. [4] Method according to claim 1 or 2, wherein a movement of the person ( 313 ) is predicted, where the meeting point ( 307 , 501 , 601 , 701 ) is determined based on the predicted movement. [5] Method according to claim 4, wherein the vehicle ( 305) is driven driverless in such a way that the vehicle ( 305 ) at the meeting point ( 307 , 501 , 601 , 701 ) the person ( 313 ) accommodates. [6] Method according to any of the preceding claims, wherein the determined meeting point ( 307 , 501 , 601 , 701 ) via a communication network to the person ( 313 ) is transmitted as a participant in the communication network. [7] Method according to any of the preceding claims, wherein a momentary position of the vehicle ( 305 ) on his journey to the determined meeting point ( 307 , 501 , 601 , 701 ) and / or one from the vehicle ( 305 ) target trajectory to be travelled to the determined meeting point ( 307 , 501 , 601 , 701 ) via a communication network to the person ( 313 ) is transmitted as a participant in the communication network. [8] Device ( 201 ) to operate a vehicle ( 305 ), comprehensive: – an investigative agency ( 203 ) to determine a person's current position ( 313 ) relative to a parking space ( 301 ), within which a vehicle ( 305 ) is switched off, – whereby the investigative unit ( 203 ) is trained to find a meeting point ( 307 , 501 , 601 , 701 ), at which the vehicle ( 305 ) and the person ( 313 ) should be determined based on the ascertained current position, – a management facility ( 205 ) for driverless operation of the vehicle ( 305 ) to the determined meeting point ( 307 , 501 , 601 , 701 ), so that the person ( 313 ) at the meeting point ( 307 , 501 , 601 , 701 ) the vehicle ( 305 can take over. [9] Computer program comprising program code for carrying out the method according to any one of claims 1 to 7, when the computer program is executed on a computer.

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