Method for at least partially automated starting of a motor vehicle from a standstill

Abstract

Method for the at least partially automated starting of a motor vehicle (2) from a standstill, wherein the starting of the motor vehicle (2) only occurs when a starting condition is met if an additional release signal dependent on sensor data is present, wherein the sensor data are acquired by at least one vehicle-external infrastructure device (16, 18), after which the release signal is determined externally of the vehicle and transmitted to the motor vehicle (2) or the sensor data are transmitted to the motor vehicle (2) and the release signal is determined on the vehicle side, characterized in that when the starting condition is met, a release request is sent to a vehicle-external release device (9), after which the release device evaluates a release condition dependent on the sensor data and, when the release condition is met, provides the release signal to the motor vehicle (2),wherein the sensor data or both the sensor data and further sensor data which are acquired by a sensor system (13, 14) of the motor vehicle and on which the issuing of the release signal depends, or data derived from the sensor data or from the sensor data and the further sensor data are visualized for an evaluator by a display device (20) of the release device (9), wherein an operating input of the evaluator at an input device (21) of the release device (9) is evaluated by the release condition, wherein the sensor data and / or the further sensor data which are acquired during a predetermined time interval are recorded as recording data, wherein a sub-interval within the time interval is selected depending on a further operating input of the evaluator at the or a further input device (21) of the release device (9),after which a visualization is performed for those sensor data or those sensor data and further sensor data that were recorded in the sub-interval.

Description

[0001] The invention relates to a method for the at least partially automated starting of a motor vehicle from a standstill, wherein the motor vehicle starts moving when a starting condition is met only if an additional release signal dependent on sensor data is present. The sensor data is acquired by at least one infrastructure device external to the vehicle, after which the release signal is determined externally to the vehicle and transmitted to the motor vehicle, or the sensor data is transmitted to the motor vehicle and the release signal is determined on the vehicle side. The invention also relates to a motor vehicle and a release device.

[0002] It is known from the prior art that motor vehicles can automatically start moving in certain driving situations to relieve the driver. For example, the document DE 10 2015 208 432 A1 discloses a traffic light start assistant. This uses a detection unit configured to both detect a traffic light signal in the vehicle's surroundings and an object in the vehicle's surroundings. It is possible to initiate the vehicle's start process only when a green traffic light signal is detected and a specified distance between the vehicle and the object has been exceeded.

[0003] A method for automatic starting is also known from the publication DE 10 2011 121 442 A1. This uses a so-called auto-go mode. If this mode is active, the vehicle starts to move autonomously as soon as a start-up detection unit detects that another vehicle is about to move. Auto-go mode can be activated automatically, for example, on certain roads.

[0004] The described methods for automated starting serve to automatically move the motor vehicle during driving. However, with increasingly higher levels of automation, it is necessary for motor vehicles to be able to start automatically in a variety of environmental situations. For example, methods are already being discussed that implement automatic parking of the motor vehicle in parking spaces or automatic guidance of the parked motor vehicle to a user located at a specific position. The problem here is that the motor vehicle can remain stationary in such parking spaces for extended periods, which makes it possible, for example, for potential obstacles to be brought into the vicinity of the motor vehicle while the motor vehicle's sensors are fully or partially deactivated.Since a vehicle's own sensor system typically detects the vehicle's surroundings using several sensors arranged around the vehicle's perimeter with overlapping detection areas in the long-range, there are typically areas in the close range around the vehicle and, for example, underneath the vehicle in which potential obstacles cannot be detected.

[0005] This could be counteracted, for example, by installing additional sensors in the vehicle. However, this increases the cost of the vehicle and the effort required to manufacture it. Alternatively, it would be possible to operate the sensors continuously while the vehicle is parked, which would frequently detect the introduction of obstacles into the vehicle's surroundings. The disadvantage of this is that this significantly increases energy consumption when the vehicle is stationary.

[0006] The publication DE 10 2014 216 269 A1 discloses a method for automatically controlling the driving behavior of vehicles at a variable-light signal system, such as a traffic light. Vehicles are automatically started and accelerated synchronously as soon as the variable-light signal system turns green.

[0007] Publication WO 2016 / 066352 A1 relates to a method for monitoring a vehicle in a parking lot. After leaving the parking space, the vehicle is returned to the driver at a pickup zone. Using a monitoring infrastructure assigned to the parking lot, the vehicle is monitored at least visually throughout its entire stay in the parking lot.

[0008] The document DE 10 2016 003 231 A1 relates to a method for controlling an at least partially autonomously operated motor vehicle. The motor vehicle and / or its surroundings are detected by at least one sensor device, and movement information controlling the movement of the motor vehicle is determined based on this information by a computing device external to the vehicle.

[0009] The publication DE 10 2014 224 077 A1 describes a method for assisted driving of a vehicle. The vehicle is monitored during its autonomous journey in a parking lot using an external monitoring system. If a problem is detected, a stop signal is first sent to the vehicle, after which a new target trajectory for the vehicle can be determined and transmitted to the vehicle.

[0010] The publication DE 10 2014 221 754 A1 relates to a method for performing an automatic parking process. Once the charging process of a parked vehicle is completed, the vehicle can be automatically reparked.

[0011] The document WO 2013 / 050 194 A1 discloses a method for navigating a vehicle in a parking lot, wherein the navigation is supported by an operator via a wireless connection.

[0012] The document WO 2015 / 188 905 A1 relates to a method for determining position data of at least one object, which are taken into account when determining a collision probability with the object and / or when determining a future trajectory of the motor vehicle.

[0013] The invention is therefore based on the object of providing a more efficient possibility of enabling the motor vehicle to start up safely even when the motor vehicle has been stationary for longer periods.

[0014] The object is achieved according to the invention by a method of the type mentioned at the outset, wherein upon fulfillment of the starting condition, a release request is sent to a vehicle-external release device, after which the release device evaluates a release condition dependent on the sensor data and upon fulfillment of the release condition, provides the release signal to the motor vehicle, wherein the sensor data or both the sensor data and further sensor data which are recorded by a sensor system of the motor vehicle and on which the issuance of the release signal depends, or data derived from the sensor data or from the sensor data and the further sensor data are visualized by a display device of the release device for an evaluator, wherein by means of the release condition, an operating input of the evaluator is evaluated on an input device of the release device, wherein the sensor data and / or the further sensor data,which are recorded during a predetermined time interval, are recorded as recording data, whereby, depending on a further operating input from the evaluator at the or a further input device of the release device, a sub-interval within the time interval is selected, after which a visualization takes place for those sensor data or those sensor data and further sensor data which were recorded in the sub-interval.

[0015] According to the invention, it is proposed to use or jointly use an infrastructure-side sensor system to determine whether a motor vehicle can be authorized to move off. This makes it possible to detect objects that lie outside the detection range of the motor vehicle sensors. The use of the infrastructure-side sensor system also makes it possible to take a vehicle condition into account when determining the authorization. For example, by evaluating the sensor data, damage to the motor vehicle before or during a standstill can be detected, which in particular cannot be detected by a vehicle-side sensor system. The authorization or the issuing of the authorization signal can therefore not take place, for example, in cases in which it is determined from sensor data that the motor vehicle is damaged or was damaged during a standstill.The sensor data can be processed by the infrastructure facility to provide the release signal, or this processing can take place on the vehicle side. However, it is also possible to first transmit the sensor data to another facility external to the vehicle that is separate from the infrastructure facility, for example a control or release center, where an release signal can be determined and this signal can then be transmitted to the motor vehicle. Regardless of which facility provides it, the provision of the release signal can depend on the evaluation of a release condition, the fulfillment of which depends on the sensor data. For this purpose, object recognition can be carried out in the sensor data in order to detect objects in the vicinity of the motor vehicle with which the motor vehicle could collide during or after starting off, or which could otherwise be damaged during starting off or damage the motor vehicle.

[0016] In the method according to the invention, the release signal can be given precisely when no such objects are detected in the vehicle's surroundings. Object detection and / or a check as to whether a specific trajectory of the vehicle can be driven without object contact or potential damage to the object and / or the vehicle can be carried out fully automatically by a processing device that is arranged on the vehicle side or on the infrastructure side, or that is spaced apart from both the vehicle and the infrastructure device and is arranged, for example, in a data center. However, it is also possible for these steps to be carried out entirely or partially by a human evaluator, who preferably carries out an evaluation of the sensor data at a workstation spaced apart from the vehicle. Options for this will be explained in detail later.

[0017] The detected objects can in particular be objects that are very close to the motor vehicle, at a relatively high height in relation to the motor vehicle, or below the motor vehicle. Such objects can, for example, be lying on the motor vehicle or leaning against the motor vehicle. Such objects are generally not or only inadequately detectable by the vehicle's own sensors. By additionally using at least one infrastructure-side sensor device that forms the infrastructure facility or part of this infrastructure facility, the reliability of object detection, in particular for the aforementioned objects, in the motor vehicle's environment can be significantly improved. This can also significantly increase the reliability when the motor vehicle starts up at least partially automatically, especially after the motor vehicle has been stationary for an extended period.

[0018] The increased reliability of object detection enables, in particular, highly automated or fully automated starting and driving after starting in the method according to the invention. The naming of the various degrees of automation in this application follows the nomenclature of the Federal Highway Research Institute, which was published in the article "Legal Consequences of Increasing Vehicle Automation" in the publication Research Compact 11 / 12. In both partially automated and highly or fully automated guidance, both the lateral and longitudinal guidance of the vehicle is carried out by a vehicle system. In partially automated guidance, the driver must continuously monitor the system. This is not necessary for highly or fully automated guidance.The difference between these two levels of automation is that with fully automated guidance, the vehicle system is always capable of returning the system to a safe state. With highly automated guidance, it is possible that a driver may have to intervene in certain situations, although sufficient time must be provided for this. With fully automated guidance, it is therefore possible to guide the vehicle even without a driver. Fully automated guidance can be used, for example, when a motor vehicle is to be guided from a parking position in which it was parked manually or automatically to a position spaced apart from it in order to be made available to a user. In such usage situations, the method according to the invention can be used particularly advantageously.

[0019] To carry out the method according to the invention, it is advantageous that in areas where motor vehicles are typically parked for longer periods of time, for example in parking areas, underground garages and multi-storey car parks, infrastructure facilities that can record sensor data are already provided. Sensor devices, in particular cameras, are often provided to monitor the parking area. Additionally or alternatively, sensors are also used to record the occupancy of individual parking spaces. Corresponding sensors are typically networked across the entire infrastructure, i.e., across the entire multi-storey car park, the entire underground garage or the entire parking area, so that the sensor data can be used with little technical effort within the framework of the method according to the invention via a central communications facility that is often already present.

[0020] In the method according to the invention, wireless communication is preferably used between the devices, in particular between the motor vehicle and the communication partners of the motor vehicle. To increase security within the method, it is advantageous if all communications are encrypted and / or if the communication participants authenticate each other at least unilaterally, but preferably mutually. Corresponding methods for securing communication are known in the prior art for other applications and will therefore not be explained in detail.

[0021] The starting condition can be met when a request from a device external to the vehicle is received by a receiving device of the motor vehicle. The device can be identical to the infrastructure facility. For example, the infrastructure facility can be assigned to a parking garage, an underground car park, or another parking area and can have, on the one hand, sensor devices that provide sensor data, and, on the other hand, stationary user interfaces. In this case, the motor vehicle can be guided to a predetermined or selectable position by an operator input at a corresponding user interface. However, before the motor vehicle starts moving, as explained above, the presence of the release signal is additionally checked. If this is not present, the user can be informed, for example, via the user interface.

[0022] Alternatively, it is possible to design the off-vehicle device separately from the infrastructure device. In this case, the off-vehicle device can be, in particular, a mobile communications device, such as a mobile phone or a tablet. The mobile communications device can implement the user interface explained above and provide the same functions.

[0023] The release signal may also depend on additional sensor data acquired by the motor vehicle's sensors. The motor vehicle's sensors may include, for example, one or more cameras, in particular a rearview camera, a front camera, and / or one or more top-view cameras. The cameras may be standard video cameras, but may also be infrared cameras or time-of-flight cameras. Ultrasonic sensors, radar sensors, laser scanners, or similar devices may be used in addition or as an alternative. By combining vehicle-mounted and infrastructure-mounted sensors, the vehicle's surroundings can be recorded particularly precisely.

[0024] If the start-up condition is met, according to the invention, a release request is sent to an external release device, after which the release device evaluates an release condition dependent on the sensor data and, if the release condition is met, provides the release signal to the motor vehicle. In this case, the motor vehicle can start moving once the release signal has been received. The release device can, for example, represent a control center for several motor vehicles. Checking the release condition external to the vehicle can be advantageous for several reasons. Firstly, more complex processing of the sensor data and / or other sensor data can potentially take place external to the vehicle, since, for example, bulky or heavy computing devices could be used whose use in the motor vehicle itself is not practical.However, an external vehicle check of the release condition is particularly useful when at least one human evaluator is involved in evaluating the release condition, as will be explained later. In this case, an evaluator can provide its evaluation services for a large number of motor vehicles at almost any location. The release request can, in particular, be sent by the motor vehicle. If the release condition is also to evaluate the additional sensor data, these can be sent from the motor vehicle to the release device. This can be done directly or via the infrastructure device or another infrastructure device. The sensor data can be provided directly by the infrastructure device to the release device, or the provision can be made via the motor vehicle.

[0025] Should an error occur during the described method, in particular one that damages the motor vehicle or another object, it is advantageous if it is possible to trace where this error occurred. This is particularly important if the release condition was at least partially evaluated by a human evaluator. Therefore, the data generated in the method according to the invention can preferably be logged. In particular, the sensor data and / or the further sensor data and / or the fulfillment of the start-up condition and / or the release request and / or the release information can be logged. Logging is preferably carried out both by the motor vehicle and by the release device.This is particularly relevant if the operator of the release device is not the same as the owner of the motor vehicle or the user responsible for driving the motor vehicle.

[0026] In the method according to the invention, the sensor data or both the sensor data and the further sensor data or data derived from the sensor data or from the sensor data and the further sensor data are visualized for an evaluator by a display device of the release device, wherein an operating input from the evaluator at an input device of the release device is evaluated by the release condition. The release can thus occur entirely or partially depending on the input of an evaluator or an operator who evaluates the sensor data or the sensor data and the further sensor data at a workstation of the release device. The dependence of the release condition on the sensor data or the further sensor data can thus be determined via an interpretation process of the evaluator.

[0027] In other words, the invention thus also relates to a method for the at least partially automated starting of a motor vehicle from a standstill, wherein the starting of the motor vehicle only occurs when a starting condition is met if an additional release is given by a human evaluator, wherein for the evaluator at least sensor data which are recorded by an infrastructure device external to the motor vehicle or data derived therefrom are visualized by a display device of a vehicle-external release device.

[0028] It is of course possible to combine an assessment of the sensor data or additional sensor data by a human evaluator with an automatic evaluation. For example, a release condition can only be met if both an automatic evaluation and the evaluation by a human evaluator show that safe starting is possible.

[0029] A single evaluator can sequentially grant or deny approvals for a large number of vehicles. This is made possible by using an approval device external to the vehicle, whereby approval or denial of approval can take place for a large number of motor vehicles located at a distance from one another. As a result, the method according to the invention can be carried out with relatively low personnel expenditure. It is possible for the approval device to have several workstations, each of which has a display device and at least one input device for a respective evaluator. When an approval request is received at the approval device, a workstation that is not currently occupied by another approval can be automatically selected to process the current approval request.If all evaluators are currently busy, the release request can first be buffered and then forwarded to the first evaluator who becomes available.

[0030] It is possible to combine the sensor data and optionally the additional sensor data to create a model of the vehicle's surroundings and to visualize this model for the evaluator, for example in a three-dimensionally rotatable format. Alternatively, the sensor data or additional sensor data from individual sensor devices of the infrastructure facility external to the vehicle or the vehicle itself can be visualized directly. The evaluator can switch between the various sensor devices and thus different perspectives using the input device or an additional input device. Mixed forms are also possible in which parts of the sensor data are already merged, for example, the sensor data from several top-view cameras of the vehicle to create a bird's-eye view of the vehicle's surroundings.

[0031] The sensor data and / or additional sensor data acquired during a predefined time interval are recorded as recorded data. Depending on a further operator input from the evaluator at the or at a further input device of the enabling device, a sub-interval within the time interval is selected, after which a visualization of the sensor data or the sensor data and additional sensor data acquired in the sub-interval occurs. The evaluator thus has access to a history of the sensor data or the additional sensor data and can, for example, freely select various points in time within the history to improve their assessment of whether the motor vehicle can be started safely.

[0032] In general, regardless of whether an evaluation is performed by an evaluator, it is possible in the method according to the invention for the issuance of the release signal to depend on the recorded data. For example, even with an automatic evaluation of the release condition by a computing device, the history of the sensor data or other sensor data can be taken into account.

[0033] The infrastructure facility can comprise a plurality of sensor devices and / or the sensor data can be captured by a plurality of infrastructure devices, wherein position information describing the position of the motor vehicle is determined and, depending on the position information, it is determined which sensor device(s) or infrastructure device(s) the sensor data is captured by. For example, the position information can describe in which parking garage and on which floor of the parking garage a motor vehicle is located. Subsequently, only sensor devices in this parking garage and on this floor can be used to capture the sensor data. By knowing the position of the motor vehicle, the amount of data captured can be reduced, thus avoiding or reducing unnecessary data transmissions and data processing.The position information can be determined, for example, by the infrastructure facility determining a parking position of the motor vehicle, or in the motor vehicle itself, for example via satellite-based positioning.

[0034] In addition to the method according to the invention, the invention relates to a motor vehicle that comprises a control device for the partially automated control of the motor vehicle and that is designed to participate in the method according to the invention as the motor vehicle. Accordingly, the control device can be designed such that the motor vehicle only starts moving if both the start condition is met and an enable signal is present. The control device or another motor vehicle device can be designed to evaluate the start condition. The motor vehicle can have a communication device for communicating with the infrastructure device external to the motor vehicle and / or the enable device and / or the vehicle-external device that can send the start request.The control device or another motor vehicle device can evaluate a release condition itself or, upon fulfillment of the starting condition, send a release request to the release device via the communication device. In this case, the control device can be configured such that an at least partially automated start of the motor vehicle only occurs once the release signal has been received from the release device.

[0035] Furthermore, the invention relates to an enabling device configured to participate in the method according to the invention as the enabling device therein. The enabling device can be configured to receive sensor data and optionally further sensor data from the motor vehicle or the infrastructure facility. It is possible for the enabling device to have a processing device that evaluates the sensor data and optionally the further sensor data to check whether a release condition is met. Alternatively or additionally, the enabling device can have at least one workstation for a human evaluator, each of which comprises a display device and at least one input device.The release device can be configured to visualize the sensor data, or both the sensor data and the additional sensor data, or data derived from the sensor data, or from the sensor data and the additional sensor data, for the evaluator via the display device. It can also be configured to evaluate the release condition based on an operator input from the evaluator at the input device. It is also possible to provide multiple workstations for human evaluators, whereby release requests received by the release device can be automatically assigned to specific workstations, as already explained for the method according to the invention.

[0036] The motor vehicle according to the invention and the release device according to the invention can, of course, be further developed with additional features explained for the method according to the invention. Likewise, the method according to the invention can be further developed with those features explained for the motor vehicle according to the invention and the release device according to the invention.

[0037] Further advantages and details of the invention will become apparent from the following exemplary embodiments and the accompanying drawings. These schematically show: Fig. 1 A usage situation in which an embodiment of the method according to the invention is carried out, Fig. 2 an embodiment of a motor vehicle according to the invention and Fig. 3 an embodiment of a release device according to the invention.

[0038] Fig. Figure 1 shows a usage situation in which a method for the fully automated starting of a motor vehicle 2 from a standstill is used. In the example shown, a user 1 wishes to call a motor vehicle 2 to its position or to another specified position. The motor vehicle 2 is parked in a parking space 3. This parking space 3 can, for example, be a parking space, a floor or a section of a floor of a parking garage, or an underground garage or a section of an underground garage. The motor vehicle 2 has already been parked in the parking space 3 for an extended period of time.

[0039] In order to call the motor vehicle 2, the user 1 uses a vehicle-external device 4, namely a mobile communication device, which, for example, runs an application that enables the calling of the motor vehicle 2. A start request is transmitted from the mobile communication device to the motor vehicle 2. This start request is executed by a signal displayed in the representation of the motor vehicle 2 in Fig. 2. The start request can be transmitted to the receiving device 5 of the motor vehicle 2 directly or via an infrastructure-side communication device 6 located in the area of ​​the parking space 3. The use of an infrastructure-side communication device 6 is particularly advantageous when the parking space 3 is located in an area that is relatively heavily shielded, for example, in an underground garage. The communication of the motor vehicle 2 via the local communication device 6 is symbolically represented by the arrow 7.

[0040] Upon receipt of the start request by the receiving device 5, a control device 8 of the motor vehicle 2 is activated, which serves for the fully automated control of the motor vehicle 2. Upon receipt of the start request, a start condition is fulfilled, i.e., the motor vehicle should start moving. However, since safe starting is not possible in all stationary situations, the motor vehicle 2 only starts moving if an additional release signal is present. The release signal is provided by a vehicle-external release device 9, with which the motor vehicle communicates via the local communication device 6, as symbolically represented by the arrows 7, 10. For this purpose, the control device 8 controls a transmitting device 26, which can also be designed as a communication device together with the receiving device 5, in order to send a release request to the vehicle-external release device 9. This is determined by the Fig. 3 and processed by the processing device 12, as explained later. Sensor data from various sources are also provided to the release device 9. As explained in more detail below, both sensor data from the vehicle-external infrastructure device 16 and sensor data from a vehicle-mounted sensor system 13, 14 are provided to the release device 9.

[0041] The sensor data from the vehicle-mounted sensors 13, 14 can be transmitted to the release device 9 along with the release request. The sensors 13, 14 consist, for example, of a front and a rear camera of the motor vehicle 2. It is possible to transmit only the most recently recorded sensor data from the sensors 13, 14 with the release request, for example the images from the front and rear cameras of the motor vehicle 2. However, it is also possible that, as part of the release after the release request, further sensor data recorded at a later time is transmitted, or that the sensor data from the sensors 13, 14 have already been recorded over a longer period of time and corresponding recording data is provided to the release device 9. In addition, position information determined by a position determination device 15, which describes the position of the motor vehicle 2, is transmitted to the release device 9.The position information can describe the position of the motor vehicle 2 in global coordinates, but it is also possible to describe the position by describing the parking area 3 or an infrastructure that encompasses the parking area 3, as well as the parking space occupied by the motor vehicle 2. The release device 9 also communicates via the local communication device 6 with the vehicle-external infrastructure device 16, which is, for example, a surveillance camera for the parking area 3. This is represented by the arrows 10, 28. Sensor data from the vehicle-external infrastructure device 16, for example image data depicting an area of ​​the parking area 3, can be transmitted to the release device 9 via this communication connection. It is also possible to provide sensor data recorded over a longer period as recording data.

[0042] The release device 9 can be used to release motor vehicles 2, 19 that are parked in different parking areas 3, 17. Each of the different parking areas 3, 17 can be assigned an infrastructure device 16, 18 external to the motor vehicle, which provides sensor data regarding the respective parking area 3, 17. The different parking areas 3, 17 can belong to the same infrastructure, for example, form different areas on one floor or different floors of a parking garage. Fig. The processing device 12 of the release device 9 shown in Fig. 3 can be used to select, depending on the position information transmitted by the motor vehicle, whether communication is carried out with the infrastructure device 16 or the infrastructure device 18.

[0043] A check to determine whether a release condition is met is performed by a human evaluator at a workstation 27 of the release device 9. The workstation 27 has a display device 20 and at least one input device 21. The display device 21 is controlled by the processing device 12 in order to visualize the sensor data of the infrastructure device 16 and / or the additional sensor data of the motor vehicle-side sensors 13, 14. By operating inputs on the input device 21, the evaluator can switch between the motor vehicle-side sensors 13, 14 and the sensors of the infrastructure device 16. Thus, the surroundings of the motor vehicle 2 can be viewed from different perspectives.In the present case, an obstacle 22 is located very close to the motor vehicle. Due to its specific location, it cannot be detected by the on-board sensors 13, 14, but is detectable in the sensor data of the off-board infrastructure device 16. The evaluator can thus detect that a safe, fully automated start of the motor vehicle 2 is not possible. This can be detected by the processing device 12 through a corresponding operator input from the evaluator. In this case, a corresponding notification can be sent to the off-board device 4 to inform the user 1 of this. Furthermore, a local service provider, for example, can be informed that the object 22 should be removed.If, however, the evaluator determines that motor vehicle 2 can start moving because a clear path is present, the release signal can be transmitted to motor vehicle 2 upon a corresponding operator input. Thus, a release signal is present. The motor vehicle can start moving fully automatically.

[0044] The release device 9 can grant or deny release for multiple motor vehicles 2, 19. In this case, it is possible for a single evaluator at a workstation 27 to process the various release requests one after the other. If the release device is to be used for a large number of parking spaces 3, 17 or motor vehicles 2, 19 parked there, multiple workstations 27 can also be provided in order to enable parallel processing of release requests by multiple evaluators. In this case, for example, a release request received by the release device 9 can be assigned to a free evaluator at a specific workstation 27. If all evaluators are busy, release requests can be temporarily put on hold in a queue. In this case, it is possible for release requests to be prioritized.For example, it is possible for the release device 9 to process release requests both in situations where the motor vehicle 2, 19 is parked and in other situations during normal operation of the motor vehicle, for example, at traffic lights. In this case, the release requests concerning parked motor vehicles 2, 19 may have a lower priority, i.e., may be postponed under certain circumstances, since release in these cases is less time-critical.

[0045] Once the release signal has been received, the control device 8 of the motor vehicle 2 controls several actuators 23, 24, 25 of the motor vehicle 2 in order to start the vehicle 2 fully automatically and, during the subsequent journey, guide it to the user 1 or to a predetermined position. The actuators 23, 24, 25 can, for example, be actuators that serve to control the engine, steering, and braking of the motor vehicle 2.

[0046] Numerous variations of the described procedure are possible. For example, it is possible for the release condition to evaluate exclusively sensor data from the infrastructure facility 16 external to the motor vehicle, for example if the motor vehicle 2 itself does not have any on-board sensors 13, 14. It is also possible for the evaluation of the release condition to be completely or at least partially automated. For example, object detection can occur in the sensor data from the infrastructure facility 16 external to the motor vehicle or the on-board sensors 13, 14 in order to detect and classify, for example, object 22 in the environment of the motor vehicle. Methods for classifying objects in the environment of a motor vehicle or for determining whether a specific trajectory is drivable are known in the prior art for other applications and will therefore not be explained in detail.

[0047] In particular, if the release condition is evaluated automatically, this can also be done locally in the motor vehicle itself, for example, by the control device 8, or by the vehicle-external infrastructure device 16. The release signal can thus be provided internally within the vehicle.

[0048] In a further variant of the method explained, it is possible for the user 1 to use an input device of the infrastructure facility 16 instead of a mobile device 4. For example, the infrastructure facility 16 can have a sensor system, a local communication device 6, and one or more user interfaces arranged at specific positions of the parking areas 3, 17 to enable the user 1 to request the motor vehicle 2 to move to a different position at the respective position of the user interface.

Claims

[1] Method for at least partially automated starting of a motor vehicle (2) from a standstill, wherein the starting of the motor vehicle (2) only occurs when a starting condition is met if an additional release signal dependent on sensor data is present, wherein the sensor data are recorded by at least one infrastructure device (16, 18) external to the motor vehicle, after which the release signal is determined external to the vehicle and transmitted to the motor vehicle (2) or the sensor data are transmitted to the motor vehicle (2) and the release signal is determined on the vehicle side, characterized bythat when the starting condition is fulfilled, a release request is sent to a vehicle-external release device (9), after which the release device evaluates a release condition dependent on the sensor data and, when the release condition is fulfilled, provides the release signal to the motor vehicle (2), wherein the sensor data or both the sensor data and further sensor data which are detected by a sensor system (13, 14) of the motor vehicle and on which the issuance of the release signal depends, or data derived from the sensor data or from the sensor data and the further sensor data are visualized for an evaluator by a display device (20) of the release device (9), wherein an operating input of the evaluator is evaluated on an input device (21) of the release device (9) by means of the release condition, wherein the sensor data and / or the further sensor data which are detected during a predetermined time interval,are recorded as recording data, wherein, depending on a further operating input of the evaluator at the or a further input device (21) of the release device (9), a sub-interval within the time interval is selected, after which a visualization takes place for those sensor data or those sensor data and further sensor data that were recorded in the sub-interval. [2] Method according to claim 1, characterized by that the starting condition is fulfilled when a starting request from a vehicle-external device (4) is received by a receiving device (5) of the motor vehicle (2). [3] Method according to claim 1 or 2, characterized by that the sensor data and / or the further sensor data which are acquired during a predetermined time interval are recorded as recording data, whereby the issuing of the release signal depends on the recording data. [4] Method according to one of the preceding claims, characterized by that the infrastructure device (16, 18) comprises a plurality of sensor devices and / or that the sensor data can be acquired by a plurality of infrastructure devices (16, 18), wherein position information describing the position of the motor vehicle (2) is determined and, depending on the position information, it is determined by which sensor device or sensor devices or infrastructure device (16, 18) or infrastructure devices (16, 18) the sensor data are acquired. [5] Motor vehicle comprising a control device (8) for at least partially automated control of the motor vehicle (2), characterized by that it is designed to participate in the method according to one of the preceding claims as the motor vehicle (2). [6] Release device, characterized bythat it is designed to participate in the method according to one of claims 1 to 4 as the release device (9).

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