Autonomous parking procedures

Abstract

Method for autonomous parking of a motor vehicle (10) with a driving system (30) configured for autonomous driving of the motor vehicle and a first control unit (40), the method comprising: Establishing a communication connection between the motor vehicle (10) and a mobile terminal (70); Determining at least one autonomous driving maneuver for maneuvering from a current position of the motor vehicle (10) to a target position of the motor vehicle (10); Determining instruction information for capturing at least one image signal of a relevant environmental area of ​​the motor vehicle (10) based on the at least one determined autonomous driving maneuver; Transmitting the instruction information to the mobile terminal (70); Receiving from the mobile terminal (70) at least one first image signal recorded by a camera (96) of the mobile terminal (70) in accordance with the guidance information and / or a location map of the motor vehicle (10) determined by the mobile terminal on the basis of the at least one first image signal recorded in accordance with the guidance information; and Adapting the at least one autonomous driving maneuver based on the received at least one first image signal and / or based on the received situation map.

Description

[0001] The invention relates to a method for autonomously parking a motor vehicle, in particular a method for autonomously parking, unparking, or re-parking a motor vehicle using a mobile terminal device that is in communication with the motor vehicle, for example, a smartphone. The invention further relates to a motor vehicle with a control unit configured to implement the method according to the invention.

[0002] Today's vehicles already feature a multitude of assistance systems that provide computer-based support to the driver in a wide variety of driving situations. Such assistance systems can utilize sensors to collect a wide range of measurement data that far exceeds human sensory capabilities. Furthermore, the speed of these assistance systems significantly exceeds human reaction times. Well-known driver assistance systems include lane departure warning systems, pedestrian detection brake assist systems, and adaptive cruise control, especially for traffic jams.

[0003] Through the application of such assistance systems, the driver's autonomy regarding their driving decisions is increasingly transferred to the vehicle or the control units operating within it. The ultimate goal of these developments is an autonomous vehicle that can maneuver completely without human intervention. However, as a projection of driver assistance systems, autonomous driving remains limited to fully automated passenger transport. Furthermore, autonomous driving is particularly useful in parking situations, where the precise knowledge of the vehicle's surroundings enabled by sensors and the precise execution of autonomous driving maneuvers are advantageous.

[0004] To date, autonomous parking has primarily relied on vehicle sensors that detect distances. These detected distances can be used to determine both the size of parking positions and the vehicle's degrees of freedom for maneuvering. For example, common parking assistants require the vehicle to drive past an empty parking space once in order to perform an autonomous parking maneuver into that space. However, when reversing out of or into a parking space, the exclusive use of distance sensors is less advantageous, as they are usually obscured by nearby objects such as neighboring vehicles or walls. This significantly reduces the number of available sensors and the detectable areas.

[0005] DE 10 2015 223 471 A1 relates to a system for parking a vehicle, in particular a motor vehicle, using a mobile terminal.

[0006] DE 10 2014 200 611 A1 describes a method for carrying out an autonomous parking process of a vehicle, wherein a communication connection exists between a mobile device of an operator located inside or outside the vehicle and the vehicle, via which communication connection at least one command for activating the autonomous parking process of the vehicle is transmitted, wherein the vehicle moves autonomously from a starting position to a target position after activation of the autonomous parking process.

[0007] DE 10 2015 210 118 A1 relates to a method for assisting the reversing of a parked vehicle by means of a parking assistance system for planning and carrying out a parking process, wherein the parking assistance system has an environmental sensor system for determining data about the surroundings of the vehicle.

[0008] The invention is based on the object of enriching the state of the art and proposing a method for autonomous parking of a vehicle which increases the environmental information available to the vehicle in order to thus increase the accuracy of the maneuvers carried out as well as the safety of autonomous parking.

[0009] The object of the invention is achieved by a method and a motor vehicle according to the independent patent claims. Preferred developments are the subject of the respective dependent claims.

[0010] A first aspect of the invention relates to a method for autonomous parking, in particular for the autonomous parking, re-parking, and re-parking of a motor vehicle, as described in detail below. The method according to the invention utilizes a motor vehicle and a mobile terminal, such as a smartphone, tablet, or smart gear. These are each designed to carry out the method according to the invention, as described in detail below. In particular, the motor vehicle has a first communication module, a driving system configured for autonomous driving of the motor vehicle, and a first control unit. Furthermore, the mobile terminal has at least one second communication module and a second control unit, as well as at least one camera designed to capture an image signal, in particular a grayscale image signal or a color image signal.

[0011] Using the corresponding components of the vehicle and the mobile terminal, the method according to the invention establishes a communication connection between the motor vehicle and the mobile terminal, in particular between the first control unit and the second control unit by means of the first communication module and the second communication module. Furthermore, the method according to the invention determines at least one autonomous driving maneuver, preferably a plurality of autonomous driving maneuvers, for maneuvering from a current position of the motor vehicle to a target position of the motor vehicle. The at least one driving maneuver is determined before or after the communication connection is established. Preferably, the at least one driving maneuver is determined according to the prior art, for example, before the communication connection is established.

[0012] According to the method according to the invention, a user is shown instruction information on the mobile device, which indicates which surrounding areas are of interest for the vehicle and a specific parking maneuver. Particularly preferably, this information is determined by the vehicle based on the at least one determined autonomous driving maneuver for maneuvering from the current position of the motor vehicle to the target position of the motor vehicle and transmitted to the mobile device. The mobile device preferably displays this information within the framework of a suitable application. The user is thus instructed to use the at least one camera to capture precisely those surrounding areas that are of particular interest for the determined parking maneuver and are therefore particularly suitable for adapting the parking maneuver. Such areas are, for example, blind spots of the vehicle and / or areas of a trailer hitch and / or areas behind a connected trailer.

[0013] According to the invention, at least one first image signal recorded by a camera of the mobile device is also received. This is preferably a grayscale image signal or a color image signal captured by the camera, in particular by a camera of the smartphone. Preferably, a plurality of first image signals, in particular a temporal sequence of first image signals, is received. Alternatively, a video signal is received as a sequence of first image signals from the mobile device.

[0014] In an alternative embodiment of the method according to the invention, the mobile device receives a location map of the motor vehicle determined based on the at least one first image signal. According to this embodiment, the location map of the motor vehicle is determined in the smartphone. The reception of the at least one image signal and / or the reception of the location map preferably occurs via the previously established communication connection, for example, a Bluetooth, WLNA, or mobile radio connection between the communication modules of the vehicle and the device.

[0015] In the method according to the invention, the at least one autonomous driving maneuver, preferably the plurality of autonomous driving maneuvers, is further adapted based on the received at least one first image signal and, if applicable, based on the received situation map. In the method according to the invention, the camera of a mobile terminal is therefore used to capture the surroundings of the motor vehicle and / or the motor vehicle itself. The data thus captured are then used in the method according to the invention to improve the execution of the autonomous parking process. According to the invention, a mobile terminal, which may already be used elsewhere as a remote control for autonomous parking functions, is thus further used to improve the database for autonomous parking. By using at least one smartphone-internal camera for this purpose, high-resolution image data of the vehicle's surroundings, in particular recorded from an additional perspective, is available.These can be used in a variety of ways to improve autonomous driving, as described in detail below, but especially for securing the vehicle's surroundings. For this purpose, known methods for image processing, image segmentation, and / or image recognition are preferably used.

[0016] The method according to the invention thus increases the database for carrying out an automatic parking process, whereby the fact that a user intuitively or deliberately points their smartphone at particularly relevant areas of the surroundings is particularly advantageously exploited. The fact that the user lets their smartphone wander over the surroundings of the vehicle can also be exploited. The intelligence of the user of the mobile device is thus just as advantageous in the method according to the invention as the at least one camera present in the mobile device. Furthermore, the method according to the invention enables the detection of areas that are in a blind spot for the vehicle's own cameras. This is particularly advantageous when the method according to the invention is used for motor vehicles with trailers.

[0017] Within the scope of the present invention, autonomous parking, in particular the autonomous parking, unparking, or re-parking of a vehicle, comprises the autonomous driving or maneuvering of the vehicle from its current position to a target position. The target position is preferably a suitable position for coupling a trailer, i.e., a position at which the vehicle is to be parked for the purpose of coupling. In other words, adapting the at least one autonomous driving maneuver preferably comprises determining an optimal position for coupling a trailer, i.e., an optimal position for connecting a trailer coupling of the motor vehicle to a coupling system of the trailer (trailer coupling assistant).This advantageously utilizes the fact that the area of ​​the trailer coupling, which may not be detectable by the vehicle's own cameras, as well as the area of ​​the coupling system can be detected with high accuracy using the at least one camera of the mobile terminal.

[0018] The target position is also preferably a suitable position for parking the trailer, i.e., a position where the vehicle is to be parked for the purpose of uncoupling the trailer. Furthermore, the target position is preferably a suitable position for parking the vehicle and trailer, with the vehicle and trailer remaining connected even during parking (trailer maneuvering assistant). This advantageously utilizes the fact that, with the at least one image signal, an area behind the trailer, which may not be detectable by the vehicle's own cameras, can be easily captured using the camera of the mobile device.

[0019] In a particularly preferred embodiment of the method according to the invention, the vehicle receives at least a first image signal from the mobile terminal. In this embodiment, the vehicle, in particular a correspondingly designed control unit of the vehicle, determines a location map based on the at least one received first image signal. The location map is preferably determined based on a plurality of received first image signals. The location map is a representation of the vehicle's surroundings in a format that can be processed by the vehicle's control unit. The location map is preferably also determined based on information about the vehicle's own position, the target position of the autonomous parking process, and the at least one driving maneuver.Particularly preferably, the situation map links information about the vehicle's travel path from its own position to the target position of the at least one driving maneuver with information about the vehicle's surroundings, in particular with information about at least one static or dynamic obstacle in the vehicle's surroundings. According to this embodiment, the at least one driving maneuver is further adapted based on the determined situation map, as described in detail below. The adaptation particularly relates to interrupting the maneuvering and readjusting the target position.

[0020] According to a particularly preferred embodiment of the method according to the invention, the received or determined situation map is a static or dynamic three-dimensional representation of the surroundings of the motor vehicle, and the instruction information instructs a user to record a plurality of image signals from different viewing angles or using a stereo camera. In other words, the situation map contains three-dimensional information about the vehicle itself and about at least one obstacle located in the surroundings of the vehicle. The three-dimensional information preferably comprises three Cartesian coordinates of the vehicle and the obstacles. To create a three-dimensional situation map, at least two image signals of the surroundings of the vehicle from two different viewing angles are necessary in order to determine the necessary parallax information for creating a three-dimensional situation map.

[0021] According to a first embodiment, the three-dimensional representation is determined based on a plurality of first image signals recorded from different viewing angles using the mono camera of the mobile device. For this purpose, the user can, for example, be shown instructions on how to record the plurality of image signals. The first image signals from different viewing angles are then transmitted to the vehicle, or the three-dimensional representation in the mobile device is determined from them. According to a second embodiment, the mobile device already has at least one stereo camera and is thus itself configured to capture three-dimensional images. At least one first stereoscopic image signal is then transmitted to the vehicle, or the three-dimensional representation in the mobile device is determined from them.

[0022] It is particularly advantageous that the perspectives of the first and second image signals are generally significantly different. This results in a particularly high information content from linking the first image signal and the second image signal. However, this raises the question of how the first and second image signals are linked. According to a preferred embodiment, the at least one first image signal and the at least one second image signal are linked for three-dimensional representation using first GPS data from the mobile device and second GPS data from the motor vehicle. Using this GPS data and preferably further data on the orientation of the camera in the vehicle and / or on position information from the mobile device, the image signals can be related to one another.

[0023] According to a further preferred embodiment, the at least one first image signal and the at least one second image signal are combined for three-dimensional representation based on a part of the motor vehicle identified in the first image signal and spatial position data of the motor vehicle. For example, a license plate or other marker of the motor vehicle is recognized in the first image signal. Using information on the relative position of the license plate (or other marker) and the camera located in the vehicle, the first and second image signals can be superimposed.

[0024] According to a likewise preferred embodiment, the at least one first image signal and the at least one second image signal are linked for three-dimensional representation based on a region of interest for the at least one autonomous driving maneuver identified in the first image signal and the second image signal. In other words, information contained in the image signals themselves is used to superimpose the image signals. This requires, for example, the application of segmentation and / or image recognition (for example using artificial intelligence, AI) to both image signals. The information used for superimposing or linking is particularly preferably an object contained in both image signals, for example a vehicle, a traffic sign, or the like.In particular, using image recognition and / or the application of the ray theorem, the relative positions of the mobile device's camera and the object, as well as the relative positions of the vehicle's camera and the object, can be determined based on size differences and / or perspective distortions of the identified object in both image signals. Based on these relative positions, the relative positions of the vehicle's and mobile device's cameras can then be determined.

[0025] The method according to the invention preferably further comprises the step of detecting at least one static obstacle for the at least one autonomous driving maneuver. Particularly preferably, in the method according to the invention, at least one static obstacle for the driving maneuver(s) from the vehicle's own position to the end position is determined in the static three-dimensional representation. The static obstacle is, for example, a narrow bollard or post, a bump in the road or a deep pothole, an object lying on the ground, a curb, or the like. In the method according to the invention, the at least one autonomous driving maneuver is then preferably adapted taking the at least one static obstacle into account. For example, a bollard, post, bump in the road, a pothole, or an object lying on the ground is avoided.A detected curb preferably leads to an adjustment of the destination of the parking process, for example because it is recognized that the curb cannot be driven over due to its height.

[0026] The method according to the invention also preferably further comprises the step of detecting at least one dynamic obstacle for the at least one autonomous driving maneuver. Particularly preferably, in the method according to the invention, at least one dynamic obstacle for the at least one autonomous driving maneuver is detected in the dynamic three-dimensional representation. The at least one dynamic obstacle is, for example, a cyclist or a person, for example a child, or an animal that is temporarily located in the aforementioned driving path. In the method according to the invention, the at least one autonomous driving maneuver is then preferably interrupted for the duration of the existence of the at least one dynamic obstacle.Preferably, the above-described method steps are repeatedly performed, with the detection of the dynamic obstacle being based on a plurality, in particular a temporal sequence, of first and optionally second image signals. Particularly preferably in this context (but also independently thereof), the at least one first image signal is part of a video signal recorded by a camera of the mobile terminal. Such a time series of first image signals advantageously enables the above-described detection of dynamic obstacles in the method.

[0027] Likewise, in the method according to the invention, the at least one first image signal recorded by a camera of the mobile device is preferably stored to prove the monitoring of the at least one autonomous driving maneuver. The storage takes place in the mobile device and / or in the vehicle. Alternatively, the situation map, in particular the three-dimensional representation, is preferably stored. Proof of the monitoring of autonomous driving maneuvers may be mandatory if necessary. The first image signals recorded anyway in the method according to the invention can thus be used directly as evidence of the monitoring carried out.

[0028] The method steps of the method according to the invention can be implemented by electrical or electronic components or parts (hardware), by firmware (ASIC), or by executing a suitable program (software). Likewise, the method according to the invention is preferably realized or implemented by a combination of hardware, firmware, and / or software. For example, individual components for performing individual method steps are designed as a separate integrated circuit or arranged on a common integrated circuit. Furthermore, individual components configured to perform individual method steps are preferably arranged on a (flexible) printed circuit board (FPCB / PCB), a tape carrier package (TCP), or another substrate.

[0029] The individual method steps of the method according to the invention are further preferably embodied as one or more processes that run on one or more processors in one or more electronic computing devices and are generated when executing one or more computer programs. The computing devices are preferably designed to cooperate with other components, for example a communications module, as well as one or more sensors or cameras, in order to implement the functionalities described herein. The instructions of the computer programs are preferably stored in a memory, such as a RAM element. However, the computer programs can also be stored in a non-volatile storage medium, such as a CD-ROM, a flash memory, or the like.

[0030] It will also be apparent to a person skilled in the art that the functionalities of several computers (data processing devices) may be combined or combined in a single device or that the functionality of a particular data processing device may be distributed among a plurality of devices in order to carry out the steps of the method according to the invention without deviating from the method according to the invention.

[0031] A further aspect of the invention relates to a motor vehicle, in particular a passenger car with an internal combustion engine, electric motor, or hybrid engine, which has at least one first sensor configured to acquire environmental data, at least one second sensor configured to acquire vehicle data, and a communication module, as well as a driving system configured for autonomous driving of the motor vehicle. The communication module preferably has a radio, mobile radio, WLAN, and / or Bluetooth transceiver or alternative wireless communication devices.

[0032] The at least one first sensor is designed to detect sensor signals relating to the vehicle's surroundings. The at least one second sensor is designed to detect sensor signals relating to the vehicle itself. The communication module is designed to receive information potentially relating to the motor vehicle and / or its surroundings via a communication network. An environmental signal received by the at least one first sensor preferably enables the parked motor vehicle to obtain information about its surroundings and preferably displays a large number of environmental information items. A status signal received by the at least one second sensor preferably enables the parked motor vehicle to obtain information about its own status and for this purpose displays a large number of status information items.A signal received via the communication module enables the first image signals to be received from the mobile device.

[0033] Furthermore, the motor vehicle has a control unit designed to carry out the method according to the invention, as described above. The control unit is configured, in particular, to establish a communication connection between the motor vehicle and a mobile terminal, to determine at least one autonomous driving maneuver for maneuvering from a current position of the motor vehicle to a target position of the motor vehicle, to receive from the mobile terminal at least one first image signal recorded by a camera of the mobile terminal and / or a position map of the motor vehicle determined by the mobile terminal based on the at least one first image signal, and to adapt the at least one autonomous driving maneuver based on the received at least one first image signal and / or based on the received position map.

[0034] Common motor vehicles already have a multitude of sensors, which, as primary sensors, continuously detect various environmental conditions, such as outside temperature, (air) humidity, etc. Furthermore, vehicles may also have secondary sensors, for example, position sensors for an anti-theft alarm system. Modern vehicles are also equipped with powerful communication modules that enable the reception of information via a variety of channels. The method according to the invention puts these existing sensors to a new, advantageous use.

[0035] The driving system of the motor vehicle according to the invention is preferably configured to perform at least one autonomous driving maneuver / one autonomous journey from the vehicle's own position to a target position or parking position. Particularly preferably, the driving system is designed for fully automatic guidance of the motor vehicle and can control the longitudinal and lateral guidance of the motor vehicle. Furthermore, the driving system can preferably access the at least one first sensor and / or the at least one second sensor to determine status information and / or environmental information of the motor vehicle. These first and second sensors are thus preferably usable by the driving system and the control unit.

[0036] A further aspect of the invention relates to a control unit configured to communicate with at least one first sensor for acquiring environmental data of a motor vehicle, with at least one second sensor for acquiring status data of the motor vehicle, with a communication module of a motor vehicle, and with a driving system for autonomous driving of the motor vehicle. Furthermore, the control unit is configured to carry out the method according to the invention. Preferred embodiments of the control unit correspond to the embodiments described above with reference to the motor vehicle according to the invention.

[0037] A further aspect of the invention relates to a method of a control unit of a motor vehicle, which has at least one first sensor configured to acquire environmental data, at least one second sensor configured to acquire status data of the motor vehicle and a communication module, a driving system configured for autonomous driving of the motor vehicle, and the control unit, wherein the method comprises at least the following steps: establishing a communication connection between the motor vehicle and a mobile terminal; determining at least one autonomous driving maneuver for maneuvering from a current position of the motor vehicle to a target position of the motor vehicle; determining instruction information for acquiring at least one image signal of a relevant environmental area of ​​the motor vehicle based on the at least one determined autonomous driving maneuver; transmitting the instruction information to the mobile terminal;Receiving from the mobile terminal at least one first image signal recorded by a camera of the mobile terminal in accordance with the instruction information and / or a location map of the motor vehicle determined by the mobile terminal based on the at least one first image signal recorded in accordance with the instruction information; and adapting the at least one autonomous driving maneuver based on the received at least one first image signal and / or based on the received location map. Preferred embodiments of the method correspond to the embodiments described above with reference to the motor vehicle according to the invention.

[0038] A further aspect of the invention relates to a computer program comprising instructions which, when the program is executed by a computer, such as a control unit of a motor vehicle, cause the computer to carry out the method according to the invention, comprising the steps of: establishing a communication connection between the motor vehicle and a mobile terminal; determining at least one autonomous driving maneuver for maneuvering from a current position of the motor vehicle to a target position of the motor vehicle; receiving from the mobile terminal at least one first image signal recorded by a camera of the mobile terminal and / or a position map of the motor vehicle determined by the mobile terminal based on the at least one first image signal; and adapting the at least one autonomous driving maneuver based on the received at least one first image signal and / or based on the received position map.Preferred embodiments of the program correspond to the embodiments described above with reference to the motor vehicle according to the invention.

[0039] A further aspect of the invention relates to a computer-readable storage medium comprising instructions which, when executed by a computer, such as a control unit of a motor vehicle, cause the computer to carry out the method according to the invention, comprising the steps of: establishing a communication connection between the motor vehicle and a mobile terminal; determining at least one autonomous driving maneuver for maneuvering from a current position of the motor vehicle to a target position of the motor vehicle; receiving from the mobile terminal at least one first image signal recorded by a camera of the mobile terminal and / or a location map of the motor vehicle determined by the mobile terminal based on the at least one first image signal; and adapting the at least one autonomous driving maneuver based on the received at least one first image signal and / or based on the received location map.Preferred embodiments of the storage medium correspond to the embodiments described above with reference to the motor vehicle according to the invention.

[0040] A further aspect of the invention relates to a method of a mobile terminal with at least one camera and a second control unit, which comprises the following steps: Establishing a communication connection between the mobile terminal and a motor vehicle; receiving guidance information for capturing at least one image signal of a relevant surrounding area of ​​the motor vehicle from the motor vehicle, which indicates which surrounding areas are of interest to the motor vehicle and a specific parking maneuver; output of the guidance information to a user and capture of at least one image signal of the relevant surrounding area of ​​the motor vehicle by the user; transmission of the captured at least one image signal to the motor vehicle.

[0041] The various embodiments of the invention mentioned in this application can be advantageously combined with one another, unless otherwise stated in the individual case.

[0042] The invention is explained below in exemplary embodiments with reference to the accompanying drawings. They show: Fig. 1 a schematic representation of a system according to the invention comprising a motor vehicle according to the invention and a mobile terminal according to the invention according to an embodiment; and Fig. 2 a schematic representation of a method according to the invention according to an embodiment

[0043] Fig. 1 shows a schematic representation, in particular a block diagram, of an exemplary motor vehicle 10, in particular a two-track motor vehicle with an internal combustion engine, electric motor, or hybrid engine. The motor vehicle 10 comprises a plurality of first sensors, in particular a first sensor 11, a second sensor 12, and a third sensor 13. The first sensors 11, 12, 13 are configured to detect environmental information or environmental data of the motor vehicle 10 and include, for example, temperature sensors for detecting an ambient temperature, a camera for capturing an image of an environment immediately surrounding the motor vehicle 10, a microphone for detecting noises of an environment immediately surrounding the motor vehicle 10, and distance sensors such as, for example, ultrasonic sensors for detecting distances to objects surrounding the motor vehicle 10.The first sensors 11, 12, 13 transmit the ambient signals they detect to a first control unit 40 of the motor vehicle 10.

[0044] The motor vehicle 10 further comprises a plurality of second sensors, in particular a fourth sensor 51, a fifth sensor 52, and a sixth sensor 53. The second sensors 51, 52, 53 are sensors for determining status data relating to the motor vehicle 10 itself, such as current position and movement information of the motor vehicle. The second sensors are therefore, for example, speed sensors, acceleration sensors, inclination sensors, interior motion detectors, pressure sensors in the vehicle seats, or the like. The second sensors 51, 52, 53 transmit the status signals they detect to the first control unit 40 of the motor vehicle 10. Furthermore, the second sensors 51, 52, 53 transmit their measurement results directly to a driving system 30 of the motor vehicle.

[0045] The motor vehicle further comprises a first communication module 20 with a memory 21 and one or more transponders or transceivers 22. The transponders 22 are radio, WLAN, GPS, or Bluetooth transceivers, or the like. The transponder communicates with the internal memory 21 of the first communication module 20, for example, via a suitable data bus. Using the transponder 22, for example, the current position of the motor vehicle 10 can be determined by communicating with a GPS satellite 61 and stored in the internal memory 21. Likewise, authorization information stored in the memory 21 can be transmitted to an external communication module using the transponder 22. The first communication module 20 also communicates with the first control unit 40.

[0046] Furthermore, the first communication module 20 is configured to communicate with a mobile terminal 70, for example, a personal communication device such as a smartphone or a tablet belonging to a driver, owner, or keeper of the motor vehicle 10. Communication takes place, in particular, with a second communication module 90 of the mobile terminal 70. The second communication module 90 has a memory 92 and one or more transponders or transceivers 91. The transponders 91 are radio, WLAN, GPS, or Bluetooth transceivers, or the like. The transponder 91 communicates with the internal memory 92 of the second communication module 90, for example, via a suitable data bus.For example, the first and second communication modules 20, 90 are configured to communicate with each other via a UMTS (Universal Mobile Telecommunication Service) or LTE (Long Term Evolution) mobile network. Communication between the communication devices 20, 90 is preferably embedded in a corresponding app.

[0047] The motor vehicle 10 further comprises the driving system 30, which is configured for fully autonomous driving, in particular for longitudinal and lateral guidance, of the motor vehicle 10. The driving system 30 comprises a navigation module 32, which is configured to calculate routes between a starting point and a destination point and to determine the maneuvers to be performed by the motor vehicle 10 along this route. Furthermore, the driving system 30 comprises an internal memory 31, for example, for map materials, which communicates with the navigation module 32, for example, via a suitable data bus.

[0048] At least some of the motor vehicle's second sensors 51, 52, 53 transmit their measurement results directly to the driving system 30. This data transmitted directly to the driving system is, in particular, current position and movement information of the motor vehicle. This information is preferably recorded by speed sensors, acceleration sensors, inclination sensors, etc.

[0049] The motor vehicle 10 further comprises a first control unit 40, which is configured to carry out the method according to the invention. For this purpose, the first control unit 40 has an internal memory 41 and a CPU 42, which communicate with each other, for example, via a suitable data bus. Furthermore, the first control unit is in communication with at least the first sensors 11, 12, 13, the second sensors 51, 52, 53, the first communication module 20, and the driving system 30, for example, via one or more respective CAN connections, one or more respective SPI connections, or other suitable data connections.

[0050] The mobile terminal device has a second control unit 80, which is configured to carry out the respective steps of the method according to the invention. For this purpose, the second control unit 80 has an internal memory 81 and a CPU 82, which communicate with each other, for example, via a suitable data bus. Furthermore, the second control unit 80 is in communication connection with at least one camera 96 ​​of the mobile terminal device, for example, a mono camera or a stereo camera 96. Furthermore, the second control unit 80 is in communication connection with a GPS sensor 95 of the mobile terminal device. The communication connections are implemented via one or more respective CAN connections, SPI connections, or other suitable data connections.

[0051] Fig. 2 shows a schematic flow diagram of a method according to the invention carried out by the motor vehicle 10 according to the invention.

[0052] In a first step S100 of the method according to the invention, a communication connection is established between the motor vehicle 10 and a mobile terminal 70. In a second step S200, at least one autonomous driving maneuver is determined for maneuvering from a current position of the motor vehicle 10 to a target position of the motor vehicle 10. The order of steps S100 and S200 is arbitrary. In a third step S300 of the method according to the invention, at least one first image signal recorded by a camera 96 ​​of the mobile terminal 70 and / or a position map of the motor vehicle 10 determined by the mobile terminal based on the at least one first image signal is received by the mobile terminal 70.Finally, in a fourth step S400 of the method according to the invention, the at least one autonomous driving maneuver is adapted based on the received at least one first image signal and / or based on the received situation map. List of reference symbols 10 motor vehicle 11 first sensor 12 second sensor 13 third sensor 20 Communication module 21 storage 22 transponders 30 Driving system 31 storage 32 Navigation module 40 Control unit 41 storage 42 CPU 51 fourth sensor 52 fifth sensor 53 sixth sensor 61 satellite 70 mobile devices 80 Control unit 81 storage 82 CPU 90 Communication module 91 transponders 92 storage 95 GPS Sensor 96 Camera

Claims

[1] Method for autonomous parking of a motor vehicle (10) with a driving system (30) configured for autonomous driving of the motor vehicle and a first control unit (40), the method comprising: Establishing a communication connection between the motor vehicle (10) and a mobile terminal (70); Determining at least one autonomous driving maneuver for maneuvering from a current position of the motor vehicle (10) to a target position of the motor vehicle (10); Determining instruction information for capturing at least one image signal of a relevant environmental area of ​​the motor vehicle (10) based on the at least one determined autonomous driving maneuver; Transmitting the instruction information to the mobile terminal (70); Receiving from the mobile terminal (70) at least one first image signal recorded by a camera (96) of the mobile terminal (70) in accordance with the guidance information and / or a location map of the motor vehicle (10) determined by the mobile terminal on the basis of the at least one first image signal recorded in accordance with the guidance information; and Adapting the at least one autonomous driving maneuver based on the received at least one first image signal and / or based on the received situation map. [2] The method of claim 1, further comprising: Determining a location map of the motor vehicle (10) based on the at least one received first image signal, preferably based on a plurality of received first image signals, and adapting the at least one driving maneuver based on the determined location map. [3] Method according to claim 1 or 2, wherein the received or determined situation map is a static or dynamic three-dimensional representation of an environment of the motor vehicle (10) and wherein the guidance information guides a user to record a plurality of image signals from different viewing angles or by means of a stereo camera (96). [4] The method of claim 3, wherein the three-dimensional representation is determined by: - a plurality of first image signals recorded from different viewing angles by means of the mono camera (96) of the mobile terminal (70), and / or - at least one first image signal recorded by the stereo camera (96) of the mobile terminal (70). [5] Method according to claim 4, wherein the linking of the at least one first image signal and the at least one second image signal for three-dimensional representation is carried out by: - first GPS data of the mobile device (70) and second GPS data of the motor vehicle (10), - a part of the motor vehicle (10) identified in the first image signal and spatial position data of the motor vehicle (10), - an area of ​​interest identified in the first image signal and the second image signal for the at least one autonomous driving maneuver, and / or - at least one object identified in the first image signal and the second image signal. [6] Method according to one of the preceding claims, further comprising: Detecting at least one static obstacle for the at least one autonomous driving maneuver, preferably in the static three-dimensional representation, and adapting the at least one autonomous driving maneuver taking into account the at least one static obstacle and / or Detecting at least one dynamic obstacle for the at least one autonomous driving maneuver, preferably in the dynamic three-dimensional representation, and Interrupting at least one autonomous driving maneuver for the duration of the existence of at least one dynamic obstacle. [7] Method according to one of the preceding claims, further comprising: Storing the at least one first image signal recorded by a camera (96) of the mobile terminal (70) to prove the monitoring of the at least one autonomous driving maneuver. [8] Method according to one of the preceding claims, wherein the at least one first image signal is part of a video signal recorded by a camera (96) of the mobile terminal (70). [9] Motor vehicle comprising at least one first sensor (11, 12, 13) configured to detect environmental data, at least one second sensor (51, 52, 53) configured to detect vehicle data, a communication module (20), a driving system (30) configured for autonomous driving of the motor vehicle, and a control unit (40) configured to carry out the method according to one of claims 1 to 8. [10] Method of a mobile terminal (70) with at least one camera (96) and a second control unit (80), the method comprising: Establishing a communication connection between the mobile terminal (70) and a motor vehicle (10); Receiving guidance information for capturing at least one image signal of a relevant surrounding area of ​​the motor vehicle (10) from the motor vehicle (10), which indicates which surrounding areas are of interest to the motor vehicle (10) and a specific parking maneuver; Outputting the guidance information to a user and capturing at least one image signal of the relevant surrounding area of ​​the motor vehicle (10) by the user; Transmitting the captured at least one image signal to the motor vehicle (10).

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