Method for providing an already generated trajectory of a first motor vehicle for a second motor vehicle for future travel of the trajectory, computer program product and assistance system

Abstract

Method for providing an already generated trajectory (2) of a first motor vehicle (3) for at least a second motor vehicle (4) for future travel along the trajectory (2) by means of an assistance system (1), in which the trajectory (2) is generated by the first motor vehicle (3) and transmitted to an electronic computing device (5) of the assistance system (1) external to the motor vehicle, and in which at least a first parameter (7) characterizing the first motor vehicle (3) is also transmitted to the electronic computing device (5) external to the motor vehicle, wherein the already generated trajectory (2) is evaluated taking into account the first characterizing parameter (7), and it is checked whether the trajectory (2) is suitable for the second motor vehicle (4),wherein, if the already generated trajectory (2) is not suitable for the second motor vehicle (4), it is adapted for the second motor vehicle (4) taking into account a second parameter (8) characterising the second motor vehicle (4), wherein a detection capability of respective environmental sensors of the motor vehicles (3, 4) is taken into account during the check.

Description

[0001] The invention relates to a method for providing a previously generated trajectory of a first motor vehicle to a second motor vehicle for future travel of the trajectory by means of an assistance system. The trajectory is generated by the first motor vehicle and transmitted to an electronic computing device of the assistance system external to the motor vehicle, and at least one first parameter characterizing the motor vehicle is also transmitted to the electronic computing device external to the motor vehicle. Furthermore, the invention relates to a computer program product and an assistance system.

[0002] For example, parking assistance systems that provide trained parking are already known from the prior art. These enable a driver to re-drive a previously traveled trajectory, for example, in a semi-automated manner. Semi-automated driving can be considered, for example, an intervention in a lateral guidance control system and / or a longitudinal guidance control system of the motor vehicle. The trajectory data, including the associated map data for localization along the trajectory and to the starting point when the vehicle is initially driven, is stored.

[0003] DE 10 2016 214 575 B4 relates to a method for the automated or partially automated driving of a motor vehicle, wherein the motor vehicle has means for determining a trajectory and storing it in a map, wherein the motor vehicle has means for locating itself in the map and then driving the trajectory in an automated or partially automated manner, wherein the motor vehicle has an interface by means of which a trajectory is exported to the map, as well as a motor vehicle and a server.

[0004] DE 10 2016 216 157 A1 relates to a method for operating a motor vehicle, comprising the steps of: determining at least one trajectory data set describing a respective trajectory traveled by the or a respective further motor vehicle and sending the trajectory data set to a vehicle-external storage device; providing at least one guidance data set for the motor vehicle by the storage device, wherein each guidance data set is assigned to one of the trajectories and is determined as a function of the trajectory data set describing the respective assigned trajectory;and controlling the vehicle device of the motor vehicle depending on the provided guidance data set or, if several of the guidance data sets are provided by the storage device, one of the provided guidance data sets selected on the motor vehicle side to output a driving instruction relating to the assigned trajectory to a driver of the motor vehicle and / or to carry out at least one driving intervention;

[0005] DE 10 2012 223 057 A1 relates to a method for assisting a driver during a driving maneuver, in which, in order to follow a trajectory, either the driver is given instructions by a driver assistance system to make the necessary steering adjustments and provide longitudinal guidance, or the steering adjustments and, if necessary, the longitudinal guidance are performed automatically by the driver assistance system. The driver assistance system provides a trajectory, which the driver assistance system receives via a communication unit from a unit independent of the ego vehicle.

[0006] The object of the present invention is to provide a method, a computer program and an assistance system by means of which a future trajectory for a second motor vehicle can be generated in an improved manner.

[0007] This object is achieved by a method, a computer program product, and an assistance system according to the independent patent claims. Advantageous embodiments are specified in the subclaims.

[0008] One aspect of the invention is a method for providing an already generated trajectory of a first motor vehicle for a second motor vehicle for future travel of the trajectory by means of an assistance system, in which the trajectory is generated by the first motor vehicle and is transmitted to an electronic computing device of the assistance system external to the motor vehicle and in which at least a first parameter characterizing the first motor vehicle is also transmitted to the electronic computing device external to the motor vehicle.

[0009] It is intended that the trajectory already generated is evaluated taking into account the first characterising parameter and that it is checked whether the trajectory is suitable for the second motor vehicle, whereby if the trajectory already generated is not suitable for the second motor vehicle, it is adapted for the second motor vehicle taking into account a second parameter characterising the second motor vehicle.

[0010] In another example, the detection capability of the environmental sensors of the first motor vehicle and the second motor vehicle may differ. This may result in localization features not being detectable due to the changed environmental sensor. Depending on the quality of the localization features, for example the feature density, of the recorded map data, it is possible to dispense with some of the localization features. However, if too much localization data is unusable and the remaining feature density is too low due to the different environmental sensors, for example a larger aperture angle in the recording vehicle than in the receiving vehicle, the trajectory in the receiving vehicle cannot be used with this data and adaptation is not possible. A check is then carried out to determine whether sufficient features are present and, if necessary, a new recording with the second motor vehicle is necessary.

[0011] In particular, it is checked whether the exported trajectory already driven by the first motor vehicle is compatible with the second motor vehicle. This could mean, for example, that the transmitted data would lead to a poor parking result, the parking process cannot be started, or the parking process would have to be aborted by the customer. In this case, if the trajectory already generated is incompatible with the second motor vehicle, it is checked whether it is possible to adapt the corresponding data depending on the second characterizing parameter. This eliminates the need for the second motor vehicle to drive the trajectory again, and the trajectory already generated can be adapted and used to be driven by the second motor vehicle.

[0012] According to an advantageous embodiment, the trajectory is adapted by means of the electronic computing device external to the motor vehicle and / or the trajectory is adapted by means of an electronic computing device internal to the second motor vehicle. In particular, if the trajectory is adapted by means of the electronic computing device external to the motor vehicle, the second parameter characterizing the second motor vehicle is previously transmitted from the second motor vehicle to the electronic computing device external to the motor vehicle.

[0013] In particular, the adjustment can then be performed externally to the vehicle, thus saving computing capacity within the vehicle. If the trajectory is adjusted internally, this has the advantage that, for example, it can be performed directly in real time on the vehicle's internal electronic computing device.

[0014] Furthermore, it has proven advantageous if, in the case of a non-adaptable trajectory for the second motor vehicle, transmission and / or output of the trajectory for the second motor vehicle is suppressed. In particular, this has the advantage that non-adaptable trajectories are not transmitted, thereby reducing the amount of data to be transmitted. In particular, only compatible or adaptable trajectories are transmitted to the second motor vehicle.

[0015] In a further advantageous embodiment, a turning circle of the motor vehicles and / or the width of the motor vehicles and / or a length of the motor vehicles and / or the wheelbase of the motor vehicles and / or a height of the motor vehicles and / or a type of motor vehicle and / or a type of drive of the motor vehicles is taken into account as the first characterizing parameter and / or as the second characterizing parameter. For example, loading conditions and / or tire pressures can also be taken into account. This means that the different specific characterizing parameters of the motor vehicles can be used. This makes it possible to specifically check whether, for example, an adaptation of the trajectory already driven is possible for the second motor vehicle. Furthermore, the adapted trajectory can be generated specifically and in great detail and can be specifically driven by the second motor vehicle.

[0016] Furthermore, it has proven advantageous if the already generated trajectory and / or the adapted trajectory are only transmitted to the second motor vehicle if the second motor vehicle does not have this trajectory. In particular, the second trajectory is thus not yet stored within the motor vehicle, in particular the second motor vehicle. Thus, only trajectories that have not yet been transmitted to the second motor vehicle are transmitted. This makes it possible for trajectories that have already been transmitted to not be transmitted, which can, in particular, reduce a data transmission rate.

[0017] According to a further advantageous embodiment, the already generated trajectory and / or adapted trajectory are only transmitted to a second motor vehicle that has been authorized by a user of at least the first motor vehicle. For example, the second motor vehicle can be a second motor vehicle of the user, in particular a so-called second vehicle of the user. The trajectory is only transmitted to the second motor vehicle if the user has authorized the second motor vehicle. This allows person-specific trajectories to be generated that are not transmitted to other motor vehicles. This ensures data protection. In particular, in the case of car sharing, a second vehicle, or a vehicle change, this has the advantage that the corresponding person-specific trajectories can be used. This eliminates the need for time-consuming training of trajectories already generated by another vehicle.

[0018] It is further advantageous if, when generating the trajectory, a type of environmental detection and / or a relative positioning of the first motor vehicle and / or a localization type and / or a localization quality and / or a vehicle configuration data set and / or a data type for the generated trajectory are taken into account. This allows the second trajectory to be adapted in detail. In particular, if, for example, the two motor vehicles are equipped differently, for example, have different detection devices or different evaluation devices, a corresponding adaptation of the trajectory can be realized based on this information.

[0019] In a further advantageous embodiment, the already generated trajectory and / or the adapted trajectory are output to a user of the second motor vehicle for selection via an output device of the second motor vehicle. For example, only trajectories that have not yet been transmitted are output to the output device. The user can then check whether, for example, the trajectory should continue to be used. Furthermore, the user can check whether the adapted trajectory is actually suitable for the motor vehicle. This allows verification of the adapted trajectory within the motor vehicle.

[0020] The presented method is, in particular, a computer-implemented method. Therefore, a further aspect of the invention relates to a computer program product with program code means that cause an electronic computing device, when the program code means are processed by the electronic computing device, to perform a method according to the preceding aspect. A further aspect of the invention therefore also relates to a computer-readable storage medium with a computer program product.

[0021] Furthermore, the invention also relates to an assistance system for providing a previously generated trajectory of a first motor vehicle to a second motor vehicle for future travel of the trajectory, comprising at least one electronic computing device external to the motor vehicle, wherein the assistance system is configured to carry out a method according to the preceding aspect. In particular, the method is carried out by means of the assistance system.

[0022] Advantageous embodiments of the method are considered advantageous embodiments of the assistance system. The assistance system has specific features that enable the method to be carried out. For example, the electronic computing device of the assistance system has electronic components such as processors, circuits, for example, integrated circuits, and other electronic components to enable the corresponding method steps to be carried out.

[0023] The invention also includes further developments of the assistance system according to the invention that have features already described in connection with the further developments of the method according to the invention. For this reason, the corresponding further developments of the assistance system according to the invention are not described again here.

[0024] The invention also includes combinations of the features of the various embodiments.

[0025] An exemplary embodiment of the invention is described below. The single figure shows a schematic side view of an embodiment of an assistance system.

[0026] The exemplary embodiment explained below is a preferred exemplary embodiment of the invention. In the exemplary embodiment, the described components each represent individual, independently considered features of the invention, which also further develop the invention independently of one another and are thus also to be considered as components of the invention, either individually or in a combination other than that shown. Furthermore, the described exemplary embodiment can also be supplemented by further features of the invention as already described.

[0027] In the figure, elements with the same function are each provided with the same reference symbols.

[0028] The figure shows a schematic plan view of an embodiment of an assistance system 1. The assistance system 1 is designed to provide an already generated trajectory 2 of a first motor vehicle 3 for a second motor vehicle 4 to subsequently follow the trajectory 2. For this purpose, the assistance system 1 has an electronic computing device 5 external to the motor vehicle.

[0029] In the method for providing the already generated trajectory 2 of the first motor vehicle 3 for the second motor vehicle 4 for future travel along the trajectory 2, the trajectory 2 is generated by the first motor vehicle 3 and transmitted to the vehicle-external electronic computing device 5, for example, by a first communication device 6 of the first motor vehicle 3. Furthermore, a first parameter 7 characterizing the first motor vehicle 3 is also transmitted to the vehicle-external electronic computing device 5.

[0030] It is provided that the already generated trajectory 2 is evaluated taking into account the first characterizing parameter 7, and it is checked whether the trajectory 2 is suitable for the second motor vehicle 4. If the already generated trajectory 2 is unsuitable for the second motor vehicle 4, it is adapted for the second motor vehicle 4 taking into account a second parameter 8 characterizing the second motor vehicle 4. In particular, an adapted trajectory 9 is thus driven by the second motor vehicle 4.

[0031] In particular, it is shown here that trajectory 2 and adapted trajectory 9 lead to a parking space P1. Trajectory 2 and adapted trajectory 9 are designed differently.

[0032] It can be provided that the trajectory 2 is adapted by means of the electronic computing device 5 external to the motor vehicle, and for example, the adapted trajectory 9 can then be transmitted to a second communication device 10 of the second motor vehicle 4. Alternatively, the adaptation of the trajectory 2 can also be implemented by means of an electronic computing device 11 internal to the motor vehicle of the second motor vehicle 4. The figure shows, in particular, that the trajectory 2 is already being adapted by means of the electronic computing device 5 external to the motor vehicle, and the adapted trajectory 9 is transmitted to the second motor vehicle 4.

[0033] If, for example, the trajectory 2 is not adaptable for the second motor vehicle 4, a transmission and / or output of the trajectory 2 for the second motor vehicle 4 is suppressed. Furthermore, the already generated trajectory 2 and / or the adapted trajectory 9 is only transmitted to the second motor vehicle 4 if the second motor vehicle 4 does not yet have this trajectory, in particular if it has not yet stored it in a corresponding storage device.

[0034] In particular, a turning circle of the motor vehicles 3, 4 and / or a width of the motor vehicles 3, 4 and / or a length of the motor vehicles 3, 4 and / or a wheelbase of the motor vehicles 3, 4 and / or a height of the motor vehicles 3, 4 and / or a type of motor vehicle of the motor vehicles 3, 4 and / or a type of drive of the motor vehicles 3, 4 can be taken into account as the first characterizing parameter 7 and / or the second characterizing parameter 8. Furthermore, it can also be provided that a type of environmental detection and / or a relative positioning of the first motor vehicle 3 and / or a type of localization and / or a localization quality and / or a vehicle configuration data set and / or a data type for the generated trajectory 2 are taken into account in the generating trajectory 2.

[0035] Furthermore, it is provided in particular that the already generated trajectory 2 and / or the adapted trajectory 9 can only be transmitted to a second motor vehicle 4 that has been released by a user of at least the first motor vehicle 3. For example, the second motor vehicle 4 can be a second motor vehicle of the user. In particular, the parking space P1 can be a parking space at a workplace of the user or a home parking space of the user, where trained parking with the first motor vehicle 3 and the second motor vehicle 4 is desired. Furthermore, it can be provided that the already generated trajectory 2 and / or the adapted trajectory 9 is output to a user of the second motor vehicle 4 for selection at an output device 12 of the second motor vehicle 4.

[0036] In particular, the figure describes that, in a first step, the generation and storage of the map data and trajectory data of the trajectory 2 is carried out in the first motor vehicle 3, wherein the first motor vehicle 3 may have different environmental sensors. It is necessary to generate an associated compatibility data set, which serves as the basis for the compatibility check. This is because differences between the recording vehicle, i.e., the first motor vehicle 3, and the receiving vehicle, i.e., the second motor vehicle 4, can result in the transmitted data not being usable in the second motor vehicle 4.

[0037] When generating the compatibility data set, the following information from the first motor vehicle 3 is taken into account. In particular, a position and an orientation of the environment sensor can be taken into account. Furthermore, a detection capability of the environment sensor, for example an aperture angle, a frame rate and / or a resolution, can be taken into account. A transmission of the quality of the localization features, for example the feature density, of the recorded map data can be taken into account. A vehicle configuration data set from the first motor vehicle 3 relevant to environment detection, for example the type of lighting system, can be taken into account. Furthermore, the data format and the map data and the trajectory data can be taken into account.

[0038] For example, the position and orientation of the environment sensor of the first motor vehicle 3 and the second motor vehicle 4 differ from each other because they are different vehicle models. This can lead to problems when using the data. In this case, a transformation of the data according to the installation position is required.

[0039] In another example, the detection capability of the environmental sensors of the first motor vehicle 3 and the second motor vehicle 4 may differ. This may result in localization features not being detectable due to the changed environmental sensor. Depending on the quality of the localization features, for example the feature density, of the recorded map data, it is possible to dispense with some of the localization features. However, if too much localization data is unusable and the remaining feature density is too low due to the different environmental sensors, for example a larger aperture angle in the recording vehicle than in the receiving vehicle, the trajectory in the receiving vehicle cannot be used with this data and adaptation is not possible. A check is then carried out to determine whether sufficient features are present and, if necessary, a new recording with the second motor vehicle 4 is necessary.

[0040] Another example may be that the vehicle configuration relevant for environmental detection, such as the type of lighting system, differs. This may result in localization features not being detectable due to the changed lighting conditions in poor lighting conditions, for example in underground parking garages and in the dark. Depending on the quality of the localization features, such as the feature density of the recorded map data, it is possible to omit some of the localization features. However, if too much localization data is unusable and the remaining feature density is too low, the trajectory 2 in the second motor vehicle 4 cannot be used with this data and adaptation is not possible. This may result in a check to determine whether sufficient features are present or not. If necessary, a new recording with the second motor vehicle 4 is necessary.

[0041] Furthermore, a data format may not be identical; for example, due to different sensor generations, the same information is stored differently. This requires conversion or adaptation.

[0042] In a further step, the data can be saved in a personalized manner. For this purpose, a personalization data set from the user in the first motor vehicle 3 is used.

[0043] In a further step, the data is personalized using the user's personalization data record and stored in the vehicle-external electronic computing device 5. Storage in the vehicle-external electronic computing device 5, which can also be referred to as the backend, for provision or transmission to the second motor vehicle 4 of the same user is only possible if the data contains an associated compatibility data record, since otherwise a compatibility check prior to transmission is not possible.

[0044] In a further step, the compatibility check takes place. The first motor vehicle 3 accesses the stored data in the vehicle-external electronic computing device 5 via the personalization data set. The plurality of stored map data and trajectory data from the first motor vehicle 3 is then checked for compatibility. For this purpose, the data from the compatibility data set from the recording vehicle is compared with that of the second motor vehicle 4. In this process, data is identified that can be used in the second motor vehicle 4 without adaptation, that can be used in the second motor vehicle 4 after adaptation, and that cannot be used in the second motor vehicle 4.

[0045] A check for new data is then carried out, or the selection is displayed. A check is also carried out to determine which of the usable data is not yet available on the second motor vehicle 4. This is displayed to the user in the second motor vehicle 4 for selection. This has the advantage that the driver is not shown data for selection that is not usable and that is already available or has been transferred. If no new, compatible data is available, this is displayed to the driver or user. When displaying the data, a specific categorization or prioritization can be carried out depending on its relevance or frequency of previous use.

[0046] The data is then transferred to the second motor vehicle 4. The user then selects the data to be transferred to the second motor vehicle 4. Furthermore, the map data and trajectory data can then be adapted. If the selected data is compatible without adaptation, it can be transferred directly. If the selected data must and can be adapted, the map data and trajectory data are adapted based on the compatibility data set from the first motor vehicle 3 and the second motor vehicle 4, and the result of the compatibility check.

[0047] If, for example, a different pose of the environment sensor of the first motor vehicle 3 and the second motor vehicle 4 is recorded, the adaptation can, for example, include a conversion of the map data and trajectory data by transforming the data according to the installation position.

[0048] In a further step, the test is carried out after the first travel along the new / adapted trajectory 9 using the transmitted data. When the trajectory 9 is traveled for the first time, a check is carried out to determine whether travel was possible using the transmitted data or whether it should be aborted. If the travel was successful, in particular if the target position of the trajectory 9 was reached, in this case, for example, parking space P1, the data is transmitted again to the vehicle-external electronic computing device 5 with a new compatibility data set so that it is available for other vehicles. If the travel was unsuccessful, for example, if the driver aborted the journey or the target position was not reached, the user is asked about their satisfaction and / or offered the option of deleting the transmitted data.

[0049] Furthermore, it can be provided that the transfer is only carried out between motor vehicles 3, 4 belonging to the same user. For example, the transfer can be implemented between the primary and secondary vehicle, or between the primary and rental vehicle, or between the existing and new leased vehicle. Furthermore, the adaptation can also be implemented both internally within the vehicle and in the electronic computing device 5 external to the vehicle.

Claims

[1] Method for providing an already generated trajectory (2) of a first motor vehicle (3) for at least a second motor vehicle (4) for future travel along the trajectory (2) by means of an assistance system (1), in which the trajectory (2) is generated by the first motor vehicle (3) and is transmitted to an electronic computing device (5) of the assistance system (1) external to the motor vehicle, and in which at least a first parameter (7) characterizing the first motor vehicle (3) is also transmitted to the electronic computing device (5) external to the motor vehicle, wherein the already generated trajectory (2) is evaluated taking into account the first characterizing parameter (7), and it is checked whether the trajectory (2) is suitable for the second motor vehicle (4),wherein, if the already generated trajectory (2) is not suitable for the second motor vehicle (4), it is adapted for the second motor vehicle (4) taking into account a second parameter (8) characterising the second motor vehicle (4), wherein a detection capability of respective environmental sensors of the motor vehicles (3, 4) is taken into account during the check. [2] Method according to claim 1, characterized by that the trajectory (2) is adapted by means of the electronic computing device (5) external to the motor vehicle. [3] Method according to claim 1 or 2, characterized by that the trajectory (2) is adapted by means of an internal electronic computing device (11) of the second motor vehicle (4). [4] Method according to one of the preceding claims, characterized bythat in the case of a non-adaptable trajectory (2) for the second motor vehicle (4), a transmission and / or an output of the trajectory (2) for the second motor vehicle (4) is suppressed. [5] Method according to one of the preceding claims, characterized by that as the first characterizing parameter (7) and / or as the second characterizing parameter (8) a turning circle of the motor vehicles (3, 4) and / or a width of the motor vehicles (3, 4) and / or a length of the motor vehicles (3, 4) and / or a wheelbase of the motor vehicles (3, 4) and / or a height of the motor vehicles (3, 4) and / or a type of motor vehicle of the motor vehicles (3, 4) and / or a type of drive of the motor vehicles (3, 4) are taken into account. [6] Method according to one of the preceding claims, characterized by that the already generated trajectory (2) is transmitted if the second motor vehicle (4) does not have this trajectory (2, 9). [7] Method according to one of the preceding claims, characterized by that the adapted trajectory (9) is only transmitted to the second motor vehicle (4) if the second motor vehicle (4) does not have this trajectory (2, 9). [8] Method according to one of the preceding claims, characterized by that the already generated trajectory (2) and / or the adapted trajectory (9) are only transmitted to a second motor vehicle (4) released by a user of at least the first motor vehicle (3). [9] Method according to one of the preceding claims, characterized by that when generating the trajectory (2), an environment detection type and / or a relative positioning of the first motor vehicle (3) and / or a localization type and / or a localization quality and / or a vehicle configuration data set and / or a data type for the generated trajectory (2) are taken into account. [10] Method according to one of the preceding claims, characterized by that the already generated trajectory (2) and / or the adapted trajectory (9) are output to a user of the second motor vehicle (4) for selection at an output device (12) of the second motor vehicle (4). [11] Computer program product with program code means which cause an electronic computing device (5, 11) to carry out a method according to one of claims 1 to 8 when the program code means are processed by the electronic computing device (5, 11). [12] A computer-readable storage medium comprising a computer program product according to claim 11. [13] Assistance system (1) for providing an already generated trajectory (2) of a first motor vehicle (3) for a second motor vehicle (4) for future travel of the trajectory (2), with at least one electronic computing device (5) external to the motor vehicle, wherein the assistance system (1) is designed to carry out a method according to one of claims 1 to 10.

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