Method for the automated movement of a vehicle on private property, motor vehicle and system

Abstract

A method for the automated movement of a vehicle (1) on private premises (200) under the supervision of a user (2) not in the vehicle comprises that, while the vehicle (1) is moving on the private premises (200) and / or when the vehicle (1) is stationary, sensor units (20) of the vehicle (1) continuously collect data and that this data or data derived therefrom is continuously sent to an external mobile output device (3) of the user (2), on which an output is made.

Description

[0001] The invention relates to a method for the automated movement of a vehicle on private property under the supervision of a user, wherein preferably the user should have at least the possibility of exercising supervision even when not in the vehicle. The invention also relates to a motor vehicle that enables the execution of the method according to the invention, and to a system comprising the motor vehicle and a mobile device that can be used in the method.

[0002] Common driver assistance functions for automated parking, maneuvering, and parking, especially on private property, involve continuous monitoring by the driver, typically via remote control using a device such as a smartphone. In this case, the vehicle can achieve SAE Level 2 (the level of automated driving defined by the Society of Automotive Engineers (SAE)).

[0003] On the other hand, there are also SAE Level 4 vehicles where a driver assistance function for automated parking, maneuvering, and / or parking is designed so that the system itself restores a safe state in the event of a hazard or malfunction. This is achieved firstly through redundancies in the computer system and actuators, and secondly through sophisticated sensor technology, such as in the vehicle itself (underbody sensors for approach monitoring, etc.) or in the infrastructure the vehicle traverses. For example, the parking garage at Stuttgart Airport is known to have numerous cameras and control systems that calculate a target trajectory for the vehicle, which is then transmitted to the vehicle. In the event of a problem or malfunction, the vehicle can stop or move to the side.

[0004] The disadvantage here is the costly development and maintenance / system support.

[0005] SAE Level 2 systems with remote operation are restricted in the European Union in that the user with the operating device (smartphone) may not maintain a distance of more than 6 m from the vehicle contour.

[0006] From US 2018 / 0 210 442 A1 it is known that a mobile device receives an image from cameras of a vehicle, whereby the user can specify a direction of travel ("motion vector") based on the image in order to transmit instructions to the motor vehicle, which then drives autonomously according to the commands.

[0007] Conversely, it is known from DE 10 2017 217 784 A1 to ensure the safety of an autonomous driving maneuver by using a smartphone camera to detect the user and check whether the user is looking at the vehicle. The vehicle can then abort the maneuver if there is a risk.

[0008] From US 11 124 181 B2 it is known that a vehicle uses its sensors to scan its surroundings and simultaneously determines the exact location of the user outside the vehicle, so that the user can be warned of an approaching vehicle.

[0009] The purpose of the invention is to expand the application possibilities of automated movement of a vehicle on private property.

[0010] The problem is solved by a method having the features according to claim 1 and a motor vehicle having the features according to claim 7 and a system according to claim 10.

[0011] The inventive method for the automated movement of a vehicle on private property under the supervision of a user, in particular a user not in the vehicle, includes the fact that, while the vehicle is moving on the private property and / or upon predetermined activation (e.g., activation of a control unit of the vehicle), sensor units of the vehicle continuously acquire data even while the vehicle is stationary (preferably already on the private property), and that this data or data derived therefrom is continuously sent to a mobile output device of the user that is not permanently attached to the vehicle, on which an output is displayed.

[0012] The output device could be, for example, a smartphone, a smartwatch or other wearable device, or even the vehicle key, which may be equipped accordingly.

[0013] The method according to the invention enables the user to have improved knowledge about the moving vehicle, or optionally also improved knowledge of its stationary state before it starts moving, thus facilitating monitoring. In this way, it may be possible for the user to be located at a distance of more than 6 m from the vehicle.

[0014] According to a preferred embodiment, camera images from the vehicle's video cameras are continuously transmitted to and displayed on the mobile output device. Image data is particularly useful for enabling a user outside the vehicle to quickly assess the situation.

[0015] Alternatively or additionally, the data from the sensor units can be processed by a data processing unit of the vehicle, whereby, if an unsafe situation is detected according to a predetermined criterion, a warning message is transmitted to the mobile output device and issued by it, and / or a warning message is issued by actuators of the vehicle.

[0016] The detection of such an unsafe situation is a known process. The predetermined criterion can include the detection of specific obstacles in the vehicle's path and / or the output of a specific value by a neural network within a defined interval (e.g., indicating the probability of an unsafe situation), and so on. The mobile output device can provide the warning visually, for example, by overlaying it onto the video image, or by emitting an audible signal. The vehicle's actuators that issue the warning can include the familiar vehicle acoustic warning devices. For example, the horn can sound, the external sound generator in electric vehicles can be activated, or an external speaker can be used to emit noise and / or voice signals.This way, the user can be reliably informed that a problem has occurred, and the vehicle, which would typically remain stationary, may then need to be moved by the user. Furthermore, detected obstacles such as people and / or pets can be warned so that they move away and clear the way.

[0017] According to another preferred embodiment, the mobile output device allows input (e.g., via a motion-sensitive screen on a smartphone, or via separate operating elements such as buttons, etc.). An initial input can be a prerequisite for the vehicle to start moving and / or (preferably then) sustained input can be a prerequisite for (further) movement of the vehicle. This effectively uses a "dead man's switch." The aforementioned facial recognition can also be performed (a camera as part of the mobile output device captures the user's face, with an evaluation unit verifying whether the user is viewing the live video image or recording other data).

[0018] According to a further preferred embodiment of the invention, control commands can be generated via input at the mobile output device and transmitted to actuator units installed on the private property either directly or via the vehicle. These actuator units could, for example, be a motor for a garage door, which would then open. Lighting (e.g., in the garage or in front of the garage leading to the parking space) could also be activated. Alternatively, such activation of the actuator units can occur depending on the progress of movement on the property, either by the vehicle itself or automatically controlled by the mobile output device based on time or image data.

[0019] Typically, for the purpose of carrying out the method, an app is available on the mobile output device, preferably a smartphone in this embodiment, through which communication with the vehicle takes place. The app can control the actuator units on the private premises. The internet is generally used here, so a backend server also controls the actuator units. It would also be possible, in principle, for the smartphone (or other mobile output device) to control the actuator units via direct radio transmission or other communication methods. Alternatively, the vehicle could already be equipped with a communication interface to the actuator units, allowing the smartphone (or other mobile output device) to communicate directly with the vehicle, or via a backend server.

[0020] According to a further preferred embodiment, in addition to the data from the vehicle's sensor units, data from sensor units installed on private property are sent to the mobile output device, and a corresponding output is generated. For example, the user can view images from a camera installed on private property, thus providing additional perspectives that are not, or not as effectively, monitored by the vehicle's sensor units.

[0021] The two preferred embodiments mentioned above (control commands to actuator units and receipt of data from sensor units on the private property) can also be implemented in combination. For example, the user could move a camera on the private property via a motor using input from their smartphone (or other mobile output device), thus optimizing the viewing angle.

[0022] The aforementioned functions can optionally be set to be permanently unavailable, instead of being activated only when a predetermined situation is detected (such as a situation deemed unsafe according to a predefined criterion) in order to save computing power and communication bandwidth. For example, if a problem arises during automated, driverless driving due to a static obstacle in the driving corridor (such as a garbage can) that cannot be automatically avoided, or if a moving obstacle (e.g., a pet) blocks the way, the front and rear exterior lights can be controlled during automated vehicle movement to optimally illuminate the specific parking situation (e.g., a driveway), especially at night. This allows the images captured by the vehicle's video camera and displayed to the user on the mobile output device to be brighter.The user's walking path to a potentially stationary vehicle, which they wish to re-enter, can also be illuminated. Finally, the vehicle's exterior lighting can be activated via input from the mobile output device; this could be normal lighting, or it could be the activation of the hazard warning lights, an automated flash of the headlights, and so on.

[0023] Input at a mobile output device can enable automated approach, with the vehicle preferably implementing a starting torque limiter to safeguard the automated approach in case an undetected obstacle is located in front of the wheels. The actual drive torque during acceleration is compared with an estimated value for the respective driving situation (driving resistance, drive type, etc.). If the actual values ​​are unusually high, the torque is reduced. This can mitigate potential damage to the obstacle.

[0024] Upon completion of a driving maneuver on private property, a confirmation can also be sent to the driver, thereby releasing them from responsibility for supervision. This confirmation can take the form of a text message accompanied by a video image of the successfully reached parking position.

[0025] The motor vehicle according to the invention comprises sensors and actuators and a control unit for enabling automated movement of the motor vehicle on private property, wherein the control unit receives data from the sensors and sends control commands to the actuators. The motor vehicle further comprises a communication interface to a mobile device. The communication interface can enable direct connection to the mobile device or communication via an external backend server ("motor vehicle and mobile device communicate via an internet connection"). According to the invention, the control unit is designed to continuously transmit data from at least some of the sensors or data derived therefrom to the mobile device via the communication interface during automated movement in a private property mode of automated movement.

[0026] This motor vehicle enables the implementation of the method according to the invention.

[0027] According to an advantageous embodiment of the method according to the invention, the sensors comprise at least two and preferably four top-view cameras which capture image data, and the control unit is configured to transmit this image data to the mobile device via the communication interface. (A tile-based display of the individual images can be provided on the mobile device.)

[0028] According to a further preferred embodiment, the communication interface is also designed to receive signals from the mobile device and to forward them to the control unit, wherein the control unit is in turn designed to interrupt the automated movement upon receipt of predetermined signals or to reduce the speed during automated movement.

[0029] Here, intervention via a mobile device by the user is possible. Such measures can also ensure that the vehicle is supervised by a user who is more than 6 meters away.

[0030] The system according to the invention comprises the motor vehicle according to the invention and a mobile device. The communication interface of the motor vehicle is designed to connect it to a backend server, and the mobile device can also be connected to the backend server, so that communication between the motor vehicle and the mobile device takes place via the backend server.

[0031] This embodiment has already been discussed above.

[0032] For use cases or application situations that may arise during the procedure and are not explicitly described here, it may be provided that, according to the procedure, an error message and / or a request for user feedback is issued and / or a default setting and / or a predetermined initial state is set.

[0033] The invention also includes the control device for the motor vehicle. The control device can comprise a data processing device or a processor unit configured to carry out an embodiment of the method according to the invention. For this purpose, the processor unit can comprise at least one microprocessor and / or at least one microcontroller and / or at least one FPGA (Field Programmable Gate Array) and / or at least one DSP (Digital Signal Processor). In particular, a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), or an NPU (Neural Processing Unit) can be used as the microprocessor. Furthermore, the processor unit can comprise program code configured to carry out the embodiment of the method according to the invention when executed by the processor unit. The program code can be stored in a data memory of the processor unit.The processor setup can be based, for example, on at least one circuit board and / or on at least one SoC (System on Chip).

[0034] The invention also includes further developments of the motor vehicle according to the invention, which have features as already described in connection with the further developments of the method according to the invention. For this reason, the corresponding further developments of the motor vehicle according to the invention are not described again here.

[0035] The motor vehicle according to the invention is preferably designed as a motor vehicle, in particular as a passenger car or truck, or as a passenger bus or motorcycle.

[0036] As a further solution, the invention also includes a computer-readable storage medium comprising program code which, when executed by a computer or a computer network, causes it to execute an embodiment of the method according to the invention. The storage medium can be provided at least partially as a non-volatile data storage medium (e.g., as flash memory and / or as an SSD - solid state drive) and / or at least partially as a volatile data storage medium (e.g., as RAM - random access memory). The storage medium can be located within the computer or computer network. However, the storage medium can also be operated, for example, as an app store server and / or cloud server on the internet. The computer or computer network can provide a processor circuit with, for example, at least one microprocessor.The program code can be provided as binary code and / or as assembly code and / or as source code of a programming language (e.g. C) and / or as a program script (e.g. Python).

[0037] The invention also includes combinations of the features of the described embodiments. The invention therefore also includes realizations that each exhibit a combination of the features of several of the described embodiments, provided that the embodiments have not been described as mutually exclusive.

[0038] The following are exemplary embodiments of the invention described. This is illustrated by: Fig. 1. A top view of a site with a public road and private property, by reference to which an embodiment of the method according to the invention is explained; and Fig. 2 components of an embodiment of a motor vehicle according to the invention.

[0039] The exemplary embodiments described below are preferred embodiments of the invention. In these exemplary embodiments, the described components each represent individual features of the invention, which can be considered independently of one another and each further develops the invention independently. Therefore, the disclosure is intended to include combinations of features of the embodiments other than those shown. Furthermore, the described embodiments can also be supplemented by further features of the invention already described.

[0040] In the figures, identical reference symbols denote functionally equivalent elements.

[0041] In Fig. Figure 1 shows a public road 100 and a private property 200 with a yard 210, a garage 220 and a building 230 as well as the garden 240.

[0042] Automated movement of a motor vehicle 1 can take place on private property 200.

[0043] A motor vehicle, designated as vehicle 1, travels along public road 100 to the entrance of yard 210, with the driver operating the vehicle 1. Upon entering yard 210, automated movement may be activated. The vehicle 1 indicates this to external persons by activating certain lights 18.

[0044] The driver initially remains in the vehicle but can already view camera images from four top-view cameras 20 of the vehicle 1 on his smartphone. In this way, he may see more than he can immediately perceive. The vehicle 1, which is moving automatically towards garage 220, stops in front of the garage, and the driver 2 gets out. He can then go into house 230 and use his smartphone 3 there.

[0045] The images from the four top-view cameras 20 of the vehicle 1 are still displayed on the smartphone 3. The driver 2 can authorize automated full parking in the garage 220. If, based on the camera images displayed on the smartphone 3, the driver sees that the garage door is open and there are no obstacles in the garage, then authorization can be granted. The driver 2 can also receive additional sensor information from the vehicle 1 or from sensors located outside the vehicle 1, such as a camera 4 installed in the garage, and make their decision based on this information. Specifically, an application ("app") runs on the smartphone 3, which connects the smartphone to an external backend server 5, which in turn is connected to the vehicle 1.By pressing a button on a screen or similar device, the user in building 230 can cause the motor vehicle 1 located in courtyard 210 to move, enter garage 220, and park there. A parking maneuver can be performed in a similar way.

[0046] A in Fig. The motor vehicle 1, shown in Figure 2 and referred to therein as 1, comprises the control unit 10 for the automated movement of the vehicle. This unit is coupled to the top-view cameras 20 and further sensors 20b of the motor vehicle 1. The control unit controls actuators of the motor vehicle 12a, 12b, for example for the engine and braking, and 12c for steering, as well as the aforementioned lights 18.

[0047] The vehicle 1 has a communication interface 14, which can be wirelessly connected to the internet, thus enabling the aforementioned connection to the external server 5. Since the smartphone 3 can also be connected to the external server 5, this communication interface 14 is used as the communication interface to the smartphone 3.

[0048] The user receives data from sensors 20 and 20b, enabling them to monitor the vehicle. Optionally, the control unit can also activate sensors 12d for alarm output by the vehicle itself (horn, external speaker, external sound generator, etc.).

[0049] Overall, the examples show how a safety concept procedure for automated parking functions can be provided for private premises. QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] US 2018 / 0 210 442 A1

[0006] DE 10 2017 217 784 A1

[0007] US 11 124 181 B2

[0008]

Claims

[1] Method for the automated movement of a vehicle (1) on private property under the supervision of a user (2), in particular a user (2) not in the vehicle (1), wherein, during the movement of the vehicle on the private property (200) and / or upon predetermined activation even while the vehicle is stationary, sensor units (20, 20b) of the vehicle (1) continuously record data, and wherein these data and / or data derived therefrom are continuously sent to a mobile output device (3) of the user (2) not permanently attached to the vehicle (1), on which output is made. [2] Method according to claim 1, wherein camera images from video cameras (20) of the vehicle (1) are continuously transmitted to the mobile output device (3) and displayed on it. [3] Method according to claim 1 or 2, wherein the data of the sensor units (20, 20b) are processed by a data processing device (10) of the vehicle and, upon detection of an unsafe situation according to a predetermined criterion, a warning is transmitted to the mobile output device (3) and issued by it and / or a warning is issued by actuators (12d) of the vehicle (1). [4] Method according to any one of claims 1 to 3, wherein the mobile output device (3) enables input, and wherein a first input is a prerequisite for starting and / or continuous actuation to make an input is a prerequisite for further movement of the vehicle (1). [5] Method according to claim 4, wherein control commands are generated via an input at the mobile output device (3) to actuator units installed on the private premises (200) and are transmitted to them either directly or via the vehicle (1). [6] Method according to any one of claims 1 to 5, wherein additionally data from sensor units (4) installed on the private premises are sent to the mobile output device (3) and output there. [7] Motor vehicle (1) with sensors (20, 20b) and actuators (12a, 12b, 12c, 12d) and with a control unit (10) for enabling the automatic movement of the motor vehicle (1) on private property (200), wherein the control unit (12) receives data from the sensors (20, 20b) and sends control commands to actuators (12a, 12b, 12c, 12d), and with a communication interface (14) to a mobile device (3), characterized by , that the control unit (12) is designed to continuously transmit data from at least some of the sensors (20, 20b) or derived data via the communication interface (14) to the mobile device (3) during automated movement in a private terrain mode of automated movement. [8] Motor vehicle according to claim 7, wherein the sensors comprise at least two and preferably four top-view cameras (20) which capture image data, and wherein the control unit (10) is oriented to transmit the image data via the communication interface (14) to the mobile device (3). [9] Motor vehicle according to claim 7 or 8, wherein the communication interface (14) is also designed to receive signals from the mobile device (3) and is designed to forward these to the control unit (10), wherein the control unit (10) is designed to interrupt automated movement upon receipt of predetermined signals or to reduce speed during automated movement. [10] System consisting of the motor vehicle (1) according to one of claims 7 to 9 with a mobile device (3), wherein the communication interface (14) of the motor vehicle (1) is designed to couple it with a backend server (5), and wherein the mobile device can also be coupled with this backend server (5) so that communication between the motor vehicle (1) and the mobile device (3) via the backend server (5) is enabled.

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