Methods for the automated movement of a motor vehicle on private property and motor vehicle

Abstract

The invention introduces the concept of marking areas (B1, B2, B3) on map representations of private property where the acquisition of information relevant to the automated movement of the motor vehicle (1) by vehicle sensors is restricted. During automated movement of the motor vehicle (1), a measure can be taken before reaching such a marked area (B1, B2, B3) so that upon reaching the area, adapted conditions prevail with regard to the motor vehicle, such as a reduced speed, a suspension adjustment, or a restriction of the swing range of vehicle doors.

Description

[0001] The invention relates to a method for the automated movement of a motor vehicle on private property using a map representation (which at least partially covers the private property). It also relates to a motor vehicle equipped for carrying out the method.

[0002] WO 2022 / 180 005 A1 discloses a method for the at least partially automated parking of a motor vehicle using an overview map of an area: In this method, objects are classified according to whether they are drivable or not, with non-drivable objects being marked as obstacles. This allows a trajectory that would otherwise be used to be replanned.

[0003] WO 2017 / 118 546 A1 describes a procedure for repeated parking in a parking area. During the first parking attempt, information about the surroundings of the parking area is recorded. A distinction is made between movable and immovable objects. The user can select objects and save information about them, which can then be retrieved for subsequent parking attempts.

[0004] German patent application DE 10 2016 211 182 A1 discloses a method for carrying out an automated journey of a vehicle along a trajectory provided by a map. Areas can be marked as drivable or inaccessible, with a third category optionally designated as "neutral." For example, depending on whether a garage door is open or closed, the garage can be considered drivable or inaccessible, in which case it is assigned to the third category. During automated driving, the vehicle can receive data about the marked areas from external sources.

[0005] DE 10 2015 204 861 A1 relates to a method for operating a vehicle that receives position data via a communication network from one or more locations in a parking lot where the vehicle might encounter a problem during autonomous driving in the parking lot, and also receives information data which includes information that it might encounter a problem at the location or locations, so that the vehicle plans its journey in the parking lot based on the information data and drives autonomously in the parking lot accordingly.

[0006] From DE 10 2010 001 263 A1 it is known to adjust the opening angle of locking elements of a motor vehicle in order to avoid property damage.

[0007] For the state of the art, further reference is made to DE 10 2021 210 849 A1, DE 10 2022 212 119 A1, DE 10 2012 216 753 A1, DE 10 2018 222 531 A1 and WO 2012 / 072 719 A1.

[0008] The aforementioned methods generally assume that all information is available through the labeling on maps. However, this does not always reflect reality.

[0009] The object of the invention is therefore to show a way in which automated movement of a vehicle on private property can take place even in the case of incomplete information.

[0010] The problem is solved by a method having the features of claim 1 and a motor vehicle having the features of claim 9.

[0011] The inventive method for the automated movement of a motor vehicle on private property is based on a map representation of the private property (which at least partially covers the property), in which at least one area is marked as such, in which there is a (only) limited possibility of acquiring information relevant to the movement of the motor vehicle by vehicle sensors. Before reaching such a marked area, a measure is taken so that, upon reaching the area, adapted conditions prevail with regard to the motor vehicle (conditions adapted to the fact that there is only a limited possibility of acquiring relevant information by vehicle sensors).Two different types of markings lead to two different measures, distinguishing between areas of obstruction of view due to passing static obstacles and areas of restricted driving possibilities due to overhanging objects, where the vehicle: In the event of obstructed vision due to passing static obstacles, drive slower and with a sweeping movement and In the event of restrictions on driving ability due to overhanging objects: either does not drive into the area with overhanging objects at all, or advises the user situationally by means of an output device in the vehicle to remove attachments such as roof racks, or automatically lowers the chassis to reach these areas, or offers this to the user via an output device, who can then confirm this by entering an input device.

[0012] This procedure makes it possible to drive the motor vehicle on the mapped private property (with markings or annotations on the map display), even if it is known that the vehicle sensors cannot detect all hazards everywhere or detect them quickly enough.

[0013] A first example is when the vehicle needs to be driven around a wall or corner where the situation behind it can be variable. For instance, there might be children's toys behind such an obstacle, a pet, etc. This uncertainty can be taken into account by adjusting the vehicle's settings.

[0014] The markings in the invention can be of a specific type that are recognized by the vehicle when planning its route. A distinction is made between areas of obstruction of view due to passing static obstacles such as walls, on the one hand, and areas restricted by overhanging objects, on the other. In the former case, the vehicle drives more slowly and with a sweeping movement; in the latter case, it may avoid the area with overhanging objects altogether or limit the swing range of the tailgate.

[0015] Preventing damage from overhanging objects by annotating areas that can be driven under or not enables automated driving in such areas without the need for costly and resource-intensive sensors to ensure clearance within the driving corridor. According to a preferred embodiment, the user can be situationally instructed via a display on the vehicle to remove attachments such as roof racks in order to be able to automatically access certain parts of their private property. Furthermore, the vehicle can automatically lower its suspension to reach these areas, or this option can be offered to the user via a display, who can then confirm this by entering a command on an input device.Depending on the use case, the consideration of prior knowledge (map display) can be implemented based on specific explicit annotations by the customer, through automated analysis of prior knowledge before function execution, through automated analysis of prior knowledge after creation and confirmation by the user, through automated interpretation of prior knowledge during function execution, or a combination thereof. In other words, the process can also include creating the map display and making the markings, possibly using user input. Furthermore, correction of the map display or the markings when the vehicle is moved on private property can also be provided.

[0016] According to a first preferred embodiment, the normal driving strategy of the motor vehicle outside the marked areas (outside their surrounding area) consists of following the shortest path to a destination and maintaining a maximum speed defined for the private property (e.g., walking speed). The measure then involves deviating from the normal driving strategy. This aspect allows the motor vehicle to be maneuvered on the private property in a manner known per se, up to the area near the marked area.

[0017] According to a preferred embodiment, the measure causes the vehicle to have an adjusted (in particular slower) speed upon reaching the area marked on the map (than otherwise, namely according to the driving strategy normally pursued in the above embodiment). This slower speed allows for a sufficiently quick reaction to potentially unexpectedly encountered objects (e.g., a pet behind a wall), even with limited information available from the vehicle's sensors.

[0018] According to an alternative or additional embodiment, the measure can cause a vehicle setting of the motor vehicle to be changed. This can primarily involve a chassis setting of the motor vehicle, for example, when a curb that was not previously detected by the vehicle sensors needs to be driven over, or when obstacles such as speed bumps, folded-down barriers for parking spaces, lifting platforms, etc., are present on private property. Alternatively or additionally, the area of ​​a door opening can also be limited, in particular the swing range of a tailgate. This has the advantage that distances to walls or obstacles in the area of ​​such tailgates or doors are taken into account when approaching parking or waiting areas, provided that the opening is desired by the user.By limiting the swivel range of the tailgate, it is also possible to take into account hanging obstacles ("bicycles in garage") that cannot be detected by the vehicle sensors.

[0019] According to a further preferred embodiment, which can be implemented alternatively or additionally to the embodiments described above, the measure results in the selection of a path such that sensor detection of the area is improved, preferably optimized, when entering and traversing the area compared to driving along a different path. In particular, a kind of sweeping maneuver can be performed by allowing the vehicle to avoid collisions with dynamic obstacles that suddenly appear behind static obstacles (e.g., walls) in areas of field of view by driving past them. Due to the known static structures and limitations of the sensor fields of view, this optimization can be calculated resource-efficiently and without further user intervention before the function is executed and stored in the prior knowledge (annotated or marked map display) as an area of ​​insufficient sensor coverage.

[0020] In general, it is therefore advantageous to use areas with movable infrastructure (such as vegetation moving in the wind, flags, banners, etc.) or known areas with dynamic obstacles (such as animal enclosures, playgrounds, crossings, lawnmower work areas, etc.) to plan paths and choose speeds in such a way that false activation of emergency brakes is actively avoided and that active elements of the motor vehicle on private property are not disturbed or confused ("Speed ​​Zone").

[0021] According to a further preferred embodiment of the invention, the marking includes a qualitative or quantitative indication, and the extent of the measure's implementation is determined depending on the indication. For example, in the case of only a small obstacle, the area not visible to vehicle sensors may be relatively small, so that the speed reduction need not be as significant as if the undetectable area were larger. Similarly, a restriction of the tailgate's swing range may be greater when objects hang down far than when the objects hang down only slightly.

[0022] The motor vehicle according to the invention comprises a control unit for enabling automated movement of the motor vehicle on private property by controlling actuators of the motor vehicle, and it comprises a storage device in which a map representation can be stored or is stored, in which at least one area is designated as such, in which there is only a limited possibility of acquiring information relevant for the movement of the motor vehicle by vehicle sensors. The control unit is designed to issue control commands to the actuators on the private property according to a predetermined normal driving strategy and to deviate from the predetermined normal driving strategy upon reaching an area in the predetermined vicinity of a designated area. This motor vehicle implements the method according to the invention, at least in a preferred embodiment.

[0023] The motor vehicle according to a further aspect is preferably designed as described above. It comprises at least one control unit for controlling actuators relating to a chassis and / or causing door opening restrictions, wherein the control unit is designed to control the chassis and / or the door opening restrictions depending on a marking in a map display, wherein the motor vehicle is designed to fulfill the features of the method claim analogously.

[0024] This motor vehicle also enables the execution of the procedure, at least in a preferred embodiment.

[0025] 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.

[0026] 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 on at least one circuit board and / or at least one SoC (System on Chip).

[0027] 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.

[0028] 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.

[0029] 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).

[0030] 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.

[0031] The following are exemplary embodiments of the invention described. This is illustrated by: Fig. 1. An exemplary view from above of a private property on which a motor vehicle is to be moved semi-automatically; and Fig. 2 a motor vehicle according to an embodiment of the invention.

[0032] 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.

[0033] In the figures, identical reference symbols denote functionally equivalent elements.

[0034] A in Fig. 1. Private property shown in plan view is to be driven on by a motor vehicle 1 in a semi-automated manner. In one of the illustrations according to Fig. Areas B1, B2, and B3 should be marked ("annotated") on the map shown. The markings can be of different types. Area B1 can be marked as being only partially detectable by the vehicle's sensors, or at least not detectable initially while entering the area. Area B2 can be marked as an area that must be kept clear due to the door T shown here, and area B3 can be marked as containing hanging objects (e.g., bicycles suspended from the ceiling of a garage). When entering the private property, specific measures will be taken depending on the markings of areas B1, B2, and B3: Initially, the vehicle travels at point P1 according to a normal driving strategy: it moves at walking speed and attempts to reach its destination via the shortest path. However, by the time it reaches point P2, area B1 is already close, meaning that, according to the predetermined definition, it has entered the vicinity of area B1. Therefore, before reaching the designated area B1, an action is taken—in this case, the speed is reduced—and the vehicle does not immediately take the sharp turn, but instead makes a wider sweep to reach point P3. This wider sweep allows the vehicle's sensors to detect obstacles, such as a pet, which is often found in area B1, and the reduced speed allows for faster braking.

[0035] Before reaching point P4, it must be ensured that the vehicle door does not open so far that persons in area B2 could be struck or that a collision with door T could occur. Therefore, before reaching the area at point P4, the swing radius of the driver's door and, if applicable, also of another door on the left for passengers sitting in the rear of vehicle 1 is already limited.

[0036] In area B3, there may be sufficient space for vehicle 1, but it must be ensured that the tailgate is not opened too high. Therefore, before reaching area B3 at point P5, the swing range of the tailgate of vehicle 1 is restricted. Alternatively or additionally, shortly before or upon reaching point P5, Fig. 1. The motor vehicle 1 as a whole may also be lowered slightly to avoid hanging objects.

[0037] The in Fig. The motor vehicle shown in Figure 2, designated as a whole by 1, comprises a control unit 10 coupled to a storage unit 12 containing a map representation of the private property (as shown in Figure 2). Fig. 1) is stored. Vehicle sensors 14a and 14b detect the surroundings of the motor vehicle 1, so that the control unit can actuate corresponding actuators 16a and 16b (e.g., 16a for the engine of the motor vehicle 1 and 16b for the brakes). The aforementioned limitation of the tailgate's swivel range can be achieved by actuating actuator 16c. The vehicle also has an actuator 16d, which can effect a chassis setting of the motor vehicle 1. The aforementioned actuators 16a, 16b, 16c, and 16d can each also comprise entire actuator (sub)groups.

[0038] The control unit 10 of the motor vehicle 1 is designed to take the measures as described above when it detects that the motor vehicle 1 is moving close to a respective area B1, B2 or B3.

[0039] Overall, the examples demonstrate how driving features can be provided for scalable automated parking functions for private properties.

Claims

[1] Method for the automated movement of a motor vehicle (1) on private property using a map representation of the private property in which at least one area (B1, B2, B3) is marked as such, in which there is a limited possibility of acquiring information relevant to the movement of the motor vehicle by vehicle sensors (14a, 14b), wherein a measure is taken before reaching such a marked area (B1, B2, B3) so that adapted conditions prevail with respect to the motor vehicle (1) upon reaching the area (B1, B2, B3), wherein two different types of markings lead to two different measures, in that the markings distinguish between areas of obstruction of view due to passing static obstacles and areas of restriction of driving possibilities due to overhanging objects, wherein the vehicle: • in case of obstructed vision due to passing static obstacles, drive slower and with a sweeping movement and • In the event of restrictions on driving ability due to overhanging objects: either does not drive into the area with overhanging objects at all, or informs a user situationally by means of an output device in the vehicle to remove attachments such as roof racks, or automatically lowers the chassis to reach these areas, or offers this to the user via an output device, who can then confirm this by entering an input device. [2] Method according to claim 1, wherein a normal driving strategy of the motor vehicle (1) beyond the characterized areas (B1, B2, B3) includes driving a shortest path to a destination and aiming for a maximum speed defined for the private property, and wherein the measure includes deviating from the normal driving strategy. [3] Method according to claim 1 or 2, wherein the measure causes the motor vehicle (1) to have an adjusted speed when it reaches the area (B1, B2, B3) marked on the map. [4] Method according to any of the preceding claims, wherein the measure causes a vehicle setting of the motor vehicle to be changed. [5] Method according to claim 4, wherein a chassis setting of the motor vehicle is changed. [6] Method according to claim 4 or 5, wherein an area of ​​a door opening is limited, in particular the pivoting area of ​​a tailgate. [7] Method according to one of the preceding claims, wherein the measure effects a choice of path such that sensor detection of the area (B1, B2, B3) when entering the area (B1) and when driving through the area (B1) is improved, preferably optimized, compared to driving over another path. [8] Method according to any one of the preceding claims, characterized by , that the marking includes a qualitative or quantitative indication for the identification of an area, and that the extent of the enforcement of the measure is determined depending on the indication. [9] Motor vehicle (1) with a control unit (10) for enabling automated movement of the motor vehicle (1) on private property by controlling actuators (16a, 16b, 16c, 16d) of the motor vehicle (1), with a storage device (12) in which a map representation is stored in which at least one area (B1, B2, B3) is marked as such, in which there is a limited possibility of acquiring information relevant for the movement of the motor vehicle (1) by vehicle sensors (14a, 14b), wherein the control unit (10) is designed to issue control commands to actuators (16a, 16b, 16c, 16d) on the private property according to a predetermined normal driving strategy and to deviate from the predetermined normal driving strategy upon reaching an area in the predetermined vicinity of a marked area (B1, B2, B3), wherein the motor vehicle (1) has a control unit (10) for controlling actuators (16d, 16c) shows,which relate to a chassis and / or cause door opening restrictions, wherein the control device (10) is designed to control the chassis and / or the door opening restrictions depending on a marker in a map display, where two different types of markings in the map representation lead to two different measures, distinguishing between areas of obstruction of view due to passing static obstacles and areas of restricted driving possibilities due to overhanging objects, where the vehicle is designed as follows: • In case of obstructed vision due to passing static obstacles, drive more slowly and with a sweeping movement and • In the event of restrictions on driving ability due to overhanging objects: either not driving into the area with overhanging objects at all, or advising a user situationally by means of an output device in the vehicle to remove attachments such as roof racks, or automatically lowering the chassis to reach these areas, or offering this option to the user via an output device, who can then confirm this by entering an input at an input device.

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