Method for performing an automatic maneuvering operation of a vehicle based on a gesture performed by a user of the vehicle, as well as electronic driver assistance system and electronic maneuvering system

Abstract

The invention relates to a method for carrying out an automatic shunting operation (7) of a vehicle (1), wherein - an electronic driver assistance system (8) of the vehicle (1), with which the automatic maneuvering process (7) can be carried out, is communicatively coupled to a mobile terminal (9) of a user (2) of the vehicle (2), wherein the user (2) is located outside the vehicle (1) with the mobile terminal (9), - the user (2) executes an operating gesture (11) with the terminal (9) with which at least one shunting direction (12) for the shunting process (7) is specified, - the executed operating gesture (11) is detected by a detection unit (13) of the terminal (9) and information concerning the operating gesture (11) is transmitted to the electronic driver assistance system (8), and - on the basis of the information relating to the operating gesture (11), the automatic manoeuvring process (7) is carried out by the driver assistance system (8). Furthermore, the invention relates to an electronic driver assistance system (8) and an electronic maneuvering system (17).

Description

[0001] The invention relates to a method for carrying out an automatic maneuvering operation of a vehicle which has been parked in a parking area of a parking zone, wherein an electronic driver assistance system of the vehicle, with which the automatic maneuvering operation can be carried out, is communicatively coupled to a mobile terminal of a user of the vehicle, wherein the user is outside the vehicle with the mobile terminal.

[0002] Furthermore, the invention relates to an electronic driver assistance system for performing an automatic maneuvering operation of a vehicle parked in a parking zone. The electronic driver assistance system has a communication unit for communicatively coupling the electronic driver assistance system with a mobile terminal of a user of the vehicle, wherein the user is located outside the vehicle with the mobile terminal.

[0003] Furthermore, the invention relates to an electronic shunting system with an electronic driver assistance system and a mobile terminal.

[0004] Vehicles, such as partially autonomous vehicles, have a variety of driver assistance systems and / or vehicle systems to support the driver in controlling, operating, and / or driving the vehicle. For example, there are driver assistance systems that can at least partially automate vehicle parking maneuvers. This can be done, for example, by remote control. To do this, the driver must select a target parking space and vehicle orientation in the vehicle. A remote control with a display can be used for this purpose.

[0005] For example, DE 10 2017 200 371 A1 discloses a method for assisting a maneuvering maneuver of a vehicle based on a driver assistance system. In this method, the user can walk through the parking maneuver using a remote control, such as a user terminal, so that a trajectory for the maneuvering maneuver can be determined.

[0006] DE 10 2020 113 382 A1 discloses activating an automated parking maneuver using an activation movement performed with a mobile communication device. The user can use this activation movement to specify the beginning or start of an automated parking maneuver.

[0007] Furthermore, US 9,731,714 B2 discloses a vehicle system with which an already performed parking process can be corrected or refined.

[0008] An object of the present invention is to provide a method, an electronic driver assistance system and an electronic maneuvering system by means of which a user of a vehicle can control an automatic maneuvering process of the vehicle more intuitively.

[0009] This problem is solved by a method, an electronic driver assistance system, and an electronic maneuvering system according to the independent patent claims. Useful further developments arise from the dependent patent claims.

[0010] One aspect of the invention relates to a method for carrying out an automatic maneuvering operation of a vehicle which has been parked in an area of a parking zone, wherein - In particular, an electronic driver assistance system of the vehicle, with which the automatic maneuvering process can be carried out, is communicatively coupled to a mobile terminal of a user of the vehicle, wherein the user is outside the vehicle with the mobile terminal, wherein - In particular, the user performs an operating gesture with the mobile device, with which at least one shunting direction for the shunting process is specified, - In particular, the executed operating gesture is recorded by a recording unit of the mobile terminal and information concerning the operating gesture is transmitted to the electronic driver assistance system, whereby - In particular, the automatic maneuvering process is carried out by the electronic driver assistance system based on the information concerning the operating gesture.

[0011] The proposed method allows the vehicle user to control or perform an automatic or automated maneuvering operation of the vehicle more easily and, in particular, more intuitively. In other words, the proposed method allows simplified operation of a "Remote Park Assist" as an exemplary driver assistance system using gesture control. Consequently, by performing or executing the appropriate operating gesture, the user can at least specify the maneuvering direction for the maneuvering operation. This allows the user to intuitively specify the direction in which the maneuvering operation should be performed using gesture control.

[0012] In particular, the vehicle can be parked or positioned in the parking zone by the user or at least partially automatically by a vehicle system of the vehicle. In other words, the vehicle is parked at the location from which the maneuvering operation is to be carried out. The user can thus park the vehicle in the zone and then specify the direction in which the maneuvering operation should be carried out using the operating gesture.

[0013] The parking zone can be, for example, a parking area, a parking infrastructure, a parking garage, an area with multiple parking spaces, or any other zone within which, for example, multiple vehicles can park. In particular, the parking zone has multiple parking spaces. In particular, the area in which the vehicle was parked can be used, for example, as the starting point for the maneuvering operation to be carried out.

[0014] The electronic driver assistance system is a vehicle system that enables automatic maneuvering. This allows the vehicle to operate autonomously, at least temporarily, during maneuvering.

[0015] For example, after the user has parked the vehicle, the user can stay outside the vehicle, particularly at a distance from the vehicle in the vicinity of the vehicle, so that the user can control the maneuvering process from outside the vehicle using the executed operating gesture. For this purpose, the user can use the mobile device. This can be a smartphone, a smartwatch, a tablet, or another portable device.

[0016] The user can perform the operating gesture or multiple operating gestures using the mobile device. The user can thus specify, control and / or monitor the maneuvering process using gesture control. The recording unit can be an electronic recording system or a sensor or sensor system of the mobile device with which the performed operating gesture can be recorded. The information relating to the operating gesture can be transmitted or provided to the electronic driver assistance system via the communicative coupling of the driver assistance system with the mobile device. With the help of the information relating to the operating gesture, at least the specified maneuvering direction can be provided to the electronic driver assistance system, so that the electronic driver assistance system can take the maneuvering direction into account when carrying out the automatic maneuvering process.

[0017] For example, depending on a coupling condition such as distance, the mobile device can be automatically coupled or communicatively networked with the driver assistance system and, in particular, with the vehicle. This can happen automatically, for example, when the user approaches the vehicle with the mobile device.

[0018] The maneuvering process can be, for example, a parking maneuver, a parking exit, a side parking maneuver, reversing or driving forward.

[0019] In one embodiment, it is provided that the executed operating gesture additionally specifies an orientation specification relating to an orientation of the vehicle after completion of the maneuvering process, wherein the information relating to the operating gesture is used to transmit the at least one maneuvering direction and the orientation specification to the driver assistance system, wherein the at least one maneuvering direction and the orientation specification are taken into account when carrying out the automatic maneuvering process. With the aid of the orientation specification, the user can specify or determine via gesture how the vehicle should be aligned after completion of the maneuvering process, i.e. after the maneuvering process has been completed. If the maneuvering process is a parking space exit, the orientation specification can be used to specify how and in which direction the vehicle should be positioned after exiting the parking space.This has the advantage for the user that after the maneuvering process has been completed, the vehicle is positioned in such a way that it corresponds to the user's wishes and the user can therefore continue driving the vehicle or, for example, can easily access the trunk of the vehicle when parking.

[0020] Thus, with the help of the operating gesture, in addition to the maneuvering direction for the performed maneuver, an input variable or parameter can be provided for how the vehicle should be aligned after the maneuver has been completed. This allows the user to intuitively and easily carry out a maneuver that suits them using gesture control. Furthermore, the conditions regarding the area of the parking zone can also be taken into account when specifying the orientation and maneuvering direction. If, for example, collision objects or other disruptive factors affecting the current situation are present, this can be taken into account when the user executes the operating gesture, so that the maneuver can be carried out in such a way that there is no danger to the vehicle, the user, or other road users.

[0021] For example, the operating gesture can be used to specify both the maneuvering direction and the orientation in a single execution process. It is also conceivable for the operating gesture to be split into two parts, with the user first specifying the maneuvering direction and then the orientation via gesture. Furthermore, it is also conceivable for the user to specify the maneuvering direction and the orientation via two immediately subsequent gestures using the mobile device.

[0022] In one exemplary embodiment, it is further provided that environmental information about the surroundings of the vehicle and the information relating to the operating gesture are provided to an electronic evaluation unit of the electronic driver assistance system. Based on the environmental information and the information relating to the operating gesture, a trajectory for the maneuvering process is determined, the trajectory being taken into account when performing an automatic maneuvering process. Thus, further information relating to the vehicle and / or the parking zone can be made available or provided in order to be able to generate or create a trajectory or a path of travel for the maneuvering process.The environmental information can be used to provide, for example, the respective conditions in the vicinity of the vehicle, such as parked vehicles, other road users, potential collision objects such as pillars, and / or other information in the vicinity of the vehicle, which are advantageous for carrying out the maneuvering process safely and efficiently.

[0023] Furthermore, it is conceivable that position information regarding the position of the vehicle and / or position information regarding the user be made available to the electronic evaluation unit in order to be able to determine, based on this diverse information, a trajectory with which the automatic maneuvering process can be carried out safely and, in particular, collision-free. Furthermore, the determination of the trajectory also takes into account the direction of maneuvering and / or the orientation of the vehicle after completion of the maneuvering process.

[0024] For example, the electronic evaluation unit can be an evaluation system or a distributed evaluation system. It is also conceivable that the electronic evaluation unit is designed as a centralized or decentralized unit, server, data cloud, or backend.

[0025] In one embodiment, immediately before the user executes the operating gesture, a gesture detection function is activated by the user on the mobile device, wherein, based on the activated gesture detection function, an electronic initiation signal regarding the subsequent execution of the operating gesture is transmitted to the electronic driver assistance system and to the detection unit. Additionally or instead, immediately after the user has executed the operating gesture, a maneuvering function is activated by the user on the mobile device, wherein, based on the activated maneuvering function, an electronic activation signal regarding the subsequent maneuvering process is transmitted to the electronic driver assistance system.

[0026] With the gesture detection function, the user can inform the driver assistance system, the detection unit, and the vehicle that the user will immediately perform a gesture in order to control, start, or initiate the automatic maneuvering process. Incorporating the gesture detection function has the advantage that a movement and / or gesture by the user with the mobile device, with which the user has no intention of performing a maneuver, cannot inadvertently lead to an inadvertently performed maneuver. Thus, the user can first activate or inform the system that an automatic maneuvering process is desired and should therefore be performed.

[0027] The gesture detection function can be activated by the user through a specific movement, a specific gesture, an acoustic input, and / or a keystroke. Thus, with the help of the activated gesture detection function, the electronic initiation signal can be generated and transmitted accordingly, allowing the driver assistance system and the detection unit to prepare for the immediately following maneuvering process.

[0028] It would also be conceivable for the gesture detection function to be activated on the system side. Based on an activation condition, such as the distance of the mobile device from the vehicle or the user's position relative to the vehicle, the system can determine that the user intends to subsequently perform the gesture with regard to the maneuvering operation to be performed.

[0029] The maneuvering process provides the user with another decision option. For example, it may happen that the user has performed the operating gesture but is not satisfied or content with it, or that the operating gesture performed mistakenly indicated the wrong direction for the maneuvering process. Only when the user optionally activates the maneuvering function, for example via voice control, an input, or another operating action, is the driver assistance system informed that the maneuvering process must actually be carried out. If the user is not satisfied with the operating gesture performed, or if it was mistakenly performed incorrectly, the user cannot activate the maneuvering function. The user then has the option of performing another operating gesture.Only when the user is satisfied with the operating gesture, for example, or when the maneuvering process can be carried out safely due to the current situation in the vehicle's surroundings, can the maneuvering function be activated, so that the driver assistance system is controlled on the basis of the electronic activation signal in such a way that the automatic maneuvering process can be initiated and, in particular, carried out.

[0030] In one embodiment, it is provided that the vehicle has been parked in a parking space in the parking zone, wherein the automatic maneuvering process carries out an automatic parking maneuver of the vehicle from the parking space, wherein the executed operating gesture specifies an exit direction as the maneuvering direction. In other words, the user can first park the vehicle in the parking space and then, or at a later time, return to the parked vehicle in order to initiate and, in particular, have the parking exit process carried out using the operating gesture. The maneuvering direction can therefore be used to specify how the vehicle should drive out of the parking space. In other words, a parking exit direction is specified.

[0031] When the vehicle is parked in the parking space, after the user returns to the vehicle later, it may happen that other vehicles parked next to the vehicle prevent the user from entering the vehicle because there is insufficient space to open the vehicle doors. In this case, the user can position themselves outside the vehicle, specifically at a distance from the parking space, and use the simplest possible operating gesture to indicate how the vehicle should be exited.

[0032] In one embodiment, the executed operating gesture additionally specifies a positioning specification, which can be used to specify how the vehicle is to be positioned by the electronic driver assistance system after the parking exit process has been completed. The information regarding the operating gesture transmits the exit direction and the positioning specification to the driver assistance system, and the exit direction and the positioning specification are taken into account when performing the automatic parking exit process. Thus, the user can specify, on a user-specific and / or situation-dependent basis, how the vehicle is to be automatically exited and how the vehicle is to be positioned after the parking exit process has been completed.For example, the positioning specification can be used to specify whether the vehicle should be positioned to the side, to the right, to the left, perpendicular, parallel, and / or opposite the parking space after exiting. Thus, with one or more operating gestures, the user can specify not only the exit direction but also the positioning specification, allowing the driver assistance system to use this information during the automatic exit process.

[0033] In one embodiment, it is provided that the vehicle was or is parked at a distance from at least one free parking space in the parking zone, wherein the automatic maneuvering process carries out an automatic parking process of the vehicle in the at least one free parking space, wherein the executed operating gesture specifies a parking direction as the maneuvering direction. Consequently, the user can position the vehicle in a surrounding or in the immediate vicinity of a free parking space in which the vehicle is to be parked. The user can then leave the vehicle and thus get out, so that the user is in the vicinity of the vehicle. The user can then perform the operating gesture with the mobile device, so that the parking direction of the parking process can be communicated to the driver assistance system on the basis of this operating gesture.For example, the operating gesture can be used to specify whether the vehicle should be parked sideways, forwards, or backwards. This allows the user to easily and intuitively control or execute the parking of the vehicle in a parking space or parking space using gesture control.

[0034] In one embodiment, the executed operating gesture additionally specifies a target parking space, which can be used to specify the free parking space in the parking zone in which the vehicle is to be parked by the electronic driver assistance system. The information relating to the operating gesture is used to transmit the parking direction and the target parking space to the driver assistance system, and the parking direction and the target parking space are taken into account when carrying out the automatic parking process. Thus, the user can specify, via gesture control, which free parking space is preferred first in order to park the vehicle there. Furthermore, the operating gesture can be used to specify the direction or how the vehicle is to be parked in the target parking space.

[0035] For example, there may be several free parking spaces in the area of the parking zone where the vehicle was initially parked. By performing a gesture, the user can intuitively and easily tell the system which of these free parking spaces should be the target parking space.

[0036] For example, the specified target parking space can be taken into account by the driver assistance system and in particular by the electronic evaluation unit in order to determine the trajectory for the parking process.

[0037] A further aspect of the invention relates to an electronic driver assistance system for performing an automatic maneuvering operation of a vehicle parked in an area of a parking zone. The electronic driver assistance system has a communication unit for communicatively coupling the electronic driver assistance system to the mobile terminal of a user of the vehicle who is located outside the vehicle with the mobile terminal. The communication unit is designed to receive information relating to an operating gesture that can be performed by the user with the mobile terminal and with which at least one maneuvering direction for the maneuvering operation can be specified.The electronic evaluation unit is designed to evaluate the received information concerning the operating gesture and a control unit is designed to carry out the automatic shunting process on the basis of the evaluated information concerning the operating gesture.

[0038] For example, a method of the previous aspect or an advantageous further development thereof can be carried out or implemented with the electronic driver assistance system just described.

[0039] The electronic driver assistance system can be a central or decentralized device with which automatic or automated maneuvering procedures, such as parking or reversing, can be carried out. Information can be exchanged between the driver assistance system and the mobile device using the communication unit. In particular, the gesture performed by the user with the mobile device can be sent to the communication unit, so that this sent information can be processed there in order to take it into account when carrying out the maneuvering procedure. For this purpose, at least one control signal can be generated based on the evaluated information relating to the operating gesture, which control signal is provided or transmitted to the control unit to carry out the automatic maneuvering procedure.

[0040] A further aspect of the invention relates to an electronic maneuvering system comprising an electronic driver assistance system according to the preceding aspect and a mobile terminal. The electronic driver assistance system can be integrated into a vehicle, and a user of the vehicle can execute an operating gesture with the mobile terminal, with which at least one maneuvering direction for a maneuvering process can be specified. The mobile terminal has a detection unit with which an operating gesture of the mobile terminal can be detected, and the mobile terminal is configured to transmit information relating to the operating gesture to the communication unit of the electronic driver assistance system.

[0041] The maneuvering system can be used to create a system for simplified operation of a "Remote Park Assist" using gesture control. In other words, the electronic maneuvering system is configured to perform an automatic maneuvering process based on a user's gesture.

[0042] A further independent aspect of the invention relates to a vehicle with an electronic driver assistance system according to one of the preceding aspects and / or an advantageous development thereof.

[0043] For example, the vehicle could be a passenger car, truck, or bus. In particular, the vehicle is capable of at least partially autonomous operation. The electronic driver assistance system can thus move or maneuver the vehicle based on an automatic maneuvering process.

[0044] A further independent aspect of the invention relates to an arrangement comprising an electronic shunting system according to one of the preceding aspects and a vehicle.

[0045] Embodiments of one aspect may be considered advantageous embodiments of all other aspects.

[0046] For use cases or application situations that may arise during the method and which are not explicitly described here, it may be provided that, in accordance with the method, an error message and / or a request to enter user feedback is issued and / or a default setting and / or a predetermined initial state is set.

[0047] The invention also includes further developments of the electronic driver assistance system according to the invention and the maneuvering system 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 electronic driver assistance system according to the invention and the maneuvering system according to the invention are not described again here.

[0048] The invention also includes combinations of the features of the described embodiments.

[0049] Exemplary embodiments of the invention are described below. Shown are: Fig. 1 an exemplary representation of an automatic parking process of a vehicle using gesture control; Fig. 2 example gestures to be performed to carry out the automatic parking process from the Fig. 1; Fig. 3 shows a generated trajectory for performing the parking operation based on the previous figures; Fig. 4 shows an example of a possible parking situation after starting from the previous Fig. 1 the vehicle has been parked; Fig. 5 another possible gesture to move the vehicle from the Fig. 1 to reverse into another parking space; Fig. 6 another possible gesture to be performed for reversing; Fig. 7 another parking situation starting from the Fig. 1; Fig. 8 schematically shows a parking situation of the vehicle based on gesture control; and Fig. 9 the schematic sequence regarding the execution of an automatic shunting operation based on an executed operating gesture.

[0050] The exemplary embodiments explained below are preferred exemplary embodiments of the invention. In the exemplary embodiments, 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 embodiments can also be supplemented by further features of the invention already described.

[0051] In the figures, functionally identical elements are provided with the same reference numerals.

[0052] In the Fig. 1 shows a parking process or a parking situation as an automatic maneuvering process as a conceivable embodiment of the present invention.

[0053] First, a vehicle 1 of a user 2 can be parked or positioned in an area 3 of a parking zone 4 by the user 2 himself or at least partially autonomously or fully autonomously. As in the Fig. 1 schematically shows parking zone 4, which can also be referred to as a parking area, as a parking zone with a large number of parking spaces. Here, vehicle 1 is parked on a road 5, or access road, or parking zone road. Road 5 can, for example, have one lane for each direction of travel. In particular, there are several parking spaces located to each side of road 5. As can be seen here, in this example, parking zone 4 has four free parking spaces 6.

[0054] In particular, the user 2 can position the vehicle 1 in the area 3 in such a way that the vehicle 1 can be parked in at least one of the free parking spaces 6 by a subsequent automatic or autonomous maneuvering process 7. After the user 2 has parked the vehicle 1, the user 2 positions himself outside the vehicle 1. In this case, care can be taken to ensure that the user 2 maintains or maintains a safe distance from the ground to the vehicle 1 and, in particular, with regard to the maneuvering process 7.

[0055] The automatic maneuvering process 7 can be carried out with the help of an electronic driver assistance system 8 of the vehicle 1. In the Fig. In Figure 1, the driver assistance system 8, which may be a parking assistance system, is shown separately from the vehicle 1, since the driver assistance system 8 can be at least partially integrated into the vehicle 1. Likewise, the driver assistance system 8 can be fully integrated into the vehicle 1.

[0056] In order for the user 2 to be able to carry out the maneuvering process 7, i.e. in this case the parking process, intuitively and comfortably, the initiation or control of the maneuvering process 7 takes place using a mobile terminal 9 of the user 2. The mobile terminal 9 can be a smartphone, for example. The mobile terminal 9 can be communicatively coupled, for example, to a communication unit 10 of the driver assistance system 8. This can take place automatically, for example, as soon as the user 2 is outside the vehicle 1 and in particular at a predetermined distance from the vehicle 1. With the mobile terminal 9, the user 2 can perform at least one operating gesture 11 (cf., for example, Fig. 2). With the executed operating gesture 11, the user 2 can intuitively specify a maneuvering direction 12 (cf. Fig. 2).

[0057] The executed operating gesture 11 can be recorded by a, in particular electronic, recording unit 13 (cf. Fig. 2). It is also conceivable that the operating gesture 11 can be detected by means of a detection device 14 of the driver assistance system 8. At least one piece of information relating to the operating gesture 11 can be transmitted or transferred via the communicative coupling between the mobile terminal 9 and the driver assistance system 8. For this purpose, the driver assistance system 8 can in particular have the communication unit 10. The information relating to the operating gesture 11 can, for example, be evaluated or analyzed accordingly by an electronic evaluation unit 15 of the driver assistance system 8. In this case, in particular the information which the driver assistance system 8 requires to carry out the automatic maneuvering process 7 can be evaluated or processed.For the subsequent automatic or automated execution of the maneuvering process 7, the driver assistance system 8 can have a control unit 16, which can control the longitudinal and lateral guidance of the vehicle 1 accordingly based on the evaluated information concerning the operating gesture 11. For example, the electronic driver assistance system 8 and the mobile terminal 9 can be components or parts of a higher-level system, such as an electronic maneuvering system 17.

[0058] So that the user 2 can better and more intuitively control or guide the automatic parking process shown here, the user 2 can additionally specify or determine which of the free parking spaces 6 is the desired target parking space 18 using the operating gesture 11. Thus, in addition to the maneuvering direction 12, i.e., how the vehicle 1 is to park or drive into a free parking space 6, the desired target parking space 18 can also be specified using the operating gesture 11, for example, by a pointing gesture. The information relating to the operating gesture 11 can therefore be used to transmit or provide the driver assistance system 8 with the maneuvering direction 12 and the target parking space 18.

[0059] To perform the automatic maneuvering maneuver 7 safely and efficiently, the driver assistance system requires, in particular, further information or input data. For example, at least one piece of environmental information about the surroundings 19 of the vehicle 1 can be provided by means of an electronic evaluation unit 15. The environmental information or multiple pieces of environmental information can be used to provide the current conditions regarding area 3 and, in particular, regarding parking zone 4, other road users in the surroundings 19, potential collision objects in the surroundings 19, or other information that is advantageous for performing the maneuvering maneuver 7 efficiently and safely. Furthermore, position information regarding a position 20 of the vehicle 1 can be made available or provided to the evaluation unit 15.On the basis of the information concerning the operating gesture 11, the environmental information and / or the position information concerning the position 20, a trajectory 21 (cf. Fig. 3) are calculated or determined. Based on this trajectory 21, the maneuvering process 7 can be carried out automatically. Based on the executed operating gesture 11, the corresponding trajectory 21, which may, for example, include the respective vehicle orientation, can be generated on the system side and, in particular, on the software side.

[0060] To execute the operating gesture 11, the mobile terminal 9, as shown for example in the Fig. 2, a view or top view of the vehicle 1 is displayed statically. Thus, the orientation of the vehicle 1 is presented in a manner that is understandable to the user 2, so that the gesture or operating gesture 11 can be performed accordingly. Above all, the vehicle 1 can be displayed on the terminal 9 during operation via the gesture control.

[0061] For the parking process shown here as an example, the user 2 can first guide the terminal 9 forward, i.e. in the direction of travel of the vehicle 1 shown, then the terminal 9 is turned approximately 90 degrees to the right and then guided further forward (cf. Fig. 2). This operating gesture 11 can be used to perform the maneuvering procedure 7.

[0062] For example, after the driver assistance system 8 has received the information regarding the operating gesture 11, it can initiate and execute parking in the target parking space 18. It would also be conceivable for the vehicle 1 to identify the corresponding target parking space using vehicle sensors or to check again whether it is actually free and, in particular, whether it is sufficient to park the vehicle 1.

[0063] In the example in the Fig. 1, the target parking space 18 is located to the front right of vehicle 1, so that the maneuvering process can be carried out first straight ahead, then to the right and, in particular, in a forward direction. The completed maneuvering process 7 is, for example, in the Fig. 4. Here, the vehicle 1 is parked forward in the direction of travel into the target parking space 18. After the maneuvering process 7 has been completed, a corresponding termination function or termination notice can be generated or output either by the driver assistance system 8 or by the user 2 via the terminal 9.

[0064] In the Fig. 5 shows a further possibility of an operating gesture 11 for gesture control of the maneuvering process 7. Here, an option of a conceivable operating gesture 11 is shown, in which the vehicle 1, starting from the position 20 in the Fig. 1 can be parked in the alternative target parking space 22 opposite instead of the target parking space 18. In this case, the vehicle 1 is parked in the opposite alternative parking space 22 compared to the parking situation in the Fig. 4 is not parked forward in the direction of travel, but rather backward, i.e., rear-end first. To do this, starting from position 20 of vehicle 1, the mobile device 9 can be moved forward using the forward operating gesture 11. The mobile device 9 can then be moved backward to the left. The vehicle 1 displayed on the mobile device 9 is advantageous in this case, allowing the parking direction to be specified.

[0065] In the Fig. 6 shows another possibility, as in the Fig. 5 using the operating gesture 11, the vehicle is reversed into the alternative destination parking space 22 (cf. Fig. 7) can be parked. To do this, the user 2 can move the mobile device 9 forward and then to the left. Subsequently, an orientation specification 23 can be specified in a movement process with regard to the operating gesture 11 or by means of a further subsequent operating gesture. In this case, the orientation of the vehicle 1 can be specified with the orientation specification 23. In this case, it can now be specified that the vehicle should be parked backwards. This can be achieved, for example, by a 180-degree rotation of the mobile device 9. This information regarding the orientation specification 23 can, for example, additionally be provided by means of the information regarding the operating gesture 11.

[0066] Other conceivable operating gestures are also conceivable. For example, S-shaped gestures can be used for parallel parking spaces or correspondingly suitable gestures for herringbone parking spaces. Thus, depending on the parking situation or the conditions of the parking zone 4, different gestures can be used or applied for gesture control of the maneuvering process 7.

[0067] In the Fig. 8 shows a parking reversing process as an exemplary embodiment of a maneuvering process 7. In this case, the vehicle 1 is in a parked position, so that when the vehicle 1 was parked in the area 3, the vehicle 1 was parked. If, for example, after the vehicle 1 has been parked, the user 2 returns to the vehicle 1 and wishes to have the vehicle 1 automatically reversed, the user 2 can again specify how the vehicle 1 is to be reversed using their mobile device 9 via gesture control, i.e. by means of the executed operating gesture 11. Thus, an reversing direction can be specified here as the maneuvering direction 12 using the operating gesture 11. When reversing out of a parking space, a positioning specification 24 can also be specified using the operating gesture 11. The positioning specification 24 can be used to specify how the vehicle 1 is to be positioned after the reversing process has been completed.

[0068] In the Fig. 8 is shown once, in which the vehicle 1 reverses out of the parking space to the left and thus, in view of the Fig. 8 the vehicle is positioned to the right in relation to the parking space 25 after the parking maneuver. In this case, the orientation specification 23 can also be provided or specified. Thus, it can be specified here how the vehicle is aligned so that the user 2 can continue driving according to their desired subsequent route. Furthermore, the dashed lines show that the positioning specification 24 can also be used to specify that the vehicle 1 is to be parked backwards and to the left, so that here, too, the orientation specification 23 can be used to specify how the vehicle 1 is to be positioned after the parking maneuver has been completed. Thus, with these two examples, it can be specified in which lane the vehicle 1 is to be positioned after the parking maneuver has been completed.

[0069] In the Fig.9 an example sequence of an automatic shunting process 7 is explained.

[0070] In an optional step S1, the user 2 can park the vehicle 1 near a suitable parking space. The user 2 then gets out of the vehicle 1 and positions himself at a distance from the vehicle 1, holding his mobile phone or mobile device 9 ready for gesture control.

[0071] First, the user 2 performs the desired operating gesture using the mobile device 9. A selection can be made as to which target parking space or target orientation is desired by the user 2 with regard to the maneuvering process 7. During this time, the operating gesture 11 can be recorded by sensors on the mobile device 9, such as the detection unit 13. For this purpose, the detection unit 13 can have acceleration sensors, yaw rate sensors, and / or 3D compasses.

[0072] For example, the user 2 can activate a gesture detection function on the mobile device 9 immediately before executing the operating gesture 11. Based on the activated gesture detection function, an electronic initialization signal regarding the subsequent execution of the operating gesture is transmitted to the electronic driver assistance system 8 and to the detection unit 13, so that the system can prepare for the subsequent execution of the operating gesture 11. To this end, the user 2 can carry out the initialization or activation, for example, by briefly touching the mobile device 9, i.e., by briefly touching the vehicle's top view on the mobile device 9. Thus, it can be signaled, for example, by touch input and / or tap input or voice input, that the subsequent execution of the operating gesture 11 will be carried out.

[0073] In an optional subsequent step S2, the information relating to the operating gesture 11 can be generated based on the acquired or recorded data or sensor data relating to the executed operating gesture 11. For example, a movement sequence or trajectory of the executed operating gesture can be determined using software.

[0074] For example, immediately after the operating gesture 11 has been executed, the user 2 can activate a maneuvering function on the mobile device 9, wherein, based on the activated maneuvering function, an electronic activation signal can be provided regarding the subsequently performed maneuvering process 7. Thus, the user 2 can finally decide whether the executed operating gesture 11 is appropriate and whether the maneuvering process 7 should actually be performed based on the operating gesture 11 or not. For example, the user 2 can confirm by a long touch input or a long tap input on the mobile device 9 that the operating gesture 11 was performed as desired by the user and that the maneuvering process 7 can be performed on the system side.

[0075] In an optional step S3, the information concerning the operating gesture 11 and other information useful for the maneuvering process 7 can be transmitted or communicated to the driver assistance system 8 via a radio transmission, such as WLAN, Bluetooth, or backend-based. Above all, the data is transmitted wirelessly to the vehicle 1.

[0076] In an optional step S4, the corresponding information relating to the operating gesture 11 or other information useful for safely performing the maneuvering maneuver 7 can be received by means of the communication unit 14 and forwarded accordingly. In particular, the data can be transferred to the evaluation unit 15. In an optional step S5, the data can be evaluated accordingly. Here, the specifications specified with the operating gesture 11 with regard to the maneuvering maneuver 7 to be performed can be evaluated. For example, the target orientation and the target parking space can be determined here in the case of a parking maneuver. Likewise, when exiting a parking space, the exit direction and the manner in which the vehicle is to be parked after the exit maneuver has been completed can be determined.

[0077] In an optional step S6, the parking trajectory or trajectory 21 can be calculated. For example, the free parking space in the surrounding area can be detected using conventional methods, and this surrounding image can be overlaid with the operating gesture 11. Using a plausibility check method, such as map matching, between trajectories and the surrounding image, the target parking space and target orientation desired by the customer can be determined and / or verified.

[0078] Subsequently, the automatic parking maneuver or maneuvering maneuver 7 can be performed based on the trajectory 21. For example, after the maneuvering maneuver 7 has been performed, it is conceivable that the user 2 performs another gesture, for example, to change or optimize the orientation of the vehicle within the parking space. For example, the user may change his mind and decide to park forward instead of reversing. Vehicle 1 can thus perform another parking maneuver or maneuver to accommodate the customer's request.

[0079] For example, it is conceivable that the user 2, with the mobile device 9 in hand, moves to or into the desired target parking space and confirms this there via an operating action, for example, a tap gesture on the mobile device 9. In this variant, the system can also determine a trajectory or a target parking position using the sensors of the mobile device 9. To improve precision, a combination with UWB localization, such as orientation and / or distance determination, between the mobile device 9 and vehicle 1 is conceivable.

[0080] In addition, the user 2 can perform additional gestures, for example, to automatically open or close the trunk of the vehicle 1. To do this, the user 2 can tilt the mobile device 9 accordingly.

[0081] Furthermore, the vehicle 1 can be locked or unlocked, for example, by a rotational movement around the vertical axis of the mobile terminal 9. List of reference symbols 1 vehicle 2 users 3 Area 4 parking zones 5 Street 6 free parking spaces 7 Shunting operation 8 electronic driver assistance system 9 mobile device 10 Communication unit 11 Operating gesture 12 Shunting direction 13 Recording unit 14 Recording device 15 electronic evaluation unit 16 Control unit 17 shunting system 18 Destination parking space 19 Surroundings 20 positions 21 Trajectory 22 alternative destination parking space 23 Alignment specification 24 Positioning specification 25 parking spaces S1 to S6 steps QUOTES CONTAINED IN THE DESCRIPTION

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

[0000] DE 10 2017 200 371 A1

[0005] DE 10 2020 113 382 A1

[0006] US 9,731,714 B2

[0007]

Claims

[1] Method for carrying out an automatic maneuvering operation (7) of a vehicle (1) which has been parked in an area (3) of a parking zone (4), wherein - an electronic driver assistance system (8) of the vehicle (1), with which the automatic maneuvering process (7) can be carried out, is communicatively coupled to a mobile terminal (9) of a user (2) of the vehicle (2), wherein the user (2) is located outside the vehicle (1) with the mobile terminal (9), characterized by , that - the user (2) executes an operating gesture (11) with the mobile terminal (9) with which at least one shunting direction (12) for the shunting process (7) is specified, - the executed operating gesture (11) is detected by a detection unit (13) of the mobile terminal (9) and information concerning the operating gesture (11) is transmitted to the electronic driver assistance system (8), wherein - on the basis of the information relating to the operating gesture (11), the automatic manoeuvring process (7) is carried out by the electronic driver assistance system (8). [2] Method according to claim 1, characterized by that with the executed operating gesture (11) an orientation specification relating to an orientation (23) of the vehicle (11) after completion of the manoeuvring process (7) is additionally specified, wherein with the information relating to the operating gesture (11) the at least one manoeuvring direction (12) and the orientation specification are transmitted to the driver assistance system (8), wherein the at least one manoeuvring direction (12) and the orientation specification are taken into account when carrying out the automatic manoeuvring process (7). [3] Method according to claim 1 or 2, characterized bythat an electronic evaluation unit (15) of the electronic driver assistance system (8) is provided with environmental information about an environment (19) of the vehicle (1) and the information relating to the operating gesture (11), wherein a trajectory (21) for the manoeuvring process (7) is determined on the basis of the environmental information and the information relating to the operating gesture (11), wherein the trajectory (21) is taken into account when carrying out the automatic manoeuvring process (7). [4] Method according to one of the preceding claims, characterized by , that - immediately before the user (2) executes the operating gesture (11), a gesture detection function is activated by the user (2) on the mobile terminal (9), wherein, on the basis of the activated gesture detection function, an electronic initialization signal regarding the subsequent execution of the operating gesture (11) is transmitted to the electronic driver assistance system (8) and to the detection unit (13), and - immediately after the user (2) has carried out the operating gesture (11), a manoeuvring function is activated by the user (2) on the mobile terminal (9), wherein, on the basis of the activated manoeuvring function, an electronic activation signal relating to the manoeuvring process (7) to be subsequently carried out is transmitted to the electronic driver assistance system (8). [5] Method according to one of the preceding claims, characterized bythat the vehicle (1) has been parked in a parking space (25) in the parking zone (4), wherein the automatic maneuvering process (7) carries out an automatic parking process of the vehicle (1) from the parking space (25), wherein the executed operating gesture (11) specifies a parking direction as the maneuvering direction (12). [6] Method according to claim 5, characterized by that with the executed operating gesture (11) a positioning specification (24) is additionally specified, with which it can be specified how the vehicle (1) is to be positioned after completion of the parking reversing process by the electronic driver assistance system (8), wherein the parking direction and the positioning specification (24) are transmitted to the driver assistance system (8) with the information relating to the operating gesture (11), wherein the parking direction and the positioning specification (24) are taken into account when carrying out the automatic parking reversing process. [7] Method according to one of claims 1 to 4, characterized by that the vehicle (1) has been parked at a distance from at least one free parking space (6) in the parking zone (4), wherein the automatic manoeuvring process (7) carries out an automatic parking process of the vehicle (1) in the at least one free parking space (6), wherein the executed operating gesture (11) specifies a parking direction as the manoeuvring direction (12). [8] Method according to claim 7, characterized bythat with the executed operating gesture (11) a target parking space (18, 22) is additionally specified, with which it can be specified in which free parking space (6) of the parking zone (4) the vehicle (1) is to be parked by the electronic driver assistance system (8), wherein the parking direction and the target parking space (18, 22) are transmitted to the driver assistance system (8) with the information relating to the operating gesture (11), wherein the parking direction and the target parking space (18, 22) are taken into account when carrying out the automatic parking process. [9] Electronic driver assistance system (8) for carrying out an automatic maneuvering operation (7) of a vehicle (1) which has been parked in an area (3) of a parking zone (4), with - a communication unit (10) for communicatively coupling the electronic driver assistance system (8) with a mobile terminal (9) of a user (2) of the vehicle (1), who is outside the vehicle (1) with the mobile terminal (9), characterized by - the communication unit (10), which is designed to receive information relating to an operating gesture (11) which can be carried out by the user (2) with the mobile terminal (9) and with which at least one shunting direction (12) for the shunting process (7) can be specified, - an electronic evaluation unit (15) for evaluating the received information concerning the operating gesture (11), and - a control unit (16) for carrying out the automatic shunting process (7) on the basis of the evaluated information concerning the operating gesture (11). [10] Electronic shunting system (17) with an electronic driver assistance system (8) according to claim 9 and a mobile terminal (9), wherein - the electronic driver assistance system (8) can be integrated into a vehicle (1), - an operating gesture (11) with which at least one manoeuvring direction (12) for a manoeuvring process (7) can be specified can be carried out by a user (2) of the vehicle (1) with the mobile terminal (9), - the mobile terminal (9) has a detection unit (13) with which an operating gesture (11) of the mobile terminal (9) can be detected, and - the mobile terminal (9) is designed to transmit information relating to the operating gesture (11) to the communication unit (10) of the electronic driver assistance system (8).

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