AUTOMATED PARKING METHOD OF A VEHICLE

Description

[0001] The invention relates to a method for automated parking of a vehicle, in particular a method for automatically parking the vehicle at a parking position repeatedly approached by a user. The invention further relates to a vehicle equipped for carrying out the method according to the invention and to a computer program.

[0002] Modern vehicles already feature a multitude of driver assistance systems that provide computer-based support to the driver in a wide variety of driving situations. These systems utilize sensors to capture a vast amount of data, far exceeding human sensory capabilities. Furthermore, the speed of these systems significantly surpasses human reaction time. Well-known examples of driver assistance systems include lane keeping assist, pedestrian detection braking assist, and adaptive cruise control, for instance, for use in traffic jams.

[0003] Through the application of such assistance systems, the driver's autonomy regarding driving decisions is increasingly transferred to the vehicle or its operating control units. The ultimate goal of these developments is an autonomously driving vehicle capable of maneuvering completely without human intervention. As a projection of driver assistance systems, automated driving primarily serves the purpose of fully automated passenger transport. However, automated driving is also expected to find increasing application in parking maneuvers, as these particularly benefit from the precision of computer-aided sensor data and the steering actions based upon it.

[0004] Until now, automated parking has typically required measuring an empty parking space beforehand, for example, by driving the vehicle past it once. Based on these measurements, the size of the parking position and the vehicle's degrees of freedom for maneuvering are then determined. Newer concepts, however, rely on learning known trajectories to automatically drive a vehicle, for example, from a driveway into a garage. This usually requires a user to activate a corresponding mode and then complete at least one training run to store the trajectory in the vehicle. The trajectory is typically stored in the vehicle as odometry data.

[0005] Storing learned trajectories solely based on odometry data typically necessitates defining a fixed starting area for the automatic parking process. This starting area usually corresponds to the one selected by the user during the initial setup and is therefore often not ideal for automatic vehicle guidance. Furthermore, the defined starting area must be precisely targeted to initiate automatic vehicle guidance, which can pose difficulties for some users.

[0006] DE 10 2013 201 799 A1 relates to a driver assistance system for a vehicle and a method for recognizing a specific position of the vehicle, in which, after recording a trajectory driven, this trajectory is then offered for departure as soon as the vehicle is near the starting point of the trajectory.

[0007] The invention is therefore based on the objective of overcoming the disadvantages of the prior art and enriching the prior art with an alternative method for the automated parking of a vehicle, which makes it possible to simplify both the training and the initiation of automated parking processes for a user while achieving good results.

[0008] The problem according to the invention is solved by the subject matter of the main claims. Preferred embodiments are the subject matter of the respective dependent claims.

[0009] A first aspect of the present invention relates to a method for the automated parking of a vehicle. The method is preferably carried out or monitored by a control unit of the vehicle. The control unit thus either performs the steps of the method according to the invention itself or controls other components to carry out the respective method steps. Likewise, outsourcing steps of the method according to the invention, particularly with regard to the calculation and storage of large amounts of data, to a high-performance network server is preferred. In such an embodiment, the method according to the invention comprises the corresponding steps for communication between a vehicle and a network server.

[0010] In a first step of the inventive method, user input is obtained to select a defined parking position as a navigation destination. This user input is preferably provided via an input device of the vehicle or via peripheral devices connected to the vehicle, such as smartphones or the like. The user input is also preferably made in response to an input prompt issued to the user. In the inventive method, the user input preferably relates to the programming (definition) or retrieval of a previously defined parking position.

[0011] In a further step of the inventive method, a parking data record is determined for the defined parking position in response to user input. This determination is preferably performed for the first time or repeatedly. According to the invention, the determined parking data record comprises at least the following components. Firstly, the parking data record includes the position of a starting area for automated vehicle guidance relative to the defined parking position. Preferably, the starting area is defined by at least one absolute geographic coordinate and an area surrounding that coordinate. Equally preferably, the starting area is defined by a plurality of geographic coordinates as a contiguous geographic area. The inventive method thus does not use a fixed starting point but rather a starting area.

[0012] Furthermore, the parking data set generated in response to user input includes trajectory information for automated vehicle guidance from the starting area to the defined parking position. This trajectory information comprises the data defined for automatically maneuvering the vehicle from the starting area to the parking position. According to the invention, the trajectory information includes a majority of odometry data relating to the lateral and longitudinal guidance of the vehicle along the trajectory, i.e., from the starting area to the defined parking position. This odometry data includes, for example, time series of steering angles and accelerations, or similar data. The odometry data is particularly preferably defined in such a way that it enables automated guidance of the vehicle from a fixed starting area to the defined starting position.

[0013] According to the invention, the trajectory information further includes image-based environmental data of a driving path along the trajectory. In other words, the trajectory information includes additional information about the vehicle's surroundings for each or at least a plurality of points along the trajectory, wherein this additional information was obtained from image data. Preferably, the image-based environmental data was obtained from continuous video recordings of the surroundings while driving along the trajectory. Alternatively, the image-based environmental data was obtained from camera images acquired discontinuously along the trajectory.The image-based environmental data of a trajectory path thus provides additional information about the trajectory's environment, where the extent of the captured path corresponds to a detection angle of the imaging sensors used to capture the image data.

[0014] The use of image-based environmental data of a trajectory path from the starting area to the defined parking position in the method according to the invention advantageously enables the initiation of automatic vehicle guidance within an extended starting area or even at any point at a certain distance from the trajectory path, as explained in detail below. Furthermore, the trajectory information according to the invention advantageously enables an improved handover from manual vehicle navigation to automatic vehicle guidance, as explained below.

[0015] A first aspect of the invention thus consists in the advantageous use of additional data for determining the trajectory information for automatic parking. In a preferred embodiment of the method according to the invention, the image data includes image data for a plurality of points along the trajectory, particularly preferably for each point of the trajectory. In other words, the discontinuously or continuously acquired image data (photo / video) described above are stored directly in the trajectory information. Advantageously, this preserves the maximum information content of the image data.

[0016] Preferably, the image data for a large number of points along the trajectory, and especially for each point of the trajectory, includes a 3D point cloud. This 3D point cloud is generated using the imaging sensors, for example, in conjunction with a laser measuring device, and provides a highly detailed representation of the environment with a small file size and high information content. Each point is preferably stored with its absolute spatial coordinates.

[0017] Preferably, the image data for a multitude of points along the trajectory, and especially for each point of the trajectory, also includes structural data of the vehicle's inner tube. This structural data is preferably determined by segmentation and / or structure or object recognition based on the image data or the 3D point cloud. The structural data contains, for example, information on the location and orientation of characteristic edges and / or the location and extent of characteristic surfaces. The structural data thus advantageously enables a further reduction in the data size or storage requirements of the image-based environmental data of the inner tube. This is particularly advantageous with regard to a process carried out by the vehicle.

[0018] According to the invention, the image-based environmental data stored in the trajectory information allows for a comparison with subsequently acquired image-based environmental data. The environmental data is thus selected and stored in such a way that it can be used in automatic vehicle guidance to determine a vehicle's position by comparing the stored environmental data with currently acquired image data, or with current environmental data derived from it. The use of trajectory information, at least partially based on image data, according to the invention, must be taken into account both when training the vehicle, i.e., when defining a parking position, and when approaching a defined parking position. In the method according to the invention, the stored image-based environmental data advantageously enables vehicle guidance with significantly higher precision.

[0019] In a preferred embodiment of the method according to the invention, it further comprises the following steps. First, the vehicle is manually guided laterally and longitudinally by a user, i.e., the vehicle is operated non-automatically. This manual vehicle guidance is not necessarily related to a parking maneuver. The method according to the invention further includes recording and storing the recorded data for a sliding interval. In other words, the manual vehicle guidance is recorded for a sliding interval prior to a current time or point on the route. The sliding time window is preferably a sliding time window and / or a sliding route segment.Manual vehicle control is particularly preferred if it is always recorded for a fixed time period prior to a current time, for example, for the past 30 seconds, 1 minute, 5 minutes, or the like. It is also particularly preferred if manual vehicle control is always recorded and stored for a fixed distance prior to a current position, for example, for the last 50 meters, 100 meters, or 500 meters traveled.

[0020] According to this implementation, the detection of the end of manual vehicle control at a parking position is also performed. The detection of the end of manual vehicle control does not relate to switching to automatic vehicle control, but rather to a user request to park the vehicle. There are several indicators for the end of manual vehicle control, such as switching off the engine, unfastening the seat belt, opening the trunk, being near a navigation destination, detecting a stored Wi-Fi network, signals from seat pressure sensors, or the like. In the method according to the invention, a plurality of these indicators are preferably used to detect the end of manual vehicle control. Methods for detecting that a vehicle has been parked are already known to those skilled in the art in connection with other parking functions; therefore, a further description is omitted.

[0021] In the inventive method, when the completion of manual vehicle control is detected, a prompt is issued to the user. This prompt is preferably issued visually and / or audibly via the vehicle's display and / or via the user's mobile device, such as a smartphone. The prompt concerns saving the vehicle's current parking position as a defined parking position within the inventive method. The user is thus asked whether an automatic parking process to the current parking position is desired in the future. In response to the prompt, the user provides the user input mentioned above. According to this implementation, the user input therefore contains information on whether the current parking position should be recorded as a defined parking position for automatic parking within the inventive method.

[0022] In response to user input, particularly a request to record the current parking position as the parking position defined according to the invention for automatic parking, the parking data set for the defined parking position is determined according to the invention, as already mentioned above. The determination of the parking data set defined above, which includes the position of a starting area and the trajectory information, is based on the stored data for manual vehicle control, i.e., the data stored for manual vehicle control for the sliding interval. Storing data for manual vehicle control thus advantageously allows the user to select a currently occupied parking position without having to define a starting area for automated parking as part of the learning process. This minimizes user error.

[0023] In a preferred implementation, the input prompt contains further information and / or its output is linked to additional conditions. The input prompt preferably includes information about the recorded manual driving behavior within the sliding interval. For example, the trajectory driven within the sliding interval is displayed overlaid on a map. Particularly preferably, the input prompt allows a selection of data from the recorded manual driving behavior to be used for determining the parking data set. Thus, a user can, for example, select a starting area for automatic driving along the recorded trajectory, i.e., select a sub-area of ​​the recorded trajectory. Preferably, only one point on the trajectory can be selected to define a starting area for which the stored manual driving behavior data includes a GPS position.

[0024] Preferably, a user can, in response to an input prompt, make corrections to a recorded trajectory of manual vehicle guidance, for example, increasing the distance of the trajectory to a nearby obstacle. However, such a correction is only possible within the trajectory's defined path defined by the recorded image data. Alternatively, and preferably, before the input prompt is displayed, a check is performed to determine whether the manual vehicle guidance passed one or more obstacles within the sliding interval at a distance below a predetermined threshold. If this is determined, the recorded trajectory of the manual vehicle guidance may not be suitable for automatic vehicle guidance, and preferably no input prompt is displayed to the user.

[0025] In a particularly preferred embodiment of this implementation, the stored data for manual vehicle guidance includes odometry data, position data, and image data of the vehicle's path along the trajectory of manual guidance. This advantageously creates the necessary data basis for determining a parking data set according to the invention. The odometry data preferably includes sensor data on steering angles and accelerations of the vehicle. The image data preferably includes images of the vehicle's surroundings captured by one or more cameras, particularly preferably a front camera. The position data preferably includes GPS coordinates of the vehicle, provided these could be acquired along the trajectory of manual guidance.

[0026] The data relating to manual vehicle operation performed within the rolling interval is preferably stored in a ring buffer. In other words, newly stored manual vehicle operation data always overwrites previously stored manual vehicle operation data. The overwritten data lies outside the set rolling time window. The use of a ring buffer advantageously represents a resource-efficient and, from a data protection perspective, permissible implementation of the continuous storage of manual vehicle operation data.

[0027] In a further preferred embodiment of the method according to the invention, the data for manual vehicle control is also stored for a fixed interval before the detection of the end of manual vehicle control. In other words, the data stored for the variable interval before the detection of the end of manual vehicle control is permanently stored in a memory, for example, taken from the vehicle's ring buffer and stored in a non-volatile memory. Thus, the detection of the end of manual vehicle control, i.e., the detection of the vehicle being parked, always results in the data recorded for a time period and / or a distance traveled before parking being stored, at least temporarily, in the vehicle.

[0028] According to this implementation method, the permanently stored (stored) data is compared with previously stored data on manual vehicle control for a fixed interval prior to the detection of the end of manual vehicle control. In other words, the system uses automatically stored data records on vehicle control, saved after the detection of a parking maneuver, to check whether the user has performed the same parking maneuver multiple times. Determining such repeated parking maneuvers using the vehicle control data is advantageous compared to comparing GPS positions, which are not always available, for example, in buildings. However, a GPS position last recorded before the detected parking maneuver (end of manual vehicle control) is preferably used to pre-select the stored data records to be compared.

[0029] If, according to this method, a match is found between the compared data for manual vehicle guidance, a preliminary parking data set for a defined parking position is preferably determined based on the data for manual vehicle guidance identified as matching. The determination of a match is preferably carried out by comparing the recorded odometry, GPS, and / or image data, whereby identical data sets are not necessarily required. Determining a preliminary parking data set preferably requires the identification of at least two or more, and particularly preferably at least three, four, or five, matching data sets.

[0030] Preferably, for each data category compared, i.e., odometry, GPS positions and image data, a measure of accuracy is defined that indicates a degree of agreement between the respective data.

[0031] If no match with previously stored data is found according to this implementation method, the currently stored data is preferably time-stamped and stored in the vehicle for a predetermined time and automatically deleted after the predetermined time has elapsed, for example after one week.

[0032] If a preliminary parking data record for a defined parking position has been determined according to this implementation method, the next time the vehicle is located within a starting area for automated vehicle guidance to the defined parking position according to the preliminary parking data record, a prompt will be displayed to the user. According to this implementation method, the starting area for automated vehicle guidance in the preliminary parking data record is preferably determined automatically, for example, as the last recorded GPS position relative to the recorded parking position and / or at a fixed distance in front of the recorded parking position.Thus, after a certain number of comparable parking maneuvers at a specific parking position and / or with comparable approach trajectories to that specific parking position are detected, the system automatically prompts the user to decide whether this parking position should be saved as a defined parking position for the automated vehicle guidance system according to the invention. In response to this prompt, the user input mentioned above is determined. A positive user input preferably results in the temporary parking data being saved as a permanent parking data record in the vehicle. A negative user input, on the other hand, preferably results in the deletion of the saved temporary parking data record and, optionally, the setting of a flag indicating that this parking position should not be saved in the future.

[0033] The preferred implementation methods described above thus advantageously relate to training the system to a defined parking position according to the invention, or to the necessary prerequisites for data acquisition. The described implementation method allows a user to very conveniently create a defined parking position, particularly after parking the vehicle, for example, using a smartphone when moving away from the vehicle. Automatic creation of the defined parking position after the user's approval of a preliminary determined parking position is particularly preferred.

[0034] A further preferred embodiment of the method according to the invention relates to the selection of a predefined parking position as the navigation destination, in particular by means of the user input described above. In other words, the user does not select an address or a significant point, such as an airport, on a map as the navigation destination, but rather a predefined parking position, for example, a private garage on the user's property or an underground parking space at the user's workplace. In response to the user input, the parking data record already stored for the selected predefined parking position is determined according to the invention, i.e., retrieved from the vehicle's memory.

[0035] According to the invention, in a further process step, the position of the starting area of ​​the parking data set determined for the selected defined parking position is set as the navigation target for GPS-based navigation. Preferably, the starting area of ​​the parking data set is determined via an absolute position, in particular a GPS position. Thus, GPS-based navigation to the starting area is always possible. In this embodiment of the method according to the invention, route guidance is also carried out until the navigation target is reached. The route guidance is performed by outputting navigation instructions and / or maneuver information to the driver in a known manner, so that a further description is omitted here.

[0036] Furthermore, in the method according to the invention, automated vehicle guidance of the vehicle takes place starting from the starting area of ​​the defined parking position and based on the trajectory information of the parking data set determined for the defined parking position. In other words, upon arrival of the vehicle in the starting area, control is transferred to the automated parking system, based on the parking data set stored according to the invention. This transfer preferably occurs fully automatically upon detection of the vehicle's position in the starting area or in response to user input, for example, after an input prompt. The integration of vehicle navigation with automated vehicle guidance is thus based on the automatic assignment of the starting area of ​​a defined parking position to a navigation system and the route guidance to the starting area of ​​the defined parking position.

[0037] According to a preferred implementation, there is a virtually seamless transition from user-controlled to automated vehicle control. However, user-controlled vehicle operation is inherently prone to errors. In particular, the target area of ​​a navigation system typically has quite large tolerance ranges within which the navigation is still considered successfully completed. Therefore, according to a further preferred implementation, the GPS position of the vehicle is determined at the end of the route, along with the relative spatial orientation of the vehicle and the position of the starting area of ​​the defined parking position selected as the navigation destination.

[0038] According to this further preferred implementation, driving instructions based on relative spatial orientation are also issued to a user, wherein the driving instructions are determined in such a way that they instruct the user to drive the vehicle to the starting area. In other words, route guidance to the starting area continues after the actual GPS-based navigation has been completed, with a finer spatial resolution, in order to enable the most precise possible positioning of the vehicle within the starting area. The driving instructions are preferably generated not by a conventional navigation application but by the automated parking application.If the user follows the issued driving instructions and thus reaches the starting area with sufficient precision, the automated vehicle guidance is initiated along the stored trajectory to the defined parking position, in particular by comparing the environmental data based on image data, according to this implementation method.

[0039] In an alternative preferred embodiment of the method according to the invention, a GPS position of the vehicle is also determined at the end of the route guidance. Instead of being guided to the starting area, the vehicle is guided, according to this embodiment, to the driving path of the trajectory stored in the parking data set. Thus, the relative spatial orientation of the vehicle and a capture area of ​​the defined parking position are determined, and driving instructions based on this relative spatial orientation are issued to a user. Once the user has reached the capture area, automated vehicle guidance to the defined parking position is initiated.

[0040] The capture area of ​​this implementation encompasses the imaging area of ​​the vehicle's sensors along the trajectory from the starting area to the defined parking position. The imaging sensors are preferably those that, in the inventive method, acquire the image data underlying the environmental data. This environmental data advantageously enables the vehicle to be positioned on the trajectory to the defined parking position as soon as there is sufficient overlap between the currently acquired image data of the vehicle and the environmental data of the trajectory information according to the invention. The inventive parking data set thus advantageously allows for a rapid restart of automated vehicle guidance to the stored parking position, even if the route guidance ends at a considerable distance from the starting area of ​​the defined parking position.

[0041] Another aspect of the invention relates to a vehicle, in particular a passenger car equipped with an internal combustion, electric, or hybrid engine for carrying out the steps of a vehicle in the method according to the invention. For this purpose, the vehicle has at least one first sensor configured to acquire environmental data and at least one second sensor configured to acquire vehicle data.

[0042] The first sensor, at least, is configured to detect sensor signals relating to the vehicle's environment. The second sensor, at least, is configured to detect sensor signals relating to the vehicle itself. An environmental signal received by the first sensor preferably enables the vehicle to obtain information about its surroundings and preferably represents a variety of environmental information. A status signal received by the second sensor preferably enables the vehicle to obtain information about its own state and preferably represents a variety of state information. The first sensors are, for example, imaging sensors such as cameras or distance sensors such as LiDAR. The second sensors are, for example, wheel speed sensors and the like.

[0043] The vehicle further comprises a user interface with input and output means, preferably a screen, and more preferably a touchscreen of the vehicle's infotainment system. Alternatively or additionally, a user interface is provided via a mobile device connected to the vehicle, in particular a smartphone connected to the vehicle via a wireless connection. The vehicle may also have further input means, such as push buttons, rotary controls, or the like, as well as further output means, such as speakers or the like, which can also be used in the method according to the invention.

[0044] The vehicle according to the invention preferably further comprises a (first) communication module configured for communication with a mobile device. The communication module is particularly configured for communication via an air interface, for example a mobile network (4G, 5G), WLAN, or the like. The communication module is also preferably configured and designed for communication with other vehicles, with a smart infrastructure, and / or with a network server.

[0045] The vehicle further comprises a control unit configured to perform the steps of the vehicle in the method according to the invention. The control unit is designed to perform the steps of the method according to the invention itself or to control other components of the vehicle to perform the steps.The control unit is specifically designed to determine a user input concerning a defined parking position and to determine a parking data record for the defined parking position in response to the user input, wherein the parking data record includes a position of a starting area of ​​an automated vehicle guidance system for the vehicle at the defined parking position and trajectory information for an automated vehicle guidance system from the starting area to the defined parking position, and wherein the trajectory information includes a plurality of odometry data relating to the lateral and longitudinal guidance of the vehicle along the trajectory and image-based environmental data of a driving path of the trajectory.

[0046] Another aspect of the invention relates to a control unit of a vehicle with at least one first sensor configured to capture environmental data, at least one second sensor configured to capture vehicle data, and a user interface comprising output and input means, wherein the control unit is configured to detect a user input from a user concerning a defined parking position and to determine a parking data set for the defined parking position in response to the user input.wherein the parking data set includes a position of a starting area of ​​an automated vehicle guidance system for the vehicle to the defined parking position and trajectory information for an automated vehicle guidance system from the starting area to the defined parking position, and wherein the trajectory information includes a plurality of odometry data relating to the lateral and longitudinal guidance of the vehicle along the trajectory and image-based environmental data of a driving path of the trajectory.

[0047] Another aspect of the invention relates to a computer program comprising instructions which, when executed by a computer, such as a vehicle control unit, cause the computer to perform the aforementioned steps of the vehicle in the method according to the invention. Preferred embodiments of the vehicle, the control unit, and the computer program correspond to the preferred embodiments described and claimed for the method according to the invention.

[0048] The process steps of the method according to the invention can be implemented by electrical or electronic components (hardware), by firmware (ASIC), or by executing a suitable program (software). The method according to the invention is also preferably implemented by a combination of hardware, firmware, and / or software.

[0049] For example, individual components for carrying out individual process steps are designed as a separately integrated circuit or arranged on a common integrated circuit. Individual components configured to carry out individual process steps are also preferably arranged on a (flexible) printed circuit board (FPCB / PCB), a tape carrier package (TCP), or another substrate.

[0050] The individual process steps of the method according to the invention are preferably configured as one or more processes that run on one or more processors in one or more electronic computing devices and are generated during the execution of one or more computer programs. The computing devices are preferably configured to cooperate with other components, for example, a communication module, and optionally one or more sensors, in order to implement the functionalities described herein. The instructions of the computer programs are preferably stored in a memory, such as a RAM element. However, the computer programs can also be stored in a non-volatile storage medium, such as a CD-ROM, flash memory, or the like.

[0051] It is also apparent to those skilled in the art that the functionalities of several computers (data processing devices) can be combined or combined in a single device, or that the functionality of a particular data processing device can be distributed across a multitude of devices in order to carry out the steps of the method according to the invention without deviating from the method according to the invention.

[0052] Unless otherwise stated in individual cases, the various embodiments of the invention mentioned in this application can be advantageously combined with one another.

[0053] The invention is explained below using exemplary embodiments with reference to the accompanying drawings. These show: Figure 1 shows a schematic representation of a system consisting of a vehicle according to the invention and a network server according to one embodiment; and Figure 2 shows a flowchart of a method according to the invention carried out in the system according to the invention according to one embodiment.

[0054] Figure 1Figure 1 shows a schematic representation of a system 100 according to the invention, consisting of a vehicle 10 according to the invention, which communicates with a network server 70 according to the invention. Reference numeral 10 denotes a block diagram of an exemplary vehicle 10, in particular a two-track vehicle with an internal combustion, electric, or hybrid engine. The vehicle 10 comprises a plurality of first sensors, in particular a first sensor 11, a second sensor 12, and a third sensor 13. The first sensors 11, 12, and 13 are configured to acquire environmental data of the vehicle 10 and include, for example, a camera for acquiring an image of the environment immediately surrounding the vehicle 10, or distance sensors, such as ultrasonic sensors or LiDAR, for acquiring distances to objects surrounding the vehicle 10.The first sensors 11, 12, 13 transmit the environmental signals they detect to a first control unit 40 and to a driving system 30 of the vehicle 10.

[0055] The vehicle 10 further comprises a plurality of secondary sensors, in particular a fourth sensor 51, a fifth sensor 52, and a sixth sensor 53. The secondary sensors 51, 52, and 53 are sensors for determining status data relating to the vehicle 10 itself, such as current position and motion information of the vehicle 10. These secondary sensors are, for example, speed sensors, acceleration sensors, tilt sensors, sensors for measuring the compression depth of a shock absorber, wheel speed sensors, or the like. The secondary sensors 51, 52, and 53 transmit the status signals they have detected to the first control unit 40 of the vehicle 10. Furthermore, the secondary sensors 51, 52, and 53 transmit their measurement results directly to a driving system 30 of the vehicle 10.

[0056] The vehicle 10 further comprises a first communication module 20 with a memory 21 and one or more transponders or receivers 22. The transponders 22 are radio, WLAN, GPS, or Bluetooth receivers, or the like. The transponder 22 communicates with the internal memory 21 of the first communication module 20, for example, via a suitable data bus. The first communication module 20 also communicates with the first control unit 40. In addition, the first communication module 20 is configured to communicate with a mobile network server 70, in particular a backend server of a vehicle manufacturer or its service partner. The first communication module 20 is also configured to communicate with a vehicle 64 that is configured in the same way as the vehicle 10.The communication module 20 is further configured to communicate with a mobile device 63 and with an electric charging station 62. Communication takes place primarily via a wireless interface, for example via WLAN, a mobile network (4G or 5G), vehicle-to-vehicle communication, and the like.

[0057] The vehicle 10 further comprises the driving system 30, which is configured for fully automatic driving operation, in particular for longitudinal and lateral control of the vehicle 10. The driving system 30 includes a navigation module 32, which is configured for calculating routes between a start and a destination point and for determining the maneuvers to be performed by the vehicle 10 along this route. The navigation module 32 is also preferably configured for performing specific maneuvers of the vehicle 10, such as parking and unparking maneuvers. In addition, the driving system 30 includes an internal memory 31, which communicates with the navigation module 32, for example via a suitable data bus. The functionality of the driving system 30 is controlled by the control unit 40.

[0058] The vehicle 10 further comprises a first control unit 40, which is configured to perform the steps of the vehicle 10 in the method according to the invention. The control unit 40 either performs the steps itself or controls the other components of the vehicle 10 accordingly. For this purpose, the first control unit 40 has an internal memory 41 and a CPU 42, which communicate with each other, for example via a suitable data bus. Furthermore, the first control unit 40 is in communication connection with at least the first sensors 11, 12, 13, the second sensors 51, 52, 53, the first communication module 20, the driving system 30, and the user interface 35, for example via one or more respective CAN connections, one or more respective SPI connections, or other suitable data connections.

[0059] The vehicle 10 also has a user interface 35 with input means 36 for capturing user input and output means 37 for sending a message, for example, a prompt, to a user. The user interface 35 is, in particular, a touchscreen of the vehicle 10's infotainment system. Additionally, at least the functionality of the user interface 35 can be provided via a smartphone 63 connected to the vehicle 10 via the communication module 20, in particular via an application (app) installed on the smartphone.

[0060] The network server 70 has a second control unit 80, which is configured to perform arithmetic operations in the method according to the invention and has an internal memory 81 and a CPU 82, which communicate with each other via a suitable data bus. The network server 70 also has a second communication module 90. The second communication module 90 has a memory 92 and one or more transponders or receivers 91. The transponders 91 are radio, WLAN, GPS, or Bluetooth transmitters or the like. The transponder 91 communicates with the internal memory 92 of the second communication module 90, for example, via a suitable data bus. Preferably, the second communication module 90 is configured to communicate via a mobile network.

[0061] The charging station 62 and the mobile device 63 each also have a third and fourth communication module and a third and fourth control unit, respectively, and are in communication connection with the network server 70 and the vehicle 10. The charging station 62 further includes means for charging an energy storage device of an electric vehicle 10. The charging station 62 is preferably connected to an energy source or an energy storage device, preferably to a power grid.

[0062] Figure 2 shows a schematic flowchart of a method according to the invention carried out in the system according to the invention in accordance with one implementation form.

[0063] In step S100 of the procedure, the vehicle is manually controlled laterally and longitudinally by a user, i.e., the user controls the vehicle 10. In step S200, the manual vehicle control is always recorded and the recorded data on the manual vehicle control is stored for a sliding interval, in particular for a sliding time window of 5 minutes before a current time and / or for a sliding section of the route of 50 m before the current position.

[0064] In step S300, the system automatically detects whether manual vehicle guidance at a parking position has been completed. If this detection indicates that vehicle guidance is not yet complete, the process returns to step S200, where data on manual vehicle guidance continues to be recorded and stored in a ring buffer.

[0065] However, if in step S300 the completion of manual vehicle guidance at a parking position is detected, in step S400 an input prompt is displayed to the user via output device 37 of the user interface 35, asking the user to enter whether the current parking position should be saved as a defined parking position. Furthermore, in step S400, the user input submitted in response to the input prompt is captured using input device 36 of the user interface 35.

[0066] If the user input from step S400 indicates that the user wishes to save the current parking position as a defined parking position, in step S500 a parking data set according to the invention with position of a starting area and trajectory information for the defined parking position is determined based on the data for manual vehicle guidance stored in step S200 and stored in the memory 41 of the control unit 40. Reference symbol list

[0067] 10 Vehicle 11 First Sensor 12 Second Sensor 13 Third Sensor 20 Communication Module 21 Memory 22 Transponder 30 Driving System 31 Memory 32 Navigation Module 35 User Interface 36 Input Device 37 Output Device 40 Control Unit 41 Memory 42 CPU 51 Fourth Sensor 52 Fifth Sensor 53 Sixth Sensor 61 Satellite 62 Charging Station 63 Mobile Device (Smartphone) 64 Vehicle 70 Network Server 80 Control Unit 81 Memory 82 CPU 90 Communication Module 91 Transponder 92 Memory 100 System

Claims

1. Method for automated parking of a vehicle (10), comprising the method steps of: determining a user input from a user to select a defined parking position as a navigation destination; determining a parking data set for the defined parking position in response to the user input, the parking data set comprising: (a) a position of a starting region of an automated vehicle guidance of the vehicle (10) to the defined parking position; and (b) trajectory information of an automated vehicle guidance from the starting region to the defined parking position, the trajectory information comprising: (i) a plurality of odometry data relating to the transverse and longitudinal guidance of the vehicle (10) along the trajectory, and (ii) environmental data, based on image data, of a driving path of the trajectory; specifying the position of the start region of the determined parking data set to the defined parking position as the navigation destination of a GPS-supported navigation; carrying out route guidance until the navigation destination is reached; and carrying out an automated vehicle guidance from the starting region to the defined parking position in response to the detection of the vehicle position in the starting region and based on the trajectory information of the determined parking data set.

2. Method according to claim 1, wherein the environmental data for a plurality of points along the trajectory comprises image data, a 3D point cloud and / or structural data of the driving path.

3. Method according to either claim 1 or claim 2, further comprising the method steps of: determining a GPS position of the vehicle (10) at the end of the route guidance; determining a relative spatial position of the vehicle (10) and the position of the starting region; issuing driving instructions based on the relative spatial position to a user; initiating automated vehicle guidance upon reaching the starting region.

4. Method according to claim 3, wherein a spatial resolution of the determination of the relative spatial position is higher than a spatial resolution of the GPS-supported navigation.

5. Method according to either claim 1 or claim 2, further comprising the method steps of: determining a GPS position of the vehicle (10) at the end of the route guidance; determining a relative spatial position of the vehicle (10) and a capture region of the defined parking position and issuing driving instructions based on the relative spatial position to a user; and initiating automated vehicle guidance upon reaching the capture region, wherein the capture region comprises an imaging region of imaging sensors of the vehicle along the trajectory from the starting region to the defined parking position.

6. Method according to any of the preceding claims, further comprising the method steps of: manual transverse and longitudinal guidance of the vehicle (10) by a user; recording the manual vehicle guidance and storing recorded manual vehicle guidance data for a sliding interval; detecting completion of the manual vehicle guidance at a parking position; issuing a prompt to the user regarding saving the parking position as a defined parking position and determining the user input; and determining the parking data set for the defined parking position from the stored manual vehicle guidance data in response to the user input, wherein the prompt comprises information about the detected manual vehicle guidance in the sliding interval and the user input comprises a selection of a position of the starting region from the information.

7. Method according to claim 7, wherein the information comprises a trajectory traveled in the sliding interval and, with the user input, only the points of the trajectory for which the stored data for manual vehicle guidance have a GPS position can be selected as the position of the starting region.

8. Method according to claim 6 or 7, wherein the stored data for manual vehicle guidance comprise odometry data, position data and image data of a driving path of the vehicle and / or are stored in a ring memory.

9. Motor vehicle (10) comprising at least one first sensor (11, 12, 13) configured for acquiring environmental data; at least one second sensor (51, 52, 53) configured for acquiring vehicle data; a user interface (35) comprising output means (37) and input means (36) and a first control unit (40) configured for carrying out a method according to any of claims 1 to 8.

10. Computer program comprising instructions which, when the program is executed by a control unit (40) of a vehicle (10) according to claim 9, cause the control unit to carry out the steps of a method according to any of claims 1 to 8.