CONCEPT FOR ASSISTING A MOTOR VEHICLE

Description

[0001] The invention relates to a system for infrastructure-based assistance of a motor vehicle driven at least partially automatically within a parking lot, a method for infrastructure-based assistance of a motor vehicle driven at least partially automatically within a parking lot, a computer program and a machine-readable storage medium. State of the art

[0002] AVP stands for "Automated Valet Parking" and can be translated into German as "Automatischer Parkservice".

[0003] Parking spaces that can provide AVP (Automatic Vehicle Parking) functionality for a vehicle include several environmental sensors, each monitoring a specific area of ​​the parking space. The corresponding sensor data is sent from the sensors to a central server, which analyzes the data and, based on this analysis, generates infrastructure assistance data. This data enables the vehicle to be guided, at least partially, automatically within the parking space. The infrastructure assistance data is then transmitted wirelessly to the vehicle, for example, via Wi-Fi.

[0004] The patent application DE 10 2016 223 830 A1 discloses a method for operating an automated vehicle.

[0005] Disclosure WO 2018 / 029101 A1 discloses a control system for an autonomous vehicle.

[0006] Disclosure document US 2019 / 0132709 A1 discloses a sensor network.

[0007] The patent application DE 10 2014 211 557 A1 discloses a valet parking procedure and system.

[0008] The patent application DE 10 2015 214 826 A1 discloses a method for locating a vehicle located within a parking lot. Disclosure of the invention

[0009] The object underlying the invention is to provide a concept for the efficient infrastructure-supported assistance of a motor vehicle that is at least partially automated within a parking lot.

[0010] This problem is solved by means of the respective subject matter of the independent claims. Advantageous embodiments of the invention are the subject matter of dependent claims.

[0011] Following a first aspect, a system for infrastructure-supported assistance of a motor vehicle driven at least partially automatically within a parking lot is provided, encompassing: A first base unit and a second base unit, which are arranged at a distance from each other within the parking space and connected in series, wherein the first base unit and the second base unit are each connected to at least one environmental sensor arranged within the parking space, in the respective vicinity of the respective base unit, which detects an area of ​​the parking space, wherein the first and the second base unit are each configured to determine infrastructure assistance data for infrastructure-supported assistance of the motor vehicle driven at least partially automatically within the parking space, based on environmental sensor data representing the respective detected area from the respective at least one environmental sensor, and at least one wireless communication interface, which is configured to send the determined infrastructure assistance data to the motor vehicle.

[0012] According to a second aspect, a procedure for infrastructure-supported assistance of a motor vehicle driven at least partially automatically within a parking lot is provided using the system according to the first aspect, comprising the following steps: Determining, using at least one of the first and second basic units of infrastructure assistance data, for infrastructure-supported assistance of the motor vehicle within the parking lot, which is at least partially automated, based on the corresponding environmental sensor data, and sending the determined infrastructure assistance data to the motor vehicle via at least one wireless communication interface.

[0013] According to a third aspect, a computer program is provided which includes instructions that, when the computer program is executed by a computer, for example by the system according to the first aspect, cause it to execute a procedure according to the second aspect.

[0014] According to a fourth aspect, a machine-readable storage medium is provided on which the computer program is stored according to the third aspect.

[0015] The invention is based on the understanding that the above problem is solved by implementing the system as an edge computing architecture. Edge computing, in contrast to cloud computing, refers to decentralized data processing at the edge of a network. This means that, according to the concept described here, the determination of infrastructure assistance data is no longer entrusted to a central server, but is performed by several base units located within the parking area. This advantageously shortens the transmission path between the environmental sensor and the instance that determines the infrastructure assistance data based on the environmental sensor data (in this case, the base unit), compared to a central server, which is typically located in a server room outside the parking area.

[0016] Furthermore, according to the concept described here, the base unit does not use the environmental sensor data from all sensors located within the parking lot to determine the infrastructure assistance data, but only a subset, for example, 4 to 16, of environmental sensors. Thus, the base units are only connected to the environmental sensors located in their immediate vicinity. This also advantageously reduces the transmission distance compared to the approach involving a central server that receives the corresponding environmental sensor data from all sensors in the parking lot.

[0017] Furthermore, this results in the technical advantage that the effort required to lay data cables for the transmission of environmental sensor data can be efficiently reduced.

[0018] Furthermore, this results in the technical advantage that the required minimum bandwidth for data transmission of the environmental sensor data can be efficiently reduced, since less environmental sensor data needs to be sent to a single base unit compared to the approach with the central server.

[0019] Furthermore, this results in the technical advantage that the base units can be less powerful in terms of hardware compared to a central server, since they do not have to process the same amount of environmental sensor data as the central server.

[0020] Furthermore, this offers the technical advantage of eliminating the need for a central server. It also eliminates the need for a separate server room, thus saving both costs and the space required for such a room.

[0021] The concept described here involves connecting directly adjacent base units. In English, this topology is called a "daisy chain." This means that the base units are connected in a row. This offers the particular technical advantage that each base unit can receive environmental sensor data from at least one sensor connected to another base unit. This contrasts with a tree topology, which is typically used in approaches with a central server. Compared to a tree topology, a daisy chain reduces the effort required for laying data cables to transmit environmental sensor data.

[0022] Furthermore, the concept has the technical advantage that the complexity of the hardware products used can be reduced compared to the central server approach, as it requires two types of hardware: a base unit and an environmental sensor.

[0023] In summary, this provides a concept for the efficient, infrastructure-supported assistance of a motor vehicle that is at least partially automated within a parking lot.

[0024] Infrastructure-based vehicle assistance means, in particular, that the vehicle is provided with infrastructure assistance data. Based on this data, the vehicle can, for example, derive instructions for action. The vehicle can, for example, decide for itself what to do based on this infrastructure assistance data.

[0025] Infrastructure assistance data includes, for example, one or more of the following data elements: control command for at least semi-automated control of the lateral and / or longitudinal guidance of the motor vehicle, remote control command for at least semi-automated remote control of the lateral and / or longitudinal guidance of the motor vehicle, release command to release at least semi-automated, in particular fully automated, driving of the motor vehicle for a specific time in a specific area of ​​the parking lot, target trajectory for the motor vehicle, target position within the parking lot, environmental data representing the environment of the motor vehicle, specification of what the motor vehicle should do. The specification specifies, for example, whether the motor vehicle is allowed to drive or must stop.

[0026] The phrase "in one embodiment of the system" used in this description includes the phrase "in one embodiment of the system, wherein the embodiment includes, for example, the respective features of at least one of the embodiments described in the description." This means that the respective features of the embodiments described in the description can, for example, be in any combination.

[0027] In one embodiment of the system, it is provided that the first and the second base unit are each configured to determine the infrastructure assistance data based on the environmental sensor data of at least one environmental sensor of the other base unit.

[0028] This results, for example, in the technical advantage that the infrastructure assistance data can be efficiently determined. The environmental sensor data from at least one environmental sensor of the other base unit is requested from the other base unit, for example, by the first or the second base unit.

[0029] To determine whether a vehicle is cleared to drive, it is advantageous to know the entire surroundings of the vehicle. Therefore, if the environmental sensors connected to the base unit do not capture the entire surroundings, one embodiment provides that the environmental sensor data from the neighboring base unit(s) is used.

[0030] The major advantage is that the environmental sensors and / or base units are arranged in such a way that only the environmental sensor data from the immediately adjacent base unit(s) is required. Information from more distant base units is generally not needed.

[0031] In one embodiment, it is provided that the first and the second base unit each comprise a first communication device, in particular a first network switch, and a second communication device, in particular a second network switch, wherein the connection between the first and the second base unit is formed using the two first communication devices, and wherein the respective connection between the at least one environmental sensor and the corresponding base unit is formed using the corresponding second communication device.

[0032] This means that the first communication device is, for example, a first network switch or includes one. This also means that the first communication device is, for example, a second network switch or includes one.

[0033] In one embodiment of the system, it can be provided that the first and second base units each comprise a first network switch and a second network switch, wherein the connection between the first and second base units is formed using the two first network switches, and wherein the respective connection between the at least one environmental sensor and the corresponding base unit is formed using the corresponding second network switch.

[0034] This results, for example, in the technical advantage that the first and second base units and / or the respective at least one environmental sensor and the corresponding base unit can be efficiently connected to each other.

[0035] In one embodiment of the system, the first and second base units are arranged along a driving path of the parking lot.

[0036] This results, for example, in the technical advantage that the communication path between the base units and the vehicle being assisted can be kept as short as possible.

[0037] In one embodiment of the system, it is provided that the first and second base units are set up to track the motor vehicle based on the environmental sensor data and, based on the tracking, to control the respective transmission of infrastructure data via the corresponding wireless communication interface.

[0038] This results, for example, in the technical advantage of being able to efficiently control the transmission of infrastructure data. Controlling the transmission includes, for example, terminating the transmission and handing it off to an immediately adjacent base unit located in the direction of travel of the vehicle. Tracking the vehicle includes, for example, determining its position. Tracking the vehicle includes, for example, determining its distance relative to a predetermined fixed position. The predetermined fixed position is, for example, the position of the first or second base unit.

[0039] For example, each base unit knows its neighboring base units. It knows, for instance, that if the vehicle is traveling north, it must transfer the command to the base unit located to the north; if the vehicle is traveling south, it must transfer the command to the base unit located to the south. This information—the location and characteristics of neighboring base units—is stored, for example, in a memory within each base unit.

[0040] In one embodiment of the system, it comprises a third base unit, which is arranged within the parking space and connected in series with the first or the second base unit, wherein the third base unit is connected to at least one environmental sensor arranged within the parking space, in the vicinity of the third base unit, which detects an area of ​​the parking space, wherein the third base unit is configured to determine infrastructure assistance data for infrastructure-supported assistance of the motor vehicle driven at least partially automatically within the parking space based on environmental sensor data from the at least one environmental sensor representing the respective detected area, wherein the third base unit has a wireless communication interface which is configured to send the infrastructure assistance data to the motor vehicle.

[0041] This results, for example, in the technical advantage of enabling efficient assistance to the vehicle. Statements made in connection with the first and / or second base unit apply analogously to the third base unit and vice versa.

[0042] An environmental sensor as described is, for example, one of the following environmental sensors: radar sensor, lidar sensor, ultrasonic sensor, video sensor / camera (both mono and stereo camera), magnetic field sensor and infrared sensor.

[0043] In one embodiment of the method according to the second aspect, it is provided that the method is a computer-implemented method.

[0044] Technical functionalities of the procedure according to the second aspect result from corresponding technical functionalities of the system according to the first aspect and vice versa.

[0045] This means that process characteristics result from system characteristics and vice versa.

[0046] The phrase "at least partially automated leadership" includes one or more of the following cases: assisted leadership, partially automated leadership, highly automated leadership, fully automated leadership.

[0047] Assisted driving means that the driver of the vehicle is permanently responsible for either the lateral or longitudinal control of the vehicle. The other driving task (i.e., controlling the longitudinal or lateral movement of the vehicle) is performed automatically. This means that with assisted driving, either the lateral or longitudinal control of the vehicle is automatic.

[0048] Partially automated driving means that in a specific situation (for example: driving on a highway, driving within a parking lot, overtaking an object, driving within a lane defined by lane markings) and / or for a certain period of time, the longitudinal and lateral control of the vehicle is automated. The driver does not need to manually control the vehicle's longitudinal and lateral steering. However, the driver must continuously monitor the automated control of the longitudinal and lateral steering in order to be able to intervene manually if necessary. The driver must be ready to take over full control of the vehicle at any time.

[0049] Highly automated driving means that for a certain period of time in a specific situation (for example: driving on a highway, driving within a parking lot, overtaking an object, driving within a lane defined by lane markings), the longitudinal and lateral control of the vehicle is automated. The driver does not need to manually control the vehicle's longitudinal and lateral steering. The driver does not need to constantly monitor the automated control of longitudinal and lateral steering in order to intervene manually if necessary. If required, a takeover request is automatically issued to the driver to assume control of longitudinal and lateral steering, with a sufficient time buffer. Therefore, the driver must be potentially capable of taking over control of longitudinal and lateral steering.The limits of automatic control of lateral and longitudinal guidance are automatically detected. With highly automated guidance, it is not possible to automatically create a risk-minimizing state in every initial situation.

[0050] Fully automated driving means that in a specific situation (for example: driving on a highway, driving within a parking lot, overtaking an object, driving within a lane defined by lane markings), the longitudinal and lateral control of the vehicle is automated. The driver does not need to manually control the vehicle's longitudinal and lateral movements. The driver does not need to monitor the automated control of longitudinal and lateral movements in order to intervene manually if necessary. Before the automated control of longitudinal and lateral movements ends, the driver is automatically prompted to take over the driving task (controlling the vehicle's longitudinal and lateral movements), with sufficient time to do so. If the driver does not take over the driving task, the system automatically returns to a low-risk state.The limits of automatic lateral and longitudinal control are automatically detected. In all situations, it is possible to automatically return to a system state with minimal risk. In the case of AVP (Automatic Vehicle Performance), this can mean fully automated driving, where the driver doesn't even need to be in the vehicle. The vehicle can actually drive itself.

[0051] The terms "assist" and "support" can be used synonymously.

[0052] The abbreviation "at least one" means "one or more".

[0053] The vehicle is equipped, for example, to be driven at least partially automatically. The vehicle is, for example, an AVP vehicle. Such a vehicle is specifically equipped to perform an AVP procedure. AVP stands for "Automated Valet Parking" and can be translated into German as "Automatischer Parkservice" (Automated Parking Service).

[0054] In one embodiment of the system, it is provided that at least one wireless communication interface is included by at least one base unit.

[0055] This results, for example, in the technical advantage that the wireless communication interface can be implemented efficiently.

[0056] It should be noted that not every base unit needs to have a wireless communication interface. A base unit without a wireless communication interface can, for example, communicate using the wireless communication interface of a neighboring base unit, thus sending infrastructure assistance data to the vehicle via the neighboring base unit's wireless communication interface.

[0057] According to one embodiment of the system, each base unit is provided to have its own wireless communication interface.

[0058] According to one embodiment of the system, it is provided that only some of the base units each have their own wireless communication interface.

[0059] If the description describes an exemplary system in which each of the base units has its own wireless communication interface, the corresponding statements also apply to a system in which only some of the base units have their own wireless communication interface.

[0060] A wireless communication interface, as described, is located separately from the base units within the parking area. For example, one or more base units may each include their own wireless communication interface. Alternatively, one or more base units may not include their own wireless communication interface, meaning they are free of any wireless communication interface. For example, one or more wireless communication interfaces may be located separately from the base units within the parking area, for example, mounted on a ceiling and / or a column and / or a wall. A base unit without its own wireless communication interface can, for example, use such a wireless communication interface to communicate with the vehicle, i.e., to send the infrastructure assistance data to the vehicle.

[0061] A wireless communication interface as described is located, for example, within the parking lot.

[0062] Exemplary embodiments of the invention are shown in the drawings and explained in more detail in the following description. They show: Fig. 1 a first system according to the first aspect, Fig. 2 a second system according to the first aspect, Fig. 3 a flowchart of a process according to the second aspect and Fig. 4 a machine-readable storage medium according to the fourth aspect.

[0063] The same reference symbols can be used for identical features in the following.

[0064] Fig. 1 Figure 1 shows a schematic top view of a first system 101 for infrastructure-supported assistance of a motor vehicle driven at least partially automatically within a parking lot. The first system 101 is installed within a first parking lot 103. The parking lot 103 comprises several parking spaces 105 for motor vehicles and a roadway 107 for motor vehicles, which defines a driving path for motor vehicles. The parking spaces 105 are arranged perpendicular to the driving path 107: 5 parking spaces 105 above the driving path 107 and 5 parking spaces 105 below the driving path 107, relative to the plane of the paper. Two motor vehicles 108 are shown as examples, one of which is parked in the second, upper parking space 105 from the left, and the other of which is parked in the second, lower parking space 105 from the left.

[0065] System 101 comprises a first base unit 109, a second base unit 111, and a third base unit 113, which are arranged along the driving path 107, for example, on a ceiling (not shown) of the parking lot 103. The three base units 109, 111, 113 each comprise a first network switch 115 and a second network switch 117.

[0066] Using the corresponding first network switches 115, the first base unit 109 is connected in series with the second base unit 111, and the second base unit 111 is connected in series with the third base unit 113. Each connection between the base units 109, 111, and 113 is represented by a line with the reference symbol 118. The respective connection 118 is, for example, an Ethernet connection.

[0067] Using the corresponding second network switches 117, the three base units 109, 111, 113 are each connected to environmental sensors 119, which are arranged in the respective vicinity of the three base units 109, 111, 113 within the parking area 103. The environmental sensors 119 are included by the first system 101. Each connection between the base units 109, 111, 113 and the environmental sensors 119 is marked with lines bearing the reference numeral 121, whereby, for the sake of clarity, the corresponding lines with the reference numeral 121 are only marked for the first base unit 109.

[0068] It is intended that the individual base units 109, 111, 113 are not connected to all environmental sensors 119 located within the parking lot, but only to those in their immediate vicinity. For example, it is intended that an environmental sensor 119 is arranged at each corner of the parking spaces 105. The three base units 109, 111, 113 are each connected to four environmental sensors, one for an upper parking space and one for a lower parking space 105, thus to a total of eight environmental sensors 119.

[0069] The environmental sensors 119 each detect an area of ​​the parking lot 103 and transmit corresponding environmental sensor data to the respective base units 109, 111, 113. Based on the environmental sensor data, the corresponding base units 109, 111, 113 determine infrastructure assistance data.

[0070] The three base units 109, 111, 113 each include a wireless communication interface 122, by means of which they wirelessly transmit the infrastructure assistance data to a motor vehicle.

[0071] In an embodiment not shown, the first system 101 comprises one or more wireless communication interfaces which are arranged separately from the base units 109, 111, 113 within the parking space 103.

[0072] Furthermore, the three base units 109, 111, 113 are supplied with electrical energy via an electrical line 123. It is provided that each of the three base units 109, 111, 113 is electrically connected to the electrical line 123 via an electrical connection 125. The electrical connection 125 is, for example, a socket or a junction box, from which an electrical cable leads to the respective base unit.

[0073] By connecting the three base units 109, 111, 113 in a series, they form a daisy chain, which is symbolically indicated by a curly bracket with the reference symbol 127.

[0074] Fig. 2 Figure 1 shows a schematic top view of a second system 201 for infrastructure-supported assistance of a motor vehicle driven at least partially automatically within a parking space. The second system 201 is installed within a second parking space 203. The second system 201 and the second parking space 203 include the respective features of the first system 101 and the first parking space 103. Therefore, a further description is omitted. The additional features are described below.

[0075] Lane 107 merges into another lane 205, which provides a further route for motor vehicles. Lane 107 merges into lane 205 from the right (relative to the plane of the diagram), meaning that lane 205 is located to the left of lane 107 (relative to the plane of the diagram). Lane 205 runs vertically (relative to the plane of the diagram) and connects entrance 207 with exit 209 of the second parking lot 203.

[0076] Between the junction and entrance 207, a fourth basic unit 211 is arranged along the further carriageway 205, for example on a ceiling of the second parking lot 203. Between the junction and exit 209, a fifth basic unit 213 is arranged along the further carriageway 205, for example on a ceiling of the second parking lot 203.

[0077] The fourth and fifth base units 211 and 213 are identical to the three base units 109, 111, and 113 of the first system 101. The fourth base unit 211 is connected in series with the first base unit 109 via the respective first network switch 115. This connection is designated with a line bearing the reference 215. The fifth base unit 213 is connected in series with the first base unit via the respective first network switch 115. This connection is designated with a line bearing the reference 217. Connections 215 and 217 are, for example, Ethernet connections.

[0078] Thus, the Daisy Chain 127 splits into two sub-branches: the connection 215 and the connection 217.

[0079] Not shown, but present nonetheless, is a splitting of the electrical line for the purpose of supplying the fourth and fifth base units 211, 213 with electrical energy.

[0080] Analogous to the three base units 109, 111, 113, the base units 211, 213 are also not connected to all environmental sensors 119 located within the second parking space 203. Rather, the fourth base unit 211 is connected to two environmental sensors 119 via the corresponding second network switch 117, and the fifth base unit 213 is connected to two environmental sensors 119 via the corresponding second network switch 117, with these environmental sensors 119 being located in the immediate vicinity of the two base units 211, 213.

[0081] Fig. 3 shows a flowchart of an infrastructure-supported assistance system for a motor vehicle that is at least partially automated within a parking lot, using the system according to the first aspect, comprising the following steps: 301 Determine, using at least one of the first and second basic units, infrastructure assistance data for infrastructure-supported assistance of the motor vehicle, which is at least partially automated within the parking lot, based on the corresponding environmental sensor data, 303 Send the determined infrastructure assistance data to the motor vehicle using at least one wireless communication interface.

[0082] In one embodiment, the method comprises a step of detecting the relevant area of ​​the at least one environmental sensor.

[0083] Fig. 4 Figure 401 shows a machine-readable storage medium on which a computer program 403 is stored. The computer program 403 comprises instructions which, when executed by a computer, for example by the system according to the first aspect, cause the computer program 403 to execute a procedure according to the second aspect.

[0084] In summary, the concept is based on the use of an edge computing architecture, where a small number of environmental sensors (for example, 4 to 16) are connected to a base unit. Calculations—that is, determining the infrastructure assistance data required for at least partially automated driving of the AVP vehicle—are performed on a base unit located near the vehicle's current position within the parking lot. This means that environmental sensor data only needs to be collected from sensors near the base unit. This drastically reduces the required network bandwidth.

[0085] It also eliminates the need for the central server(s), so that no server room is required.

[0086] Base units are connected to neighboring base units in a daisy chain. This allows environmental sensor data to be collected from sensors connected to the adjacent base unit, if needed. Using a daisy chain instead of a tree topology reduces cabling requirements.

[0087] The complexity of the system is also reduced, as only two types of hardware need to be installed in the parking lot: environmental sensors and base units.

[0088] For example, environmental sensors (such as cameras) are provided that cover part of the driving path and are connected to a base unit that is located in that part of the driving path.

[0089] For example, base units, which can also be generally referred to as computing units, are arranged along the route that the AVP vehicle typically travels. The base units are connected to their neighbors along this route. At intersections or junctions where the AVP vehicle can take two or more different directions, the daisy chain also splits into two or more branches.

[0090] For example, it is planned that algorithms, in particular all algorithms required in the infrastructure for controlling the AVP vehicle, will be executed on a base unit located near the AVP vehicle, i.e., in the segment of the route where the AVP vehicle is currently located. This will drastically reduce network bandwidth.

[0091] For example, each base unit is designed to include a wireless communication endpoint, the wireless communication interface, to enable direct communication with the AVP vehicle. Therefore, communication can only be advantageously carried out over short distances.

[0092] A base unit includes, for example: a first network switch that enables connection to two or more adjacent base units, a second network switch that enables all environmental sensors, for example 8 environmental sensors, as shown in Fig. 1 shown, to connect the base unit to a computing device for executing algorithms, wherein the computing device has, for example, a standard x86 CPU, wherein the computing device has, for example, one or more processors, and a wireless communication interface, which is, for example, a WLAN access point, to enable a wireless connection with the AVP vehicle.

[0093] When the AVP vehicle is near a base unit, the base unit receives environmental sensor data from all environmental sensors connected to it and, if necessary, also from environmental sensors connected to a neighboring base unit. In this case, the neighboring base unit will send the corresponding environmental sensor data to the base unit. However, it is never necessary to receive environmental sensor data from a distant sensor, as this data is unlikely to be relevant to the AVP vehicle. Therefore, no high network bandwidth is required.

[0094] The base unit then locates the AVP vehicle using environmental sensor data. Based on this data, the base unit detects, for example, free spaces, calculates a driving authorization for the vehicle, and transmits this infrastructure assistance data (information about free spaces, driving authorization) to the AVP vehicle via the wireless communication interface, such as the integrated WLAN access point.

[0095] When the AVP vehicle moves into the vicinity of the nearest base unit, these tasks are handed off to the nearest base unit. Thus, the algorithms are always executed on a base unit near the AVP vehicle. This reduces network traffic and allows multiple AVP vehicles to assist in parallel. Two AVP vehicles will always be far enough apart that the calculations for driving the AVP vehicles can be performed on different base units.

[0096] Since several base units are installed within the parking lot, there are enough base units to enable redundant calculations, which are necessary to achieve the required safety integrity.

[0097] The interconnected base units form a daisy chain. This daisy chain is configured, for example, to follow the paths an AVP vehicle can take in a parking lot. This means that at intersections, the daisy chain runs in more than two directions, allowing the AVP vehicle to move in all directions and continue receiving assistance.

[0098] The daisy chain is also connected to the internet, for example. This allows each base unit to connect to a backend, enabling remote monitoring and maintenance of the system.

[0099] To reduce power consumption, the base units can be put into sleep mode and woken up again as needed. When a base unit is asleep, it also puts the connected environmental sensors into sleep mode. However, it ensures that the daisy chain is not interrupted during sleep.

Claims

1. System (101, 201) for infrastructure-based assistance of a motor vehicle guided in an at least partially automated manner within a parking area (103, 203), comprising: a first base unit (109) and a second base unit (111) which are arranged at a distance from one another within the parking area (103, 203) and are connected in series with one another, characterized in that the first base unit (109) and the second base unit (111) are each connected to at least one environment sensor (119) which is arranged within the parking area (103, 203) in the respective environment of the corresponding base unit and captures a region of the parking area, wherein the first and the second base unit (109, 111) are each configured to determine infrastructure assistance data for infrastructure-based assistance of the motor vehicle guided in an at least partially automated manner within the parking area (103, 203) on the basis of environment sensor data from the respective at least one environment sensor (119) that represent the respective captured region, at least one wireless communication interface which is configured to send the determined infrastructure assistance data to the motor vehicle.

2. System (101, 201) according to Claim 1, wherein the first and the second base unit (109, 111) are each configured to determine the infrastructure assistance data on the basis of the environment sensor data from the at least one environment sensor (119) of the respective other base unit.

3. System (101, 201) according to Claim 1 or 2, wherein the first and the second base unit (109, 111) each comprise a first communication device, in particular a first network switch (115), and a second communication device, in particular a second network switch (117), wherein the connection between the first and the second base unit (109, 111) is formed using the two first communication devices, and wherein the respective connection between the at least one environment sensor (119) and the corresponding base unit is formed using the corresponding second communication device.

4. System (101, 201) according to one of the preceding claims, wherein the first and the second base unit (109, 111) are arranged along a route of the parking area (103, 203).

5. System (101, 201) according to one of the preceding claims, wherein the first and the second base unit (109, 111) are configured to track the motor vehicle on the basis of the environment sensor data and to control the respective sending of infrastructure data by means of the corresponding wireless communication interface on the basis of the tracking.

6. System (101, 201) according to one of the preceding claims, comprising a third base unit (113) which is arranged within the parking area (103, 203) and is connected in series with the first or the second base unit (109, 111), wherein the third base unit (113) is connected to at least one environment sensor (119) which is arranged within the parking area (103, 203) in the environment of the third base unit (113) and captures a region of the parking area (103, 203), wherein the third base unit (113) is configured to determine infrastructure assistance data for infrastructure-based assistance of the motor vehicle guided in an at least partially automated manner within the parking area (103, 203) on the basis of environment sensor data from the at least one environment sensor (119) that represent the respective captured region.

7. System (101, 201) according to one of the preceding claims, wherein the at least one wireless communication interface is included in each case in at least one base unit (109, 111, 113).

8. Method for infrastructure-based assistance of a motor vehicle guided in an at least partially automated manner within a parking area (103, 203) using the system (101, 201) according to one of the preceding claims, characterized in that it comprises the following steps: determining (301), by means of at least one of the first and the second base unit (109, 111), infrastructure assistance data for infrastructure-based assistance of the motor vehicle guided in an at least partially automated manner within the parking area (103, 203) on the basis of the corresponding environment sensor data, and sending (303) the determined infrastructure assistance data to the motor vehicle by means of the at least one wireless communication interface.

9. Computer program (403) comprising instructions which, when the computer program is executed by a computer, cause the latter to perform a method according to Claim 8.

10. Machine-readable storage medium (401) on which the computer program (403) according to Claim 9 is stored.