Method for finding an emergency parking position for a motor vehicle

Abstract

The invention relates to a method for finding an emergency parking position for safely parking a motor vehicle in the event of an emergency using at least one drone which has a monitoring device. The method has the following steps: generating control signals for controlling the at least one drone such that upon controlling the drone on the basis of the generated control signals, the at least one drone monitors the surroundings of the motor vehicle using the monitoring device of the drone and outputs monitoring data based on the monitoring process, outputting the generated control signals in order to control the at least one drone on the basis of the generated control signals, receiving the monitoring data from the at least one drone after the generated control signals are output, analyzing the monitoring data in order to find an emergency parking position for safely parking the motor vehicle in the event of an emergency, and outputting the result of the analysis of the monitoring data. The invention relates to a device, to a system for finding an emergency parking position for safely parking a motor vehicle in the event of an emergency, to a computer program, and to a machine-readable storage medium.

Description

[0001] Description

[0002] title

[0003] Method for finding an emergency parking position for a motor vehicle

[0004] The invention relates to a method for finding an emergency parking position for safely parking a motor vehicle in an emergency, a system for finding an emergency parking position for safely parking a motor vehicle in an emergency, a device, a computer program and a machine-readable storage medium.

[0005] State of the art

[0006] The published patent application DE 10 2016 215 301 A1 discloses a method for assisting a parking process of a vehicle using a drone.

[0007] The published patent application DE 10 2020 005 596 A1 discloses a method for rear-space monitoring using an unmanned aerial vehicle.

[0008] The patent US 9,371,133 B2 discloses a drone system for assisting the reversing of a truck.

[0009] The published patent application US 2019 / 0227555 A1 discloses a method and a system for assisting a vehicle while driving on a road using a drone.

[0010] Publication US 2020 / 0005642 A1 discloses a method for moving a parked vehicle for an emergency response vehicle using a drone. Publication US 2020 / 0285255 A1 discloses a method for warning a cyclist of a moving vehicle using a drone.

[0011] The published patent application US 2021 / 0064020 A1 discloses a method for controlling a vehicle using a drone.

[0012] Disclosure of the invention

[0013] The object underlying the invention is to provide a concept for efficiently finding an emergency parking position for safely parking a motor vehicle in an emergency.

[0014] The object is achieved by means of the respective subject matter of the independent claims. Advantageous embodiments of the invention are the subject matter of the respective dependent subclaims.

[0015] According to a first aspect, a method is provided for finding an emergency parking position for safely parking a motor vehicle in an emergency using at least one drone having a monitoring device, comprising the following steps: generating control signals for controlling the at least one drone such that when controlling the drone based on the generated control signals, the at least one drone monitors an environment of the motor vehicle by means of its monitoring device and outputs monitoring data based on the monitoring,

[0016] Outputting the generated control signals to control the at least one drone based on the generated control signals, after outputting the generated control signals, receiving the monitoring data from the at least one drone,

[0017] Analyzing the monitoring data to find an emergency parking position for safely parking the motor vehicle in an emergency, and outputting an analysis result of the analysis of the monitoring data. According to a second aspect, a device is provided that is configured to carry out all steps of the method according to the first aspect.

[0018] According to a third aspect, a system for finding an emergency parking position for safely parking a motor vehicle in an emergency is provided, comprising: at least one drone, wherein the at least one drone has a monitoring device, and the device according to the second aspect.

[0019] According to a fourth aspect, a computer program is provided which comprises instructions which, when the computer program is executed by a computer, for example by the device according to the second aspect and / or by the system according to the third aspect and / or by a drone comprising a monitoring device, cause the computer to carry out a method according to the first aspect.

[0020] According to a fifth aspect, a machine-readable storage medium is provided on which the computer program according to the fourth aspect is stored.

[0021] The invention is based on and includes the finding that the above object can be achieved by using one or more drones to find a suitable emergency parking position at which the motor vehicle can be parked safely in an emergency. The at least one drone, i.e. the one or more drones, are controlled in such a way that they monitor the surroundings of the motor vehicle using their respective monitoring device and output monitoring data based on the monitoring. Thus, knowledge about the surroundings of the motor vehicle is advantageously and efficiently available. This knowledge is used to search for suitable emergency parking positions at which the motor vehicle can be parked safely in an emergency.The use of one or more drones for this purpose has the particular technical advantage that a drone's monitoring device can also monitor areas in the vehicle's surroundings that cannot be monitored by the vehicle's own environmental sensor or by the vehicle's own environmental sensors. For example, an environmental sensor of a motor vehicle has a certain range. The drone, however, can be controlled in such a way that it monitors an area of ​​the vehicle's surroundings that lies outside the range of the vehicle's environmental sensor. This provides information about the vehicle's surroundings that would not be available through the vehicle's own environmental sensors.

[0022] This therefore provides the technical advantage that one or more suitable emergency parking positions can be searched for efficiently, so that as a result even those emergency parking positions in the vicinity of the motor vehicle can be found efficiently which could not be found by a vehicle's own environmental sensor.

[0023] In summary, a concept is provided for efficiently finding an emergency parking position for safely parking a motor vehicle in an emergency.

[0024] Parking means, in particular, that the motor vehicle is stopped while driving, i.e., while moving. This means, in particular, that the motor vehicle for which an emergency parking position is being sought or for which an emergency parking position is to be found is a moving or moving motor vehicle. The phrase "for a safe parking of a motor vehicle" can thus be supplemented, for example, as follows: "for a safe parking of a moving motor vehicle" or "for a safe parking of a moving motor vehicle." Thus, especially with a motor vehicle, it can always be understood that the motor vehicle is driving or moving, i.e., that it is a moving or moving motor vehicle. The motor vehicle therefore has a speed greater than 0 km / h. The motor vehicle is therefore not at a standstill, i.e., is not already parked.

[0025] The wording "parked" thus clarifies that the motor vehicle is currently in motion, i.e., moving, and not already parked. A parked motor vehicle cannot be parked again.

[0026] This means in particular that at the time or at the time at which an emergency parking position for the motor vehicle is searched for based on the monitoring data according to the concept described here, the motor vehicle is driving, i.e. moving, and is not already parked.

[0027] The monitoring data is therefore analyzed in particular to find an emergency parking position for the safe parking of the moving or driving motor vehicle in an emergency

[0028] An emergency or emergency situation is, in particular, a situation in which there is an imminent danger to property, in particular the motor vehicle, animals, or the physical integrity of people, in particular the occupants of the motor vehicle. An emergency or emergency situation is, in particular, a situation in which the motor vehicle malfunctions, i.e., in which a component and / or system of the motor vehicle malfunctions. A motor vehicle system, for example, is a driver assistance system. An emergency or emergency situation is, in particular, a situation in which an at least partially automated driving function of the motor vehicle exhibits a fault. The terms "emergency" and "emergency situation" can be used synonymously.

[0029] When the singular is used for a drone in the description, the plural should always be included, and vice versa. Statements made in connection with one drone apply analogously to multiple drones, and vice versa.

[0030] The phrase "at least one" means "one or more." This means, in particular, that, for example, multiple drones can be used. Multiple drones can be identical, for example, or different.

[0031] For example, the surveillance devices of the drones are at least partially, in particular all, identical or are at least partially, in particular all, different.

[0032] A monitoring device within the meaning of the description includes, for example, one or more environmental sensors. This means, in particular, that the drone has, for example, one or more environmental sensors. The drone is thus, in particular, equipped with one or more environmental sensors.

[0033] For example, an environmental sensor of a monitoring device detects the surroundings of the motor vehicle and outputs environmental sensor data based on this detection. Such environmental sensor data is included, for example, in the monitoring data.

[0034] This means in particular that monitoring within the meaning of the description includes detecting the surroundings of the motor vehicle by means of an environment sensor of the monitoring device.

[0035] When the singular is used for the environmental sensor, the plural should always be included, and vice versa. Statements made in connection with one environmental sensor apply analogously to multiple environmental sensors, and vice versa.

[0036] An environmental sensor within the meaning of the description is, for example, one of the following environmental sensors: LiDAR sensors, radar sensors, image sensors, in particular image sensors of a video camera or a stereo camera, ultrasonic sensors, infrared sensors and magnetic field sensors.

[0037] For example, environmental sensors can be identical or they can be different.

[0038] In one embodiment of the method, this comprises a step of controlling the at least one drone based on the output control signals.

[0039] In one embodiment of the method, this comprises a step of monitoring the surroundings of the motor vehicle by means of the at least one drone.

[0040] In one embodiment of the method, this comprises a step of detecting the surroundings of the motor vehicle by means of an environment sensor of the monitoring device.

[0041] In one embodiment of the method, this comprises a step of wirelessly transmitting the output control signals to the at least one drone. Such wireless transmission includes, for example, transmitting the control signals via a wireless communications network, for example, a cellular network and / or Wi-Fi network.

[0042] Receiving the monitoring data comprises, for example, wirelessly receiving the monitoring data, in particular wirelessly receiving the monitoring data via a wireless communication network, for example a mobile network and / or a WLAN network.

[0043] In one embodiment of the method, this is a computer-implemented method.

[0044] The embodiments and exemplary embodiments described in the description can be combined with each other in any way, even if this is not explicitly described. The analysis result indicates, for example, whether an emergency parking position was found or not. If an emergency parking position is found, the analysis result indicates, for example, the position of the emergency parking position found.

[0045] For example, multiple emergency parking positions may be found. Statements made in connection with one emergency parking position apply analogously to multiple emergency parking positions, and vice versa.

[0046] Analyzing the monitoring data includes, for example, processing the monitoring data. Processing the monitoring data is performed, for example, using one processor or multiple processors. This means, for example, that the analysis can be performed using one computer or multiple computers.

[0047] In one embodiment of the method, it is provided that the analysis comprises determining a risk measure for a found emergency parking position, which indicates how endangered the motor vehicle would be in the found emergency parking position and / or how endangered an environment of the found emergency parking position would be if the motor vehicle were parked in the found emergency parking position.

[0048] This provides, for example, the technical advantage that it is possible to efficiently estimate the extent to which the motor vehicle itself would be at risk if it were parked in the emergency parking position found and / or the extent to which the surroundings of the emergency parking position found would be at risk if the motor vehicle were parked in the emergency parking position found.

[0049] The hazard level indicates, for example, the risk of collision between the motor vehicle and one or more road users in the vicinity or surroundings of the motor vehicle if the motor vehicle were parked in the emergency parking position.

[0050] A road user is, for example, one of the following road users: pedestrian, motor vehicle, motorcycle, cyclist.

[0051] The hazard, i.e. how endangered the motor vehicle and / or the surroundings of the emergency parking position found would be if the motor vehicle were parked in the emergency parking position found, is quantified in particular by the hazard level.

[0052] In one embodiment of the method, it is provided that dimension signals are received which represent one or more dimensions of the motor vehicle, wherein the monitoring data are analyzed based on the dimension signals, wherein the analysis comprises checking a found emergency parking position to determine whether the motor vehicle can be parked in the found emergency parking position based on its dimension or dimensions.

[0053] This provides the technical advantage, for example, that a found emergency parking position can be efficiently checked for its suitability, i.e. whether the motor vehicle actually fits into the found emergency parking position due to its size, i.e. due to its dimensions.

[0054] For example, a dimension is one of the following dimensions: length, width, height.

[0055] In one embodiment of the method, it is provided that the analysis includes checking that a found emergency parking position is accessible for the motor vehicle.

[0056] This provides, for example, the technical advantage of being able to efficiently ensure that an emergency parking position found is actually accessible for the motor vehicle, i.e. whether the motor vehicle can actually access the emergency parking position found.

[0057] Checking whether an emergency parking position found is accessible for the motor vehicle at all includes, for example, checking whether an entrance to the emergency parking position, in particular an entrance to a lay-by, is wide enough for the motor vehicle to drive through the entrance, and / or checking whether there are one or more objects in front of the emergency parking position, for example a construction site marking or a pillar, for example a construction site pillar, which could hinder or prevent entry into the emergency parking position, and / or checking whether an entry radius required for entry into the emergency parking position is possible for the motor vehicle due to a maximum possible steering angle of the motor vehicle.

[0058] In one embodiment of the method, it is provided that error signals are received which represent an error in an at least partially automated driving function of the motor vehicle, wherein the monitoring data are analyzed based on the error signals, wherein the analysis comprises checking whether the emergency parking position found for the motor vehicle can be approached at least partially automatically despite the error in the at least partially automated driving function.

[0059] This provides, for example, the technical advantage of efficiently ensuring that an emergency parking position found can be approached by the motor vehicle at least partially automatically.

[0060] An error could, for example, involve the failure of one or more of the vehicle's environmental sensors. It can be checked, for example, whether the emergency parking position found can be approached at least partially automatically despite the failure.

[0061] Checking whether the identified emergency parking position for the motor vehicle can be approached at least partially automatically despite the error in the at least partially automated driving function includes, for example, checking whether the identified emergency parking position for the motor vehicle can be approached at least partially automatically with limited functionality. Limited functionality includes, for example, driving at a lower speed than if the at least partially automated driving function does not exhibit an error. Thus, for example, the identified emergency parking position can still be approached at least partially automatically, albeit at a lower speed.

[0062] The phrase "at least partially automated" encompasses one or more of the following cases: assisted, partially automated, highly automated, or fully automated. The phrase "at least partially automated" therefore encompasses one or more of the following: assisted, partially automated, highly automated, or fully automated.

[0063] Assisted driving means that a driver of a motor vehicle continuously performs either the lateral or longitudinal control of the vehicle. The other driving task (i.e., controlling the longitudinal or lateral control of the vehicle) is performed automatically. This means that with assisted driving, either the lateral or longitudinal control is controlled automatically.

[0064] Partially automated guidance means that the longitudinal and lateral guidance of the vehicle is automatically controlled 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 specific period of time. The driver of the vehicle does not have to manually control the longitudinal and lateral guidance of the vehicle. However, the driver must continuously monitor the automatic control of the longitudinal and lateral guidance in order to intervene manually if necessary. The driver must be ready to fully assume control of the vehicle at any time.Highly automated guidance means that for a certain period of time in a specific situation (for example: driving on a motorway, driving in a parking lot, overtaking an object, driving in a lane defined by lane markings), the longitudinal and lateral guidance of the motor vehicle are automatically controlled. The driver of the motor vehicle does not have to manually control the longitudinal and lateral guidance of the vehicle. The driver does not have to constantly monitor the automatic control of the longitudinal and lateral guidance in order to be able to intervene manually if necessary. If necessary, a takeover request is automatically issued to the driver to take over control of the longitudinal and lateral guidance, in particular with a sufficient time reserve. The driver must therefore potentially be able to take over control of the longitudinal and lateral guidance.Limits of automatic control of lateral and longitudinal guidance are automatically detected. With highly automated guidance, it is not possible to automatically achieve a risk-minimal state in every initial situation.

[0065] Fully automated guidance means that in a specific situation (e.g. driving on a motorway, driving within a parking lot, overtaking an object, driving within a lane defined by lane markings), the longitudinal and lateral guidance of the vehicle are automatically controlled. The driver of the vehicle does not have to manually control the longitudinal and lateral guidance of the vehicle. The driver does not have to monitor the automatic control of the longitudinal and lateral guidance in order to intervene manually if necessary. Before the automatic control of the lateral and longitudinal guidance is terminated, the driver is automatically prompted to take over the driving task (controlling the lateral and longitudinal guidance of the vehicle), particularly with a sufficient time reserve. If the driver does not take over the driving task, the vehicle is automatically returned to a state with minimal risk.Limits of the automatic control of lateral and longitudinal guidance are automatically detected. In all situations, it is possible to automatically return to a system state with minimal risk. In one embodiment of the method, emergency route signals are generated, representing an emergency route from a starting position to a found emergency parking position for the motor vehicle, and the generated emergency route signals are output.

[0066] This provides the technical advantage, for example, that the vehicle can be efficiently guided to the identified emergency parking location. In particular, the determined emergency route is provided to the vehicle, based on which the vehicle can drive to the identified emergency parking location.

[0067] The starting position could be, for example, the current position of the vehicle or a future position of the vehicle. The future position of the vehicle can, for example, be predicted.

[0068] In one embodiment of the method, it is provided that the analysis includes determining the optimal emergency parking position when several emergency parking positions are found.

[0069] This provides, for example, the technical advantage of efficiently ensuring that an optimal emergency parking position for the motor vehicle is found in terms of safe parking.

[0070] An optimal emergency parking position is, for example, the closest emergency parking position relative to the motor vehicle and to the direction of travel of the motor vehicle. An optimal emergency parking position is, for example, the one of the emergency parking positions found that offers the most space for parking the motor vehicle. An optimal emergency parking position is, for example, the one of the emergency parking positions found that is easiest to reach for parking the motor vehicle. Best can, for example, mean that there are no objects that hinder or prevent driving into the emergency parking position. Best can, for example, in addition to or instead of, mean that the required entry radius is minimal in relation to the required entry radius of the other emergency parking positions.

[0071] In one embodiment of the method, it is provided that route signals are received which represent a current route of the motor vehicle on the basis of which the motor vehicle is currently traveling, wherein the control signals are generated based on the route signals and / or wherein the monitoring data are analyzed based on the route signals.

[0072] This results in the technical advantage, for example, that the control signals can be generated efficiently and / or that the monitoring data can be analyzed efficiently.

[0073] According to this embodiment, knowledge is available about where the motor vehicle intends to travel. Accordingly, the drone can be specified via the control signals which area in the vicinity of the motor vehicle the drone should monitor using its monitoring device, so that the drone subsequently monitors this area using its monitoring device in accordance with the control signals. For example, the control signals specify that the drone should monitor an area in the vicinity of the motor vehicle that, according to the motor vehicle's current route, lies in front of the motor vehicle in the direction of travel.

[0074] If it is known where the motor vehicle intends to go, the area in front of the motor vehicle in the direction of travel of the current route can also be analyzed for possible emergency parking positions, so that the monitoring data can be analyzed efficiently.

[0075] According to one embodiment of the method, it is provided that environmental signals are received which represent the environment of the motor vehicle, wherein the control signals are generated based on the environmental signals and / or wherein the monitoring data are analyzed based on the environmental signals.

[0076] This results in the technical advantage, for example, that the control signals can be generated efficiently and / or that the monitoring data can be analyzed efficiently.

[0077] According to this embodiment, additional knowledge about the surroundings of the motor vehicle is available, which can be used together with the monitoring data to search for suitable emergency parking positions and to find them accordingly. If additional knowledge about the surroundings of the motor vehicle is available, the drone can be advantageously controlled in an efficient manner so that it does not collide with infrastructure objects, for example. An infrastructure object is, for example, a building, a traffic light, a mast, or a traffic sign. Objects with which the drone could collide include, for example, vegetation, for example trees and / or bushes. Knowledge about such vegetation can, for example, also be represented by the environmental signals.

[0078] In one embodiment of the method, it is provided that the environmental signals comprise environmental signals sent by another motor vehicle which is located in front of the motor vehicle with respect to a direction of travel of the motor vehicle.

[0079] This provides, for example, the technical advantage that particularly suitable environmental signals can be used for generating the control signals and / or for analyzing the monitoring data. According to this embodiment, the additional knowledge about the surroundings of the motor vehicle is thus provided by another motor vehicle, which, using its own environmental sensor(s), detects its own environment. Naturally, this own environment is encompassed by the surroundings of the motor vehicle, so that corresponding knowledge about the surroundings of the motor vehicle, which is located in the direction of travel, can be provided efficiently.

[0080] In one embodiment of the method, it is provided that the environmental signals comprise map signals which represent a digital map of the environment of the motor vehicle.

[0081] This provides, for example, the technical advantage that particularly suitable environmental signals can be used for generating the control signals and / or for analyzing the monitoring data. According to this embodiment, a digital map of the motor vehicle's surroundings is thus provided.

[0082] In one embodiment of the method, it is provided that one, several or all method steps are carried out on the motor vehicle side and / or the infrastructure side and / or the drone side.

[0083] This results in the technical advantage, for example, that the individual process steps can be carried out efficiently.

[0084] In one embodiment of the method, it is provided that the method is only started in an emergency or that the method is started proactively before an emergency occurs.

[0085] This results in the technical advantage, for example, that the process can be carried out efficiently.

[0086] The proactive embodiment has the advantage, for example, that an emergency parking position can be approached if it is determined that, although there is currently no emergency, one will occur in the foreseeable future, in particular with a predetermined probability. Whether an emergency will occur in the foreseeable future can be determined, for example, based on diagnostic data from the motor vehicle. Thus, for example, subsequent errors and / or vehicle damage and / or vehicle defects that could result from an emergency can be avoided or at least reduced in severity.

[0087] If the process is only initiated in an emergency, the resources required for the process, especially computing resources, can be used efficiently. For example, the drone's energy storage system can be used efficiently, as it is only started when an emergency occurs.

[0088] In one embodiment of the method, it is provided that, based on the analysis result, infrastructure assistance data for infrastructure-supported assistance of the motor vehicle during an at least partially automated journey to a found emergency parking position are determined and sent to the motor vehicle.

[0089] This provides, for example, the technical advantage that infrastructure assistance data can be determined efficiently.

[0090] Infrastructure assistance data includes, for example, a recommended course of action for the motor vehicle and / or remote control commands for remotely controlling the lateral and / or longitudinal guidance of the motor vehicle. Infrastructure assistance data includes, for example, the analysis result. Infrastructure assistance data includes, for example, the determined emergency route from the starting position to the found emergency parking position.

[0091] In one embodiment of the method, it is provided that, based on the analysis result, motor vehicle control signals for at least partially automated control of a lateral and / or longitudinal guidance of the motor vehicle are generated and output.

[0092] This provides, for example, the technical advantage that the motor vehicle control signals can be generated efficiently. In one embodiment of the method, this includes a step of controlling a lateral and / or longitudinal guidance of the motor vehicle based on the output motor vehicle control signals.

[0093] In one embodiment of the method, it is provided that the control signals are generated in such a way that, when controlling the drone based on the generated control signals, monitoring the surroundings includes monitoring road traffic in the surroundings of the motor vehicle.

[0094] This provides the technical advantage, for example, of efficiently monitoring road traffic in the vicinity of the motor vehicle. This additional information can be advantageously used to determine the route from the starting position to the identified emergency parking position, and / or can be advantageously used, for example, to find a suitable emergency parking position, and / or can be used, for example, to determine the degree of danger.

[0095] In one embodiment of the method, it is provided that the monitoring data and / or the analysis result are sent to a traffic control center.

[0096] This provides, for example, the technical advantage of enabling the traffic control center to efficiently plan one or more actions based on the analysis result and / or the monitoring data and, for example, to control and / or coordinate them accordingly.

[0097] In one embodiment of the method, in an emergency, a message is sent to one or more road users in the vicinity of the motor vehicle, informing them of the emergency and / or the emergency parking location found and / or the process of parking the motor vehicle at the emergency parking location found. This provides, for example, the technical advantage that the one or more road users can be efficiently informed of the emergency and / or the emergency parking location found and / or the process of parking the motor vehicle at the emergency parking location found. These road users can respond accordingly in an efficient manner.

[0098] In one embodiment of the method, it is provided that the control signals are generated in such a way that, when controlling the drone based on the generated control signals, the monitoring of the surroundings comprises live monitoring of the surroundings of the motor vehicle, so that the monitoring data comprise live monitoring data.

[0099] This provides the technical advantage, for example, that the vehicle's surroundings are efficiently monitored so that suitable emergency parking positions can be found efficiently.

[0100] Device features and / or system features arise analogously from corresponding process features, and vice versa. Statements made in connection with the process and / or device and / or system apply analogously to statements made in connection with the system and / or device and / or process, and vice versa.

[0101] In one embodiment, the method is performed at a critical location. Such a critical location is, for example, a construction site, a tunnel, a motorway entrance, or a motorway exit.

[0102] This means in particular that the motor vehicle can be efficiently supported by at least one drone when driving through such a critical location.

[0103] In one embodiment of the method, it is provided that the at least one drone is assigned to the motor vehicle. This means, for example, that the at least one drone belongs to the motor vehicle and is used or deployed by the motor vehicle. This means, for example, that the at least one drone is controlled by means of the motor vehicle. This means, in particular, that the control signals are generated and output by the motor vehicle. The motor vehicle sends the generated and output control signals wirelessly, for example to the at least one drone in order to control it. For example, the at least one drone accompanies the motor vehicle and flies ahead of the motor vehicle, for example with respect to the direction of travel of the motor vehicle. For example, the motor vehicle launches the at least one drone upon detection of an error, for example an error in an at least partially automated driving function of the motor vehicle.For example, the vehicle launches at least one drone in an emergency.

[0104] In one embodiment of the method, it is provided that the at least one drone is assigned to an infrastructure. This means, for example, that the at least one drone belongs to the infrastructure. The at least one drone is, for example, assigned to the critical location, for example a road or a critical road section. This means, for example, that the at least one drone waits at such a critical location for its deployment and is then activated accordingly. The at least one drone can, for example, fly continuously and, for example, also be used for other tasks if it is not currently intended to be used for the method for finding an emergency parking position according to the first aspect. The control of the at least one drone can, for example, be carried out on the infrastructure side, i.e. by the infrastructure. This means that the control signals are generated and output on the infrastructure side.The infrastructure transmits the output control signals, for example, wirelessly to the at least one drone. A road management and / or drone system can be provided within the infrastructure to perform this control. In the embodiment according to which the drone is assigned to the infrastructure, the control can alternatively or additionally also be performed by the motor vehicle.

[0105] In one embodiment of the method, it is provided that status signals are received which represent a status of the motor vehicle, wherein the monitoring data are analyzed based on the status signals and / or wherein the control signals are generated based on the status signals.

[0106] This results in the technical advantage, for example, that the control signals can be generated efficiently and / or that the monitoring data can be analyzed efficiently.

[0107] The control signals are generated, for example, using a digital map of the surroundings of the motor vehicle. The control signals can be generated, for example, based on a current route of the motor vehicle. For example, the control signals for the at least one drone can be generated based on possible routes of the motor vehicle. This means that the control signals can be generated, for example, based on possible routes of the motor vehicle.

[0108] The status indicates, for example, the respective functionality of one, several, or all motor vehicle components. A motor vehicle component is, for example, one of the following motor vehicle components: drive system, braking system, environmental sensor, transmission, tires, steering system, control unit, in particular control unit for an at least partially automated driving function, driver assistance system, lighting system, actuator, communication interface, in particular mobile communications interface or WLAN interface.

[0109] In one embodiment of the method, the control signals are generated such that the at least one drone flies along all possible routes of the motor vehicle in front of the motor vehicle, relative to the direction of travel of the motor vehicle, and monitors them accordingly using its monitoring device. This means that according to this embodiment, the at least one drone searches for all possible emergency parking positions in the vicinity of the motor vehicle, which are located in front of the motor vehicle in relation to the direction of travel, without knowing the specific route or a specific destination of the motor vehicle.

[0110] In one embodiment of the method, known data about road areas, generally about the surroundings of the motor vehicle, is provided to or sent to the at least one drone. Such known data includes, for example, data about road width, the position of emergency bays, and the position of signs. Typically, this data includes data about stationary objects, for example, the location of such an emergency bay.

[0111] According to one embodiment, the data includes dynamic data, i.e., information about whether, for example, such an emergency bay is occupied or free. The monitoring device can check whether the bay is actually occupied or not. Generally, this known data can be validated by the at least one drone by analyzing and evaluating the monitoring data accordingly.

[0112] In one embodiment of the method, it is provided that data from one or more additional motor vehicles, which are located in front of the motor vehicle, particularly with respect to the direction of travel of the motor vehicle, are also used. This data is represented, for example, by the environmental signals described here, which are transmitted by another motor vehicle.

[0113] In one embodiment of the method, it is provided that the drones are used for validating known data, for example from the digital map and / or from the environmental signals which represent an environment of the motor vehicle, wherein these environmental signals are sent, for example, by another motor vehicle which is located in front of the motor vehicle with respect to a direction of travel of the motor vehicle.

[0114] In one embodiment of the method, it is provided that the at least one drone is completely controlled by the motor vehicle and / or the infrastructure.

[0115] In one embodiment of the method, the at least one drone is a smart drone. This means that the at least one drone can autonomously monitor the surroundings of the motor vehicle or the surroundings of the motor vehicle. The at least one drone controls and operates itself.

[0116] In one embodiment of the method, it is provided that the at least one drone learns with each use, in particular using machine learning methods.

[0117] For example, a machine learning process checks whether a planned target could be achieved in a previous execution of the process. One target, for example, is whether the emergency parking position found was accessible and / or offered sufficient space, i.e., sufficiently large.

[0118] For example, a machine learning process checks whether the dimensions of the motor vehicle and the determined dimensions of the emergency parking position matched in an earlier execution of the process, i.e. whether the motor vehicle fit into the emergency parking position found at that time or whether the motor vehicle would have needed a larger emergency parking position at that time.

[0119] For example, a machine learning process checks whether a planned target trajectory for safe parking in the identified emergency parking position could be followed by the vehicle in an emergency situation at least partially automatically. If not, an algorithm can be adapted to determine such a target trajectory.

[0120] For example, a machine learning process simulates the execution of the process.

[0121] For example, a machine learning method uses data from one or more other motor vehicles and / or drones to determine one or more optimal control parameters for drone control, so that in an emergency the control signals for the drone are generated based on the one or more optimal control parameters.

[0122] For example, a result or results of a machine learning procedure are used in a current execution of the procedure.

[0123] According to one embodiment, the method comprises performing a machine learning method.

[0124] One embodiment of the method allows for any combination of a dumb drone and a smart drone. This means that at least one drone can be a smart drone, but is additionally monitored by the vehicle and / or infrastructure.

[0125] In one embodiment of the method, it is provided that the at least one drone is only started after the emergency has been detected, in particular after a fault has been detected in an at least partially automated driving function of the motor vehicle.

[0126] In one embodiment of the method, it is provided that at least one drone is launched proactively, in particular in response to a possible error or emergency that may occur shortly.

[0127] For example, communication between a drone and a motor vehicle is considered direct communication. This means that data and / or signals can be exchanged directly between at least one drone and the motor vehicle.

[0128] In one embodiment of the method, communication between the drone and the motor vehicle is indirect communication. This means that data and / or signals are transmitted between the at least one drone and the motor vehicle via an external system, for example, a cloud and / or backend system and / or a local parking system or a road management and / or drone system.

[0129] A backend system, for example, includes a server system located in an operations center. This means, in particular, that the location of the server system in a backend is known. A cloud system, for example, includes a server system whose location is unknown.

[0130] Cloud is also a server system where the location may not be known.

[0131] In one embodiment of the method, communication between drones and motor vehicles and infrastructure is provided via a secure connection. This means, for example, that the communication can be secured using certificates, in particular, encrypted.

[0132] The at least one drone has, for example, a monitoring device which comprises one or more environmental sensors. These environmental sensors are, for example, environmental sensors according to different sensor technologies. For example, these environmental sensors are radar sensors, image sensors and / or LiDAR sensors. Thus, in addition to images, further information, such as distances and dimensions, can be determined for objects. In particular, safety is increased if several environmental sensors are used for redundancy and different environmental sensors for diversity. In one embodiment of the method, it is provided that the at least one drone monitors traffic around the motor vehicle and / or in front of the motor vehicle using its monitoring device. This enables the motor vehicle to drive through traffic more effectively, particularly in an emergency.

[0133] In one embodiment of the method, the monitoring data and / or the analysis result and / or, for example, infrastructure assistance data are sent to a traffic control center and / or road control center. Such centers can then, for example, plan further actions. Such further actions include, for example, traffic diversions and / or updating occupancy data for the emergency bay.

[0134] An emergency bay can also be referred to as a holding bay. This means, for example, that a holding bay is such an emergency bay within the meaning of the German Road Traffic Regulations.

[0135] One embodiment of the method provides for one or more other road users in the vicinity of the motor vehicle to be informed of the current problem situation and / or the parking process. This can be done, for example, by the motor vehicle and / or the drone and / or the infrastructure. This means, for example, that a corresponding message is sent wirelessly from the motor vehicle and / or the infrastructure and / or the drone to one or more motor vehicles in the vicinity of the motor vehicle, with this message providing appropriate information.

[0136] In one embodiment of the method, it is provided that the road control center and / or traffic control center and / or road traffic control center is continuously and / or promptly informed of the incident. Such a control center can, for example, plan, control, and / or coordinate further actions. Such actions include, for example, calling in services or providing support, for example, from the police, fire department, and / or towing service. Such an action includes, for example, traffic rescheduling.

[0137] Whenever one of the terms "road traffic control center," "road control center," and "traffic control center" or "traffic control center" is used, the other terms should always be read along with the other. These are used synonymously.

[0138] In one embodiment of the method, it is provided that the surroundings of the motor vehicle are monitored live by means of the monitoring device of the at least one drone.

[0139] In one embodiment of the method, it is provided that one, several or all method steps are documented, in particular documented in a blockchain.

[0140] For example, the system according to the third aspect is configured to carry out all steps of the method according to the first aspect.

[0141] In one embodiment of the method according to the first aspect, it is provided that it is carried out by means of the system according to the third aspect.

[0142] A drone as defined is an unmanned aerial vehicle.

[0143] A drone is, for example, a quadrocopter, a helicopter, an octocopter, a hexacopter, or generally a multicopter.

[0144] In one embodiment, it is provided that the method and / or the device and / or the system and / or the storage medium and / or the motor vehicle and / or the drone are safe.

[0145] "Safe" in the context of this description means "safe" and "secure." Although these two English terms are usually translated into German as "sicher," they have somewhat different meanings in English.

[0146] The term "safe" is specifically focused on accidents and accident prevention. "Safe" therefore means, in particular, that measures are taken to ensure the correct functioning of the device and / or system and / or storage medium and / or the execution of the procedural steps.

[0147] The term "secure" is specifically directed at computer security and hacker protection, meaning, in particular, how secure are the device and / or storage medium and / or system and its components against unauthorized access and data manipulation by third parties, so-called "hackers"? A "secure" method and / or storage medium and / or device and / or system therefore has appropriate and sufficient computer security and hacker protection, particularly as a basis for carrying out the method steps and for the functionality of the device and / or system.

[0148] For example, safe means that one or more safety conditions are met.

[0149] For example, it is provided that one, several or all components, for example the motor vehicle and / or the drone, which are involved in carrying out the method and / or which are comprised by the device and / or which are comprised by the system, and / or the storage medium are secure, i.e. for example they meet one or more security conditions.

[0150] This will, in particular, provide the technical advantage that the system and / or the method and / or the device and / or the storage medium are safe within the meaning of the description, i.e., in particular, safe within the meaning of the English terms "safe" and "secure." In one embodiment, it is provided that the one or more safety conditions are each an element selected from the following group of safety conditions: Presence of a predetermined minimum ASIL and / or minimum SIL for at least one of the components, Presence of redundancy in at least one of the components, Presence of diversity in at least one of the components, Presence of at least one plan that includes measures to reduce errors and / or measures in the event of failures of at least one of the components and / or measures for error analysis and / or measures in the event of misinterpretations, Presence of one or more fallback scenarios.

[0151] This results in the technical advantage, for example, of providing particularly suitable safety conditions.

[0152] The abbreviation "ASIL" stands for "Automotive Safety Integrity Level." "Automotive Safety Integrity Level" is a key component of the ISO 26262 standard. ASIL distinguishes between four different ASIL risk levels, designated ASIL-A, ASIL-B, ASIL-C, and ASIL-D.

[0153] The abbreviation "SIL" stands for "Safety Integrity Level." "Safety Integrity Level" is a key component of the IEC EN 61508 standard. SIL distinguishes between four different SIL risk levels, designated SIL-1, SIL-2, SIL-3, and SIL-4.

[0154] In one embodiment of the method, it is provided that one, several or all steps of the method are only carried out if one or more safety conditions, in particular one or more of the above safety conditions, are met.

[0155] For example, the method is only performed if one or more safety conditions are met. In one embodiment of the method, the environmental signals include environmental signals transmitted by a traffic control center.

[0156] This results in the technical advantage, for example, that particularly suitable environmental signals can be used to generate the control signals and / or to analyze the monitoring data. According to this embodiment, the additional knowledge about the surroundings of the motor vehicle is therefore provided by a traffic control center. This center generally has current knowledge about the surroundings of the motor vehicle, which, for example, has not yet been entered into a digital map of the surroundings. For example, the traffic control center knows the position of a newly established construction site that is not yet recorded on the digital map. For example, the traffic control center knows that a construction site recorded on a digital map no longer exists or has changed its position. This knowledge is represented by the environmental signals.

[0157] The invention is explained in more detail below using preferred embodiments. These show:

[0158] Fig. 1 is a flowchart of a method according to the first aspect,

[0159] Fig. 2 shows a device according to the second aspect,

[0160] Fig. 3 a system according to the third aspect,

[0161] Fig. 4 shows a machine-readable storage medium according to the fifth aspect and

[0162] Fig. 5 a tunnel.

[0163] Fig. 1 shows a flowchart of a method for finding an emergency parking position for safely parking a motor vehicle in an emergency using at least one drone having a monitoring device, comprising the following steps:

[0164] Generating 101 control signals for controlling the at least one drone such that when the drone is controlled based on the generated control signals, the at least one drone monitors an environment of the motor vehicle by means of its monitoring device and outputs monitoring data based on the monitoring,

[0165] Outputting 103 the generated control signals to control the at least one drone based on the generated control signals, after outputting the generated control signals, receiving 105 the monitoring data from the at least one drone,

[0166] Analyzing 107 the monitoring data to find an emergency parking position for safe parking of the motor vehicle in an emergency, and

[0167] Output 109 an analysis result of the analysis of the monitoring data.

[0168] In one embodiment of the method, it is provided that the motor vehicle is an at least partially automated motor vehicle.

[0169] In one embodiment of the method, it is provided that it comprises a step of safely parking the motor vehicle in a found emergency parking position.

[0170] According to one embodiment of the method, the safe parking comprises an at least partially automated safe parking.

[0171] Fig. 2 shows a device 201. The device 201 is configured to perform all steps of the method according to the first aspect.

[0172] According to an embodiment not shown, the device 201 comprises an input which is configured to receive the signals and / or data described in the description. According to an embodiment not shown, the device 201 comprises one or more processors which are configured to carry out the analyzing and / or processing and / or determining steps described in the description. According to an embodiment not shown, the device 201 comprises an output which is configured to output the signals and / or data described in the description. For example, the device 201 comprises the input, the processor(s), and the output. The input comprises, for example, a wireless communication interface. The output comprises, for example, a wireless communication interface. For example, the input and output are identical.For example, the device 201 comprises a wireless communication interface for bidirectional communication, i.e. for receiving and transmitting the signals and / or data described in the description.

[0173] The device 201 may, for example, be implemented in a drone used for the method according to the first aspect.

[0174] Fig. 3 shows a system 301 for finding an emergency parking position for safely parking a motor vehicle in an emergency.

[0175] The system 301 includes the device 201 according to Fig. 2.

[0176] The system 301 comprises a drone 303. The drone 303 comprises a monitoring device 305. The monitoring device 305 comprises a first video camera 307 and a second video camera 309, each of which comprises an image sensor (not shown) as an environment sensor.

[0177] In an embodiment not shown, the monitoring device 305 comprises further environmental sensors in addition to or instead of one or both video cameras 307, 309.

[0178] In an embodiment not shown, system 301 comprises a plurality of drones, which are, for example, identical or, for example, differently configured. Fig. 4 shows a machine-readable storage medium 401 on which a computer program 403 is stored. The computer program 403 comprises instructions that, when executed by a computer, cause the computer program 403 to execute a method according to the first aspect.

[0179] Fig. 5 shows a tunnel 501 as an example of a critical location mentioned in the description. The tunnel 501 includes a tunnel entrance 503.

[0180] A motor vehicle 505, which is, for example, an at least partially automated motor vehicle, is traveling on a road 507 toward a tunnel entrance 503. The direction of travel of the motor vehicle 505 is indicated by an arrow with the reference symbol 509. The direction of travel 509 of the motor vehicle 505 runs from left to right relative to the plane of the paper.

[0181] Road 507 has a layby 511, which is located in front of tunnel entrance 503.

[0182] A drone 513 comprising a monitoring device 515 is provided, wherein the monitoring device 515 has a video camera 517 comprising an image sensor, not shown.

[0183] For example, the drone 513 can be controlled to detect the occupancy status of the layby 511, thus determining whether the layby 511 is occupied or free. This information can be sent, for example, to the motor vehicle 505, allowing it to plan appropriate measures before an emergency occurs. If, for example, the layby 511 is occupied, the motor vehicle 505 knows that it doesn't even need to drive to the layby 511 in the event of an emergency, but instead needs to find alternative emergency parking positions.

[0184] The drone 513 can, for example, be controlled to search for additional suitable emergency parking positions for the motor vehicle 505. The result of this search, i.e., the analysis result, can be sent wirelessly to the motor vehicle 505, for example.

[0185] According to one embodiment of the method, the analysis result includes the determined risk level.

[0186] According to one embodiment of the method, the analysis result comprises a result of checking whether the motor vehicle can be parked in the emergency parking position found due to its dimension or dimensions.

[0187] According to one embodiment of the method, the analysis result comprises a result of checking whether a found emergency parking position is accessible for the motor vehicle.

[0188] According to one embodiment of the method, the analysis result comprises a result of checking whether the emergency parking position found for the motor vehicle can be approached at least partially automatically despite the error in the at least partially automated driving function.

[0189] The emergency route signals are sent to the motor vehicle according to one embodiment of the method.

[0190] In one embodiment of the method, it is provided that the optimal emergency parking position is sent to the motor vehicle.

[0191] In one embodiment of the method, the motor vehicle sends the route signals to the infrastructure. This means, in particular, that these route signals are received by the motor vehicle on the infrastructure side. Thus, the route signals can be used, for example, on the infrastructure side for analyzing the monitoring data and / or for generating the control signals. In one embodiment of the method, the infrastructure assistance data is determined based on the emergency route and / or based on the route signals.

[0192] In one embodiment of the method, it is provided that the motor vehicle control signals are generated based on the emergency route signals.

[0193] In summary, a concept is provided in particular according to which one or more drones, each comprising a monitoring device, are used to search for one or more emergency parking positions suitable for the motor vehicle in the vicinity of the motor vehicle, in particular in the vicinity of the motor vehicle that is located in front of the motor vehicle in the direction of travel. This search is carried out in particular in an emergency, for example in the event of a fault, for example, a fault in an at least partially automated driving function of the motor vehicle.

[0194] This allows the vehicle to park safely and efficiently in an emergency.

Claims

Claims 1. Method for finding an emergency parking position (511) for safely parking a motor vehicle (505) in an emergency using at least one drone (303, 513) having a monitoring device (305, 515), comprising the following steps: Generating (101) control signals for controlling the at least one drone (303, 513) such that, when the drone (303, 513) is controlled based on the generated control signals, the at least one drone (303, 513) monitors the environment of the motor vehicle (505) by means of its monitoring device (305, 515) and outputs monitoring data based on the monitoring, Output (103) of the generated control signals to control the at least one drone (303, 513) based on the generated control signals, after outputting the generated control signals receiving (105) the monitoring data from the at least one drone (303, 513), analyzing (107) the monitoring data to find an emergency parking position (511) for safely parking the motor vehicle (505) in an emergency, and Output (109) of an analysis result of the analysis of the monitoring data.

2. Method according to claim 1, wherein the analysis comprises determining a hazard measure for a found emergency parking position (511) which indicates how endangered the motor vehicle (505) would be in the found emergency parking position (511) and / or how endangered an environment of the found emergency parking position (511) would be if the motor vehicle (505) were parked in the found emergency parking position (511).

3. Method according to claim 1 or 2, wherein dimension signals are received which represent one or more dimensions of the motor vehicle (505), wherein the monitoring data are analyzed based on the dimension signals, wherein the analysis comprises checking a found emergency parking position (511) to see whether the motor vehicle (505) can be parked in the found emergency parking position (511) due to its dimension or dimensions.

4. Method according to one of the preceding claims, wherein the analysis comprises checking that an emergency parking position (511) found is accessible to the motor vehicle (505).

5. Method according to claim 4, wherein fault signals are received which represent a fault in an at least partially automated driving function of the motor vehicle (505), wherein the monitoring data are analyzed based on the fault signals, wherein the analysis includes checking whether the emergency parking position found (511 ) for the motor vehicle (505) despite the fault in the at least partially automated driving function, it is at least partially automated to start.

6. Method according to one of the preceding claims, wherein emergency route signals are generated which represent an emergency route from a starting position to a found emergency parking position (511) for the motor vehicle (505), wherein the generated emergency route signals are output.

7. Method according to one of the preceding claims, wherein the analysis comprises determining the optimal emergency parking position (511) from among several emergency parking positions (511) found.

8. Method according to any of the preceding claims, wherein route signals are received which represent an instantaneous route of the motor vehicle (505) on which the motor vehicle (505) is currently driving, wherein the control signals are based on the route signals are generated and / or the monitoring data is analyzed based on the route signals.

9. Method according to any of the preceding claims, wherein environmental signals are received which represent the environment of the motor vehicle (505), wherein the control signals are generated based on the environmental signals and / or wherein the monitoring data are analyzed based on the environmental signals.

10. Method according to claim 9, wherein the environmental signals comprise environmental signals transmitted by a further motor vehicle (505) which is located in front of the motor vehicle (505) with respect to a direction of travel of the motor vehicle (505).

11. Method according to claim 9 or 10, wherein the environmental signals comprise map signals representing a digital map of the environment of the motor vehicle (505).

12. Method according to any one of claims 9 to 11, wherein the environmental signals comprise environmental signals transmitted by a traffic control center.

13. Method according to one of the preceding claims, wherein one, several or all method steps are carried out on the vehicle side and / or infrastructure side and / or drone side.

14. Method according to one of the preceding claims, wherein the method is only started in an emergency or wherein the method is proactively started before an emergency occurs.

15. Method according to one of the preceding claims, wherein, based on the analysis result, infrastructure assistance data for infrastructure-supported assistance of the motor vehicle (505) during an at least partially automated journey to a found emergency parking position are determined and sent to the motor vehicle (505).

16. Method according to one of the preceding claims, wherein, based on the analysis result, motor vehicle control signals are generated and output for at least partially automated control of a lateral and / or longitudinal guidance of the motor vehicle (505).

17. Method according to one of the preceding claims, wherein the control signals are generated such that when controlling the drone (303, 513) based on the generated control signals, monitoring the environment includes monitoring road traffic in the vicinity of the motor vehicle (505).

18. Method according to one of the preceding claims, wherein the monitoring data and / or the analysis result are sent to a traffic control center.

19. Method according to one of the preceding claims, wherein in an emergency a message is sent to one or more road users in the vicinity of the motor vehicle (505), which informs about the emergency and / or about the emergency parking position (511) found and / or about an action of parking the motor vehicle (505) at the emergency parking position (511) found.

20. Method according to one of the preceding claims, wherein the control signals are generated such that when controlling the at least one drone (303, 513) based on the generated control signals, monitoring the environment includes live monitoring of the environment of the motor vehicle (505), so that the monitoring data includes live monitoring data.

21. Method according to one of the preceding claims, wherein one, several or all steps of the method are carried out only if one or more safety conditions are met.

22. Device (201) configured to perform all steps of the method according to any of the preceding claims.

23. System (301) for finding an emergency parking position (511) for safely parking a motor vehicle (505) in an emergency, comprising: at least one drone (303, 513), wherein the at least one drone (303, 513) has a monitoring device (305, 515), and the device (201) according to claim 22.

24. Computer program (403) comprising instructions which, when the computer program (403) is executed by a computer, cause it to execute a method according to any one of claims 1 to 21.

25. Machine-readable storage medium (401) on which the computer program (403) according to claim 24 is stored.

Images