Method for the at least highly automated driving and for the infrastructure-supported assisting of a motor vehicle within a parking space

Abstract

The invention relates to a method for the infrastructure-supported assisting of a motor vehicle for at least highly automated driving in accordance with AVP type 1 within a region of a parking space, wherein AVP type 1 is a motor-vehicle centred AVP process, comprising the following steps: sending, by an infrastructure-side AVP system, infrastructure assistance data to the motor vehicle on the basis of which the motor vehicle can drive at least highly automatedly within the region in accordance with AVP type 1. The invention also relates to a method for the at least highly automated driving of a motor vehicle, to an AVP system for an infrastructure, to an AVP system for a motor vehicle, to a motor vehicle, to a computer program and to a machine-readable storage medium.

Description

[0001] Description

[0002] title

[0003] Method for at least highly automated driving and for infrastructure-supported assistance of a motor vehicle within a parking space

[0004] The invention relates to a method for infrastructure-supported assistance of a motor vehicle, a method for at least highly automated driving of a motor vehicle, an AVP system for an infrastructure, an AVP system for a motor vehicle, a motor vehicle, a computer program and a machine-readable storage medium.

[0005] The patent application claims the priority of German patent application 102023 122 469.7, the disclosure of which is hereby incorporated by reference

[0006] The abbreviation "AVP" stands for "Automated Valet Parking" and can be translated into German as "automatic parking service." An AVP process includes, for example, at least highly automated driving of the AVP motor vehicle from a drop zone, also called a drop-off zone, to a parking position and, for example, at least highly automated driving of the motor vehicle from a parking position to a pickup zone. At the drop zone, a driver of the motor vehicle drops off the motor vehicle for an AVP process. At a pickup zone, the motor vehicle is picked up after the AVP process has ended. An AVP process therefore starts in particular at the drop zone. An AVP process therefore ends in particular at the pickup zone. The pickup zone can be the same as or different from the drop zone. An AVP motor vehicle is therefore a motor vehicle that can participate in an AVP process.

[0007] State of the art

[0008] The published patent application DE 10 2012 222 562 A1 shows a system for managed parking areas for transferring a vehicle from a starting position to a destination position.

[0009] An AVP process can be an AVP process according to one of the following AVP types: AVP Type 1, AVP Type 2 and AVP Type 3.

[0010] AVP Type 1 designates a vehicle-centric AVP process. Primary responsibility for the AVP process lies with the vehicle.

[0011] AVP Type 2 characterizes an infrastructure-centric AVP process. The primary responsibility for the AVP process lies with the infrastructure, i.e., the AVP system.

[0012] AVP Type 3 denotes a vehicle-infrastructure-shared AVP process. Here, primary responsibility for the AVP process is shared between the vehicle and the AVP system.

[0013] If the motor vehicle is driving according to AVP Type 2, the infrastructure is designed to detect an object and / or an event and react accordingly. For this purpose, several environmental sensors are located within the parking space, whose environmental sensor data is used as the basis for object detection or event detection.

[0014] When driving according to AVP Type 1, the vehicle is generally designed to detect an object and / or an event based on its own environmental sensors and react accordingly to the detected object and / or event. In other words, driving according to AVP Type 1 typically does not require any environmental sensors in the parking space.

[0015] However, there may be areas within the parking lot that are complex and / or that could lead to situations that are easier to manage by driving according to AVP Type 2 using the parking lot's environmental sensors than if the vehicle relies solely on its own environmental sensors. Such areas include, for example, a drop zone, i.e., an area where a driver parks their vehicle for the AVP process, or parking bays, or an area in front of a stairwell or elevator, as more people are expected here at once than in the rest of the parking garage.

[0016] Equipping all areas of the parking lot with environmental sensors, including those areas that the vehicle could easily drive through at least in a highly automated manner without the parking lot's environmental sensors, is technically complex and expensive.

[0017] There is therefore a need to overcome these disadvantages.

[0018] Disclosure of the invention

[0019] The object underlying the invention is to provide a concept which enables a motor vehicle to drive within an area of ​​a parking space at least in a highly automated manner according to AVP Type 1.

[0020] This 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.

[0021] According to a first aspect, a method for infrastructure-supported assistance of a motor vehicle for at least highly automated driving according to AVP Type 1 within an area of ​​a parking space is provided, wherein AVP Type 1 is a motor vehicle-centric AVP process, comprising the following step:

[0022] Sending infrastructure assistance data by an infrastructure-side AVP system to the motor vehicle, based on which the motor vehicle can drive at least highly automated according to AVP Type 1 within the area.

[0023] According to a second aspect, a method for at least highly automated driving of a motor vehicle according to AVP Type 1 within an area of ​​a parking space is provided, comprising the following steps:

[0024] Receiving infrastructure assistance data from an infrastructure-side AVP system of the parking lot by a motor vehicle-side AVP system of the motor vehicle, based on which the motor vehicle-side AVP system can drive the motor vehicle at least highly automated according to AVP type 1 within the area, at least highly automated driving of the motor vehicle according to AVP type 1 by the motor vehicle-side AVP system within the area based on the infrastructure assistance data.

[0025] According to a third aspect, an AVP system for an infrastructure, in particular a parking space, is provided, which is configured to carry out all steps of the method according to the first aspect.

[0026] According to a fourth aspect, an AVP system for a motor vehicle is provided, wherein the AVP system is configured to carry out all steps of the method according to the second aspect.

[0027] According to a fifth aspect, a motor vehicle is provided comprising the AVP system according to the fourth aspect.

[0028] According to a sixth aspect, a computer program is provided which comprises instructions which, when executed by a computer, cause the computer to execute a method according to the first aspect and / or according to the second aspect. According to a seventh aspect, a machine-readable storage medium is provided on which the computer program according to the sixth aspect is stored.

[0029] The invention is based on and includes the finding that the above object is achieved by providing the motor vehicle or the motor vehicle-side AVP system with information, the infrastructure assistance data, for the AVP Type 1 journey within the area from the infrastructure, i.e. from the infrastructure-side AVP system, even though this information is not actually required due to the vehicle-centric journey. Using this information provided by the infrastructure, the motor vehicle-side AVP system can access more information for driving the motor vehicle in accordance with AVP Type 1 than without this information. This can, for example, expand the scope for action during the journey. This can, for example, allow the journey to be planned or adapted particularly efficiently by the motor vehicle-side AVP system. This can, for example, increase safety for the motor vehicle and its surroundings.

[0030] An area within which the motor vehicle travels according to AVP Type 1 does not need to be equipped with environmental sensors to monitor this area. This is because AVP Type 1 is vehicle-centric driving. The responsibility for driving lies solely with the vehicle-based AVP system. The motor vehicle uses its own environmental sensors to detect the surroundings of the motor vehicle. Based on this detection, the motor vehicle travels according to AVP Type 1.

[0031] An area within which the motor vehicle travels according to AVP Type 2 must be equipped with environmental sensors that monitor this area. This is because AVP Type 2 is infrastructure-centric driving. Responsibility for driving lies solely with the infrastructure, in this case the infrastructure-side AVP system. In order for the motor vehicle to travel in an infrastructure-centric manner according to AVP Type 2, certain information (infrastructure assistance data) must be sent from the infrastructure to the motor vehicle. In order to determine this information, information about the area within which the motor vehicle is to travel according to AVP Type 2 is required. This information can be determined, for example, using one or more environmental sensors that monitor this area.Thus, the infrastructure knows, for example, whether there is a potential collision object for the motor vehicle within the area and can accordingly determine a target trajectory for the motor vehicle to avoid the collision object and send it to the motor vehicle.

[0032] Thus, areas of the parking lot can be equipped with environmental sensors that monitor those areas within which the motor vehicle operates at least in a highly automated manner according to AVP Type 2. This allows for areas of the parking lot that are not equipped with environmental sensors, i.e., that are not monitored by the parking lot's environmental sensors. This is not necessary, since the motor vehicle is intended to operate at least in a highly automated manner within these areas according to AVP Type 1.

[0033] Thus, the installation effort for environmental sensors within the parking space can be efficiently reduced compared to the case in which the motor vehicle drives exclusively according to AVP Type 2 within the parking space at least in a highly automated manner, since the motor vehicle requires external environmental sensors for this purpose.

[0034] Furthermore, fewer environmental sensors are required compared to the case in which the motor vehicle drives exclusively according to AVP Type 2 within the parking space, at least in a highly automated manner.

[0035] A parking lot as described can also be referred to as a parking area and serves as a parking space for vehicles. The parking lot thus forms, in particular, a contiguous area that has several parking spaces (in the case of a parking lot on private property) or parking stalls (in the case of a parking lot on public property). According to one embodiment, the parking lot can be enclosed by a parking garage. In particular, the parking lot is enclosed by a garage. The abbreviation "AVP" stands for "Automated Valet Parking" and can be translated into German as "automatic parking service". An AVP process includes, for example, at least highly automated driving of the motor vehicle from a drop zone, also called a drop-off location, to a parking location and, for example, at least highly automated driving of the motor vehicle from a parking location to a pick-up location, also called a pickup zone.At the drop-off location, the drop zone, a driver drops off the vehicle for an AVP process. At the pickup location, the vehicle is picked up after the AVP process has ended. An AVP process therefore starts specifically at the drop zone. An AVP process therefore ends specifically at the pickup zone. The pickup zone can be the same as or different from the drop zone.

[0036] An AVP motor vehicle is therefore a motor vehicle that can participate in an AVP process. Whenever reference is made to a motor vehicle above and below, it should always be understood that this is an AVP motor vehicle, even if the term "AVP" is not explicitly used.

[0037] The AVP process is carried out on the infrastructure side using or by the AVP system according to the third aspect and is carried out on the motor vehicle side using or by the AVP system according to the fourth aspect.

[0038] An AVP process can be an AVP process according to one of the following AVP types: AVP type 1, AVP type 2, and AVP type 3. Within an AVP process, however, the AVP types can also change. This means, for example, that part of an AVP process is carried out according to AVP type 1, and another part of the AVP process is carried out according to AVP type 2 or AVP type 3. This means, for example, that an AVP process can be divided into sub-AVP processes, each of which is carried out according to one of the AVP types 1, 2, and 3.

[0039] AVP Type 1 designates a vehicle-centric AVP process. The primary responsibility for the AVP process lies with the vehicle, i.e., the vehicle-side AVP system. AVP Type 2 designates an infrastructure-centric AVP process. The primary responsibility for the AVP process lies with the infrastructure, i.e., the infrastructure-side AVP system.

[0040] AVP Type 3 denotes a vehicle-infrastructure-shared AVP process. Here, primary responsibility for the AVP process is shared between the motor vehicle, i.e., the vehicle-side AVP system, and the infrastructure-side AVP system.

[0041] An AVP process includes the following operations or functions:

[0042] 1. Determine a target position for the motor vehicle, which lies within the parking space.

[0043] 2. Planning a route from a starting position, which is enclosed by the parking lot, to the destination position.

[0044] 3. Detecting an object and / or an event and reacting accordingly to a detected object and / or a detected event.

[0045] 4. Locate the vehicle within the parking space.

[0046] 5. Calculate a target trajectory for the vehicle based on the planned route.

[0047] 6. Control of the lateral and longitudinal guidance of the motor vehicle based on the calculated target trajectory.

[0048] The following table indicates which of these processes or functions are performed by the motor vehicle, i.e., the motor vehicle-side AVP system, or the infrastructure-side AVP system, depending on the AVP type. Where "I" stands for "infrastructure," i.e., the infrastructure-side AVP system, and "K" for "motor vehicle," such that "I" indicates that the process is performed by the AVP system, and "K" indicates that the process is performed by the motor vehicle: The table above indicates, for each function, whether it is performed by the infrastructure (i.e., the infrastructure-side AVP system) or by the motor vehicle (i.e., the motor vehicle-side AVP system). In some cases, the function may be performed by both the infrastructure-side AVP system and the motor vehicle.

[0049] With regard to object and event detection for AVP type 1, it can optionally be provided that in addition to the motor vehicle, the infrastructure-side AVP system of the infrastructure also performs this function.

[0050] The AVP types 1, 2 and 3 described here are further described in detail in ISO 23374-2.

[0051] The motor vehicle is at least a highly automated motor vehicle. Such a motor vehicle is equipped for at least highly automated driving. Highly automated driving corresponds to automation level 3 according to the definition of the Federal Highway Research Institute (BASt).

[0052] The fact that the motor vehicle is equipped for at least highly automated driving includes both the case where the motor vehicle is equipped for highly automated driving and fully automated driving, as well as autonomous driving. Fully automated driving corresponds to automation level 4 according to the BASt definition.

[0053] Highly automated guidance means that for a certain period of time in a specific situation (e.g. 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 the automatic control of lateral and longitudinal guidance are automatically detected. With highly automated guidance, it is not possible to automatically achieve a minimal-risk state in every initial situation.

[0054] The phrase "to take over control of the longitudinal and lateral guidance" can also be replaced by the phrase "to take over the longitudinal and lateral guidance".

[0055] 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.

[0056] Autonomous driving means that the longitudinal and lateral guidance of the vehicle is automatically controlled in all situations, not just in one or more specific situations. The driver is no longer required as a fallback. The vehicle can thus drive driverlessly. Autonomous driving corresponds to automation level 5 according to SAE (J3016), where SAE stands for "Society of Automotive Engineers."In one embodiment of the method according to the first aspect, it is provided that the sending comprises sending infrastructure assistance data before the start of the AVP process and / or after the start of the AVP process and during an at least highly automated journey of the motor vehicle within the parking space before the at least highly automated driving according to AVP type 1 and / or after the start of the AVP process and as part of a handover process towards AVP type 1 driving and / or during the at least highly automated journey according to AVP type 1 of the motor vehicle.

[0057] This provides the technical advantage, for example, that the infrastructure assistance data is sent to the vehicle at particularly suitable times or time intervals.

[0058] Every piece of information helps the vehicle. Which information the vehicle then uses is the vehicle's decision / responsibility. This means: The information should preferably be sent to the vehicle as quickly as possible or as soon as it is available. For example, the vehicle can compile a list of the information it needs and send this list to the infrastructure, i.e., to the infrastructure-side AVP system, which then compiles the relevant information based on the list and sends it to the vehicle. The time at which the information is sent to the vehicle can depend, for example, on the list.

[0059] In one embodiment of the method according to the first aspect, it is provided that the infrastructure assistance data comprise one or more of the following information: digital map of the area, rules to be taken into account by the motor vehicle during at least highly automated driving according to AVP Type 1, handover position of a handover from AVP Type 1 driving to AVP Type 2 driving, where AVP Type 2 is an infrastructure-centric AVP process, target position, in particular parking bay, for the motor vehicle within the area, position of a drop zone, position of a pickup zone, target route within the area, target travel path within the area, target trajectory within the area, information about dynamic behavior in the parking lot, information about an event that occurred in the parking lot, in particular an accident, a traffic control device arranged within the parking lot,in particular electronic traffic signs or traffic lights, information provided.

[0060] This provides the technical advantage, for example, that particularly suitable information is sent to the motor vehicle.

[0061] Electronic signs, such as electronic traffic signs, with information data are useful for both motor vehicles and drivers. For example, a parking management system can use an electronic sign to indicate where a parking space is available or where traffic is particularly heavy. The information displayed by such an electronic sign can be sent to the motor vehicle, for example.

[0062] In one embodiment of the method according to the first aspect, it is provided that the information about a dynamic behavior in the parking lot and / or the information about an event that has occurred in the parking lot is determined by the infrastructure-side AVP system using one or more infrastructure environment sensors of the parking lot and / or is received by the infrastructure-side AVP system from one or more other motor vehicles located within the parking lot and / or is received by the infrastructure-side AVP system from an online map service and / or from an (online) data source, in particular an OEM backend and / or a terminal device of a person who has reported the information via his terminal device.

[0063] This provides the technical advantage, for example, that information can be obtained efficiently.

[0064] For example, motor vehicles located within the area can detect their surroundings using their respective vehicle environment sensors and send environmental data based on the detection to the infrastructure-side AVP system, which then receives it accordingly. The infrastructure-side AVP system can then send this environmental data to the motor vehicle as infrastructure assistance data.

[0065] In one embodiment of the method according to the second aspect, it is provided that the receiving comprises receiving infrastructure assistance data before the start of the AVP process and / or after the start of the AVP process and during an at least highly automated journey of the motor vehicle within the parking space before the at least highly automated driving according to AVP type 1 and / or after the start of the AVP process and as part of a handover process towards AVP type 1 driving and / or during the at least highly automated journey according to AVP type 1 of the motor vehicle.

[0066] This provides the technical advantage, for example, that the infrastructure assistance data is received by the vehicle-side AVP system at particularly suitable times or time intervals.

[0067] In one embodiment of the method according to the second aspect, it is provided that the infrastructure assistance data comprise one or more of the following information: digital map of the area, rules to be taken into account by the motor vehicle during at least highly automated driving according to AVP Type 1, handover position of a handover from AVP Type 1 driving to AVP Type 2 driving, where AVP Type 2 is an infrastructure-centric AVP process, target position, in particular parking bay, for the motor vehicle within the area, position of a drop zone, position of a pickup zone, target route within the area, target travel path within the area, target trajectory within the area, information about dynamic behavior in the parking lot, information about an event that occurred in the parking lot, in particular an accident, a traffic control device arranged within the parking lot,in particular, an electronic traffic sign or traffic light system, and / or information provided by an (online) data source, in particular an OEM backend and / or a terminal device of a person who has reported the information via their terminal device. This provides the technical advantage, for example, of receiving particularly suitable infrastructure assistance data.

[0068] In one embodiment of the method according to the second aspect, it is provided that, based on the infrastructure assistance data, an at least highly automated journey of the motor vehicle according to AVP Type 1 through the area is newly planned by the motor vehicle-side AVP system or an already planned at least highly automated journey of the motor vehicle according to AVP Type 1 is adapted by the motor vehicle-side AVP system, wherein the motor vehicle-side AVP system drives the motor vehicle at least highly automated according to AVP Type 1 through the area based on the newly planned journey or based on the adapted journey.

[0069] This results in the technical advantage, for example, that the vehicle-side AVP system can drive the vehicle efficiently within the area, at least in a highly automated manner according to AVP Type 1.

[0070] Statements made in connection with the first aspect apply analogously to embodiments of the method according to the second aspect and vice versa.

[0071] At this point, it should be noted that if it is stated above and / or below that the motor vehicle performs a specific step or steps, this is intended to mean that these steps are performed using the vehicle-mounted AVP system. The method steps of the method according to the second aspect are thus performed by the vehicle-mounted AVP system.

[0072] Accordingly, the method steps of the method according to the first aspect are carried out using the infrastructure-side AVP system, in particular carried out by it.

[0073] In one embodiment, the motor vehicle-mounted AVP system comprises a control unit for at least highly automated control of the lateral and longitudinal guidance of the motor vehicle. Statements made in connection with the method according to the first aspect apply analogously to the method according to the second aspect, and vice versa. This means that the technical functionalities and features of the method according to the second aspect result from corresponding technical functionalities of the method according to the first aspect, and vice versa.

[0074] Sending and receiving, as defined in this description, is, for example, sending and receiving via one or more communication networks. A communication network is, for example, a Wi-Fi network or a mobile network.

[0075] The motor vehicle-side AVP system is, for example, programmed to execute the computer program according to the sixth aspect, which comprises instructions which, when the computer program is executed by a computer, cause the computer to execute a method according to the second aspect.

[0076] The infrastructure-side AVP system is, for example, programmed to execute the computer program according to the sixth aspect, which comprises instructions which, when the computer program is executed by a computer, cause the computer to execute a method according to the first aspect.

[0077] The method according to the first aspect and / or the method according to the second aspect is or are, for example, computer-implemented methods.

[0078] The motor vehicle, for example, comprises one or more environmental sensors. Such environmental sensors can also be called motor vehicle environmental sensors. Such environmental sensors are, for example, included in the motor vehicle-side AVP system. A motor vehicle environmental sensor system, for example, includes one or more such environmental sensors. The infrastructure-side AVP system, for example, includes one or more environmental sensors that are spatially distributed within the parking space. Such environmental sensors can, for example, be referred to as infrastructure environmental sensors. An infrastructure environmental sensor system, for example, includes one or more such infrastructure environmental sensors.

[0079] For example, the area through which the motor vehicle travels according to AVP Type 1 does not have any infrastructure environment sensors.

[0080] An environmental sensor, i.e. a motor vehicle environmental sensor or an infrastructure environmental sensor, is, for example, one of the following environmental sensors: radar sensor, lidar sensor, image sensor, in particular image sensor of a video camera, for example image sensors of a stereo video camera, ultrasonic sensor, magnetic field sensor, infrared sensor.

[0081] The embodiments and exemplary embodiments described here can be combined with one another in any way, even if this is not explicitly described.

[0082] An area within which a motor vehicle is intended to operate at least in a highly automated manner according to AVP Type 1 can also be referred to as an AVP Type 1 area. For such an area, for example, there is no AVP infrastructure monitoring by infrastructure environment sensors.

[0083] An area within which a motor vehicle is intended to operate at least in a highly automated manner according to AVP Type 2 can also be referred to as an AVP Type 2 area. AVP infrastructure monitoring is provided for such an area using infrastructure environment sensors.

[0084] An AVP infrastructure monitor is a monitor by one or more infrastructure environment sensors, whereby the monitoring data obtained from the monitor is used for the AVP process.

[0085] This may mean that while there may be infrastructure environment sensors within an AVP Type 1 area, they are not used for AVP infrastructure monitoring. One reason for this may be, for example, that these infrastructure environment sensors meet certain safety requirements that AVP infrastructure monitoring should advantageously fulfill, or cannot fulfill. Such safety requirements include, for example, one or more specific safety levels. Examples of safety levels include the following: QM, ASIL-A, ASIL-B, ASIL-C, ASIL-D, SIL-1, SIL-2, SIL-3.

[0086] 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.

[0087] 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.

[0088] QM stands for “Quality Management”, which specifically means that risks are tolerable, so that special safety requirements are unnecessary and only standard quality requirements are sufficient.

[0089] For example, infrastructure environment sensors used for AVP monitoring meet a higher security level than infrastructure environment sensors that are not used for AVP monitoring but, for example, for detecting the occupancy of a parking space.

[0090] At least highly automated driving of the motor vehicle by the vehicle-mounted AVP system comprises, for example, at least highly automated control of the lateral and longitudinal guidance of the motor vehicle by the vehicle-mounted AVP system. The infrastructure-mounted AVP system of the method according to the first aspect is the AVP system for an infrastructure, in particular a parking lot, according to the third aspect. This means that the AVP system according to the third aspect can be referred to as an infrastructure-mounted AVP system if it is implemented in an infrastructure, in particular a parking lot.

[0091] The vehicle-side AVP system of the method according to the second aspect is the AVP system for a motor vehicle according to the fourth aspect. This means that the AVP system according to the fourth aspect can be referred to as a vehicle-side AVP system when it is implemented in a motor vehicle.

[0092] A procedure as described is carried out, for example, using the corresponding AVP system.

[0093] The invention is explained in more detail below using preferred embodiments. These show:

[0094] Fig. 1 is a flowchart of a method according to the first aspect,

[0095] Fig. 2 is a flowchart of a method according to the second aspect,

[0096] Fig. 3 an AVP system according to the fourth aspect,

[0097] Fig. 4 an AVP system according to the third aspect,

[0098] Fig. 5 shows a machine-readable storage medium according to the seventh aspect and

[0099] Fig. 6 a parking lot.

[0100] In the following, the same reference numerals may be used for the same features. Fig. 1 shows a flowchart of a method for infrastructure-supported assistance of a motor vehicle for at least highly automated driving according to AVP Type 1 within a parking area, where AVP Type 1 is a vehicle-centric AVP process, comprising the following step: sending 101 infrastructure assistance data by an infrastructure-side AVP system to the motor vehicle, based on which the motor vehicle can drive at least highly automated within the area according to AVP Type 1.

[0101] Fig. 2 shows a flow diagram of a method for at least highly automated driving of a motor vehicle according to AVP Type 1 within an area of ​​a parking lot, comprising the following steps: receiving 201 infrastructure assistance data from an infrastructure-side AVP system of the parking lot by a motor vehicle-side AVP system of the motor vehicle, based on which the motor vehicle-side AVP system can drive the motor vehicle at least highly automated according to AVP Type 1 within the area, at least highly automated driving 203 of the motor vehicle according to AVP Type 1 by the motor vehicle-side AVP system within the area based on the infrastructure assistance data.

[0102] At least highly automated driving of the motor vehicle by the vehicle-side AVP system includes, for example, at least highly automated control of a lateral and longitudinal guidance of the motor vehicle by the vehicle-side AVP system.

[0103] Fig. 3 shows an AVP system 300 according to the fourth aspect, which is comprised by or implemented in a motor vehicle 301 according to the fifth aspect.

[0104] By way of example, the motor vehicle-mounted AVP system 300 comprises a video camera 303 comprising an image sensor 305. The video camera 303 is arranged on the roof of the motor vehicle 301. The motor vehicle-mounted AVP system 300 further comprises, by way of example, a first radar sensor 307, which is arranged at the front of the motor vehicle 301. The motor vehicle-mounted AVP system 300 further comprises, by way of example, a second radar sensor 309, which is arranged at the rear of the motor vehicle 301. The motor vehicle-mounted AVP system 300 further comprises, by way of example, an ultrasonic sensor 311, which is arranged at the side of the motor vehicle 301.

[0105] Thus, the motor vehicle AVP system 300 comprises a motor vehicle environment sensor system comprising several environment sensors: image sensor 305, radar sensors 307, 309 and ultrasonic sensor 311.

[0106] These environmental sensors detect the surroundings of the motor vehicle and output environmental sensor data based on the detection to a control unit 313 of the vehicle-side AVP system 300. The control unit 313 processes this environmental sensor data in order to control the motor vehicle in at least a highly automated manner.

[0107] The motor vehicle-side AVP system 300 further comprises a wireless communication interface 315 which is configured to communicate with an infrastructure-side AVP system (not shown).

[0108] Communicating in the sense of the description includes sending and receiving.

[0109] At this point it is noted that instead of or in addition to the environmental sensors shown in Fig. 3, more or fewer and / or other environmental sensors may be provided.

[0110] At this point, it is noted that instead of or in addition to the control unit 313 shown in Fig. 3, several control units may be provided.

[0111] In an embodiment not shown, the motor vehicle-side AVP system 300 does not include any vehicle environment sensors. In this case, the vehicle environment sensors are already part of the motor vehicle 301. Fig. 4 shows an AVP system 401 according to the third aspect. The AVP system 401 is configured to perform all steps of the method according to the first aspect.

[0112] By way of example, the AVP system 401 comprises a video camera 403 comprising an image sensor 405. By way of example, the AVP system 401 comprises a radar sensor 407.

[0113] These environmental sensors are spatially distributed within a parking space (not shown) and each detects an area of ​​the parking space. Environmental sensor data from these environmental sensors based on the detection is output to a data processing device 409, which processes the environmental sensor data and, for example, uses this data to determine infrastructure assistance data for assisting an at least highly automated motor vehicle within the framework of an AVP process.

[0114] At this point, it is noted that instead of or in addition to the environmental sensors shown in Fig. 4, more or fewer and / or other environmental sensors may be provided.

[0115] Furthermore, the infrastructure-side AVP system 401 comprises a wireless communication interface 411, which is configured to communicate with one or more at least highly automated motor vehicles located within the parking space.

[0116] For example, the AVP system 401 comprises several such wireless communication interfaces 411, which are spatially distributed within the parking lot in order to achieve sufficient radio coverage.

[0117] The data processing device 409 may, for example, comprise one or more servers, one or more of which may, for example, be implemented in a cloud infrastructure. In an embodiment not shown, it is provided that the AVP system

[0118] 401 does not include infrastructure environment sensors. In this case, the infrastructure environment sensors are already part of the parking lot.

[0119] In particular, the area of ​​the parking space within which the motor vehicle is driving or is driving according to AVP Type 1 is not equipped with such infrastructure environment sensors.

[0120] Fig. 5 shows a machine-readable storage medium 501 according to the seventh aspect, on which a computer program 503 according to the sixth aspect is stored.

[0121] Fig. 6 shows a parking lot.

[0122] Within the parking space 601, several areas are specified or defined, within which an at least highly automated motor vehicle is to drive as part of an AVP process either according to AVP type 1 or according to AVP type 2.

[0123] In detail, four such areas are defined: a first area 603, a second area 605, a third area 607 and a fourth area 609, which are each arranged one after the other directly adjacent to one another.

[0124] The first area 603 marks a drop zone of parking lot 601. A driver drops off his or her vehicle at drop zone 603 or parks it within this zone. The AVP process starts at the drop zone.

[0125] Within the scope of the AVP process, the motor vehicle is to park, for example, within the fourth area 609, since according to the exemplary embodiments shown here, this area designates a parking space in the parking lot 601.

[0126] Thus, a second area 605 and a third area 607 are defined between the drop zone and the parking space. Figure 6 shows several video cameras 611, each comprising an image sensor 613. Specifically, one such video camera 611 is shown for each of the areas shown in Figure 6. It should be noted here that other and / or additional environmental sensors may be provided instead of or in addition to the video camera 611.

[0127] The video cameras 611 shown are intended to symbolize whether the corresponding area is monitored by infrastructure environment sensors or not. If no such monitoring is in place, the corresponding video camera 611 shown is crossed out with an "X" with reference symbol 615.

[0128] Within areas where no AVP infrastructure monitoring by infrastructure environment sensors is planned, the motor vehicle should drive according to AVP Type 1 as part of the AVP process. For other areas, the motor vehicle should drive according to AVP Type 2.

[0129] For the third area, 607, there is no AVP infrastructure monitoring. Here, the motor vehicle should drive according to AVP Type 1. For the other areas, there is AVP infrastructure monitoring. Here, the motor vehicle should drive according to AVP Type 2.

[0130] The concept described here is particularly that the infrastructure, i.e. the infrastructure-side AVP system, provides the motor vehicle or the motor vehicle-side AVP system with data, the infrastructure assistance data for at least a highly automated journey according to AVP Type 1 in an area of ​​the parking lot where in particular no AVP infrastructure support is available, based on which, i.e. the data, it can carry out its driving task.

[0131] For example, it is intended that the infrastructure-side AVP system provides, i.e., sends, infrastructure assistance data to the vehicle-side AVP system before entering or transitioning into an AVP Type 1 area and / or while driving within the AVP Type 1 area. Infrastructure assistance data includes, for example, one or more of the following data or information:

[0132] Digital map of the parking lot or area with static information about the area. This means that the digital map includes information about, for example, static objects located within the area. Such static objects include, for example, walls, columns, and general infrastructure elements.

[0133] Rules that must be observed in the parking lot or within the area (e.g., speed, right of way, etc.). These rules can be included, for example, in the digital map.

[0134] Position of a transfer point between the AVP Type 1 area and an immediately adjacent AVP Type 2 area, i.e., an area within which the motor vehicle is intended to travel according to AVP Type 2 and for which AVP infrastructure monitoring exists. This position is included, for example, in the digital map.

[0135] Target position, for example, the parking position, for example, the parking position of a parking bay where the vehicle is to be parked. The target position can, for example, be changed by the infrastructure-side AVP system while the vehicle is moving, with the new target position being sent by the infrastructure-side AVP system to the vehicle-side AVP system.

[0136] A position, in particular a parking position, a destination position, position of a handover point, within the meaning of the description is, for example, included in a digital map of the parking lot and is therefore displayed by such a map.

[0137] Parking position, for example, the parking position of a parking bay where the motor vehicle is to be parked. The parking position can, for example, be changed by the infrastructure-side AVP system while the motor vehicle is moving, with the new parking position being sent by the infrastructure-side AVP system to the vehicle-side AVP system.

[0138] Position of a drop zone or pickup zone.

[0139] Target route within the area, i.e. a route that the motor vehicle should take.

[0140] The target driving path within which the vehicle is to travel when traveling through the AVP Type 1 area. The target driving path includes, for example, the target route.

[0141] Target trajectory within the area. The target trajectory specifies, for example, one or more speeds, particularly depending on a location within the area, and / or one or more maximum permissible accelerations, particularly depending on a location within the area. This means that the target trajectory specifies, for example, where within the area the motor vehicle should travel at what speed and / or where within the area the motor vehicle should adhere to what maximum permissible acceleration.

[0142] Dynamic behavior in the parking lot and events. An example of an event is an accident.

[0143] The infrastructure assistance data can, for example, be determined using one or more infrastructure environment sensors, whose monitoring data is not used for an AVP process because these infrastructure environment sensors do not meet a certain security level, for example. The infrastructure assistance data can, for example, alternatively or additionally be received from other sources, such as other motor vehicles located within the parking space or area and / or from one or more digital map services by the infrastructure-side AVP system. Data from one or more traffic control devices, in particular electronic traffic signs and traffic lights, located within the parking space.Such data includes, for example, a current and / or future signal image of the traffic light system and / or information displayed by the electronic traffic sign and / or from an (online) data source, in particular an OEM backend and / or a terminal device of a person who has reported the information via his terminal device.

[0144] Based on the transmitted infrastructure assistance data, in particular digital map and / or target route and / or target driving path and / or target trajectory, the motor vehicle is driven by the vehicle-side AVP system at least highly automated according to AVP Type 1 within the area.

[0145] For example, the vehicle-side AVP system continuously adapts the behavior of the motor vehicle and / or a planning of the journey and / or a control of one or more actuators, in particular the drive, brakes, steering, of the motor vehicle based on the transmitted infrastructure assistance data.

[0146] At one or more of the following times or time intervals, for example, the infrastructure assistance data can be sent by the infrastructure-side AVP system to the motor vehicle-side AVP system: The infrastructure assistance data are sent, for example, before the AVP process and / or after the start of the AVP process during the at least highly automated journey, in particular according to AVP Type 2, of the motor vehicle within the parking space before entering the AVP Type 1 and / or when the responsibility for driving is handed over from the infrastructure to the motor vehicle, i.e. from the infrastructure-side AVP system to the motor vehicle-side AVP system, and / or during the journey of the motor vehicle according to AVP Type 1 within the area.

[0147] The infrastructure assistance data is sent, for example, once or multiple times, in particular at the times or time intervals specified above. If more recent infrastructure assistance data is available on the infrastructure side than that already sent, the more recent infrastructure assistance data is sent by the infrastructure-side AVP system to the vehicle-side AVP system. The infrastructure-side AVP system updates the infrastructure assistance data, for example, so that more recent infrastructure assistance data is available than that already sent.

Claims

Claims 1. A method for infrastructure-supported assistance of a motor vehicle (301) for at least highly automated driving according to AVP Type 1 within an area of a parking space (601), wherein AVP Type 1 is a motor vehicle-centric AVP process, comprising the following step: Sending (101) infrastructure assistance data by an infrastructure-side AVP system (401) to the motor vehicle (301), based on which the motor vehicle (301) can drive at least highly automated according to AVP type 1 within the area.

2. The method according to claim 1, wherein the sending comprises sending infrastructure assistance data before the start of the AVP process and / or after the start of the AVP process and during an at least highly automated journey of the motor vehicle (301) within the parking space (601) before the at least highly automated driving according to AVP type 1 and / or after the start of the AVP process and as part of a handover process towards AVP type 1 driving and / or during the at least highly automated journey according to AVP type 1 of the motor vehicle (301).

3. The method according to claim 1 or 2, wherein the infrastructure assistance data comprises one or more of the following information: digital map of the area, rules to be taken into account by the motor vehicle (301) during the at least highly automated driving according to AVP Type 1, handover position of a handover from AVP Type 1 driving to AVP Type 2 driving, wherein AVP Type 2 is an infrastructure-centric AVP process, target position, in particular parking bay, for the motor vehicle (301) within the area, position of a drop zone, position of a pickup zone, target route within the area, target travel path within the area, target trajectory within the area, information about dynamic behavior in the parking lot (601), information about an event that occurred in the parking lot (601), in particular an accident, one of a arranged traffic control device, in particular electronic Traffic sign or traffic light, information provided.

4. The method according to claim 3, wherein the information about a dynamic behavior in the parking lot (601) and / or the information about an event that has occurred in the parking lot (601) is determined by the infrastructure-side AVP system (401) using one or more infrastructure environment sensors of the parking lot (601) and / or is received by the infrastructure-side AVP system (401) from one or more other motor vehicles (301) located within the parking lot (601) and / or is received by the infrastructure-side AVP system (401) from an online map service and / or from an (online) data source, in particular an OEM backend and / or a terminal device of a person who has reported the information via his terminal device.

5. A method for at least highly automated driving of a motor vehicle (301) according to AVP Type 1 within an area of a parking space (601), comprising the following steps: Receiving (201) infrastructure assistance data from an infrastructure-side AVP system of the parking lot (601) by a motor vehicle-side AVP system (300) of the motor vehicle (301), based on which the motor vehicle-side AVP system (300) can drive the motor vehicle (301) at least highly automated according to AVP type 1 within the area, at least highly automated driving (203) of the motor vehicle (301) according to AVP type 1 by the motor vehicle-side AVP system (300) within the area based on the infrastructure assistance data.

6. The method according to claim 5, wherein the receiving comprises receiving infrastructure assistance data before the start of the AVP process and / or after the start of the AVP process and during an at least highly automated journey of the motor vehicle (301) within the parking space (601) before the at least highly automated driving according to AVP type 1 and / or after the start of the AVP process and as part of a handover process towards AVP type 1 driving and / or during the at least highly automated journey according to AVP type 1 of the motor vehicle (301).

7. The method according to claim 5 or 6, wherein the infrastructure assistance data comprises one or more of the following information: digital map of the area, rules to be taken into account by the motor vehicle (301) during the at least highly automated driving according to AVP Type 1, handover position of a handover from AVP Type 1 driving to AVP Type 2 driving, where AVP Type 2 is an infrastructure-centric AVP process, target position, in particular parking bay, for the motor vehicle (301) within the area, position of a drop zone, position of a pickup zone, target route within the area, target travel path within the area, target trajectory within the area, information about dynamic behavior in the parking lot (601), information about an event that occurred in the parking lot (601), in particular an accident, a traffic control device arranged within the parking lot (601), in particular an electronic traffic sign or traffic light system,and / or information provided by an (online) data source, in particular an OEM backend and / or a device of a person who has reported the information via his device.

8. The method according to one of claims 5 to 7, wherein, based on the infrastructure assistance data, an at least highly automated journey of the motor vehicle (301) according to AVP Type 1 through the area is newly planned by the motor vehicle AVP system (300) or an already planned at least highly automated journey of the motor vehicle (301) according to AVP Type 1 is adapted by the motor vehicle AVP system (300), wherein the motor vehicle AVP system (300) drives the motor vehicle (301) at least highly automated according to AVP Type 1 through the area based on the newly planned journey or based on the adapted journey.

9. AVP system (401) for an infrastructure, in particular a parking lot, which is designed to carry out all steps of the method according to one of claims 1 to 4.

10. AVP system (300) for a motor vehicle, wherein the AVP system (300) is configured to carry out all steps of the method according to one of claims 5 to 8.

11. Motor vehicle (301) comprising the AVP system (300) according to claim 10.

12. A computer program (503) comprising instructions which, when executed by a computer, cause the computer to carry out a method according to one of claims 1 to 8.

13. A machine-readable storage medium (501) on which the computer program (503) according to claim 12 is stored.

Images