Method, computer program product, computer-readable recording medium, and assistance system for generating a route for an at least partially autonomous vehicle

Abstract

The present invention relates to a method for generating a path (22) for an automated vehicle (1), comprising the steps of detecting a path (8) walked by a person (9) and generating a path (22) for the automated vehicle (1) based on the detected path (8). Furthermore, the present invention relates to a computer program product, a computer readable recording medium and an assistance system (2).

Description

[Technical field]

[0001] The present invention relates to a method for generating routes for an at least partially autonomous motor vehicle, and further to a computer program product, a computer readable storage medium, and a corresponding assistance system. [Background technology]

[0002] If the driver is uncertain about the road ahead and must maneuver the vehicle in difficult terrain, the driver may exit the vehicle and examine possible vehicle routes. In particular, the driver may exit the vehicle and examine the surroundings at each point along the way to determine a drivable route. Thus, the vehicle is not fully utilized, particularly if the vehicle is an at least partially autonomous vehicle.

[0003] DE 10 2017 210 221 A1 discloses a method for longitudinal and lateral guidance of a motor vehicle, which comprises the steps of determining environmental data relating to an environment of the motor vehicle, determining several possible paths for a future driving movement of the motor vehicle, detecting a selection of an operator input, selecting a selected path from the possible paths in response to the selection of the operator input, and at least partially automatically guiding the motor vehicle along at least a portion of the selected path.

[0004] US 2019 / 0077458 A1 discloses a system and method for operating a driver assistance system of a motor vehicle, in which the motor vehicle has at least one radar sensor capturing the environment of the motor vehicle. Data from the radar sensor is evaluated to form an environment model describing the environment of the motor vehicle. If at least one query criterion is met, an environment map derived from the environment model (an explanatory plan view of drivable and non-drivable areas) is displayed on a display device. During interaction between the driver and the displayed environment map, path data describing the driver's desired path is determined. The motor vehicle is at least partially automatically guided along the actual path derived from the path data. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] DE 102017210221 [Patent Document 2] US Patent Publication No. 20190077458 Summary of the Invention

[0006] It is an object of the present invention to provide a method, a computer program product, a computer readable recording medium, and an assistance system that provide for more efficient maneuvering of at least partially autonomous motor vehicles.

[0007] This object is achieved by a method, a computer program product, a computer readable recording medium and a support system as set forth in the respective independent claims. Advantageous configuration features are set forth in the respective dependent claims.

[0008] One aspect of the present invention relates to a method for generating a route for an automated vehicle, the method comprising the steps of detecting a route walked by a person and generating a route for the automated vehicle based on the detected route.

[0009] In particular, the method is performed by an assistance system of a motor vehicle comprising at least an electronic computer, preferably part of the motor vehicle, or alternatively, the electronic computer may be part of a server external to the vehicle.

[0010] Thus, a person (which may be, for example, a driver of a motor vehicle) gets off the motor vehicle, checks whether the route is suitable for the motor vehicle, and walks the required route. The route is detected and a path for the motor vehicle is generated according to the walked route.

[0011] Thus, a more efficient way to achieve automatic maneuvering of a motor vehicle is presented.

[0012] In particular, the method may be provided as a computer-implemented method.

[0013] In an advantageous configuration, the route is detected by detecting the position of a mobile device carried by the person. The mobile device (which may be, for example, a smartphone or a wearable device), which is held by the person, in particular when the person is outside the motor vehicle, and which is connected to the motor vehicle, tracks the driver's route and stores it in the memory of the mobile device by coordinates obtainable from the sensors of the mobile device. A positioning device is preferably configured to record the position along the walked route. The positioning device records the route in particular by GPS and / or differential GPS. Alternatively or in addition, the mobile device is configured to achieve a location estimation within the building. The sensors of the mobile device may include, for example, a GPS (global positioning sensor), a gyroscope, or an accelerometer and / or a magnetometer. The person checks the route in the handheld device when he reaches the final position, may correct the route if necessary, and transfers the planned route to the motor vehicle, asking it to proceed along the route. For example, a camera outside the vehicle (e.g., in infrastructure, particularly parking infrastructure) detects the path walked by the person, or a camera on the vehicle detects the path of the person, preferably at least 40, 50, 60, 70, 80, or 90% of the detected path of the person is essentially identical to the path.

[0014] According to an advantageous embodiment, in order to find a path, a number of positions of the mobile device are tracked. In particular, the number of positions are tracked automatically and / or each of the number of positions is tracked automatically at a predefined time interval. For example, the number of positions may be tracked every half meter. In other words, when a person walks half a meter, a new position is tracked by the mobile device. Alternatively or additionally, the positions are tracked at a predefined time interval. For example, the positions are tracked automatically by the mobile device every 5 seconds. Thus, the positions are tracked at fairly detailed intervals and a fairly detailed planned route can be transmitted to the electronic computer.

[0015] In another advantageous configuration, the detected path is wirelessly transmitted from the mobile device to the motor vehicle, so that the person does not have to be hindered by a cable connection while walking the path. The wireless connection can be, for example, a WiFi connection, a Bluetooth connection or a connection through a mobile network.

[0016] In another embodiment, the starting position of the path is automatically generated by the mobile device after the person exits the automated vehicle. In particular, when the person (which may be the driver of the automated vehicle) stops the automated vehicle, the mobile device may automatically connect to the computer of the automated vehicle (which may be the infotainment of the automated vehicle, for example). The driver may select the path planning of the method on the connected mobile device. The person is authenticated, for example, by MAC address if connected by WiFi, or by some authentication pin if connected through Bluetooth. When the person selects the path planning of the method, the parking brake of the automated vehicle is automatically applied by the automated vehicle. In the next step, the person may open the door to exit the automated vehicle and close the door. When the person closes the door, the door closing information is shared with the mobile device. The mobile device connected to the automated vehicle automatically generates the starting position and records the path of the person. The camera of the automated vehicle may identify the person around the automated vehicle. The person is asked to walk in front of the automated vehicle, and the automated vehicle will identify the driver.

[0017] Preferably, the end point of the path is automatically generated by the mobile device upon input by the person on the mobile device and / or the planned path is generated by the mobile device upon said input. Thus, the end point is automatically generated when the person presses, for example, a button on the mobile device. Thus, every position between the start point and the end point is automatically tracked by the mobile device. After the end point is automatically generated, the planned path is automatically generated by the mobile device. For example, the person may press a stop button on the mobile device when reaching the end position. If the person presses the stop button, the parking recording is stopped. If the person does not press a so-called "restart button", the recorded path is stored in the mobile device. After storage, the planned path is transmitted to the electronic computer. The electronic computer sends the planned path to the assistance system, which may be, for example, a parking control unit. The parking control unit sends an acknowledgement to the electronic computer upon successful reception of the planned path. This acknowledgement may be forwarded to the person or may be displayed on the mobile device. If the parking control unit determines that the path information is insufficient, it sends the information to an electronic computer, which will forward it to the person (in particular to a mobile device). If the path information is sufficient, the parking control unit asks the person whether to start a maneuver of the automated vehicle. The person commands the automated vehicle to start moving by sending a command from a mobile device connected to the automated vehicle. The vehicle movement will start automatically. If the connection between the automated vehicle and the mobile device is lost, the at least partially automatic maneuver will be stopped at the location. The maneuver can also be stopped by the person by sending a command via the mobile device.

[0018] It has been found to be advantageous that the path walked by the person is detected by a detection device of the motor vehicle, the detected path is compared with a number of positions of the mobile device, and the detected path is confirmed by said comparison. The detection device can be, for example, a radar sensor, an ultrasonic sensor, a lidar sensor or a camera. The distance between the person and the motor vehicle is calculated by an electronic computer, and this calculated distance is shared with the mobile device of the person, and the person is asked to approve this distance. It is also possible that the headlamps of the motor vehicle project light at this distance, which the person is asked to approve on the mobile device. Thus, an accurate planning of the route can be realized.

[0019] In another embodiment, a planned path is generated according to the walked path and the planned path is displayed on the mobile device for the person to review the planned path. The path is displayed on a display device of the mobile device for the person to review the planned path. In other words, the planned path is displayed on the mobile device. The person can immediately check the planned path on the mobile device. If there is any problem with the displayed path, the person may re-plan the path. Thus, an efficient manner for at least partially automatic maneuvering of a motor vehicle is realized.

[0020] Preferably, prior to transmitting the planned path, the displayed path is adjusted in response to input by the person on the display device. For example, the mobile device may be equipped with a touch pad, and the person may adjust the displayed position on the display device in order to adjust the path. Thus, an efficient way of planning paths for at least partially automatic maneuvers is realized.

[0021] In another advantageous configuration, the surroundings of the motor vehicle are monitored during the movement of the motor vehicle along the path. In particular, the surroundings can be monitored by a detection device of the assistance system. For example, the detection device can be an ultrasonic sensor, a lidar sensor, a radar sensor or a camera. During the movement along the path, the motor vehicle monitors the surroundings, so that a safe movement of the motor vehicle along the path is achieved.

[0022] In another advantageous configuration, if an obstacle is detected around the motor vehicle, a warning message is generated for the mobile device for confirmation and / or to warn the person. In particular, if an obstacle is detected, for example an image of the obstacle is transmitted to the mobile device. The person is then warned and can identify the obstacle. For example, if the obstacle is only a small obstacle, the person does not have to identify it as an obstacle (important for the motor vehicle) and the motor vehicle proceeds along the path. If the obstacle is a large obstacle, the person can send a new path to the motor vehicle. Thus, a more efficient and safer way of at least partially automatic maneuvering is achieved.

[0023] In another advantageous configuration, if an obstacle is detected in the vicinity of the motor vehicle, the obstacle is illuminated. For example, the obstacle may be illuminated by a lighting device of the assistance system. The lighting device may be a headlamp of the motor vehicle. The obstacle is thus illuminated and a person can see the obstacle (detected as such by the motor vehicle) and can then determine whether the obstacle is a danger for the motor vehicle or not.

[0024] In another advantageous embodiment, if an obstacle is detected around the motor vehicle, the motor vehicle is automatically driven around the detected obstacle, so that the motor vehicle can be automatically driven past the obstacle without human intervention, so that a more efficient and at least partially automatic maneuvering of the motor vehicle can be achieved.

[0025] Furthermore, it has been found to be advantageous if the route is planned according to the tracked positions by filtering out positions that are not relevant to the route. For example, if there are several positions very close to each other, these positions can be filtered out by the computer. Furthermore, if some positions are not important for the route (because none of them are important for the planned route), these positions are also filtered out. Furthermore, positions may be filtered out due to physical boundary conditions of the motor vehicle, such as the minimum turning radius of the motor vehicle. The resulting route can thus be distinguished from a walked path. Hence, a more efficient way for at least partially automatic maneuvering of the motor vehicle is realized.

[0026] A further aspect of the invention relates to a computer program product having program code means recorded in a computer readable medium for performing the method according to the previous aspect when executed on a processor of an electronic computer.

[0027] A still further aspect of the invention relates to a computer readable storage medium comprising a computer program product according to the previous aspect, in particular an electronic computer comprising the computer program product.

[0028] Another aspect of the invention relates to an assistance system for an at least partially autonomous vehicle for generating a route for the vehicle, the assistance system comprising at least an electronic computer and adapted to perform the method according to the previous aspect, in particular the method being performed by the assistance system.

[0029] A still further aspect of the invention relates to a motor vehicle comprising an assistance system according to the previous aspect. In particular, the motor vehicle is at least partially autonomous. The motor vehicle may also be fully autonomous.

[0030] Advantageous embodiments of the method are to be considered as advantageous embodiments of a computer program product, a computer readable recording medium, an assistance system and an automotive vehicle, the assistance system and the automotive vehicle comprising means for carrying out the method.

[0031] Further features of the invention are evident from the claims, the drawings and the description of the drawings. The features and combinations of features described above in the specification and the features and combinations of features described below in the description of the drawings and / or shown only in the drawings can be used not only in the respective specified combinations but also in other combinations without departing from the scope of the invention. Thus, implementations that are not explicitly shown or described in the drawings, but that result or can be produced from combinations of features distinct from the described implementations, are also to be considered as encompassed and disclosed by the invention. Thus, implementations and combinations of features that do not include all the features of the independent claims as originally formulated are also to be considered as disclosed. Moreover, implementations and combinations of features that extend beyond or deviate from the combinations of features detailed in the claims are to be considered as disclosed, particularly by the implementations detailed above.

[0032] The invention will now be described in more detail on the basis of preferred embodiments as well as with reference to the accompanying drawings. [Brief description of the drawings]

[0033] [Figure 1] 1 is a schematic plan view of an embodiment of a motor vehicle having an embodiment of an assistance system; [Diagram 2] 2 is another schematic plan view of the motor vehicle according to FIG. 1 with a planned route; [Diagram 3] FIG. 2 is another schematic plan view of an embodiment of a motor vehicle. [Figure 4] FIG. 2 is another schematic plan view of an embodiment of a motor vehicle. [Diagram 5]FIG. 2 is another schematic plan view of an embodiment of a motor vehicle. [Figure 6] 4 is a schematic flow chart according to an embodiment of the method; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0034] In the various figures, identical or functionally identical elements are given the same reference numbers.

[0035] FIG. 1 shows a schematic plan view of an automated vehicle 1 with an embodiment of an assistance system 2. The assistance system 2 comprises at least an electronic computer 3. The automated vehicle 1 may comprise a functional device 4, which is for example a device for driving the automated vehicle 1 at least partially autonomously. In particular, the functional device 4 may comprise a parking control unit, which is the master and is responsible for the environmental data for preparing the maneuver by processing data from other control units and also from its own detection device 5. The parking control unit also classifies avoidable and unavoidable threats via the environmental data and sends a notification of this to the infotainment system of the automated vehicle 1. Furthermore, the functional device 4 may comprise a front camera unit for identifying objects ahead and for detecting people. The front camera unit may be the detection device 5. Furthermore, the functional device 4 may comprise an infotainment unit, which is used to connect a mobile device 6, which may for example be a smartphone or a wearable device. The informament unit receives and transmits data from the mobile device 6 and forwards the data to the control unit. The informament identifies the mobile device 6 for authentication and sends the authentication data to a so-called immobilizer. The immobilizer is used for authentication based on an encryption key shared by the mobile device 6. The functionality device 4 may comprise a brake unit (implying a parking brake based on data received from the parking control unit) responsible for stopping the motor vehicle 1. Furthermore, the functionality device 4 may comprise a surround view camera for identifying threats and capturing the surroundings to inform the parking control unit. Furthermore, the functionality device 4 may comprise a radar control unit for identifying threats and informing the parking control unit. The functionality device 4 may comprise a forward cross traffic warning radar unit for detecting threats in the cross range and informing the parking control unit. The functionality device 4 may comprise a forward lidar unit for identifying threats and informing the parking control unit.The functionality device 4 may comprise a headlamp unit for projecting light towards a threat based on data received from the parking control unit. Thus, the motor vehicle 1 may comprise a headlamp 7. The functionality device 4 may comprise an engine management system used for acceleration and for movement of the motor vehicle based on data received from the parking control unit. The functionality device 4 may comprise an electric power steering used for lateral control of the vehicle based on data received from the parking control unit. The functionality device 4 may comprise a transmission control unit used for longitudinal control of the motor vehicle based on data received from the parking control unit. The mobile device 6 is configured in particular for plotting a travel path and for accepting or rejecting obstacles 14 (FIG. 2) that may be detected by the detection device 5.

[0036] In particular, the electronic computer 3 may comprise a computer program product and a corresponding computer-readable recording medium.

[0037] Figure 1 shows an automated vehicle 1 with an embodiment of an assistance system 2 for generating a path 22 (Figure 2) for the automated vehicle 1. The method comprises detecting a path 8 (Figure 2) walked by a person 9 and generating a path 22 for the automated vehicle 1 based on the detected path 8.

[0038] In one embodiment, during the planning stage of the path 22, a mobile device 6 is carried by the person 9, and multiple positions a-m of the mobile device 6 are tracked by a positioning device of the mobile device 6 according to the route 8 undertaken by the person 9. The mobile device 6 generates a path 22 according to the tracked multiple positions a-m, and the path 22 is wirelessly transmitted from the mobile device 6 to the electronic computer 3.

[0039] Using a detection device 5, which may for example be a lidar sensor, a radar sensor, an ultrasonic sensor or a camera, a detection position 10 of a person 9 may be detected.

[0040] Fig. 2 shows another schematic plan view of the autonomous vehicle 1 together with the generated path 22 and the walked path 8. In particular, Fig. 2 shows that a plurality of positions a-m are automatically tracked and / or that each position a-m of the plurality of positions a-m is automatically tracked at a predetermined time interval.

[0041] It is further shown that the start position 11 of the path 22 is automatically generated by the mobile device 6 after the person 9 has exited the motor vehicle 1. Furthermore, the end position 12 of the path 22 is automatically generated by the mobile device 6 upon input by the person 9 on the mobile device 6 and / or the path 22 is generated by the mobile device 6 upon said input.

[0042] The detection device 5 of the assistance system 2 may detect the person 9 during the planning stage. The electronic computer 3 then compares the transmitted path 22 with the route 8 performed by the detected person 9, thereby validating the tracking of the positions a-m and the transmitted path 22. In particular, the path 22 is displayed on the display device 21 of the mobile device 6 for confirmation of the path 22 by the person 9 before transmitting the path 22 to the electronic computer 3. Furthermore, the path 22 may be adjusted according to inputs made by the person 9 on the display device 21 before transmitting the path 22.

[0043] 2 shows that the surroundings 13 of the motor vehicle 1 are monitored by the detection device 5 of the motor vehicle 1 during the movement of the motor vehicle 1 along the path 22. In particular, if the detection device 5 detects an obstacle 14 in the surroundings 13 of the motor vehicle 1, the electronic computer 3 sends a warning message to the mobile device 6 for confirmation and warning the person 9. Furthermore, if the detection device 5 detects an obstacle 14 in the surroundings 13 of the motor vehicle 1, the obstacle 14 is illuminated by a lighting device, which may for example be the headlamp 7 of the assistance system 2. Furthermore, if the detection device 5 detects an obstacle 14 in the surroundings 13 of the motor vehicle 1, the motor vehicle 1 is automatically driven around the detected obstacle 14.

[0044] In another embodiment, the path 22 is planned according to the tracked positions a-m by filtering out positions a-m that are not relevant for the path 22. For example, if there are several positions a-m that are very close to each other, these positions a-m can be filtered out by the electronic computer 3. Furthermore, if some positions a-m are not relevant for the path 22, these positions a-m are also filtered out. Furthermore, positions a-m may be filtered out due to physical boundary conditions of the motor vehicle 1, such as the minimum turning radius of the motor vehicle 1. The resulting path 22 can thus be distinguished from the walked path 8.

[0045] FIG. 2 shows an example of route planning. The parking assistance unit plots the route 22 and assigns identification positions a-m for each turn, curve, or unusual route 8. When the automated vehicle 1 starts moving and reaches a turn at point d, it detects the environment using a camera, radar, or lidar to check for any obstacles 14 in the turn from point d to e. If no obstacles 14 are found, the automated vehicle 1 moves to point e. For example, if the distance between the turn from point d to e is about 15 meters and any obstacles 14 are found during the turn, the automated vehicle 1 will check points a, b, and c. If it is found that it is not necessary to move the automated vehicle 1 toward points b and c, the automated vehicle 1 will move toward point a. This also applies to plotting each location. At turns f, h, and j, the automated vehicle 1 moves from point f to h, ignoring position j. When turning at positions i, j, k, l, and m, the vehicle 1 ignores the turn from point k to j, plots its own path by turning from point i to l, and moves the vehicle 1 toward that path.

[0046] FIG. 3 shows another plan view of the motor vehicle 1 with headlamps 7. FIG. 3 shows that if the motor vehicle 1 detects an obstacle 14 on the generated path 22, the motor vehicle 1 automatically changes direction from the generated path 22 to the driven path 23, and the change is indicated by reference number 15. The automatic execution of the change 15 by the motor vehicle 1 can be indicated to the person 9 by a light projection 16. In particular, if there is an obstacle 14 in the generated path 22 and the motor vehicle 1 makes a change (which does not affect the course of the path 22), the motor vehicle 1 makes its own decision and moves itself in this way (represented by reference number 15 in FIG. 3). The motor vehicle 1 informs the mobile device 6 of the person 9 that it is redefining the path 22. The motor vehicle 1 also projects light in that direction to allow the driver to be informed about the path 22.

[0047] FIG. 4 shows another schematic plan view of the motor vehicle 1 with headlamps 7. According to a different embodiment, the detection device 5 detects an obstacle 14 in the surroundings 13 and the motor vehicle 1 illuminates the obstacle 14 with the lighting devices (in particular the headlamps 7) of the assistance system 2. Furthermore, a driving direction 17 is shown in FIG. 4. In addition to projecting towards the obstacle 14, the motor vehicle 1 monitors the surroundings 13 and captures the obstacle 14 through a surround view camera (for example a front camera). An image of the obstacle 14 can then be transmitted (for example in video format) to the person 9. If the driver considers the obstacle 14 to be valid, he will for example select a button (for example a red button) on the mobile device 6. The automatic maneuver will then be avoided. If the obstacle 14 is not a valid threat to the motor vehicle 1, the person 9 may for example select a further button (for example a green button) shown on the mobile device 6 and the motor vehicle 1 will proceed further with the automatic maneuver.

[0048] If the automated vehicle 1 cannot replan the path 22 because it has found and listed a false obstacle 14 as an obstacle 14, the person 9 is asked to replan the path 8 and can select the option to replan. The person 9 may replan the path 8, for example when reaching position n as shown in FIG. 2, and a pop-up may appear on the mobile device 6 to replan the path 8. This path 8 is then added to the existing path 22. The person 9 may select the yes (accept) option, and the replanned path 8 as shown in FIG. 2 is shared with the automated vehicle 1, automatic maneuvering is resumed, and the automated vehicle 1 proceeds towards the end position 12.

[0049] 5 shows an example according to an embodiment of the method. In this illustrated example, a person 9 wants to park a motor vehicle 1 in a garage 19. The garage 19 may not be detected by the motor vehicle 1 due to the presence of another motor vehicle 20 in front.

[0050] The person 9 gets off the automated vehicle 1 and walks along the required path 8, which is detected by the automated vehicle 1. In particular, the path 8 may be detected by a mobile device 6 or a wearable device carried by the person 9 and connected to the automated vehicle 1. The mobile device 6 tracks the driver's path 8 and stores the path 8 in its memory device by coordinates (which may be obtained from sensors of the mobile device 6). When the person 9 reaches the end position 12, the person 9 checks the path 8 in the mobile device 6, corrects it if necessary and transfers the path 22 to the automated vehicle 1, asking the automated vehicle 1 to proceed along the path 22.

[0051] FIG. 6 shows a schematic flow chart according to an embodiment of the method. In a first step S1, the person 9 stops the automated vehicle 1, connects the mobile device 6 to the infotainment of the automated vehicle, and selects route planning on the infotainment. When the person 9 selects route planning, the mobile device 6 will be connected and authenticated, for example by MAC address if connected via WiFi, or by some authentication pin if connected via Bluetooth. When the person 9 selects route planning, the parking brake is applied by the automated vehicle 1. In a second step S2, the person 9 gets out and closes the door of the automated vehicle 1. In a third step S3, recording of the travel path is automatically started. When the person 9 closes the door, the door closing information is shared with the mobile device 6. The mobile device 6 is connected to the automated vehicle 1 and will start recording the person's route 8. The detection device 5 may identify the person 9. The person 9 is asked to walk in front of the automated vehicle 1, and the automated vehicle 1 will identify the person 9. In a fourth step S4, the x and y coordinates of the person's movement are detected using the sensors of the mobile device 6 and stored in the memory of the mobile device 6. Thus, the person 9 starts walking. An application present in the mobile device 6 with sensors records the movement of the person 9 at each coordinate of the movement. The movement is stored continuously in the mobile device 6.

[0052] In a fifth step S5, the detection device 5 (in particular a camera) may detect the person 9. Then, for example with the help of an ultrasonic sensor, the distance between the person 9 / mobile device 6 and the automated vehicle 1 is recorded for authentication and to locate the starting position 11. In particular, the detection device 5 will detect the person 9 when the person 9 reaches the detection position 10. The mobile device 6 will be informed by the automated vehicle 1 when the person 9 is in position. The distance between the person 9 and the automated vehicle 1 is calculated by the parking control unit, which shares the distance with the mobile device 6. The person 9 is then asked to confirm the distance. For example, as shown in FIG. 4, the headlamps 7 project light into the distance. The person 9 confirms it with the mobile device 6.

[0053] In a sixth step S6, the person 9 may either reach the end position 12 and choose to stop the route calculation, or the person 9 may press "redo" at the end position 12 to change the route 8 in between. Thus, the person 9 may press the stop button when the end position 12 is reached. When the person 9 presses this stop button, the route recording is stopped. If the person 9 does not press the redo button, the recorded route 8 is stored in the mobile device 6, such as the route 8 shown in FIG. 2. The person 9 may press the redo button in the meantime, or as soon as the end position 12 is reached. If the person 9 presses the redo button, the above-mentioned steps are executed. If the person 9 finds that the current route 8 is not satisfactory, the person 9 may choose route planning, in which case "redo route" is pressed at any position. For replanning the route, a turn may be shown as a pop-up on the mobile device 6. For example, the person 9 may choose to replan from position c, and the route 8 is replanned from position c onwards. After the route is shared with the motor vehicle 1, the motor vehicle 1 travels along it.

[0054] In a seventh step S7, the person 9 may press a send button on the mobile device 6, and a path 22 according to the walked path 8 is sent to the electronic computer 3. The path 22 is transferred, for example, to the parking control unit. An acknowledgement is also transferred to the mobile device 6, before the parking control unit can send an acknowledgement to the electronic computer 3 upon successful reception of the path 22. If the parking control unit finds that the path information is incomplete, it sends this to the electronic computer 3, which can then be forwarded to the mobile device 6. In this case, it is preferable to output a notice to the person 9 via the mobile device 6 to record a new path 8. The person 9 then records the new path 8, which can then be transmitted to the electronic computer 3. In an eighth step S8, the person 9 commands the motor vehicle 1 to proceed along the path 22. If the path information is sufficient, the parking control unit asks the person 9 to start a maneuver of the motor vehicle. If the person 9 tells the motor vehicle 1 to start moving, the mobile device 6 sends an instruction to the motor vehicle 1. In a ninth step S9, the maneuvering of the motor vehicle is started, which is along the path 22 specified by the person 9. In particular, this is shown in Fig. 2. The vehicle movement is started, but the person 9 must be specifically inside the motor vehicle 1. If the connection between the motor vehicle 1 and the mobile device 6 is lost, the maneuvering can be stopped at that location. The person 9 may stop the maneuvering by sending a command via the mobile device 6.

[0055] In a tenth stage S10, the motor vehicle 1 may detect an obstacle 14, but will project its headlights 7 towards said obstacle 14 to seek approval from the person 9. This is particularly illustrated in figures 3 and 4.

[0056] In an eleventh step S11, the person 9 may select whether the obstacle 14 is a valid obstacle 14 or not. This confirmation may be done through the mobile device 6. If the person 9 finds the obstacle 14 to be valid, he may for example select a red button on the mobile device 6, and the system will proceed to step S12. If it is not an obstacle 14, the person 9 may for example select a green button, and the system will proceed to step S13. In a twelfth step S12, the person 9 should select whether to restart the path 8 to be walked or to end the maneuver at that location. This is done in particular if the person 9 selects the obstacle 14 as a valid threat. If the obstacle 14 is not a valid threat, the automated vehicle 1 will ignore the falsely detected obstacle 14.

[0057] When the automated vehicle 1 reaches the end position 12 in step S14, the automated vehicle 1 will notify the person 9 via the mobile device 6. If the automatic maneuver is a parking maneuver, the person 9 will turn off the engine and lock the automated vehicle 1 using the mobile device 6. If the maneuver is assisting the person 9, the person 9 will enter the automated vehicle 1 and continue driving or stop the automated vehicle 1.

Claims

1. A method for generating a route (22) for a motor vehicle (1), comprising: - detecting a path (8) walked by a person (9); - generating said path (22) for said motor vehicle (1) on the basis of said detected path (8); Equipped with The path (8) is detected by detecting the location of a mobile device (6) carried by the person (9); A plurality of locations (a-m) of the mobile device (6) are tracked to detect the path (8); the path (8) walked by the person (9) is detected by a detection device (5) of the motor vehicle (1), the detected path (8) is compared with the multiple positions (a-m) of the mobile device (6), and the detected path (8) is confirmed by the comparison.

2. 2. The method of claim 1, wherein the detected path (8) is wirelessly transmitted from the mobile device (6) to the motor vehicle (1).

3. 2. The method according to claim 1, wherein a starting position (11) of the path (22) is generated automatically after the person (9) has exited the motor vehicle (1).

4. 2. The method of claim 1, wherein the path (22) is generated according to the walked route (8) and displayed on the mobile device (6) for confirmation of the path (22) by the person (9).

5. 2. The method according to claim 1, wherein the surroundings (13) of the motor vehicle (1) are monitored during the travel of the motor vehicle (1) along the path (22).

6. 6. The method according to claim 5, wherein if an obstacle (14) is detected in the surroundings (13) of the motor vehicle (1), a warning message is generated to the mobile device (6) for confirmation and / or to warn the person (9).

7. 6. The method according to claim 5, wherein if an obstacle (14) is detected in the surroundings (13) of the motor vehicle (1), said obstacle (14) is illuminated by a lighting device of the motor vehicle (1).

8. 6. The method according to claim 5, wherein if an obstacle (14) is detected in the surroundings (13) of the motor vehicle (1), the motor vehicle (1) is automatically driven around the detected obstacle (14).

9. The method of claim 1, wherein the course (22) is generated by filtering out locations (a-m) that are not relevant to the path (8).

10. A computer program product having program code means recorded in a computer readable medium for performing the method according to any one of claims 1 to 9 when the computer program product is executed on a processor of an electronic computer (3).

11. 11. A computer readable storage medium having the computer program product of claim 10.

12. 10. An assistance system (2) for an at least partially autonomous autonomous vehicle (1) for generating a route (22) for the autonomous vehicle (1), the assistance system (2) comprising at least an electronic computer (3) and configured to perform the method according to any one of claims 1 to 9.

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