Bicycle parking assistance system, motorized two-wheel vehicle, and method

Abstract

A bicycle parking assistance system (130) for a motorized two-wheeled vehicle (100) is proposed. The bicycle parking assistance system (130) is configured to autonomously control the two-wheeled vehicle (100) and includes a receiving unit (132) for receiving environmental sensor signals indicative of the environment (200) of the two-wheeled vehicle (100) and for receiving riding condition sensor signals indicative of the riding condition of the two-wheeled vehicle (100), a position determination unit (134) for determining a current position (P0) of the two-wheeled vehicle (100) according to the received environmental sensor signals and / or the received riding condition sensor signals, a start position (P1), a target position (P2), and a target position (P3). a providing unit (136) for providing a predetermined trajectory (TR) connecting the above-mentioned two-wheeled vehicle (100), and a control unit (138) for performing an autonomous parking step of the two-wheeled vehicle (100) according to the received environmental sensor signals, the received riding condition sensor signals, the identified current position (P0), and the predetermined trajectory (TR), the autonomous parking step comprising a process of autonomously driving the two-wheeled vehicle (100) from the identified current position (P0) of the two-wheeled vehicle (100) to the target position (P2) along the predetermined trajectory (TR).

Description

[Technical Field]

[0001] The present invention relates to a parking assistance system for a motorized two-wheeled vehicle, to a motorized two-wheeled vehicle having such a parking assistance system, and to a method for operating a parking assistance system for a motorized two-wheeled vehicle. [Background technology]

[0002] Motorized two-wheeled vehicles, such as motorcycles, motor scooters such as e-bikes, motorized bicycles, and scooters such as e-scooters, are known. Two-wheeled vehicles take up significantly less space than automobiles and are easier to maneuver, making them a suitable means of transportation, especially in areas with heavy traffic. Bicycles, in particular, are attracting a great deal of attention as an environmentally friendly means of transportation because they are relatively light and require less power to run.

[0003] Users of motorized motorcycles would benefit from more convenient steps for parking their motorcycles. Until now, users have had to manually transport their motorcycles to a suitable parking location and securely secure the motorcycle. In particular, if the motorcycle cannot be securely parked or if secure parking requires significant effort, users may refrain from using their motorcycles. Motorcycles are more susceptible to theft than automobiles, so users must be particularly careful when parking their motorcycles. However, whether a motorcycle can be safely parked without being stolen often depends on the infrastructure available on-site. If the nearest available and safe parking option is too far from the user's actual destination, users may refrain from using their motorcycles.

[0004] The paper "Towards artificial intelligence with hybrid Tianjic chip architecture" by Pei, J., Deng, L., Song, S. et al., published in Nature 572, 106-111 (2019) (https: / / doi.org / 10.1038 / s41586-019-1424-8), describes an autonomous bicycle that is self-stabilizing and can avoid objects. Summary of the Invention

[0005] Under these circumstances, an object of the present invention is to improve the operability of a motorized two-wheeled vehicle.

[0006] According to a first aspect, a bicycle parking assistance system for a motorized two-wheeled vehicle is proposed, the bicycle parking assistance system being configured to autonomously control the two-wheeled vehicle. The bicycle parking assistance system comprises: a receiving unit for receiving an environmental sensor signal indicating an environment of the motorcycle and a running state sensor signal indicating a running state of the motorcycle; a location determination unit for determining a current location of the two-wheeled vehicle according to the received environmental sensor signals and / or the received riding condition sensor signals; a providing unit for providing a predetermined trajectory connecting a start position and a target position; a control unit for performing an autonomous parking step of the two-wheeled vehicle according to the received environmental sensor signals, the received running state sensor signals, the determined current position, and the predetermined trajectory; Equipped with. The autonomous parking step includes a process of autonomously driving the two-wheeled vehicle from the identified current position of the two-wheeled vehicle to the target position along the predetermined trajectory.

[0007] An advantage of the present bicycle parking assistance system is that it provides a user of a motorized motorcycle with the option of autonomously performing the parking steps, where the motorcycle is autonomously driven to a target location and parked there. The autonomous parking steps are preferably performed without user supervision. Thus, the user only needs to initiate the autonomous parking steps by parking the motorcycle at a specific location, such as in front of a home or office entrance, without having to go through the trouble of parking the motorcycle themselves.

[0008] The fact that the parking assistance system is configured to autonomously control the motorcycle means that the parking assistance system is configured to activate the respective systems of the motorcycle, so that the motorcycle balances itself, accelerates, steers and decelerates itself. The autonomous control is performed on the one hand based on acquired environmental and riding state data, and on the other hand based on predetermined data, such as a predetermined trajectory or predetermined rules and / or parameter values. This can also be said to refer to an autonomous motorcycle that controls itself automatically.

[0009] Each unit of the bicycle parking assistance system may be implemented in hardware and / or software. If implemented in hardware, each unit may be in the form of, for example, a computer or microprocessor. If implemented in software, each unit may be in the form of a computer program product, a function, a routine, an algorithm, a portion of program code, or an executable object. Furthermore, each of the units described herein may be part of a higher-level control system of the motorcycle, for example in the form of a central electronic control unit and / or control unit (ECU).

[0010] The environmental sensor signals include, for example, sensor signals output to the bicycle parking assistance system by ultrasonic sensors, cameras, lidars, radars, and / or position sensors. The environmental sensor signals are particularly detected by sensors disposed on the motorcycle and output to the bicycle parking assistance system.

[0011] The driving condition sensor signals include, for example, signals detected by wheel speed sensors, steering angle sensors, and / or tilt sensors of the motorcycle and output to the bicycle parking assistance system. Therefore, the driving conditions include, among others, the speed, tilt, steering angle, and / or position of the motorcycle.

[0012] The position determination unit is configured to determine the current position of the motorcycle, e.g., the waypoint, i.e., the parking position and / or current position of the motorcycle, may be determined relative to the positions of other objects in the motorcycle's environment, or may be determined absolutely, e.g., in the form of coordinates in a fixed world coordinate system, e.g., the coordinate system of a satellite navigation system such as NAVSTAR GPS, GLONASS, Galileo or Beidou.

[0013] For example, the environmental sensor signals may include position sensor signals, which may be used to determine the absolute position of the motorcycle. Additionally, the environmental sensor signals may include ultrasonic sensor signals, which may be used to determine objects in the motorcycle's environment, including determining the relative positions of the objects and the motorcycle. Additionally, the environmental sensor signals may include camera images of the environment, which may be used to determine objects in the motorcycle's environment, including determining the relative positions of the objects and the motorcycle.

[0014] Based on driving state sensor signals, including, for example, wheel speed sensor signals and steering angle sensor signals, the position determination unit can use odometry to track the position of the motorcycle while the motorcycle is moving. In particular, the relative position of the motorcycle with respect to the start position and / or the target position is determined here. If the absolute positions of the start position and / or the target position are known, for example, based on corresponding sensor signals, the absolute position can also be determined based on the relative positions.

[0015] The providing unit comprises, for example, a memory unit for storing predetermined trajectories. The memory unit is preferably configured to store at least 1, 2, 3, 4, 5 or more trajectories, particularly preferably at least 10 trajectories. The providing unit may be configured to provide the predetermined trajectories transmitted from a unit external to the motorcycle and received by the parking assistance system. The parking assistance system is preferably configured to exchange data with an external server, for example, to perform software updates "over the air".

[0016] The predetermined trajectory connects a starting position and a target position. Here, the starting position and / or the target position are defined by an absolute position in a world coordinate system or by the relative position of an object in the respective environment with respect to the starting position or the target position. The object used to define the relative position is, in particular, a static object whose position does not change, such as a building. The predetermined trajectory includes a plurality of positions whose positions relative to each other are determined. For example, respective connection vectors from each position to the previous position and / or the subsequent position are determined.

[0017] The predetermined track has, for example, a length of at most 50 m, preferably a length of at most 100 m, preferably a length of at most 200 m, more preferably a length of at most 500 m.

[0018] The control unit being configured to perform the autonomous parking step means that the control unit controls the two-wheeled vehicle to travel along a predetermined trajectory to a target position. "Along a predetermined trajectory" does not necessarily mean that the two-wheeled vehicle needs to travel autonomously along the entire trajectory, but it is sufficient to travel autonomously along a part of the trajectory. After that, or before that, the two-wheeled vehicle may travel along an avoidance trajectory to avoid, for example, a collision with an object.

[0019] For example, the current position corresponds to the starting position of the trajectory. The control unit then steers the motorcycle from the starting position to the target position. Here, the current position of the motorcycle is continuously compared with the trajectory. Therefore, it is ensured that the motorcycle does not deviate from the trajectory.

[0020] If the current position at the start of the autonomous parking step does not match the starting position but is within a predetermined maximum distance from the predetermined trajectory, the control unit may first steer the motorcycle onto the predetermined trajectory and then continue the parking step along the predetermined trajectory. Here, the predetermined maximum distance may depend on the environment in which the parking step is performed. For example, the predetermined maximum distance may be 3 meters, preferably 5 meters, and particularly preferably up to 10 meters. Here, the distance is determined between the current position and the nearest position on the trajectory.

[0021] If none of the positions on the track have an absolute position, i.e. if the parking assistance system does not know a priori that the motorcycle is in the vicinity of the track, the execution of the parking steps may depend on whether the control unit recognizes the environment of the track, for example based on a particular arrangement of objects around the motorcycle. In this context, the recognition may be performed based on camera images acquired in particular using VSLAM technology.

[0022] It should be noted that the parking step refers to both parking into a parking spot and retrieving from the parking spot. Parking into a parking spot, for example, relates to parking a motorcycle after use by a user. For example, in this case, the motorcycle is driven from the road to a garage. Retrieving from a parking spot relates to providing the motorcycle when it is parked and the user wants to use it. For example, in this case, the motorcycle is driven from the garage to the road, where the user picks up the motorcycle.

[0023] According to an embodiment of the bicycle parking assistance system, the providing unit is configured to provide, as the predetermined trajectory, a trajectory on which a user of the two-wheeled vehicle has trained in a training mode.

[0024] This is sometimes referred to as "trained parking." This is advantageous in that the user can create their own trajectory by manually driving the motorcycle along a desired trajectory. The bicycle parking assistance system records the trajectory traveled. For example, environmental sensor signals and riding state sensor signals are recorded during the manual training ride. Based on the recorded sensor signals or measurement data extracted therefrom, the bicycle parking assistance system can orient itself while re-tracking the trained trajectory. In this context, "training" particularly means that a predetermined trajectory can be recorded by the user manually driving the motorcycle along the trajectory. The motorcycle is preferably configured to recognize whether the target position is in a no-parking zone. Furthermore, the motorcycle is preferably configured not to store the training trajectory or to notify the user if the target position is in a no-parking zone. Alternatively or additionally, if the motorcycle detects during the autonomous parking step that the target position is in a no-parking zone, the motorcycle is configured, for example, to plan and follow an auxiliary trajectory to the new target position. The detection is performed, for example, by analyzing camera data. For example, it is possible to find signs prohibiting bicycle parking here.

[0025] According to a further embodiment of the bicycle parking assistance system, said predetermined trajectory comprises a plurality of absolute positions and / or a plurality of positions determined relatively to one another.

[0026] An absolute position is determined, for example, by coordinates in a world coordinate system, for example, the start position and / or the target position are determined absolutely.

[0027] Each relative position is determined by its location relative to other positions, which includes, for example, direction and distance. For example, a trajectory is defined by a path in a two-dimensional coordinate system.

[0028] According to a further embodiment of the bicycle parking assistance system, the received environmental sensor signals comprise a camera image of the environment of the two-wheeled vehicle, and the localization unit is configured to determine the position of the two-wheeled vehicle according to a comparison of an arrangement of optical features determined in the camera image with a stored arrangement of optical features.

[0029] Since localization is performed based on optical or visual features present in the environment, this is sometimes referred to as VSLAM (Visual simultaneous localization and mapping). VSLAM technology allows the localization of a motorcycle relative to its previous positions. It is particularly advantageously applicable to training parking. For example, during a manual training ride, camera images of the surroundings are acquired and analyzed after each covered distance (e.g., 1 meter) to identify optical features. The identified optical features and their distribution in the camera images are saved and associated with each position in the trajectory. Based on the optical features and their distribution, it can be determined whether subsequently received camera images were acquired from the same location as in the training ride. The localization unit can also be said to "recognize" the surroundings based on the optical features and their distribution. This is possible even if the current position is shifted, for example, by 1 meter, 2 meters, or even up to 3 meters, from the initially acquired position. In this case, it is also possible to determine the shift from the initially acquired position. In other words, the current position is known relative to each position in the trajectory. For example, the motorcycle may include a forward-facing camera configured to capture camera images, and an optional echo-based distance sensor having at least one detection area located in front of the bicycle. Alternatively or additionally, the motorcycle may optionally include a further rear-facing camera configured to capture camera images.

[0030] According to a further embodiment of the bicycle parking assistance system, the control unit is configured to identify objects in a predetermined area around the two-wheeled vehicle according to the received environmental sensor signals, and is further configured to identify an avoidance trajectory to avoid a collision with the identified objects.

[0031] According to a further embodiment of the bicycle parking assistance system, the bicycle parking assistance system has a user interface for receiving user input, the user input comprising selecting a predetermined trajectory from a plurality of predetermined trajectories and / or selecting a target location from a plurality of target locations.

[0032] This allows the user to select each predetermined trajectory himself. The bicycle parking assistance system is advantageously configured to narrow down the selection of predetermined trajectories based on, for example, the current position of the two-wheeled vehicle and the respective start and / or destination positions of each predetermined trajectory.

[0033] According to a further embodiment of the bicycle parking assistance system, the bicycle parking assistance system comprises a communication unit adapted to transmit data to and / or receive data from a device external to the two-wheeled vehicle.

[0034] The communication unit is in particular adapted to establish a data link via a wireless communication network, such as a WLAN, or a mobile radio network, such as 3G, 4G, 5G.

[0035] The external device is for example a server accessible via the Internet or the like, or a user's mobile phone, in particular a smartphone on which the respective application runs.

[0036] For example, a predetermined track that another user has trained on another motorcycle and / or a predetermined track provided by an operator of a public motorcycle parking facility can be received via the communication unit. In this way, the bicycle parking assistance system can be provided with a predetermined track for the autonomous parking steps even in a new location where the user has not yet traveled on the motorcycle and has not trained on a track on the motorcycle.

[0037] The bicycle parking assistance system can further communicate further status data to the user via the communication unit, for example the current status during the autonomous bicycle parking steps. Furthermore, the user can call the motorcycle via the communication unit, whereby the bicycle parking assistance system will carry out steps for autonomously driving the motorcycle from the parking position to the proposed position where the user will take over the motorcycle.

[0038] Furthermore, the bicycle parking assistance system can communicate with further units in the infrastructure, such as automatic barriers or automatic garage doors, via the communication unit. Thus, the predetermined track can also extend to areas with restricted access. For example, if an electronic key required to open the garage door is connected to the predetermined track, the bicycle parking assistance system will send a signal via the communication unit to open the garage door.

[0039] It should be noted that the target location can also be defined as a target area, i.e., the target location includes a plurality of bicycle parking spots envisaged for the motorcycle. When performing the autonomous bicycle parking step, the bicycle parking assistance system is further configured to select a specific bicycle parking spot, for example, located in the target area. Thus, the bicycle parking assistance system is flexible and can also perform the autonomous bicycle parking step even if the bicycle parking spot is otherwise in use by another user. This is particularly advantageous for public bicycle parking spots.

[0040] According to a second aspect, there is provided a motorized two-wheeled vehicle, the motorized two-wheeled vehicle comprising: an environment sensor unit for detecting an environment of the motorcycle and outputting an environment sensor signal; a running condition detection unit for detecting a running condition of the two-wheeled vehicle and outputting a running condition sensor signal; A bicycle parking assistance system according to a first aspect; Equipped with.

[0041] The motorized two-wheeler has the same advantages as those described for the bicycle parking assistance system according to the first aspect. The embodiments and features described for the proposed bicycle parking assistance system also apply to the proposed electric two-wheeler, as appropriate, and vice versa.

[0042] According to an embodiment of the motorized two-wheeler, the environmental sensor unit comprises an ultrasonic sensor, a camera, a lidar, a radar, and / or a position sensor.

[0043] In this example, "a" or "an" should not be understood as necessarily limiting to exactly one element. Rather, a plurality of elements, e.g., two, three, or more, can be envisioned. Also, any numbers used herein should not be understood as limiting the number of elements exactly recited. Rather, unless otherwise specified, the numerical values ​​can deviate upward and downward.

[0044] According to a further embodiment of the motorized two-wheeler, the driving state detection unit comprises a wheel speed sensor, a steering angle sensor, and / or an inclination sensor.

[0045] According to a further embodiment of the motorized two-wheeled vehicle, the motorized two-wheeled vehicle comprises a balancing unit configured to support and / or balance the two-wheeled vehicle.

[0046] According to a further embodiment of the motorized two-wheeled vehicle, the balancing unit comprises a support wheel, a side stand, a main stand, a displaceable weight element, and / or a tiltable circular element.

[0047] The side stand and / or the main stand are folded or extended, in particular, when the motorcycle slows below a certain speed or comes to a stop.

[0048] In particular, the support wheels are foldable and can be folded only during the autonomous parking step or folded as required, for example by a parking assistance system.

[0049] The weight element is displaceable, in particular parallel to the axle of the motorcycle. As a result of the displacement, a torque can be generated on the motorcycle that contributes to the stability of the motorcycle. The torque can be utilized, in particular, to stabilize the motorcycle when turning.

[0050] The circular elements are in particular tiltable relative to their respective geometric axes, so that the two-wheeled vehicle is stabilized by correspondingly acting circular forces.

[0051] According to a further embodiment of the motorized two-wheeler, said two-wheeler is electrically driven.

[0052] In other words, the two-wheeled vehicle is equipped with an electric motor as a drive device.

[0053] The two-wheeled vehicle is preferably an electric two-wheeled vehicle equipped with an electric energy storage device such as an accumulator or battery that supplies electric energy to drive the electric motor.

[0054] In an embodiment, the electric motor is dedicated to the autonomous driving function.

[0055] In an embodiment, the motorcycle has a charging port configured to charge an electric energy storage device of the motorcycle, and the parking assistance system is configured to park the motorcycle in a parking position where the charging port can be coupled to a charging cable of a charging station.

[0056] According to further embodiments of the motorized two-wheeled vehicle, the motorized two-wheeled vehicle is designed as a motorcycle, a motor scooter, a bicycle or a scooter.

[0057] In a preferred embodiment, the two-wheeled vehicle is designed as an E-motorcycle, E-motor scooter, E-bike or E-scooter. This means that the two-wheeled vehicle is designed as a motorcycle, motor scooter, bicycle or scooter and has an electric motor as a drive unit and an electric energy storage unit. "Two-wheeled vehicle" is also understood to refer to, for example, a three-wheeled cargo bike.

[0058] In a further embodiment, the motorized two-wheeled vehicle is provided with an internal combustion engine or other motor.

[0059] According to a third aspect, there is proposed a method for operating a parking assistance system for a motorized two-wheeled vehicle, said parking assistance system being configured for autonomous control of said two-wheeled vehicle, said method comprising: receiving an environmental sensor signal indicative of an environment of the motorcycle; receiving a driving condition sensor signal indicating a driving condition of the motorcycle; determining a current location of the two-wheeled vehicle according to the received environmental sensor signals and / or the received riding condition sensor signals; providing a predetermined trajectory connecting a start position and a target position; performing an autonomous parking step of the two-wheeled vehicle according to the received environmental sensor signal, the received running state sensor signal, the determined current position, and the predetermined trajectory; Equipped with The autonomous parking step includes a process of autonomously driving the two-wheeled vehicle from the identified current position of the two-wheeled vehicle to the target position along the predetermined trajectory.

[0060] The method is particularly suitable for use with a bicycle parking assistance system according to the first aspect and a motorized two-wheeled vehicle according to the second aspect. The steps of the method are, for example, interchangeable. The method is preferably carried out in the exact order listed.

[0061] The trained autonomous bicycle parking steps are preferably performed along a predetermined trajectory to the bicycle parking infrastructure. In particular, the bicycle parking infrastructure is configured to automatically receive the bicycle at a receiving point. Preferably, method steps are provided in which the bicycle is transported from the bicycle parking infrastructure to a bicycle parking spot. For example, the bicycle parking infrastructure is configured to automatically transport the bicycle from the receiving point of the parking infrastructure to the proposed bicycle parking spot. In particular, the bicycle parking infrastructure comprises a gripper arm and / or a lift ramp to move the bicycle within the parking infrastructure. Furthermore, method steps are provided in which the user communicates with the bicycle and / or the bicycle parking infrastructure with the aid of a mobile terminal device in order to retrieve the bicycle from the parking infrastructure. For example, the bicycle is then transported to a handover point of the bicycle parking infrastructure for further trained autonomous travel steps to the user along a further predetermined trajectory or for direct collection by the user.

[0062] The embodiments and features described for the proposed portable bicycle parking assistance system also apply to the proposed method, as appropriate.

[0063] Furthermore, a computer program product is proposed, comprising instructions which, when executed by a computer, cause the computer to carry out the method described above, the computer being designed, for example, as a parking assistance system for two-wheeled vehicles.

[0064] The computer program product, e.g. computer program means, may be provided or supplied on a storage medium, e.g. a memory card, USB stick, CD-ROM, DVD, etc., or in the form of a file downloadable from a server in a network, e.g. by transmitting the computer program product or a corresponding file containing the computer program means, e.g. in a wireless communication network.

[0065] Further possible embodiments of the present invention also include non-express combinations of the features or embodiments described above or below with respect to the exemplary embodiments, and those skilled in the art will again add individual aspects as improvements or additions to the respective basic forms of the invention.

[0066] Further advantageous configurations and aspects of the invention are the subject of the dependent claims and the exemplary embodiments of the invention described below.The invention is explained in more detail below on the basis of preferred embodiments with reference to the attached drawings. [Brief explanation of the drawings]

[0067] [Figure 1] FIG. 1 shows a schematic diagram of an exemplary embodiment of a motorcycle with a parking assistance system. [Figure 2] FIG. 2 shows a schematic diagram of a predetermined trajectory. [Figure 3] FIG. 3 shows a schematic diagram of a further predetermined trajectory. [Figure 4] Figure 4 shows a schematic diagram of the communication. [Figure 5] FIG. 5 shows a schematic block diagram of an exemplary embodiment of a bicycle parking assistance system. [Figure 6] FIG. 6 shows a schematic block diagram of an exemplary embodiment of a method for operating a bicycle parking assistance system. DETAILED DESCRIPTION OF THE INVENTION

[0068] In the drawings, identical or functionally identical elements will be referred to by the same reference numbers unless otherwise specified.

[0069] FIG. 1 shows a schematic diagram of an exemplary embodiment of a motorcycle 100 having a bicycle parking assistance system 130. The motorcycle 100 is, for example, a bicycle with an electric drive. The bicycle 100 has the bicycle parking assistance system 130, for example in the form of a control unit. Furthermore, the bicycle 100 has an environmental sensor unit 110 and a number of riding condition detection units 120. The environmental sensor unit 110 is, for example, designed as a front camera 110 and is configured to acquire images of an environment 200 (see FIG. 2 ) and output the acquired images as environmental sensor signals. It should be noted that the bicycle 100 may have further and / or other environmental sensor units 110, such as lidar, radar, ultrasonic sensors, position sensor units (not shown), etc. The riding condition detection unit 120 comprises, for example, wheel speed sensors and steering angle sensors for each wheel arranged on the handlebars of the bicycle 100. Each sensor 110, 120 outputs a respective acquired sensor signal, in particular, to the bicycle parking assistance system 130. Based on these sensor signals, the bicycle parking assistance system 130 can autonomously move the bicycle 100. That is, the bicycle parking assistance system 130 can move the bicycle 100 without user intervention. To move the bicycle 100, the bicycle parking assistance system 130 controls, in particular, the drive unit and steering unit of the bicycle 100 so that the bicycle 100 moves along a specific trajectory TR (see FIG. 2 or FIG. 3). The bicycle 100 is equipped with, for example, an element (not shown) configured to balance the bicycle. This element preferably includes at least one electric motor and a weight. The weight is moved by the electric motor and generates a force that counteracts the tilt of the bicycle. Alternatively or additionally, it is also conceivable to maintain balance by operating a steering device. This is done to counteract the tilt of the bicycle.

[0070] It should be noted that further components of the bicycle 100, such as a drive unit, energy storage device, etc., are not shown in FIG. 1 for the sake of clarity.

[0071] The bicycle parking assistance system 130 preferably has a user interface (not shown) for receiving user input. The user interface can be operated, for example, via operating elements in the cockpit of the bicycle 100. Furthermore, the bicycle parking assistance system 130 preferably has a communication interface (not shown). The communication interface transmits data to and / or receives data from devices 300, 305 (see FIG. 4) external to the two-wheeled vehicle 100. Furthermore, user input can be received via the communication interface.

[0072] The bicycle parking assistance system 130 is designed, for example, as illustrated in FIG. 5 and is particularly adapted to implement the method described in detail with reference to FIG.

[0073] Alternatively, the motorized two-wheeled vehicle 100 may be designed as a motorcycle, a motor scooter, or an electric scooter. Each drive technology is preferably electric, but may also use an internal combustion engine or other motor. The motorized two-wheeled vehicle 100 may also be configured to transport one or more people, for example, up to two, three, or four people, and / or luggage. Alternatively, the two-wheeled vehicle 100 may be configured as a tricycle and / or cargo bike.

[0074] 2 shows a schematic diagram of a predetermined trajectory TR extending within an environment 200. The predetermined trajectory TR extends from a start position P1 to a target position P2. The start position P1 is, for example, located in front of an entrance 204 of a building 202. The target position P2 is, for example, located in a garage 203. Furthermore, a motorcycle 100 is shown at its current position P0. For example, this is the motorized motorcycle 100 of FIG. 1.

[0075] The predetermined trajectory TR is provided to the autonomous motorized two-wheeled vehicle 100 specifically to perform the autonomous parking steps. The predetermined trajectory TR is, for example, a trajectory that has been once trained by the user of the two-wheeled vehicle 100. During training, the bicycle parking assistance system 130 (see FIGS. 1 to 5) records the trajectory TR traveled during the training ride based on environmental sensor signals and riding state sensor signals, and stores this travel trajectory as the predetermined trajectory TR. Therefore, the bicycle parking assistance system 130 can now autonomously travel along the predetermined trajectory TR. For this purpose, the user simply brings the two-wheeled vehicle 100 to the vicinity of the start position P1 and initiates the autonomous riding mode. If the predetermined trajectory TR is at least one absolutely determined position, the coordinates of which have absolute determined values ​​defined in the world coordinate system, the bicycle parking assistance system 130 can identify that the two-wheeled vehicle 100 is in the vicinity of the predetermined trajectory TR (for example, based on its current position P0, which also exists as an absolute position in the world coordinate system) and can accordingly initiate the autonomous parking steps or provide this option to the user. If the predetermined trajectory TR and / or the current position P0 of the two-wheeled vehicle 100 are not absolutely known, the user may select the predetermined trajectory TR, for example, in particular via a corresponding user input.

[0076] While autonomously traveling along the predetermined trajectory TR, the motorcycle 100 orients itself based on received environmental sensor signals and riding condition sensor signals. For example, the bicycle parking assistance system 130 can track the current position P0 of the motorcycle 100 using odometry based on the riding condition sensor signals. Essentially, odometry allows the motorcycle 100 to perfectly and accurately follow the predetermined trajectory TR. However, deviations may occur due to measurement errors or environmental influences, such as slippage of one of the wheels. Therefore, localization (orientation) can additionally and / or alternatively be performed based on the environment 200. For this purpose, VSLAM (Visual simultaneous localization and mapping) technology can be preferably used. With VSLAM technology, the bicycle parking assistance 130 determines the current position P0 of the motorcycle 100 with respect to a known, pre-stored position, e.g., the position of the predetermined trajectory TR, based on a comparison of optical features determined in a captured camera image of the environment 200. For this purpose, the two-wheeled vehicle 100 needs at least one camera for acquiring camera images of the environment 100 .

[0077] The predetermined trajectory TR, for example, comprises a plurality of positions defined relative to one another. The start position P1 and the target position P2 are two notable positions on the trajectory TR. These positions may also be referred to as waypoints. In the autonomous driving step, the bicycle parking assistance system 130 controls the motorcycle to travel along the waypoints one after another until the motorcycle arrives at the target position P2.

[0078] The target position P2 in this example is located in a garage 203. The garage 203 has, for example, an electrically operated garage door. When the motorcycle arrives in front of the garage 203 during the autonomous parking step, the parking assistance system 130 may be configured to open the garage door via a corresponding opening signal. This may be done, for example, via HomeLink®.

[0079] The bicycle parking assistance system 130 allows the two-wheeled vehicle 100 to travel in opposite directions along the predetermined trajectory TR, alternating between the start position and the target positions P1, P2. Thus, the two-wheeled vehicle 100 travels autonomously, for example, from the garage 203 to the entrance 204 of the building 202. This step may also be referred to as a "call." When traveling between the start position and the target position, a turning operation is performed at the start position as necessary to turn the two-wheeled vehicle 100 in the direction of travel.

[0080] FIG. 3 shows a schematic diagram of a further predetermined trajectory TR connecting the start position P1 and the target position P2. Furthermore, the current position P0 of the two-wheeled vehicle 100 is shown. The current position P0 is offset from the trajectory TR by a distance ΔP. For example, the user has not parked the two-wheeled vehicle 100 exactly at the start position P1, but still wants to start the autonomous parking steps. The bicycle parking assistance system 130 (see FIGS. 1 to 5) determines the current position P0 of the two-wheeled vehicle 100 based on, for example, received environmental sensor signals, and determines the offset ΔP from the predetermined trajectory TR. This is done via VSLAM technology if a sufficient number of corresponding features are found in the received and stored images. After determining the current position P0 and its relative position to the predetermined trajectory TR, the bicycle parking assistance system 130 determines, for example, an auxiliary trajectory TR that guides the two-wheeled vehicle 100 to the predetermined trajectory TR. * Therefore, the bicycle parking assistance system 130 can perform the autonomous bicycle parking step even if the two-wheeled vehicle 100 is not initially positioned on the predetermined trajectory TR.

[0081] Furthermore, the bicycle parking assistance system 130 can also identify an avoidance trajectory (not shown) as described above, for example, when an object prevents the two-wheeled vehicle from traveling along the predetermined trajectory TR. The avoidance trajectory allows the bicycle parking assistance system 130 to bypass each object and continue traveling along the predetermined trajectory TR to the target position P2.

[0082] The start position and the target positions P1 and P2 may each be defined as an area to make the method more robust in a changing environment. For example, the target position P2 is a bicycle parking spot in a public bicycle parking facility. Therefore, the exact bicycle parking location may change with each use. The target position P2 may include the entire bicycle parking facility. Upon arrival at the bicycle parking facility, the bicycle parking assistance system 130 may, for example, switch to a search mode and search for an available bicycle parking spot. Alternatively, the bicycle parking assistance system 130 may be assigned a specific bicycle parking spot by the bicycle parking facility. In this case, the bicycle parking facility identifies a trajectory from the entrance of the bicycle parking facility to the assigned bicycle parking spot and transmits this to the bicycle parking assistance system 130 as a predetermined trajectory. The bicycle parking assistance system 130 then continues the autonomous bicycle parking steps along the received trajectory.

[0083] FIG. 4 is a schematic diagram illustrating communication between a motorized motorcycle 100 or a parking assistance system 130 for the motorized motorcycle 100 (see FIGS. 1 to 5), a user's mobile device 300, and a server 305, which can be received via the Internet. The motorcycle 100 is, for example, the motorized motorcycle 100 shown in FIG. 1. Communication is particularly performed wirelessly. The user can establish a communication link COM with the motorcycle 100 via their mobile device 300, such as a smartphone. The communication link COM can be established directly or via the server 305. The motorcycle 100 can also establish a communication link COM with the server 305 to obtain, for example, a predetermined trajectory TR (see FIG. 2 or 3), map data, firmware updates, or other data. Furthermore, the motorcycle 100 can transmit status data, such as its current position P0 (see FIG. 2 or 3), its current operating status, and its battery charge status, to the server 305 and / or the user's mobile device 300.

[0084] The user can send user input to the motorcycle 100 via the communication link COM. The user input can include, for example, calling the motorcycle 100, which causes the motorcycle 100 to autonomously travel from a specific parking position to the user along a predetermined trajectory TR under the autonomous control of the parking assistance system 130.

[0085] 5 shows a schematic block diagram of an exemplary embodiment of a bicycle parking assistance system 130. The bicycle parking assistance system 130 is configured to autonomously control a motorized two-wheeled vehicle 100, for example, the two-wheeled vehicle shown in FIG. 1. The bicycle parking assistance system 130 includes a receiving unit 132 for receiving environmental sensor signals indicative of the environment 200 (see FIG. 2) of the two-wheeled vehicle 100 and for receiving riding condition sensor signals indicative of the riding condition of the two-wheeled vehicle 100, a position determining unit 134 for determining a current position P0 (see FIG. 2 or FIG. 3) of the two-wheeled vehicle 100 according to the received environmental sensor signals and the received riding condition sensor signals, a providing unit 136 for providing a predetermined trajectory TR (see FIG. 2 or FIG. 3) connecting a start position P1 (see FIG. 2 or FIG. 3) and a target position (see FIG. 2 or FIG. 3), and a control unit 138 for performing autonomous bicycle parking steps according to the received environmental sensor signals, the received riding condition sensor signals, the determined current position P0, and the predetermined trajectory TR. The autonomous parking step includes a step of autonomously driving the two-wheeled vehicle 100 along a predetermined trajectory TR from the identified current position P0 of the two-wheeled vehicle 100 to a target position P2.

[0086] The bicycle parking assistance system 130 is particularly configured to implement the method described with reference to FIG.

[0087] FIG. 6 shows a schematic block diagram of an exemplary embodiment of a method for operating a bicycle parking assistance system 130 (see FIG. 1 or FIG. 5) for a motorized two-wheeled vehicle 100 (see FIGS. 1 to 3). The bicycle parking assistance system 130 is configured to autonomously control the two-wheeled vehicle 100. In a first step S1, environmental sensor signals indicative of the environment 200 (see FIG. 2) of the two-wheeled vehicle 100 are received. In a second step S2, riding condition sensor signals indicative of the riding condition of the two-wheeled vehicle 100 are received. In a third step S3, a current position P0 (see FIG. 2 or FIG. 3) of the two-wheeled vehicle 100 is determined according to the received environmental sensor signals and / or the received riding condition sensor signals. In a fourth step, a predetermined trajectory TR (see FIG. 2 or FIG. 3) connecting a start position P1 (see FIG. 2 or FIG. 3) and a target position P2 is defined. For example, the predetermined trajectory TR is downloaded from a memory unit that stores multiple predetermined trajectories according to a user selection and / or based on the current position P0. In a fifth step S5, a step of autonomously parking the two-wheeled vehicle 100 is performed in accordance with the received environmental sensor signals, the received riding condition sensor signals, the identified current position P0, and the predetermined trajectory TR. The autonomous parking step includes a step of autonomously driving the two-wheeled vehicle 100 from the identified current position P0 of the two-wheeled vehicle 100 along the predetermined trajectory TR to a target position P2.

[0088] While the present invention has been described with reference to exemplary embodiments, many modifications are possible. [Explanation of symbols]

[0089] 100 Motorcycles 110 Environmental Sensor Unit 120 Driving condition detection unit 130 Bicycle Parking Assistance System 132 receiving unit 134 Location Unit 136 units offered 138 Control Unit 200 Environment 202 Building 203 Garage 204 Entrance 300 External Devices 305 External Devices ΔP offset COM data signal P0 Current position P1 Starting point position P2 target position S1 Method Step S2 Method Step S3 Method Steps S4 Method Step S5 Method Step TR orbit TR* Auxiliary track

Claims

1. A parking assistance system (130) for a motorized two-wheeled vehicle (100), the parking assistance system (130) being configured to autonomously control the two-wheeled vehicle (100), and a receiving unit (132) for receiving an environmental sensor signal indicative of an environment (200) of the two-wheeled vehicle (100) and a driving state sensor signal indicative of a driving state of the two-wheeled vehicle (100); a position determination unit (134) for determining a current position (P0) of the two-wheeled vehicle (100) according to the received environmental sensor signals and / or the received riding condition sensor signals; a providing unit (136) for providing a predetermined trajectory (TR) connecting a starting position (P1) and a target position (P2); a control unit (138) for performing an autonomous parking step of the two-wheeled vehicle (100) according to the received environmental sensor signals, the received running state sensor signals, the determined current position (P0), and the predetermined trajectory (TR); and The autonomous parking step includes a step of autonomously driving the two-wheeled vehicle (100) from the specified current position (P0) of the two-wheeled vehicle (100) to the target position (P2) along the predetermined trajectory (TR), further comprising a balancing unit configured to support and / or balance the two-wheeled vehicle (100); the balance unit comprises a displaceable weight element and / or a tiltable circular element; Bicycle parking assistance system (130).

2. The providing unit (136) is configured to provide, as the predetermined trajectory, a trajectory (TR) that a user of the two-wheeled vehicle (100) has trained on in a training mode.

2. The bicycle parking assistance system according to claim 1.

3. the predetermined trajectory (TR) includes a plurality of absolute positions and / or a plurality of positions determined relative to one another; 2. The bicycle parking assistance system according to claim 1.

4. the received environmental sensor signals include a camera image of the environment (200) of the motorcycle (100); the location determination unit (134) is configured to determine the location of the two-wheeled vehicle (100) according to a comparison of the arrangement of optical features determined in the camera image with the arrangement of stored optical features; 2. The bicycle parking assistance system according to claim 1.

5. The control unit (138) is configured to identify an object in a predetermined area around the two-wheeled vehicle (100) according to the received environmental sensor signal, and is further configured to identify an avoidance trajectory to avoid a collision with the identified object.

2. The bicycle parking assistance system according to claim 1.

6. a user interface for receiving user input; The user input includes selecting a predetermined trajectory (TR) from a plurality of predetermined trajectories (TR) and / or selecting a target position (P2) from a plurality of target positions (P2); The bicycle parking assistance system according to claim 1 .

7. a communication interface configured to transmit data to and / or receive data from a device (300, 305) external to said motorcycle (100); The bicycle parking assistance system according to claim 1 .

8. A motorized two-wheeled vehicle (100), an environment sensor unit (110) for detecting an environment (200) of the motorcycle (100) and outputting an environment sensor signal; a running state detection unit (120) for detecting the running state of the two-wheeled vehicle (100) and outputting a running state sensor signal; A bicycle parking assistance system (130) according to one of claims 1 to 7, A motorized two-wheeled vehicle (100) having:

9. The environmental sensor unit (110) comprises an ultrasonic sensor, a camera, a lidar, a radar, and / or a position sensor.

9. The motorized two-wheeled vehicle according to claim 8.

10. The driving state detection unit (120) comprises a wheel speed sensor, a steering angle sensor, and / or an inclination sensor; 9. The motorized two-wheeled vehicle according to claim 8.

11. The balancing unit further comprises a support wheel, a side stand, and / or a main stand.

9. The motorized two-wheeled vehicle according to claim 8.

12. The two-wheeled vehicle (100) is electrically driven.

9. The motorized two-wheeled vehicle according to claim 8.

13. The two-wheeled vehicle (100) is designed as a motorcycle, a motor scooter, a bicycle or a scooter.

9. The motorized two-wheeled vehicle according to claim 8.

14. A method for operating a parking assistance system (130) for a motorized two-wheeled vehicle (100), said parking assistance system (130) being configured for autonomous control of said two-wheeled vehicle (100), said method comprising: receiving (S1) an environmental sensor signal indicative of an environment (200) of the motorcycle (100); a step (S2) of receiving a driving state sensor signal indicating a driving state of the two-wheeled vehicle (100); A step (S3) of determining a current position (P0) of the two-wheeled vehicle (100) according to the received environmental sensor signal and / or the received running state sensor signal; A step (S4) of providing a predetermined trajectory (TR) connecting a start position (P1) and a target position (P2); A step (S5) of performing an autonomous parking step of the two-wheeled vehicle (100) according to the received environmental sensor signal, the received running state sensor signal, the identified current position (P0), and the predetermined trajectory (TR); Equipped with The autonomous parking step includes a step of autonomously driving the two-wheeled vehicle (100) from the specified current position (P0) of the two-wheeled vehicle (100) to the target position (P2) along the predetermined trajectory (TR), The bicycle parking assistance system (130) further comprises a balance unit configured to support and / or balance the two-wheeled vehicle (100); the balance unit comprises a displaceable weight element and / or a tiltable circular element; method.

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