Method and device for assisting a driver in performing a recorded driving manoeuvre

Abstract

The invention relates to a device for assisting the driver of a motor vehicle during a second journey based on trajectory data recorded during a first journey, wherein the first journey proceeded along a first trajectory from a first position to a second position. The device is designed to determine the actual orientation of the motor vehicle at a starting position of the second journey and the target orientation of the motor vehicle at an end position of the second journey, wherein either the starting position is the first position and the end position is the second position, or the starting position is the second position and the end position is the first position. The device is also designed to determine a second trajectory for the second journey based on the trajectory data and based on the actual orientation and the target orientation, and to cause the motor vehicle to be guided along the second trajectory from the starting position to the end position in such a manner that the motor vehicle assumes the target orientation at the end position.

Description

[0001] Method and device for assisting a driver in performing a recorded driving maneuver

[0002] The invention relates to a method and a corresponding device designed to assist the driver of a vehicle when driving again along a recorded trajectory.

[0003] A vehicle can have a driver assistance device that is designed to record and store a travel trajectory, in particular a travel path, of the vehicle during a first trip. For example, trajectory data relating to the travel trajectory traveled by the vehicle when parking in a parking space can be recorded and stored. The travel trajectory can extend from a first position to a second position (e.g., in the parking space). The stored trajectory data relating to the travel trajectory of the vehicle during the first trip can be used to assist the user, in particular the driver, of the vehicle during a second trip along the stored travel trajectory. The second trip can be another outward journey from the first position to the second position, or a return journey from the second position to the first position.

[0004] This document addresses the technical task of further increasing the comfort and flexibility of performing a driving maneuver based on a recorded driving trajectory.

[0005] The problem is solved by each of the independent claims. Advantageous embodiments are described, among other things, in the dependent claims. It should be noted that additional features of a patent claim dependent on an independent patent claim can form a separate invention, independent of the combination of all features of the independent patent claim, without the features of the independent patent claim or only in combination with a subset of the features of the independent patent claim, which invention can be made the subject of an independent claim, a divisional application, or a subsequent application. This applies equally to technical teachings described in the description, which can form an invention independent of the features of the independent patent claims.

[0006] According to one aspect, a device for assisting the driver of a motor vehicle during a second journey is described. The second journey can be a repeated execution of a previously recorded first journey. The direction of travel of the second journey can be the same or opposite to the direction of travel of the first journey. The first journey led along a first (driving) trajectory from a first position to a second position. The first position can be, for example, an access to a parking area, and the second position can be, for example, a parking space in the parking area. During the first journey, trajectory data can have been recorded. The trajectory data can indicate

[0007] • a sequence of waypoints and / or intermediate positions on the first trajectory from the first position to the second position; and

[0008] • one or more reference objects in the vicinity of the first trajectory.

[0009] The coordinates of the individual waypoints can, if necessary, be specified relative to one or more reference objects. During the second journey, a SLAM, in particular a VSLAM (Visual Simultaneous Localization and Mapping) algorithm can be used to localize the motor vehicle based on the one or more reference objects. This makes it possible to guide the motor vehicle during the second journey along a second trajectory that, if possible, corresponds to the first trajectory (in particular, the course of the first trajectory).

[0010] The motor vehicle may have exhibited a first orientation at the first position and at the second position during the first trip. The first orientation refers to the orientation of the motor vehicle during the first trip. Possible first orientations at the first position are (possibly exclusively)

[0011] • the motor vehicle is in “front orientation”, ie with the front facing the course of the first trajectory; or

[0012] • the motor vehicle is in “rear orientation”, ie with the rear facing the course of the first trajectory.

[0013] Possible first orientations in the second position are (possibly exclusively)

[0014] • the motor vehicle is in “front orientation”, ie with the front facing the course of the first trajectory; or the motor vehicle is in “rear orientation”, ie with the rear facing the course of the first trajectory.

[0015] Possible orientations of the motor vehicle at the limiting positions of a trajectory can therefore be (possibly exclusively),

[0016] • a “front orientation”, in which the front of the motor vehicle is facing the respective trajectory; or

[0017] • a “rear orientation”, in which the rear of the vehicle is facing the respective trajectory.

[0018] The device of the motor vehicle is configured to determine the actual orientation of the motor vehicle at the starting position of the second journey and the target orientation of the motor vehicle at the end position of the second journey (where the second trajectory extends from the starting position to the end position). For a further (outward) journey from the first position to the second position, the starting position is the first position and the end position is the second position. On the other hand, for a further journey in the opposite direction (i.e., for a return journey), the starting position is the second position and the end position is the first position.

[0019] The actual orientation of the motor vehicle at the initial position of the second trip may be the first orientation of the motor vehicle during the first trip. However, the actual orientation of the motor vehicle at the initial position of the second trip may also be exactly opposite (i.e., rotated 180° around the vertical axis) to the first orientation. This opposite orientation may be referred to as the second orientation.

[0020] If the first orientation at the position corresponding to the initial position of the first run is the front orientation, the second orientation can be the rear orientation. On the other hand, if the first orientation at the position corresponding to the initial position of the first run is the rear orientation, the second orientation can be the front orientation.

[0021] Similarly, the target orientation can be the first orientation (which the motor vehicle had during the first trip at the position corresponding to the final position). On the other hand, the target orientation can be the opposite second orientation.

[0022] The device can thus be set up to use as the actual orientation of the motor vehicle at the starting position of the second journey either

[0023] • to determine the first orientation that the motor vehicle had at the position corresponding to the initial position during the first journey,

[0024] • or alternatively to determine the second orientation which is opposite to the first orientation.

[0025] Furthermore, the device can be set up to use as the target orientation of the motor vehicle at the end position of the second journey either

[0026] • to determine the first orientation that the motor vehicle had at the first position corresponding to the final position during the first journey, or

[0027] • determine the second orientation, which is opposite to the first orientation.

[0028] Other orientations of the motor vehicle are preferably not possible at the initial position and / or the final position of the second journey.

[0029] The device can be configured to determine sensor data from one or more environmental sensors (e.g. at least one environmental camera and / or at least one radar sensor and / or at least one lidar sensor and / or at least one ultrasonic sensor) of the motor vehicle at the initial position of the second journey. The actual orientation of the motor vehicle at the initial position can then be determined precisely and robustly on the basis of the sensor data from the one or more environmental sensors and on the basis of the trajectory data, in particular on the basis of one or more reference objects in the environment of the first trajectory specified in the trajectory data. The one or more reference objects in the environment of the first trajectory can be detected on the basis of the sensor data from the one or more environmental sensors.Furthermore, it can be checked whether the one or more reference objects are positioned the same way relative to the motor vehicle as during the first trip, or whether they are rotated 180° relative to the motor vehicle. Based on this, it can then be determined whether the actual orientation of the motor vehicle at the starting position of the second trip is the first orientation or the second orientation.

[0030] The device can be configured to determine the target orientation of the motor vehicle at the end position of the second journey based on a user input from the driver of the motor vehicle. For example, the driver can be enabled to specify via the user interface of the motor vehicle whether the motor vehicle should have the first orientation or, alternatively, the second orientation at the end position.

[0031] Alternatively or additionally, the device can be configured to determine the target orientation of the motor vehicle at the end position of the second journey based on a digital map of the road network traveled by the motor vehicle. The digital map can indicate, for example, whether the end position of the second journey corresponds to a parking space or an exit onto a road. Based on the digital map, the device can then decide whether the motor vehicle should have the first orientation or, alternatively, the second orientation at the end position.

[0032] Alternatively or additionally, the device can be configured to define a standard orientation as the target orientation of the motor vehicle at the end position of the second journey. The standard orientation can, for example, be the first orientation that the motor vehicle had during the first journey at the position corresponding to the end position.

[0033] It can thus be made possible for the motor vehicle to have a different orientation at the initial position and / or at the final position during the second trip than during the first trip (during which the trajectory data were recorded).

[0034] The device is further configured to determine a second trajectory for the second journey based on the trajectory data and on the actual orientation and the target orientation. The device can, in particular, be configured to determine whether the actual orientation and / or the target orientation each have the second orientation, deviating from the first orientation. The second trajectory can then be determined in a particularly robust and flexible manner depending on whether the actual orientation and / or the target orientation each have the second orientation, deviating from the first orientation.

[0035] The device can be configured (as part of determining the second trajectory) to transform the trajectory data using a transformation in order to determine transformed trajectory data. The transformation can depend on the actual orientation and / or the target orientation, in particular on a deviation of the actual orientation and / or the target orientation from the first orientation of the motor vehicle during the first journey. The transformation can in particular comprise a (180°) rotation about the vertical axis, wherein the vertical axis is arranged perpendicular to the roadway on which the motor vehicle is located. The second trajectory can then be determined in a particularly precise and robust manner on the basis of the transformed trajectory data, in particular using a VSLAM algorithm.

[0036] Furthermore, the device is configured to guide the motor vehicle along the second trajectory from the initial position to the final position such that the motor vehicle has the target orientation at the final position. The motor vehicle can be guided along the second trajectory from the initial position to the final position using automated longitudinal and / or transverse guidance. Alternatively or additionally, the determined second trajectory can be displayed on a screen of the motor vehicle to assist the driver of the motor vehicle during the journey to the final position.

[0037] A driver assistance device is thus described that allows the driver of a motor vehicle to change the orientation of the vehicle relative to the previously recorded trajectory. This increases the comfort and flexibility of repeatedly performing a recorded driving maneuver.

[0038] The device may be configured to determine that

[0039] • the current orientation is the first orientation and the target orientation is the second orientation; or (alternatively)

[0040] • the goal orientation is the first orientation and the actual orientation is the second orientation.

[0041] It can thus be detected that the orientation of the motor vehicle (compared to the first trip) has changed at only one of the two positions. In response to the detection of such a situation, a second trajectory can be determined that, compared to the first trajectory, has an additional maneuvering movement for a change in the orientation of the motor vehicle, or (alternatively) a second trajectory can be determined that, compared to the first trajectory, has one fewer maneuvering movement than the first trajectory. This can further increase the convenience and flexibility of repeatedly performing a recorded driving maneuver.

[0042] The device can be configured to determine one or more changed properties of the motor vehicle's steering system that result from a deviation of the actual orientation and / or the target orientation from the first orientation. In particular, due to the change in orientation, the front-axle steering and an optional rear-axle steering system of the motor vehicle can be aligned exactly the other way round, resulting in a changed steering behavior of the motor vehicle.

[0043] The second trajectory can be determined in a particularly precise and robust manner by taking into account one or more changed characteristics of the steering of the motor vehicle.

[0044] The device can be configured to issue an offer to change the target orientation at the end position of the second journey to the driver via the user interface of the motor vehicle during the second journey. Furthermore, a changed target orientation can be determined based on a user input from the driver (at the user interface). This makes it possible for the driver of the motor vehicle to change the target orientation during the ongoing second journey. If necessary, the standard orientation can initially be used as the target orientation to plan the second trajectory. The driver can then specify a changed (exactly opposite) target orientation (if necessary during the second journey).

[0045] The device can further be configured to determine a modified second trajectory based on the modified target orientation (using the measures described in this document). Furthermore, the motor vehicle can be guided (possibly with automated longitudinal and / or lateral guidance) along the modified second trajectory to the final position, so that the motor vehicle has the modified target orientation at the final position.

[0046] The device can be configured to repeatedly check at a sequence of intermediate positions on the second trajectory during the second journey whether, starting from the respective intermediate position, a modified second trajectory to the final position can be determined, so that the motor vehicle has a modified target orientation at the final position that is opposite to the target orientation for which the second trajectory was determined. It can thus be repeatedly checked at different intermediate positions whether a change in the target orientation is still possible.

[0047] The offer to change the target orientation can be issued at the respective intermediate position, in particular only if a modified second trajectory to the final position can be determined from the respective intermediate position. Alternatively, the issue of the offer can be prevented.

[0048] This allows the driver of the vehicle to change the target orientation in a particularly flexible and robust manner during the second trip. This further increases the convenience and flexibility of repeating a recorded driving maneuver.

[0049] As already explained above, the device can be configured to record, in a recording mode during the first journey, trajectory data relating to a sequence of waypoints on the first trajectory from the first position to the second position, and / or relating to one or more reference objects in an environment of the first trajectory. In this case, it can already be taken into account during the recording of the trajectory data that the motor vehicle may have a different (opposite) orientation at the start and / or end position of the second journey during a subsequent second journey. For this purpose, trajectory data can be recorded which aim to be able to localize the motor vehicle at the individual waypoints of the sequence of waypoints, regardless of whether the motor vehicle is at the respective waypoint

[0050] • has a first orientation that corresponds to the orientation of the motor vehicle during the first journey; or

[0051] • has a second orientation which is opposite to, in particular rotated by 180°, the first orientation.

[0052] This allows additional trajectory data to be recorded during the recording process, taking into account a possible change in the vehicle's orientation during a subsequent second drive. This further increases the reliability and robustness of repeating a recorded driving maneuver.

[0053] According to a further aspect, a (road) motor vehicle (in particular a passenger car or a truck or a bus or a motorcycle) is described which comprises the device described in this document.

[0054] According to a further aspect, a method is described for assisting the driver of a motor vehicle during a second journey based on trajectory data recorded during a first journey, wherein the first journey led along a first trajectory from a first position to a second position. The method comprises determining the actual orientation of the motor vehicle at the start position of the second journey and the target orientation of the motor vehicle at the end position of the second journey, wherein the start position is the first position and the end position is the second position, or the start position is the second position and the end position is the first position. The method further comprises determining, based on the trajectory data and on the actual orientation and the target orientation, a second trajectory for the second journey. Furthermore, the method comprises causing the motor vehicle (if applicable) toautomated) along the second trajectory from the initial position to the final position in such a way that the motor vehicle has the target orientation at the final position.

[0055] It should be noted that the aspects described in connection with the device, in particular the claims described in connection with the device, are also to be applied to the method as corresponding method features.

[0056] According to another aspect, a software (SW) program is described. The SW program can be configured to be executed on a processor (e.g., on a vehicle control unit) and thereby to carry out the method described in this document.

[0057] According to a further aspect, a storage medium is described. The storage medium can comprise a software program configured to be executed on a processor and thereby to carry out at least the method described in this document.

[0058] It should be noted that the methods, devices, and systems described in this document can be used alone or in combination with other methods, devices, and systems described in this document. Furthermore, any aspects of the methods, devices, and systems described in this document can be combined in a variety of ways. In particular, the features of the claims can be combined in a variety of ways. Furthermore, features listed in parentheses are to be understood as optional features. The invention is described in more detail below using exemplary embodiments.

[0059] Figure 1 shows exemplary components of a vehicle;

[0060] Figure 2 shows an exemplary recorded trajectory for a first trip;

[0061] Figure 3 shows an exemplary derived, second, trajectory for a second trip;

[0062] Figure 4 shows an exemplary second trajectory for a second journey with a change in the orientation of the vehicle; and

[0063] Figure 5 is a flowchart of an exemplary method for assisting a vehicle user during a journey along a recorded trajectory.

[0064] As stated at the beginning, this document deals with increasing the comfort and flexibility of a driver assistance device for performing a driving maneuver based on a previously recorded driving trajectory.

[0065] Fig. 1 shows an exemplary vehicle 100 with one or more environmental sensors 102 (e.g., a camera, a radar sensor, a lidar sensor, etc.) and / or one or more vehicle sensors 103 (e.g., a steering sensor, a speed sensor, an inertial measurement unit (IMU), etc.). A (control) device 101 of the vehicle 100 can be configured to acquire trajectory data relating to the (first) trajectory traveled during the first trip based on the sensor data of the one or more environmental sensors 102 and / or based on the sensor data of one or more vehicle sensors 103 during a first trip (e.g., during a maneuvering maneuver) and to store the trajectory data in a memory unit (not shown) of the vehicle 100. The trajectory data can include:

[0066] • Coordinates (e.g. coordinates of a global navigation satellite system (GNSS)) for a large number of vehicle positions or waypoints along the travel trajectory;

[0067] • the orientation of the vehicle 100 relative to the travel trajectory; and / or information relating to one or more reference objects in the vicinity of the travel trajectory 100 (which can be used by the vehicle 100 as orientation points).

[0068] The vehicle 100 may further comprise one or more longitudinal and / or lateral guidance actuators 104 configured to effect at least partially automated longitudinal and / or lateral guidance of the vehicle 100. Examples of actuators 104 include a drive motor, a steering device, and / or a braking device. The (control) device 101 may be configured to control the one or more actuators 104 during a second journey based on the trajectory data relating to the first journey in order to assist the driver of the vehicle 100 during the second journey.

[0069] Fig. 2 shows an exemplary recorded (first) trajectory 200 from a first position 201 or from a first parking space 211 to a second position 202 or to a second parking space 212, which was recorded and stored during a first journey. The recorded (first) trajectory 200 can run along a first (travel) direction 203 from the first position 201 (or from the first parking space 211) to the second position 202 (or to the second parking space 212). During the first journey, the vehicle 100 has a first orientation 210, in particular a first orientation 210 at the first position 201 or at the first parking space 211 and a first orientation 210 at the second position 202 or at the second parking space 212.

[0070] The trajectory data for the recorded (first) trajectory 200 can specify a plurality of waypoints of the recorded trajectory 200. Furthermore, the trajectory data can specify reference objects 205 along the recorded trajectory 200. The one or more reference objects 205 can be used as orientation points during a subsequent second journey. The trajectory data recorded during the first journey can be used by the vehicle 100 to perform a second journey that runs between the first position 201 or the first parking space 211 and the second position 202 or the second parking space 212. The second journey can have the first (travel) direction 203 (just like the first journey). On the other hand, the second journey may have the second (journey) direction 204 (ie from the second position 202 or from the second parking space 212 to the first position 201 or to the first parking space 211).

[0071] Furthermore, during the second journey, the vehicle 100 can have the same (i.e., the first) orientation 210 at each of the two positions 201, 202 as during the first journey. This allows the vehicle 100 to be guided essentially along the recorded (first) trajectory 200 (for the first direction of travel 203 or for the second direction of travel 204).

[0072] The user of the vehicle 100 can be enabled to initiate the re-execution of a previously recorded driving maneuver (with a recorded trajectory 200) via a user interface 105 of the vehicle 100. The re-execution of the recorded driving maneuver can be initiated when the vehicle 100 is at the first position 201 or in the first parking space 211. This results in the vehicle 100 being guided along the first direction of travel 203 to the second position 202 or to the second parking space 212. Alternatively, the re-execution of the recorded driving maneuver can be initiated when the vehicle 100 is at the second position 202 or in the second parking space 212. This results in the vehicle 100 being guided along the second direction of travel 204 to the first position 201 or to the first parking space 211.

[0073] The initial position of the vehicle 100 for the second journey can thus be the first position 201 or the second position 202. Accordingly, the final position of the vehicle 100 for the second journey can be, in a complementary manner, the second position 202 or the first position 201.

[0074] The device 101 of the vehicle 100 can be configured to determine the actual orientation of the vehicle 100 at the initial position of the second journey. The actual orientation can be the first orientation 210, with which the trajectory data for the recorded journey trajectory 200 were acquired during the first journey. On the other hand, the actual orientation can be the second orientation 310, and thus differ from the orientation 210 used to acquire the trajectory data. A change in the orientation at the initial position can occur, for example, if the vehicle 100 was manually parked by the driver at the parking space 211, 212 of the initial position.

[0075] Alternatively or additionally, device 101 can be configured to determine the target orientation of vehicle 100 at the end position of the second journey. The target orientation can be determined, for example, based on a user input from the driver of vehicle 100 at user interface 105. In particular, the driver of vehicle 100 can be enabled to specify the target orientation that vehicle 100 should have at parking space 211, 212 at the end position of the second journey via user interface 105.

[0076] Alternatively or additionally, the target orientation can be determined based on the digital map for the road network traveled by vehicle 100. For example, based on the digital map, it can be recognized that the final position of the second journey corresponds to an exit onto a road. Based on this information, it can be determined that vehicle 100 should be oriented in the final position parking space 211, 212 such that the front of vehicle 100 faces the road.

[0077] Alternatively, a default orientation can be specified for the target orientation (e.g., if no other orientation can be determined). The default orientation can be the first orientation 210 that the vehicle 100 had during the first trip to the parking space 211, 212 of the final position.

[0078] To determine the target orientation, automatic situation recognition can be performed if necessary. For example, when exiting a parking space, it can be assumed that the vehicle 100 should be oriented forward at the end position. Alternatively or additionally, it can be assumed that a forward direction of the vehicle 100 is preferred by default when parking into a parking space (unless the driving maneuver was recorded with a different orientation 210).

[0079] If necessary, the driver of the vehicle 100 can be enabled to specify the target orientation for the end position during the ongoing second journey. If necessary, the second journey can begin with the standard orientation for the end position. The driver can be prompted via the user interface 105 to specify an orientation for the end position that differs from the standard orientation, if necessary. The offer to specify the target orientation can be issued until a specific intermediate position on the second trajectory 300 is reached, beyond which a change in the target orientation is no longer possible. The device 101 can be configured to repeatedly determine an adapted second trajectory during the second journey, by which the vehicle 100 can be guided from the respective current intermediate position to the end position, and has the changed target orientation at the end position.If, in particular as soon as, such an adjusted second trajectory can no longer be determined, the offer to change the target orientation can be withdrawn.

[0080] The target orientation at the end position may be the first orientation 210 with which the trajectory data for the recorded travel trajectory 200 was acquired during the first travel. On the other hand, the target orientation may be the second orientation 310, and thus differ from the orientation 210 used to acquire the trajectory data.

[0081] The device 101 is further configured to determine a second travel trajectory 300 for the second trip based on the trajectory data for the recorded (first) trajectory 200 (see Figures 3 and 4), wherein the second trajectory 300 leads from the initial position to the final position and in which the vehicle 100 has the actual orientation at the initial position and the target orientation at the final position.

[0082] Fig. 3 shows an example of a second journey in which the starting position of the second journey is the end position 202 of the first journey, and in which the end position of the second journey is the starting position 201 of the first journey. The actual orientation and the target orientation for the second journey are each the second orientation 310, and thus each opposite to the first orientation 210 during the first journey. The second journey trajectory 300 determined for the second journey typically deviates from the recorded (first) journey trajectory 200, which is particularly attributable to the fact that, due to the changed orientation of the vehicle 100, the (primarily) steered axle of the vehicle 100 is aligned differently with respect to the respective journey trajectory 200, 300 than during the first journey.The deviation between the recorded (first) driving trajectory 200 and the second driving trajectory 300 can be reduced by the combined use of the front axle steering and the rear axle steering of the vehicle 100.

[0083] The device 101 of the vehicle 100 can be configured to adapt, in particular to transform, the trajectory data acquired during the first journey, taking into account the actual orientation and / or the target orientation of the vehicle 100 for the second journey. The transformation can comprise a rotation of the trajectory data about the vertical axis (perpendicular to the roadway), in particular a rotation of 180°. This applies in particular to the one or more reference objects 205 acquired during the first journey. The correspondingly transformed trajectory data can then be used by the device 101 to localize the vehicle 100. This can be done, for example, using a VSLAM (Visual Simultaneous Localization and Mapping) algorithm.

[0084] Fig. 4 shows an example of a second journey in which the starting position of the second journey is the end position 202 of the first journey, and in which the end position of the second journey is the starting position 201 of the first journey. The actual orientation at the starting position is the first orientation 310, and the target orientation at the end position is the second orientation 310. Thus, the orientation of the vehicle 100 was changed only for the end position, e.g., to enable the driver of the vehicle 100 to drive forward onto a road from the parking space 211 at the end position.

[0085] A situation in which the orientation of the vehicle 100 is changed for the second journey at only one of the two positions 201, 202 (compared to the orientation 210 at the two positions 201, 202 during the first journey) typically results in a shunting operation having to be introduced into the second journey trajectory 300 to effect the change in orientation (as shown by way of example in Fig. 4). In an alternative example, it may be possible to dispense with a shunting operation effected during the first journey for the second trajectory 300 during the second journey.

[0086] The device 101 can be configured to determine a second trajectory 300 for the second journey based on the (transformed) trajectory data and the current sensor data from one or more environmental sensors 102 of the vehicle 100. This second trajectory 300 includes an additional shunting movement (or omits a previously recorded shunting movement). This makes it possible to use the path 200 recorded during a first journey for a second journey, regardless of the vehicle orientation 210, 310.

[0087] For this purpose, trajectory data can be acquired and stored during the first trip based on the sensor data from one or more environmental sensors 102, taking into account that the vehicle 100 may have a different orientation 310 during a second trip than during the first trip. For this purpose, sensor data can be acquired and stored in a 360° environment of the vehicle 100, so that the orientation 210, 310 of the vehicle 100 is irrelevant during the second trip and / or can be selected arbitrarily.

[0088] A change in the orientation 310 of the vehicle 100 during the second trip can result in the second travel trajectory 300 (for the second trip) deviating from the stored (first) travel trajectory 200 for the first trip (particularly when cornering, which may require a relatively wide turn). For this purpose, one or more clearances in the vicinity of the first trajectory 200 can be determined and monitored by sensors. Furthermore, a modified control of the front-axle and / or rear-axle steering can be effected.

[0089] The second trajectory 300 can be determined such that the (ground) area swept over by the vehicle 100 during the second trip is as small as possible and / or that the (ground) area swept over by the vehicle 100 during the second trip coincides as well as possible with the (ground) area swept over during the first trip.

[0090] Fig. 5 shows a flowchart of a (possibly computer-implemented) method 500 for assisting the driver of a motor vehicle 100 during a second trip, based on trajectory data recorded during a first trip, wherein the first trip led along a first trajectory 200 from a first position 201 to a second position 202. The first trip may have been initiated manually by the driver of the motor vehicle 100. The trajectory data may indicate individual waypoints (e.g., coordinates) of the first trajectory 200. Furthermore, the trajectory data may indicate reference objects 205 in the vicinity of the first trajectory 200, which make it possible (e.g., using a VLAM algorithm) to localize the motor vehicle 100 during the second trip. The method 500 may be executed by a control device 101 of the motor vehicle 100.

[0091] The motor vehicle 100 has a first orientation 210 at the first position 201 during the first journey. Furthermore, the motor vehicle 100 has a first orientation 210 at the second position 202 during the first journey. The respective first orientation 210 can be a front orientation (in which the front of the vehicle 100 at the respective position 201, 202 faces the first trajectory 200) or a rear orientation (in which the rear of the vehicle 100 at the respective position 201, 202 faces the first trajectory 200). In one example, the first orientation 210 can be a front orientation at the first position 201 and a rear orientation at the second position 202.

[0092] The method 500 comprises determining 501 the actual orientation of the motor vehicle 100 at the starting position of the second journey and determining the (desired) target orientation of the motor vehicle 100 at the ending position of the second journey. The starting position can be the first position 201 and the ending position can be the second position 202. The second journey can thus have the same direction of travel 203 as the first journey. In other words, the second journey can be another outward journey. Alternatively, the starting position can be the second position 202 and the ending position can be the first position 201. The second journey can thus have exactly the opposite direction of travel 204 to the first journey. In other words, the second journey can be a return journey.Within the scope of method 500, it may be possible for the motor vehicle 100 to have an actual orientation at the initial position that deviates from the first orientation 210, in particular that is exactly opposite to the first orientation 210 (and thus corresponds to the second orientation 310). Alternatively or additionally, it may be possible for the motor vehicle 100 to have a target orientation at the final position that deviates from the first orientation 210, in particular that is exactly opposite to the first orientation 210 (and thus corresponds to the second orientation 310). It may thus be possible for the motor vehicle 100 to have at least partially a different orientation during the second journey (in particular at the initial position and / or the final position of the second journey) than during the first journey.

[0093] The method 500 further includes determining 502, based on the trajectory data and on the actual orientation and the target orientation, a second trajectory 300 for the second journey. In particular, depending on the actual orientation and / or the target orientation, a transformation (e.g., a rotation) of the trajectory data can be effected in order to determine the second trajectory 300 precisely and robustly based on the transformed trajectory data. Furthermore, the changed steering behavior of the motor vehicle 100 due to a changed orientation of the motor vehicle 100 can be taken into account.

[0094] Furthermore, the method 500 comprises causing 503 the motor vehicle 100 to be guided along the second trajectory 300 from the initial position to the final position such that the motor vehicle 100 has the target orientation at the final position. In particular, it can be caused that the motor vehicle 100 is guided along the second trajectory 300 to the final position with automated longitudinal and / or transverse guidance. The measures described in this document can increase the comfort and flexibility of a driver assistance device for repeatedly performing a recorded driving maneuver. The present invention is not limited to the exemplary embodiments shown. In particular, it should be noted that the description and the figures are intended to illustrate the principle of the proposed methods, devices, and systems only by way of example.

Claims

Claims 1) Device (101) for assisting the driver of a motor vehicle (100) during a second journey based on trajectory data recorded during a first journey, the first journey leading along a first trajectory (200) from a first position (201) to a second position (202); the device (101) being configured - to determine an actual orientation of the motor vehicle (100) at a starting position of the second journey and a target orientation of the motor vehicle (100) at an end position of the second journey; wherein the starting position is the first position (201) and the end position is the second position (202), or the starting position is the second position (202) and the end position is the first position (201); - to determine a second trajectory (300) for the second journey based on the trajectory data and on the actual orientation and the target orientation; and - to cause the motor vehicle (100) to be guided along the second trajectory (300) from the initial position to the final position in such a way that the motor vehicle (100) has the target orientation at the final position. 2) Device (101) according to claim 1, wherein - the motor vehicle (100) had a first orientation (210) at the first position (201) and at the second position (202) during the first journey; and - the device (101) is arranged - to determine whether the actual orientation and / or the target orientation each have a second orientation (310) deviating from the first orientation (210) or not; wherein the second orientation (310) is opposite, in particular rotated by 180°, relative to the first orientation (210); and - to determine the second trajectory (300) depending on whether the actual orientation and / or the target orientation each have a second orientation (310) deviating from the first orientation (210) or not. 3) Device (101) according to claim 2, wherein the device (101) is arranged - to determine that - the actual orientation is the first orientation (210) and the target orientation is the second orientation (310); or - the target orientation is the first orientation (210) and the actual orientation is the second orientation (310); and - in response to the determining, to determine a second trajectory (300) which, in comparison to the first trajectory (200), - has an additional shunting train for a change of orientation; or - has one shunting train less than the first trajectory (200). 4) Device (101) according to one of claims 2 to 3, wherein the device (101) is arranged - to determine one or more changed properties of a steering system of the motor vehicle (100) which result from a deviation of the actual orientation and / or the target orientation from the first orientation (210); and - to determine the second trajectory (300) taking into account the one or more changed properties of the steering of the motor vehicle (100). 5) Device (101) according to one of the preceding claims, wherein the device (101) is arranged - as the actual orientation of the motor vehicle (100) at the initial position of the second journey either - to determine a first orientation (210) which the motor vehicle (100) had at the position (201, 202) corresponding to the initial position during the first journey, or - to determine a second orientation (310) which is opposite to the first orientation (210); and / or - as target orientation of the motor vehicle (100) at the end position of the second journey either - to determine the first orientation (210) which the motor vehicle (100) had at the first position (201, 202) corresponding to the final position during the first journey, or - to determine the second orientation (310) which is opposite to the first orientation (210). 6) Device (101) according to one of the preceding claims, wherein the device (101) is arranged - to determine sensor data from one or more environmental sensors (102) of the motor vehicle (100) at the initial position of the second journey; and - to determine the actual orientation of the motor vehicle (100) at the initial position on the basis of the sensor data of the one or more environment sensors (102) and on the basis of the trajectory data, in particular on the basis of one or more reference objects (205) specified in the trajectory data in an environment of the first trajectory (200). 7) Device (101) according to one of the preceding claims, wherein the device (101) is arranged - to determine the target orientation of the motor vehicle (100) at the end position of the second journey based on a user input from the driver of the motor vehicle (100); and / or - to determine the target orientation of the motor vehicle (100) at the end position of the second journey on the basis of a digital map for a road network travelled by the motor vehicle (100); wherein the digital map indicates in particular whether the end position of the second journey corresponds to a parking space or an exit onto a road; and / or - to define a standard orientation as the target orientation of the motor vehicle (100) at the end position of the second journey; wherein the standard orientation is in particular a first orientation (210) which the motor vehicle (100) had during the first journey at the position (201, 202) corresponding to the end position. 8) Device (101) according to one of the preceding claims, wherein the device (101) is arranged, during the second journey, - to issue an offer to change the target orientation at the end position of the second journey to the driver via a user interface (105) of the motor vehicle (100); - to determine a changed target orientation based on a user input from the driver; - to determine a modified second trajectory based on the changed target orientation; and - to cause the motor vehicle (100) to be guided along the changed second trajectory to the end position, so that the motor vehicle (100) has the changed target orientation at the end position. 9) Device (101) according to claim 8, wherein the device (101) is arranged, during the second journey, - to repeatedly check at a sequence of intermediate positions on the second trajectory (300) whether, starting from the respective intermediate position, a modified second trajectory to the end position can be determined, so that the motor vehicle (100) has a modified target orientation at the end position that is opposite to the target orientation for which the second trajectory (300) was determined; and - to issue the offer to change the target orientation at the respective intermediate position, in particular only if a changed second trajectory to the final position can be determined starting from the respective intermediate position. 10) Device (101) according to one of the preceding claims, wherein the device (101) is arranged - to transform the trajectory data using a transformation in order to determine transformed trajectory data; wherein the transformation depends on the actual orientation and / or the target orientation, in particular on a deviation of the actual orientation and / or the target orientation from a first orientation (210) of the motor vehicle (100) during the first journey; wherein the transformation in particular comprises a rotation about a vertical axis that is arranged perpendicular to a roadway on which the motor vehicle (100) is standing; and - to determine the second trajectory (300) on the basis of the transformed trajectory data, in particular using a VSLAM, Visual Simultaneous Localization and Mapping, algorithm. 11) Device (101) according to one of the preceding claims, wherein the device (101) is arranged to record trajectory data in relation to - a sequence of waypoints on the first trajectory (200) from the first position (201) to the second position (202); and - to detect one or more reference objects (205) in an environment of the first trajectory (200), which are intended to be able to localize the motor vehicle (200) at the individual waypoints of the sequence of waypoints, regardless of whether the motor vehicle (100) is at the respective waypoint - has a first orientation (210) which corresponds to the orientation of the motor vehicle (100) during the first journey; or - has a second orientation (310) which is opposite, in particular rotated by 180°, to the first orientation (210). 12) Method (500) for assisting the driver of a motor vehicle (100) during a second journey based on trajectory data recorded during a first journey, wherein the first journey led along a first trajectory (200) from a first position (201) to a second position (202); wherein the method (500) comprises, - Determining (501) an actual orientation of the motor vehicle (100) at a starting position of the second journey and a target orientation of the motor vehicle (100) at an end position of the second journey; wherein the starting position is the first position (201) and the end position is the second position (202), or the starting position is the second position (202) and the end position is the first position (201); - determining (502), on the basis of the trajectory data and on the basis of the actual orientation and the target orientation, a second trajectory (300) for the second journey; and - causing (503) the motor vehicle (100) to move along the second trajectory (300) from the initial position to the final position is guided so that the motor vehicle (100) has the target orientation at the end position.

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