METHOD AND DEVICE FOR OPERATING A PLURALITY OF VEHICLES

Abstract

A method for operating a plurality of vehicles includes sending over a communication network and to a first vehicle navigation data for an autonomous navigation of the first vehicle in a parking facility, the first vehicle being assigned as a guide vehicle to a second vehicle that is to autonomously follow the first vehicle, a target signal being sent to the second vehicle via the communication network while the second vehicle is following the guide vehicle during the autonomous navigation of the guide vehicle in the parking facility, the signal indicating that the second vehicle is to terminate the following and to park at a target position.

Claims

1-17. (canceled)

18. A method for operating a plurality of vehicles, the method comprising: sending, to a first vehicle and via a communication network, navigation data for an autonomous navigation of the first vehicle in a parking facility, assigning the first vehicle to a second vehicle as a guide vehicle that the second vehicle is to follow autonomously; and sending, to the second vehicle, via the communication network, and while the second vehicle is following the first vehicle during the autonomous navigation of the first vehicle, a target signal that indicates that the second vehicle is to terminate the following and to park at a target position.

19. The method of claim 18, wherein the navigation data includes the target position and a command that, during the autonomous navigation, the guide vehicle is to travel past the target position.

20. The method of claim 18, wherein a travel of at least one of the first and second vehicles is monitored at least partly by a vehicle-external monitoring system.

21. The method of claim 20, wherein the monitoring system monitors whether the second vehicle is following the guide vehicle without error.

22. The method of claim 20, wherein the monitoring system monitors whether other objects in the parking facility are disturbing travel of either of the first and second vehicles.

23. The method of claim 20, wherein the monitoring system monitors whether the guide vehicle is traveling to the target position.

24. The method as recited in 18, wherein a target parking trajectory for the second vehicle to park in the target position is communicated to the second vehicle via the communication network.

25. The method of claim 18, wherein the target position is a retrieval position at which a driver is to retrieve the second vehicle.

26. The method of claim 18, wherein the target position includes both a first position at which the second vehicle is to initially park and a second position at which the second vehicle is to be retrieved by a driver, so that the second vehicle follows the guide vehicle to the first position and parks there, leaves the first position at a later time, and then follows the guide vehicle, or a further guide vehicle, to the second position at which the second vehicle stops.

27. The method of claim 18, wherein a plurality of second vehicles travel in a column behind the first vehicle in order to be guided to their respective target positions.

28. The method of claim 27, wherein a sequence of the second vehicles in the column is arranged according to their corresponding target positions in such a way that it is always the last second vehicle in the column that is associated with the next target position.

29. The method of claim 18, wherein an assignment signal that indicates that the first vehicle is the guide vehicle and the second is to follow the first vehicle is sent via the communication network to at least one of the first and second vehicles.

30. The method of claim 18, wherein, for the assignment, the second vehicle acquires, at a pre-specified position, a sensor signal that indicated presence of the first vehicle, so that the second vehicle recognizes that the first vehicle is the guide vehicle.

31. The method of claim 30, wherein the pre-specified position is a drop-off position, so that the second vehicle situated at the drop-off position recognizes the first vehicle as the guide vehicle if it is situated in front of the second vehicle at the pre-specified position.

32. A device for operating a plurality of vehicles, the device comprising: a communication interface; and a processor, wherein the processor is configured to: generate an assignment signal for assigning a first vehicle as a guide vehicle which a second vehicle is to autonomously follow; send the assignment signal to the second vehicle via the communication interface and over a communication network; send, via the communication interface, over the communication network, and to a first vehicle, navigation data for an autonomous navigation of the first vehicle in a parking facility; and ascertain, and send to the second vehicle via the communication interface and over the communication network, a target signal for the second vehicle, indicating that the second vehicle is to terminate following the first vehicle and park in a target position.

33. A parking system comprising: a parking facility; and a device for operating a plurality of vehicles, the device comprising: a communication interface; and a processor, wherein the processor is configured to: generate an assignment signal for assigning a first vehicle as a guide vehicle which a second vehicle is to autonomously follow; send the assignment signal to the second vehicle via the communication interface and over a communication network; send, via the communication interface, over the communication network, and to a first vehicle, navigation data for an autonomous navigation of the first vehicle in the parking facility; and ascertain, and send to the second vehicle via the communication interface and over the communication network, a target signal for the second vehicle, indicating that the second vehicle is to terminate following the first vehicle and park in a target position.

34. A non-transitory computer-readable medium on which are stored instructions that are executable by a processor and that, when executed by the processor, cause the processor to perform a method for operating a plurality of vehicles, the method comprising: sending, to a first vehicle and via a communication network, navigation data for an autonomous navigation of the first vehicle in a parking facility, assigning the first vehicle to a second vehicle as a guide vehicle that the second vehicle is to follow autonomously; and sending, to the second vehicle, via the communication network, and while the second vehicle is following the first vehicle during the autonomous navigation of the first vehicle, a target signal that indicates that the second vehicle is to terminate the following and to park at a target position.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0050] FIG. 1 is a flowchart that illustrates a method for operating a plurality of vehicles according to an example embodiment of the present invention.

[0051] FIG. 2 shows a device for operating a plurality of vehicles according to an example embodiment of the present invention.

[0052] FIG. 3 shows a parking system for vehicles according to an example embodiment of the present invention.

DETAILED DESCRIPTION

[0053] FIG. 1 is a flowchart that illustrates a method for operating a plurality of vehicles. In a step 101, navigation data for autonomous travel are sent to a first vehicle. These navigation data include in particular data that make it possible for the first vehicle to navigate or to travel autonomously in the parking facility. According to a specific embodiment, navigation data thus include for example map data of a digital map of the parking facility, position data of mobile and/or stationary objects situated at or in the parking facility, and data of a target trajectory that is to be traveled.

[0054] In a step 103, a first vehicle is assigned as a guide vehicle to a second vehicle. That is, the second vehicle is to autonomously follow the first vehicle. The guide vehicle is thus a pilot for the second vehicle that guides or pilots the second vehicle.

[0055] While the second vehicle autonomously follows the guide vehicle during autonomous navigation of the guide vehicle in the parking facility, according to a step 105 a target signal is sent to the second vehicle via the communication network indicating that the second vehicle is to terminate the following and is to stop at a target position.

[0056] In response to the target signal, the second vehicle terminates the following, and preferably stops at the target position. The guide vehicle preferably continues to travel.

[0057] In this way, it is advantageously brought about that the second vehicle can autonomously arrive at its target position in the parking facility. In particular, the second vehicle itself need have no knowledge about the parking facility itself. It is sufficient for the second vehicle to follow the guide vehicle, i.e., to orient itself to this vehicle.

[0058] FIG. 2 shows a device 201 for operating a plurality of vehicles, including: a processor 203 for ascertaining navigation data for an autonomous navigation of the first vehicle in a parking facility, a communication interface 205 for sending the navigation data to the first vehicle via a communication network, for an autonomous navigation of the guide vehicle in the parking facility, so that based on the navigation data the guide vehicle can navigate autonomously in the parking facility. The processor 203 is configured to ascertain an assignment signal for assigning the first vehicle to a second vehicle as a guide vehicle for the second vehicle which this second vehicle is to follow autonomously. The assignment signal is sent using the communication interface 205 and over the communication network to the second vehicle so that the first vehicle can be assigned as guide vehicle to the second vehicle, which is to follow the first vehicle autonomously. The processor 203 is configured to ascertain a target signal for the second vehicle, which autonomously follows the guide vehicle, indicating that the second vehicle is to terminate the following and stop at a target position. The target signal is sent to the second vehicle using the communication interface 205 and over the communication network.

[0059] FIG. 3 shows a parking system 301 for vehicles, parking system 301 including a parking facility 303 and the device 201 of FIG. 2.

[0060] Example embodiments of the present invention thus include in particular the idea of providing a technical and efficient design based on which a fully automatic (autonomous) valet parking, i.e., an autonomous parking process, can be carried out for AVP vehicles of the first generation with support from AVP vehicles of the second and third generation. The core idea of the present invention is in particular that the AVP vehicles of the second or third generation, i.e., vehicles that, based on navigation data, can navigate or travel autonomously in a parking facility and thus do not need to be controlled remotely, for example based on a highly precise parking space map, are used as guide vehicles for vehicles of the first generation, i.e., in particular remotely controlled vehicles, i.e., vehicles that are remotely controlled.

[0061] Thus, in particular the AVP vehicles of the first generation are no longer remotely controlled for example by a parking space management system using trajectory parts that are to be traveled. Rather, these vehicles are assigned a guide vehicle of the second or third generation of AVP vehicles. The vehicles of the first generation thus follow the vehicle of the second or third generation.

[0062] The following can be carried out for example using standard known driver assistance systems, for example an ACC or adaptive speed regulation.

[0063] According to a specific embodiment, a parking position for the first vehicle, i.e., the guide vehicle, i.e., in particular the AVP vehicle of the second or third generation, is selected in such a way that on the path to the target position, i.e., in particular to the parking position of the second vehicle, it is downstream from this target position. That is, travel first takes place to the target position of the second vehicle, and only subsequent to this does travel to the parking position of the guide vehicle take place.

[0064] According to a specific embodiment, it is provided that at the time at which the guide vehicle, i.e., in particular the AVP vehicle of the second or third generation, travels past the parking position of the second vehicle, i.e., in particular the vehicle of the first generation, the second vehicle receives a target signal or a stop signal. In this way, the second vehicle advantageously has the information that it is situated in front of the parking position assigned to it.

[0065] In addition, according to a specific embodiment it is then provided that the second vehicle autonomously, i.e., automatically, parks in the parking position assigned to it. That is, the second vehicle executes or carries out this parking process in particular using parking functions present in the second vehicle, for example a parking assistant, and/or receives the parking trajectory required for this as a communication from a parking garage management system via the communication network.

[0066] The process of leaving the parking space and the path back to the retrieval position, which can for example be the same as a drop-off position or receiving position or receiving location, is analogously carried out. That is, the second vehicle leaves the parking space autonomously, for example based on its parking assistant, and/or receives the trajectory required to leave the parking space as a communication from the parking garage management system. The guide vehicle or the further guide vehicle then guides or pilots the second vehicle to the drop-off position/receiving position, or the general retrieval position.

[0067] According to a specific embodiment, it is provided that the overall process, and in general also only parts of the process, is monitored. This is done in particular using a vehicle-external monitoring system which can be included for example in a parking facility management system. In general, the device can be included in such a parking facility management system for managing or operating a parking facility.

[0068] The process includes in particular respective travel of the first and of the second vehicle.

[0069] In this way, it can advantageously be brought about that intervention can take place when necessary. For example, intervention can take place if the second vehicle is following the first vehicle incorrectly, if other vehicles and/or persons (inadvertently) disturb the process, and/or if the first vehicle does not travel the path to the target position correctly.

[0070] Advantages of the present invention can be seen in particular in that through the guiding of the second vehicle, in particular an AVP vehicle of the first generation, by a guide vehicle, in particular an AVP vehicle of the second or third generation, the second vehicle can be guided to the target position relatively easily and without significant additional systems. In particular, a parking facility management system has to carry out fewer tasks with regard to a guiding of the second vehicle to its target position.

[0071] According to a specific embodiment, it is provided that the device for operating a plurality of vehicles is set up or fashioned to carry out or execute the method for operating a plurality of vehicles.