METHOD AND DEVICE FOR THE ASSISTED DRIVING OF A VEHICLE

Abstract

A method for the assisted driving of a vehicle. A setpoint trajectory for the vehicle to be followed in a parking facility being ascertained as a function of a type of the vehicle. The ascertained setpoint trajectory is transmitted to the vehicle via a communication network. A digital map of the parking facility is transmitted to the vehicle via the communication network. The vehicle may autonomously drive in the parking facility based on the setpoint trajectory and the digital map. Additionally, the vehicle may be monitored with the aid of a vehicle-external monitoring system while it is driving autonomously in the parking facility. A device for the assisted driving of a vehicle, a method and a device for operating a vehicle, a parking system for vehicles, a vehicle, and a computer program, are also described.

Claims

1-21. (canceled)

22. A method for the assisted driving of a vehicle, the method comprising: ascertaining, as a function of a type of the vehicle, a setpoint trajectory for the vehicle to be followed in a parking facility; transmitting the ascertained setpoint trajectory to the vehicle via a communication network and transmitting a digital map of the parking facility to the vehicle via the communication network so that the vehicle is able to autonomously drive in the parking facility based on the setpoint trajectory and the digital map; and monitoring the vehicle with the aid of a vehicle-external monitoring system while the vehicle is driving autonomously in the parking facility.

23. The method as recited in claim 22, wherein the setpoint trajectory is ascertained as a function of at least one of the following vehicle parameters: wheelbase, height, width, length, weight, functional scope of a driver assistance system, functional scope of a surroundings sensor system, maximum steering angle, turning circle, imprecision of a driver assistance system, and imprecision of a surroundings sensor system.

24. The method as recited in claim 22, wherein, when a problem which occurs during the driving operation is detected, at least one of the following actions is carried out: (i) ascertaining a new setpoint trajectory and transmitting the new setpoint trajectory to the vehicle via the communication network, and (ii) transmitting a stop signal to the vehicle.

25. The method as recited in claim 22, wherein the monitoring includes monitoring the actual trajectory of the vehicle for a deviation from the ascertained setpoint trajectory.

26. The method as recited in claim 25, wherein, in the event of a deviation, a stop signal is transmitted to the vehicle via the communication network, so that the vehicle is able to stop in response to a receipt of the stop signal.

27. The method as recited in claim 22, wherein at least one of: a parking route for parking into and an unparking route for unparking from a parking position, is ascertained as a function of the vehicle type and transmitted to the vehicle via the communication network, so that the vehicle may autonomously park into or unpark from the parking position.

28. The method as recited in claim 27, wherein the at least one of the parking route and the the unparking route is ascertained as a function of at least one of the following vehicle parameters: wheelbase, height, width, length, weight, functional scope of a driver assistance system, functional scope of a surroundings sensor system, maximum steering angle, turning circle, imprecision of a driver assistance system, and imprecision of a surroundings sensor system.

29. The method as recited in claim 22, wherein, when an obstacle for the vehicle is detected during the monitoring, a circumnavigation route for circumnavigating the obstacle is ascertained, which is transmitted to the vehicle via the communication network, so that the vehicle may autonomously circumnavigate the obstacle based on the circumnavigation route.

30. The method as recited in claim 22, wherein the setpoint trajectory includes at least one of the following locations in the parking facility: drop-off position at which a driver of the vehicle may drop off the vehicle for an autonomous parking process, parking position in which the vehicle parks in the parking facility, and pick-up position at which a driver may pick up the vehicle after an autonomous parking process has ended.

31. The method as recited in claim 22, wherein pieces of information regarding at least one of mobile objects and stationary objects present within the parking facility are transmitted to the vehicle via the communication network, so that the vehicle may take these pieces of information into consideration for its autonomous driving operation in the parking facility.

32. The method as recited in claim 22, wherein the setpoint trajectory is designed as a setpoint trajectory tube, so that the vehicle may drive within the setpoint trajectory tube while it is autonomously driving in the parking facility.

33. A device for the assisted driving of a vehicle, comprising: a processor designed to ascertain a setpoint trajectory for the vehicle to be followed in a parking facility as a function of a type of the vehicle; a communication interface designed to transmit the ascertained setpoint trajectory and a digital map of the parking facility to the vehicle via a communication network, so that the vehicle may autonomously drive in the parking facility based on the setpoint trajectory and the digital map; and a control unit to control a vehicle-external monitoring system in such a way that the vehicle is monitored with the aid of the vehicle-external monitoring system while it is driving autonomously in the parking facility.

34. A method for operating a vehicle, the method comprising: receiving, by the vehicle via a communication network, (i) a setpoint trajectory, which is to be followed in the parking facility and is dependent on a type of the vehicle, and (ii) a digital map of the parking facility; and autonomously driving, by the vehicle, in the parking facility based on the setpoint trajectory and the digital map.

35. The method as recited in claim 34, wherein the vehicle ascertains an optimized setpoint trajectory based on the digital map and the setpoint trajectory, and autonomously drives in the parking facility based on the optimized setpoint trajectory.

36. The method as recited in claim 34, wherein, when the vehicle detects a problem which occurs during the driving operation, the vehicle reports the problem via the communication network to a user of the communication network.

37. The method as recited in claim 34, wherein, when the vehicle receives a circumnavigation route for circumnavigating an obstacle via the communication network, the vehicle adapts its autonomous driving operation to the obstacle in such a way that the vehicle autonomously drives around the obstacle based on the circumnavigation route.

38. The method as recited in claim 34, wherein, when the vehicle receives pieces of information regarding at least one of mobile objects and stationary objects situated within the parking facility via the communication network, the vehicle takes these pieces of information into consideration for its autonomous driving operation in the parking facility, and accordingly adapts its autonomous driving operation, if necessary.

39. A device for operating a vehicle, comprising: a communication interface designed to receive, via a communication network, (i) a setpoint trajectory, which is to be followed in the parking facility and is dependent on a type of the vehicle, and (ii) a digital map of the parking facility; and a guide device to guide the vehicle, the guide device being designed to autonomously guide the vehicle in the parking facility based on the setpoint trajectory and the digital map.

40. A parking system for vehicles, comprising: a parking facility; and a device for the assisted driving of a vehicle, including a processor designed to ascertain a setpoint trajectory for the vehicle to be followed in a parking facility as a function of a type of the vehicle, a communication interface designed to transmit the ascertained setpoint trajectory and a digital map of the parking facility to the vehicle via a communication network, so that the vehicle may autonomously drive in the parking facility based on the setpoint trajectory and the digital map, and a control unit to control a vehicle-external monitoring system in such a way that the vehicle is monitored with the aid of the vehicle-external monitoring system while it is driving autonomously in the parking facility.

41. A vehicle including a device for operating the vehicle, the device including a communication interface designed to receive, via a communication network, (i) a setpoint trajectory, which is to be followed in the parking facility and is dependent on a type of the vehicle, and (ii) a digital map of the parking facility; and a guide device to guide the vehicle, the guide device being designed to autonomously guide the vehicle in the parking facility based on the setpoint trajectory and the digital map.

42. A non-transitory computer readable storage meeting on which is stored a computer program including program code for the assisted driving of a vehicle, the program code, when executed by a computer, causing the computer to perform: ascertaining, as a function of a type of the vehicle, a setpoint trajectory for the vehicle to be followed in a parking facility; transmitting the ascertained setpoint trajectory to the vehicle via a communication network and transmitting a digital map of the parking facility to the vehicle via the communication network so that the vehicle is able to autonomously drive in the parking facility based on the setpoint trajectory and the digital map; and monitoring the vehicle with the aid of a vehicle-external monitoring system while the vehicle is driving autonomously in the parking facility.

43. A non-transitory computer readable storage meeting on which is stored a computer program including program code for operating a vehicle, the program code, when executed by a computer, causing the computer to perform: receiving, by the vehicle via a communication network, (i) a setpoint trajectory, which is to be followed in the parking facility and is dependent on a type of the vehicle, and (ii) a digital map of the parking facility; and autonomously driving, by the vehicle, in the parking facility based on the setpoint trajectory and the digital map

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0098] FIG. 1 shows a flow chart of a method for the assisted driving of a vehicle.

[0099] FIG. 2 shows a device for the assisted driving of a vehicle.

[0100] FIG. 3 shows a flow chart of a method for operating a vehicle.

[0101] FIG. 4 shows a device for operating a vehicle.

[0102] FIG. 5 shows a parking system for vehicles.

[0103] FIG. 6 shows a vehicle.

DETAILED DESCRIPTION OF EXAMPLE EMBODIMENTS

[0104] FIG. 1 shows a flow chart of a method for the assisted driving of a vehicle.

[0105] In a step 101, it is provided that a setpoint trajectory for the vehicle to be followed in a parking facility is ascertained as a function of a type of the vehicle. The ascertained setpoint trajectory is transmitted in a step 103 to the vehicle via a communication network. Furthermore, according to a step 105, a digital map of the parking facility is transmitted to the vehicle via the communication network. In this way, the vehicle is advantageously able to autonomously drive in the parking facility based on the setpoint trajectory and the digital map.

[0106] In a step 107, it is provided that the vehicle is monitored with the aid of a vehicle-external monitoring system while it is driving autonomously in the parking facility.

[0107] The fact that the vehicle is monitored while it is driving autonomously in the parking facility means in particular that a parking and/or unparking process of the vehicle into or from a parking position is monitored. In particular, a driving operation from the drop-off position to the parking position is monitored. Preferably, a driving operation from the parking position to the pick-up position is monitored, which according to one specific embodiment is identical to the drop-off position.

[0108] FIG. 2 shows a device 201 for the assisted driving of a vehicle.

[0109] Device 201 includes a processor 203 which is designed to ascertain a setpoint trajectory for the vehicle to be followed in a parking facility as a function of a type of the vehicle. Device 201 furthermore includes a communication interface 205, which is designed to transmit the ascertained setpoint trajectory and a digital map of the parking facility to the vehicle via a communication network. In this way, the vehicle is advantageously able to autonomously drive in the parking facility based on the setpoint trajectory and the digital map.

[0110] Device 201 furthermore includes a control unit 207 for controlling a vehicle-external monitoring system in such a way that the vehicle is monitored with the aid of the vehicle-external monitoring system while it is driving autonomously in the parking facility.

[0111] FIG. 3 shows a method for operating a vehicle.

[0112] In a step 301, it is provided that the vehicle receives a setpoint trajectory, which is to be followed in the parking facility and is dependent on a type of the vehicle, and a digital map of the parking facility via a communication network. This is according to a step 301. According to a step 303, it is provided that the vehicle autonomously drives in the parking facility based on the setpoint trajectory and the digital map.

[0113] FIG. 4 shows a device 401 for operating a vehicle.

[0114] Device 401 includes a communication interface 403 which is designed to receive a setpoint trajectory, which is to be followed in the parking facility and is dependent on a type of the vehicle, and a digital map of the parking facility via a communication network. Device 401 furthermore includes a guide device 405 for guiding the vehicle, which is designed to autonomously guide the vehicle in the parking facility based on the setpoint trajectory and the digital map.

[0115] FIG. 5 shows a parking system 501 for vehicles, parking system 501 including a parking facility 503 and device 201 from FIG. 2.

[0116] FIG. 6 shows a vehicle 601, which includes device 401 from FIG. 4.

[0117] In summary, the present invention in particular and among other things provides an efficient and technical way with the aid of which an autonomous valet parking with vehicles may be carried out efficiently and in an improved manner. According to the present invention, the vehicle drives autonomously based on a digital map, in particular a highly precise digital map, of the parking facility. Such a digital map is thus provided to the vehicle via the communication network. One further idea according to the present invention is in particular the monitoring of the autonomous driving of the vehicle, in particular of the parking/unparking process, with the aid of the vehicle-external monitoring system. In this way, in particular a parking facility management is able to monitor the autonomous driving operation and the parking/unparking process of the vehicle and intervene if needed, i.e., in the event of errors or problems. One further idea according to the present invention is in particular also that a setpoint trajectory to be followed which is specifically tailored to the vehicle is ascertained.

[0118] According to one specific embodiment, it is provided that the device for the assisted driving of a vehicle, which may in particular be included in a parking facility management system, specifically calculates or ascertains the set point trajectory or also a setpoint trajectory tube for the vehicle (for example, “Audi A8, 2011 model”).

[0119] According to one further specific embodiment, it is provided that the device for the assisted driving of a vehicle, i.e., in particular the parking facility management system, transmits the trajectory or the trajectory tube to the vehicle as a guided route. Guided route here means, in particular, that the vehicle uses the transmitted setpoint trajectory or the transmitted setpoint trajectory tube as a basis for calculating or ascertaining an optimized setpoint trajectory or an optimized setpoint trajectory tube, based on which the vehicle ultimately then autonomously drives in the parking facility.

[0120] In one specific embodiment, it is provided that the device for the assisted driving of a vehicle, in particular the parking facility management system, transmits the digital map, in particular the highly precise map, of the parking facility and preferably, if necessary, necessary additional data, for example pieces of information about mobile and/or stationary objects situated within the parking facility, to the vehicle.

[0121] In one other specific embodiment, it is provided that the device for the assisted driving of a vehicle, i.e., in particular the parking facility management system, transmits the position and/or dimensions of other vehicles and/or persons, doing so in particular constantly or continuously.

[0122] The piece of information thus includes, for example, dimensions or sizes of the other vehicles and/or persons.

[0123] In one further specific embodiment, it is provided that the vehicle, based on the transmitted setpoint trajectory or the transmitted setpoint trajectory tube, the digital map, in particular the highly precise map, the positions of other vehicles and/or persons, independently, i.e., autonomously, calculates or ascertains the instantaneously optimal path, and then also autonomously follows the same, and in particular parks and/or unparks.

[0124] In one further specific embodiment, it is provided that the device for the assisted driving of a vehicle, i.e., in particular the parking facility management system, monitors the actions, i.e., in particular the autonomous driving operation, of the vehicle. This takes place in particular with the aid of a vehicle-external monitoring system.

[0125] In one further specific embodiment, it is provided that the device for the assisted driving of a vehicle, in particular the parking facility management system, intervenes in the case of problems it detects on its own and/or are reported by the vehicle (for example, two vehicles impeding one another; persons running into the driving path of the vehicle; inaccuracies in following the path (i.e., a deviation of the actual from the setpoint trajectory); vehicle losing its localization and the like). This takes place in particular in that, for example, a stop signal is transmitted to the vehicle. This takes place in particular in that, for example, a new setpoint trajectory is ascertained or a new setpoint trajectory tube is ascertained and transmitted to the vehicle via the communication network.

[0126] Advantages of example embodiments of the present invention may be achieved or yielded by the combination of the individual features:

[0127] A significantly higher robustness.

[0128] A significantly higher accuracy.

[0129] A significantly lower proneness to errors.

[0130] Fewer accidents and/or fewer collisions.

[0131] This is achieved in particular compared to conventional parking systems.