METHOD AND DEVICE FOR OPERATING A VEHICLE

Abstract

A method for operating a vehicle, the vehicle being guided in a parking facility by remote control in such a way that a predetermined minimum distance to mobile objects in the surroundings of the vehicle is maintained. A device for operating a vehicle, a parking facility system for vehicles, and a computer program are also described.

Claims

1-19. (canceled)

20. A method for operating a vehicle, comprising: guiding the vehicle in a parking facility by remote control; and during the remote-controlled guidance, maintaining a predetermined minimum distance to mobile objects in surroundings of the vehicle.

21. The method as recited in claim 20, wherein the vehicle is guided into one of multiple parking positions of the parking facility to maintain the predetermined minimum distance.

22. The method as recited in claim 21, wherein the parking position is ascertained as a function of a parameter.

23. The method as recited in claim 23, wherein the parameter describes at least one of an instantaneous and anticipated traffic situation in the parking facility.

24. The method as recited in claim 23, wherein, when the at least one of the instantaneous and anticipated traffic situation includes an absence of oncoming traffic and a following vehicle, the vehicle is guided into that parking position which, in relation to its instantaneous position, is most remote in the parking facility.

25. The method as recited in claim 23, wherein, when the at least one of the instantaneous and anticipated traffic situation includes a presence of oncoming traffic and an absence of a following vehicle, the vehicle is guided into that parking position which, in relation to its instantaneous position, is provided nearest in the parking facility.

26. The method as recited in claims 23, wherein, when the at least one of the instantaneous and anticipated traffic situation includes a presence of oncoming traffic and a presence of a following vehicle, the vehicle is guided into that parking position which, in relation to its instantaneous position, is provided nearest in the parking facility.

27. The method as recited in claim 23, wherein, when the at least one of the instantaneous and anticipated traffic situation includes at least one of a preceding vehicle and a living being located ahead and an absence of a following vehicle, the vehicle is guided into that parking position which, in relation to its instantaneous position, is both provided nearest in the parking facility and at least one parking position before at least one of the parking position of the preceding vehicle and a position of a living being located ahead.

28. The method as recited in claim 23, wherein, when the at least one of the instantaneous and anticipated traffic situation includes at least one of a preceding vehicle and a living being located ahead and a presence of a following vehicle, the vehicle is guided into that parking position which is provided before at least one of a parking position of the preceding vehicle and a position of a living being located ahead.

29. The method as recited in claim 20, wherein the remote-controlled guidance is carried out as a function of a particular velocity at which the vehicle and the possibly present other vehicles and/or persons and/or animals are moving, the remote-controlled guidance being carried out as a function of tolerances in the respective velocity.

30. The method as recited in claim 20, wherein the remote-controlled guidance is carried out in such a way that an encounter of the vehicle with oncoming traffic is prevented.

31. The method as recited in claim 20, wherein, when an encounter of the vehicle with oncoming traffic cannot be prevented, a stop signal is transmitted to at least one of the vehicle and at least one vehicle of the oncoming traffic.

32. The method as recited in claim 20, wherein at least one of the method steps is recorded with the aid of at least one video camera.

33. A device for operating a vehicle, comprising: a remote control for remote-controlled guidance of the vehicle which remotely controls the vehicle in such a way that a predetermined minimum distance of the vehicle to mobile objects in surroundings of the vehicle are maintained.

34. A parking facility system for vehicles, comprising: a parking facility; and a remote control for remote-controlled guidance of the vehicle which remotely controls the vehicle in such a way that a predetermined minimum distance of the vehicle to mobile objects in surroundings of the vehicle are maintained.

35. The parking facility system as recited in claim 34, wherein the parking facility includes various areas delimited from one another, which are designed in particular in such a way that the various areas may be approached separately from one another.

36. The parking facility system as recited in 34, wherein the parking facility includes a separate area reserved for fully automated valet parking.

37. The parking facility system as recited in claim 34, further comprising: a parking facility monitoring system for monitoring the parking facility, the parking facility monitory system designed to document at least a portion of the remote-controlled guidance of the vehicle.

38. A non-transitory computer-readable storage medium on which is stored a computer program for operating a vehicle, the computer program, when executed by a computer, causing the computer to perform: guiding the vehicle in a parking facility by remote control; and during the remote-controlled guidance, maintaining a predetermined minimum distance to mobile objects in surroundings of the vehicle.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0048] FIG. 1 shows a method for operating a vehicle.

[0049] FIG. 2 shows a device for operating a vehicle.

[0050] FIG. 3 shows a parking facility system for vehicles.

DETAILED DESCRIPTION OF EXAMPLE EMBODIMENTS

[0051] FIG. 1 shows a flow chart of a method for operating a vehicle.

[0052] According to a step 101, the vehicle is guided by remote control in a parking facility in such a way that, according to a step 103, a predetermined minimum distance to mobile objects in the surroundings of the vehicle is maintained.

[0053] A mobile object within the meaning of the present invention is, for example, a person, i.e., a human, or an animal. A mobile object within the meaning of the present invention is in particular another vehicle. The other vehicle is, for example, an autonomous or manual vehicle. When the singular is used in conjunction with the “mobile object,” this should always be read to include the plural and vice versa. Other AVP vehicles may preferably also be remote controlled.

[0054] FIG. 2 shows a device 201 for operating a vehicle.

[0055] Device 201 includes a remote control 203 for the remote-controlled guidance of the vehicle in such a way that a predetermined minimum distance of the vehicle to mobile objects in the surroundings of the vehicle may be maintained. The remote control may in general be referred to in particular as a remote control unit.

[0056] According to one specific embodiment, device 201 includes a communication interface, which is designed to transmit remote control signals to a vehicle via a communication network. These remote control signals are in particular generated or produced with the aid of remote control or remote control unit 203. These remote control signals or remote control commands thus “tell” or command the vehicle how it has to drive so that a predetermined minimum distance of the vehicle to mobile objects in the surroundings of the vehicle may be maintained.

[0057] FIG. 3 shows a parking facility system 301 for vehicles.

[0058] Parking facility system 301 includes a parking facility 303, which has multiple parking zones or parking spaces, for example. Parking facility system 301 furthermore includes device 201 of FIG. 2.

[0059] The present invention thus in particular includes the concept of providing a method, a device, a parking facility system, and a computer program, with the aid of which in particular in the case of fully automated (autonomous) valet parking, a risk of collisions, and an “encounter” of AVP vehicles with other vehicles (normal or other AVP vehicles) and/or with persons may be reduced or even prevented. According to the present invention, a parking facility management system is provided, implemented here by the device which “controls,” i.e., remotely controls the AVP vehicles in such a way that they may drive autonomously having a minimum distance to other vehicles and/or persons, i.e., mobile objects. This minimum distance or predetermined minimum distance is in particular definable.

[0060] Remote control within the meaning of the present invention in particular means that with the aid of the remote control, there is monitoring of when the vehicle, in particular the AVP vehicle, starts driving, drives, parks, or stops or pauses or shuts down. This means in particular that a parking facility management system has control over when an AVP vehicle starts driving, drives, pulls into or out of a parking space, stops, pauses, or shuts down. The remote control thus includes one or multiple of the maneuvers mentioned hereafter: starting driving, driving, pulling into and out of a parking space, stopping, pausing, and shutting down.

[0061] Furthermore, it is controlled or monitored in particular with the aid of the remote control at which velocities, with and/or on which paths or trajectories the vehicle may or is supposed to drive. The remote control thus in particular includes a control of a vehicle velocity and/or a vehicle trajectory and/or a vehicle deceleration and/or a vehicle acceleration.

[0062] Furthermore, the parking position, for example, the parking space, into which the AVP vehicle is supposed to or may drive is controlled or monitored with the aid of the remote control. In this case, the selection and the assignment of the parking position, for example, the parking space for the AVP vehicle is a particularly preferred and reasonable criterion, since it decisively determines traffic or an encounter.

[0063] According to specific embodiments which are not shown, for example, at least one or multiple of the following situations may occur, this is in particular with reference to the time which the AVP requires for a procedure of pulling into and/or out of a parking space and/or also for the travel to the parking position and/or to the drop-off position (also called the drop zone):

[0064] 1. No oncoming traffic (lack or absence of a preceding vehicle) and no following vehicle or no following vehicles or no following AVP vehicle or no following AVP vehicles (i.e., an absence or a lack of a following vehicle).

[0065] 2. No oncoming traffic and one or multiple following vehicle(s), in particular AVP vehicles.

[0066] 3. Oncoming traffic (vehicles and/or persons and/or animals) and no following vehicle or no following vehicles or no following AVP vehicle or no following AVP vehicles.

[0067] 4. Oncoming traffic (vehicles and/or persons and/or animals) and one or multiple following vehicle(s), in particular AVP vehicles.

[0068] 5. One or multiple preceding vehicles or persons or animals located ahead (this should be read to include singular) and no following vehicles, in particular AVP vehicles.

[0069] 6. One or multiple preceding vehicle(s) or persons and/or animals and one or multiple following vehicle(s), in particular AVP vehicles.

[0070] The above-mentioned situations are thus relevant in particular when ascertaining the driving trajectories for preventing the encounter or for a predefined minimum distance.

[0071] The above-mentioned situations preferably always relate to the route or path or trajectory to be traveled by the AVP vehicle.

[0072] According to one specific embodiment it is provided that the remote-controlled guidance is carried out as a function of a respective velocity at which the vehicle and the possibly present other vehicles and/or persons and/or animals are moving, the remote-controlled guidance is preferably carried out as a function of tolerances in the respective velocity.

[0073] According to another specific embodiment it is provided that the remote-controlled guidance is carried out in such a way that an encounter of the vehicle with oncoming traffic is prevented. Preventing an encounter with oncoming traffic thus has priority in particular, since this oncoming traffic has to be passed. This means in particular that according to one specific embodiment, such an encounter is prevented. In the case of preceding and/or following traffic, stopping is possible, this being provided according to one specific embodiment, whereby a minimum distance may advantageously be achieved.

[0074] This means in particular that according to another specific embodiment, the vehicle and/or other vehicles has/have to be stopped. This is in particular because a stop signal is transmitted to the vehicle or vehicles with the aid of the remote control. This is carried out via the communication network, for example. This takes place in particular with the aid of the communication interface.

[0075] In one specific embodiment it is provided that, when an encounter of the vehicle with oncoming traffic cannot be prevented, a stop signal is transmitted to the vehicle and/or to the vehicle or vehicles of the oncoming traffic. Thus, according to this specific embodiment, if an encounter cannot be prevented, for example, presumably because the oncoming traffic arrives more rapidly than the parking process is completed, according to this specific embodiment, a stop signal is transmitted for one or multiple of the vehicles. This is carried out, for example, with the aid of the device, i.e., in particular with the aid of the remote control, in particular with the aid of a parking facility management system. Thus, for example, this may advantageously have the effect that at most one vehicle is in motion at one time.

[0076] An algorithm of the assignment of a parking position for the vehicle is as follows according to further specific embodiments:

[0077] If, according to one specific embodiment, the first above-mentioned situation exists, it is thus unimportant according to one specific embodiment which parking position, for example, parking space, the vehicle is guided into. According to one specific embodiment it is provided that additional criteria may also be taken into consideration for the selection of the parking position.

[0078] If, according to one specific embodiment, the second above-mentioned situation exists, the vehicle is thus assigned the most remote parking position.

[0079] If, according to another specific embodiment, the third above-mentioned situation exists, the vehicle is thus assigned the nearest parking position.

[0080] If, according to another specific embodiment, the above-mentioned fourth situation exists, the vehicle is thus assigned the nearest parking position.

[0081] If, according to another specific embodiment, the fifth above-mentioned situation is provided, the vehicle is thus assigned the nearest parking position, but at least one parking position before the parking position of the preceding vehicle or before the anticipated persons.

[0082] If, according to one specific embodiment, the sixth above-mentioned situation is provided, the vehicle is thus assigned the parking position before the parking position of the preceding vehicle or before the anticipated persons.

[0083] According to one specific embodiment it is provided that the parking facility includes various areas which are delimited from one another and which are designed in particular in such a way that they may be approached separately from one another. There are thus preferably various areas which are delimited from one another in the parking facility, for example, a left parking garage half and a right parking garage half. These various areas which are delimited from one another are designed in such a way that they may be approached separately and at least largely separately (i.e., separately from one another). This advantageously simplifies carrying out the method according to the present invention.

[0084] According to another specific embodiment it is provided that the parking facility, in particular the parking garage, has a separate area reserved for fully automated valet parking. It is thus provided according to one specific embodiment that the parking facility includes a separate area reserved for fully automated valet parking. Possible problems due to mixed traffic or due to pedestrians, etc. may thus advantageously be avoided. Carrying out the method is also thereby advantageously further simplified.

[0085] According to one specific embodiment it is provided that a presence and a movement of AVP vehicles, in particular normal vehicles, and/or persons are monitored by a parking facility management system which includes a parking garage monitoring system, including, for example, a video camera system.

[0086] According to another specific embodiment, the entire process or at least some of the above-mentioned method steps are documented for documentation purposes. This means, according to one specific embodiment, at least some, preferably all of the method steps mentioned above and hereafter are documented for documentation purposes, in particular recorded, in particular recorded with the aid of one or multiple video cameras.

[0087] The documenting, in particular the recording, is carried out according to one specific embodiment with the aid of a parking facility monitoring system, in particular a parking garage monitoring system. The parking facility monitoring system includes one or multiple video cameras according to one specific embodiment.

[0088] According to one specific embodiment, a parking facility monitoring system is provided for monitoring the parking facility, which is furthermore designed to document, in particular record, at least some, in particular all of the method steps mentioned above and hereafter.

[0089] According to one specific embodiment, the commands, i.e., in particular the remote control commands, are transmitted from the parking facility management system to the AVP vehicle or vehicles, for example, via WLAN.