METHOD AND APPARATUS FOR THE ASSISTED GUIDANCE OF A VEHICLE

Abstract

A method for the assisted guidance of a vehicle, whereby a setpoint trajectory to be traversed in a parking facility is ascertained for the vehicle as a function of a type of the vehicle, the ascertained setpoint trajectory being transmitted to the vehicle via a communication network, so that the vehicle is able to travel autonomously in the parking facility based on the setpoint trajectory. An apparatus for the assisted guidance of a vehicle, a method or an apparatus for operating a vehicle, a parking system for vehicles, a vehicle and a computer program, are also described.

Claims

1-13. (canceled)

14. A method for the assisted guidance of a vehicle, comprising: ascertaining a setpoint trajectory to be traversed in a parking facility for the vehicle as a function of a type of the vehicle; transmitting the ascertained setpoint trajectory to the vehicle via a communication network so that the vehicle is able to drive autonomously in the parking facility based on the setpoint trajectory.

15. The method as recited in claim 14, wherein the setpoint trajectory is also ascertained as a function of at least one of the following vehicle parameters: i) wheel base, ii) height, iii) width, iv) length, v) mass, vi) functional scope of a driver assistance system, vii) functional scope of a driving-environment sensor system, viii) maximum steering angle, ix) turning clearance circle, x) inexactness of a driver assistance system, xi) inexactness of a driving-environment sensor system, xii) specific type and/or a specific inexactness of one or more actuators, and/or of a processing device for calculating control parameters for one or more actuators, in order to be able to travel over the setpoint trajectory.

16. The method as recited in claim 14, wherein at least one localization-synchronization location is determined, by which the vehicle is able to check whether it is traveling correctly over the ascertained setpoint trajectory, the localization-synchronization location being transmitted via the communication network to the vehicle so that when traversing the setpoint trajectory, the vehicle is able to check, with the aid of the localization-synchronization location, whether it is traveling correctly over the setpoint trajectory.

17. The method as recited in claim 16, wherein the determination of the localization-synchronization location includes that position data of the localization-synchronization location is determined relative to the setpoint trajectory.

18. The method as recited in claim 14, wherein prior to the transmission, at least one section of the ascertained setpoint trajectory is approximated by one of a straight line or a sequence of points, so that the setpoint trajectory with the approximated section is transmitted to the vehicle via the communication network.

19. The method as recited in claim 14, wherein the setpoint trajectory includes at least one of the following locations in the parking facility: i) a drop-off position at which a driver of the vehicle is able to drop off his vehicle for an autonomous parking process, ii) a parking position in which the vehicle parks in the parking facility, and iii) a pick-up position at which a driver of the vehicle is able to pick up the vehicle at the end of an autonomous parking process.

20. The method as recited in claim 14, wherein the transmission of a digital map of the parking facility to the vehicle via the communication network is dispensed with.

21. An apparatus for the assisted guidance of a vehicle, comprising: a processor designed to ascertain for the vehicle a setpoint trajectory to be traversed in a parking facility as a function of a type of the vehicle; and a communication interface designed to transmit the ascertained setpoint trajectory to the vehicle via a communication network, so that the vehicle is able to travel autonomously in the parking facility based on the setpoint trajectory.

22. A method for operating a vehicle, comprising: receiving, by the vehicle via a communication network, a setpoint trajectory, which is a function of a type of the vehicle and is to be traversed in a parking facility; and autonomously traveling, by the vehicle, in the parking facility based on the setpoint trajectory.

23. An apparatus for operating a vehicle, comprising: a communication interface which is designed to receive, via a communication network, a setpoint trajectory that is a function of a type of the vehicle and is to be traversed in a parking facility; and a guidance device for guiding the vehicle, which is designed to guide the vehicle autonomously in the parking facility based on the setpoint trajectory.

24. A parking system for vehicles, comprising: a parking facility; and an apparatus for the assisted guidance of a vehicle, including a processor designed to ascertain for the vehicle a setpoint trajectory to be traversed in the parking facility as a function of a type of the vehicle, and a communication interface designed to transmit the ascertained setpoint trajectory to the vehicle via a communication network, so that the vehicle is able to travel autonomously in the parking facility based on the setpoint trajectory.

25. A vehicle, comprising an apparatus for operating the vehicle, the apparatus including a communication interface which is designed to receive, via a communication network, a setpoint trajectory that is a function of a type of the vehicle and is to be traversed in a parking facility, and a guidance device for guiding the vehicle, which is designed to guide the vehicle autonomously in the parking facility based on the setpoint trajectory.

26. A non-transitory computer-readable storage medium on which is stored a computer program, including program code for the assisted guidance of a vehicle, the computer program, when executed by a computer, causing the computer to perform: ascertaining a setpoint trajectory to be traversed in a parking facility for the vehicle as a function of a type of the vehicle; transmitting the ascertained setpoint trajectory to the vehicle via a communication network so that the vehicle is able to drive autonomously in the parking facility based on the setpoint trajectory.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0062] FIG. 1 shows a flowchart of a method for the assisted guidance of a vehicle.

[0063] FIG. 2 shows an apparatus for the assisted guidance of a vehicle.

[0064] FIG. 3 shows a flowchart of a method for operating a vehicle.

[0065] FIG. 4 shows an apparatus for operating a vehicle.

[0066] FIG. 5 shows a parking system for vehicles.

[0067] FIG. 6 shows a vehicle.

[0068] FIG. 7 shows a parking facility.

[0069] FIG. 8 shows the parking facility according to FIG. 7, including localization-synchronization locations.

[0070] FIG. 9 shows a setpoint trajectory.

[0071] FIG. 10 shows the setpoint trajectory from FIG. 9, which is approximated by a sequence of points.

[0072] FIG. 11 shows the trajectory of FIG. 9, which is approximated by a sequence of straight lines.

DETAILED DESCRIPTION OF EXAMPLE EMBODIMENTS

[0073] FIG. 1 shows a flowchart of a method for the assisted guidance of a vehicle.

[0074] According to a step 101, a setpoint trajectory to be traversed in a parking facility is ascertained for the vehicle as a function of a type of the vehicle. In a step 103, the ascertained setpoint trajectory is transmitted to the vehicle via a communication network. In particular, this provides the technical advantage that the vehicle is able to drive autonomously in the parking facility based on the setpoint trajectory. For example, the vehicle is an APV vehicle.

[0075] FIG. 2 shows an apparatus 201 for the assisted guidance of a vehicle.

[0076] Apparatus 201 includes a processor 203, which is designed to ascertain for the vehicle, a setpoint trajectory to be traversed in a parking facility as a function of a type of the vehicle. Apparatus 201 also includes a communication interface 205, which is designed to transmit the ascertained setpoint trajectory to the vehicle via a communication network, so that the vehicle is able to drive autonomously in the parking facility based on the setpoint trajectory.

[0077] FIG. 3 shows a flowchart of a method for operating a vehicle.

[0078] According to a step 301, a setpoint trajectory, which is a function of a type of the vehicle and is to be traversed in a parking facility, is received by the vehicle via a communication network. In a step 303, the vehicle drives autonomously in the parking facility based on the setpoint trajectory.

[0079] According to one specific embodiment, the setpoint trajectory includes one or more localization-synchronization locations, by which the vehicle is able to check when traversing the setpoint trajectory, whether or not it is traveling correctly over the setpoint trajectory.

[0080] FIG. 4 shows an apparatus 401 for operating a vehicle.

[0081] Apparatus 401 includes a communication interface 403, which is designed to receive, via a communication network, a setpoint trajectory that is a function of a type of the vehicle and is to be traversed in a parking facility. Apparatus 401 also includes a guidance device 405 for guiding the vehicle, which is designed to guide the vehicle autonomously in the parking facility based on the setpoint trajectory.

[0082] FIG. 5 shows a parking system 501 for vehicles.

[0083] Parking system 501 includes a parking facility 503 and apparatus 201 of FIG. 2.

[0084] FIG. 6 shows a vehicle 601.

[0085] Vehicle 601 includes apparatus 401 of FIG. 4.

[0086] FIG. 7 shows a vehicle 701, which is located in a parking facility 703. Vehicle 701 has been parked at a drop-off position or at a drop-off location 707. From there, vehicle 701 will drive autonomously to a parking position, which is assigned to one of the many parking spaces 705 of parking facility 703. That is, the vehicle will thus drive autonomously to a parking space 705 in order to park there. The vehicle carries this out autonomously, thus, independently.

[0087] A setpoint trajectory, which is a function of a type of vehicle 701, is ascertained for the autonomous travel of vehicle 701 from drop-off position 707 to parking space 705, thus, to its parking position. Two setpoint trajectories 709 and 711 to be traversed are drawn in by way of example. So, for instance, setpoint trajectory 711 is ascertained if vehicle 701 is a relatively small vehicle, e.g., a mini. For example, setpoint trajectory 709 will be ascertained for a vehicle which is larger compared to the vehicle according to setpoint trajectory 711, e.g., if the vehicle is an “Audi A8.” In other words, the vehicle type thus notably includes a model of the vehicle, especially also a model year.

[0088] As shown as example in FIG. 7, setpoint trajectory 711 leads to a parking position in a more restricted manner than setpoint trajectory 709. Specifically, this is possible because a smaller vehicle usually has a smaller turning clearance circle, and in particular, needs less space for maneuvering.

[0089] It should be noted that the two ascertained setpoint trajectories 709 and 711 are only examples. For instance, other setpoint trajectories are provided for other vehicle types.

[0090] FIG. 8 shows parking facility 703 according to FIG. 7, additionally including localization-synchronization locations 801. These localization-synchronization locations 801 are located at various places in the parking facility and are used for synchronization or for checking whether or not the vehicle is traveling correctly over the setpoint trajectory communicated to it. In other words, when traveling over its setpoint trajectory, the vehicle therefore is able to check whether it is traveling over it correctly. Thus, this is accomplished with the aid of the localization-synchronization locations.

[0091] For example, these localization-synchronization locations 801 are relative to the corresponding setpoint trajectory, e.g., setpoint trajectory 709 or 711. Thus, for instance, a localization-synchronization location may be assigned the following information: At a specific point in setpoint trajectory 709 or 711, the localization-synchronization location is x meters away in the direction of an X-axis and y meters in the direction of a Y-axis and/or an angle between the specific point of setpoint trajectory 709 or 711 and one of the X-axis and Y-axis amounts to a predetermined angular value. Here, the X-axis and the Y-axis denote an abscissa and ordinate, respectively, of a Cartesian coordinate system. For example, the Cartesian coordinate system is a vehicle coordinate system. The X-axis runs in the direction of the transverse axis of the vehicle. The Y-axis runs in the direction of the longitudinal axis of the vehicle, thus, in the direction of travel.

[0092] The ascertained setpoint trajectory may be transmitted to vehicle 701 according to various specific embodiments. This is represented illustratively by FIGS. 9 through 11.

[0093] So, FIG. 9 shows an ascertained setpoint trajectory 901 which is transmitted as a whole, thus, without any approximation, to the vehicle via the communication network.

[0094] FIG. 10 shows setpoint trajectory 901 which, according to FIG. 10, is approximated by a sequence or series of points 1001. That is, according to FIG. 10, ascertained setpoint trajectory 901 is thus represented by a sequence or series of points 1001. For example, according to this specific embodiment, this approximated setpoint trajectory, thus, this series of points 1001, is transmitted to the vehicle. Advantageously, this is able to reduce a volume of data to be transmitted.

[0095] FIG. 11 shows setpoint trajectory 901, which is approximated by a sequence of straight lines 1101. In other words, the sequence or series of straight lines 1101 thus represents setpoint trajectory 901. The correspondingly approximated setpoint trajectory, thus, the series or sequence of straight lines 1101, is transmitted to the vehicle. In addition, points 1001 according to FIG. 10 are also marked in in FIG. 11 for comparison.

[0096] In further specific embodiments, combinations of the possibilities shown in FIG. 9 through 11 are provided. So, for example, one or more sections of setpoint trajectory 901 are approximated by a series or sequence of points, analogous to FIG. 10. Preferably, one or more sections of setpoint trajectory 901 are approximated by a series or sequence of straight lines, analogous to FIG. 11. Preferably, one or more sections of setpoint trajectory 901 are not approximated; these sections are therefore transmitted as a whole to the vehicle.

[0097] In particular, the present invention thus includes providing a technical and efficient way by which autonomous valet parking may be carried out by vehicles. According to the present invention, prior to carrying out the autonomous valet parking, an overall trajectory, thus, the setpoint trajectory to be traversed, is calculated or ascertained specifically for the vehicle, and in particular, specifically for the parking position, e.g., specifically for the parking spot, with the aid of a parking-place management system, for example. The vehicle then travels over this ascertained overall trajectory independently, thus, without being remotely controlled.

[0098] Within the context of this present invention, specifically means, in particular, that an adapted setpoint trajectory is calculated for each vehicle (e.g., “Audi A8”, “Mini”, “Golf”, “Passat”, etc.), and especially for each model (e.g., “Audi A8, model year 2011”). Preferably, the specifications of the vehicle like, for example, a wheel base, a motion-control regulator, etc., as well as, for instance, the parameters such as a height, a width and a length, are integrated into the setpoint-trajectory calculation or setpoint-trajectory ascertainment. In addition to or instead, preferably inaccuracies of the vehicle systems, especially of the driver assistance systems and/or of a driving-environment sensor system are also factored into the trajectory calculation.

[0099] The motion-control regulator is a processing device which calculates the implementation of a setpoint trajectory, that is, how individual actuators (brake, steering, drive) must be controlled so that the setpoint trajectory is traversed. In other words, the processing device is designed to calculate control parameters for one or more actuators, in order to be able to travel over the setpoint trajectory.

[0100] According to one specific embodiment, the driving-environment sensor system of the vehicle includes one or more driving-environment sensors like, for example: radar sensor, ultrasonic sensor, lidar sensor, laser sensor and video sensor.

[0101] The advantages of the example embodiments according to the present invention lie particularly in the fact that a great deal less information must be transmitted as compared to an extremely precise map. In particular, the vehicle does not have to be controlled remotely by a parking-garage management system, but rather drives independently, thus, autonomously. The parking-garage management system is therefore advantageously relieved of this task.