DE102017203983A1 - Method for operating a motor vehicle during a maneuvering operation - Google Patents

Abstract

Method for operating a motor vehicle when performing a maneuvering operation in a maneuvering environment (4, 4 ') that can be described by a position information, wherein at least one of the maneuvering environments (4, 4') is assigned as a function of the current position information of the motor vehicle (3, 3 '), a maneuver information describing a maneuver for maneuvering is selected and used to perform the maneuvering operation, the selected maneuver information being received from an off-board server device (1) via a communication link (8).

Description

The invention relates to a method for operating a motor vehicle when carrying out a maneuvering operation in a maneuvering information that can be described by a position information, wherein, depending on the current position information of the motor vehicle, at least one maneuver information associated with the maneuvering information assigned to the maneuvering environment and used to perform the maneuvering operation is assigned becomes.

For example, under the concept of "trained parking" have already been proposed ways to repeatedly perform driving maneuvers, such as parking on a specific parking space, for example, in a garage to train the motor vehicle. This means that a maneuver information is generated and stored within the motor vehicle, which can then be retrieved later, when the same maneuvering environment is approached again with the same destination, so that the motor vehicle, in particular at least partially automatically, can repeat the driving maneuver, for example partially or completely can be automatically parked in the parking space.

Such a method for teaching a motor vehicle was, for example, in DE 10 2011 107 974 A1 already proposed, which relates to a method for maneuvering a vehicle in an environment and a Rangierassistenzsystem for a vehicle. For this purpose, it is proposed to first let the vehicle carry out a reference shunting operation in the environment in a learning mode, which is stored so that the stored reference shunting operation takes place in a repeating maneuvering system to be performed by the vehicle at least semi-autonomously after the learning mode is considered for repeating shunting. This is to create an optimal maneuvering in some way, so that to a repetitive optimized driving of this specific environment is contributed. It is possible to record and save start positions, destination positions, routes and environment data.

DE 10 2014 014 219 A1 relates to a method for performing a parking operation of a vehicle, in which also during a learning journey, a vehicle environment is detected and stored, and based on the detected vehicle environment, at least one trajectory is determined and stored to a target position. In particular, obstacles are detected and stored on the determined trajectory and classified in passable and impassable for the vehicle obstacles. The determined trajectory is adapted to the classified obstacles such that impassable obstacles are avoided in the parking process.

The problem here is that each maneuver must be trained by the driver in his car to perform this partially automated, which brings a certain amount of effort and limits the process to the possibilities, in particular the sensors, the own motor vehicle.

The invention is therefore an object of the invention to provide a way to reduce the Anlernaufwands for driving maneuvers in maneuvering environments.

To solve this problem, it is provided according to the invention in a method of the type mentioned that the selected maneuver information is received from a server-external server device via a communication link.

According to the invention, it is therefore proposed to store maneuver information on a server device outside the motor vehicle and, if necessary, to make it retrievable. That is, the vehicle may access driver maneuver information stored on the server device, depending on where the vehicle is currently located and what maneuver information is needed. It is therefore no longer necessary that the own motor vehicle has recorded the driving maneuver information, but it is given the opportunity to record specific maneuvers, such as the entry into an underground car park to a parking lot, from a motor vehicle or otherwise and then the associated maneuver information on the Server device and by means of position adjustment also to other motor vehicles to transmit or retrieve from these, as soon as you are in the location-related starting area for the maneuver.

Thus, the present invention makes it possible to significantly reduce the number of training operations required for specific maneuvers, since maneuvers that can be used by several vehicles need only be taught by one motor vehicle, but other vehicles can benefit from the maneuver information provided via the server device. In addition, a variety of other options for online management of a database of maneuver information, which will be discussed in more detail below.

In other words, in particular, the present invention makes it possible to transmit maneuver information to other motor vehicles and / or or to share in general. In addition, maneuver information can also be created elsewhere and still be made available to the motor vehicle. The maneuver information retrieved or generally transmitted by the server device is therefore, in particular, a maneuver information learned by another motor vehicle and / or recorded via a computer-external computing device.

A development of the invention can provide that at least when a storage criterion is met, the maneuver information is stored for repeated utilization within the motor vehicle. This means that it is quite conceivable, at least when it can be foreseen that the maneuver information will be used more frequently, which can be described by a storage criterion, to store them locally in the motor vehicle, so that a renewed retrieval is not necessarily necessary. Of course, it is alternatively also conceivable for the maneuver information to be discarded each time after use, in particular if a server-device-side updating of the maneuver information is provided, as will be discussed in more detail below.

The storage criterion can in particular evaluate a user input and / or history data. For example, the storage criterion can thus ask the user whether it can be assumed that the retrieved maneuver information will be required more frequently. However, this information can also be done at least partially by automatic evaluation of data for use of the motor vehicle in the past, so history data, for example, by checking whether the maneuvering environment is often approached by the motor vehicle.

Preferably, a server device provided for retrieving maneuver information for a plurality of motor vehicles and / or assigned to a plurality of maneuvering information, in particular at least partially different maneuvering environments, may be used. The server device can then in particular represent a central point of contact for motor vehicles which require maneuver information for a maneuvering environment. A maneuver information determined by a specific motor vehicle or otherwise, in particular by training, can be provided to other motor vehicles that require them. In particular, however, it is also conceivable to provide the server device not only for a specific maneuver information, but to provide maneuver information for a large number of maneuvering and / or maneuvering environments, so that ultimately a type of database for maneuver information of different types arises.

It should be noted at this point that the selection of the appropriate maneuver, thus the comparison with the current position information of the motor vehicle, ultimately represents the essential starting point for selecting the appropriate maneuver information. The adjustment may be based on a starting position or a starting range of the maneuver and / or on the Rangierumgebung as such. In this case, it is generally preferred or in many cases also provided that an absolute position specification, in particular a geodetic position, is used as position information. Such a geodetic position can be determined, for example, via sensors of a global navigation satellite system (GNSS), for example via a GPS sensor. It should be noted in this context, however, that it is also quite conceivable for generic maneuvers to keep the maneuvering environment information describing the maneuvering environment to which the maneuver information is assigned, and accordingly also the position information to the description of the current environment of the maneuver Can aim motor vehicle; if necessary, it is also possible to use different types of position information for the adjustment for a plurality of driving maneuver information stored in the server device. Such a generic driving maneuver may be, for example, a turning maneuver or the like.

Furthermore, it should generally be noted at this point that, in addition to the position information, further inquiry information can be used to select a desired driving maneuver, in particular if different maneuvers are assigned to a maneuvering environment and the like. Such additional request information may relate in particular to a destination of the maneuvering operation, for example a desired parking space of the motor vehicle.

In a particularly advantageous development of the present invention, provision can be made for the maneuver information on the server device to be assigned an access information restricting access to the maneuver information, the motor vehicle transmitting an authentication information item to be compared with the access information to the server device for receiving the maneuver information. In such an embodiment, the maneuver information is thus transmitted to the motor vehicle only upon successful comparison of the authentication information with the access information. In this way, certain driving maneuvers can therefore be reserved for certain passenger and / or motor vehicle groups. Consequently, it can be concretely provided that the access information describes a restriction to a group of persons and / or a motor vehicle group and the authentication information identifies a person driving the motor vehicle and / or the motor vehicle. In this way, it can therefore be realized, for example, to make driving maneuvers on private land accessible only to a certain group of people, for example only family members or the like.

A particularly advantageous embodiment can also provide that a maneuver information is assigned a plurality of, in particular at least partially comparable properties having jogging environments. In this way it is possible to transfer taught driving maneuvers also from one place to another, for example from a first garage to a second garage with a similar approach in a different maneuvering environment. In this way, the training processes for specific driving maneuvers can be further reduced by resorting to the same driving maneuver information for several maneuvering environments, for example during generic driving maneuvers, for example during turning maneuvers, or generic garage entrances. Specifically, it can be provided here that the maneuver information recorded relative to a first maneuvering environment is assigned to at least one further maneuvering environment on the basis of a user input and / or a maneuvering environment of a comparative evaluation process of the server device. While transmission of a driving maneuver to a similar maneuvering environment may be user-initiated, it is also conceivable to compare at least partially relevant characteristics of maneuvering environments in order to determine the applicability of a maneuver in a different maneuvering environment. For example, the ratios of starting position to destination position and / or the shape and size of intervening drivable clearances can be compared.

The server device may be a cloud or part of a cloud or a backend computer. In particular, a cloud offers itself here, which also allows calculation and storage resources for a large number of different maneuver information for different maneuvering environments. It is also conceivable, of course, the use of backend computers, for example, for a vehicle fleet or the like.

There are various possibilities for teaching a maneuver information. For example, it may be provided that at least one maneuver information is learned by means of the or another motor vehicle in the maneuvering environment and transmitted to a server device, where it is stored. Methods for teaching driving maneuvers in maneuvering environments are fundamentally known in the prior art, as explained in the introduction, so that this will not be explained in more detail here.

Alternatively or additionally, however, it is also conceivable that at least one maneuver information is recorded virtually by means of a computing device, in particular in the context of a simulation of a motor vehicle in the maneuvering environment, and transmitted to the server device, where it is stored. An embodiment of the present invention therefore also makes it possible to create driving maneuvers virtually, for example on a computer, in order subsequently to transmit them to the motor vehicle. An example of this is turning in a garage. For example, suitable computer programs / apps can be provided for motor vehicle owners, who, in particular, virtually reproduce the relevant maneuvering environment and permit a corresponding trajectory planning for a driving maneuver, in particular with at least partially simulatively predetermined aspects. The computing device, at which the maneuver information was recorded, can then transmit it to the server device and make it available to the motor vehicle; It should be noted that in principle it is also conceivable that the server device corresponds to the computing device.

In an expedient development of the invention, it is provided that the driving maneuver is carried out at least partially automatically by a vehicle system of the motor vehicle. In this case, by means of the method according to the invention, in particular, a maneuvering assistance system of the motor vehicle is supplied with suitable information, ie the driving maneuver information, in order to support the driver during maneuvering, in particular to perform the driving maneuver completely automatically.

It is expediently provided that, during the at least partially automatically executed driving maneuver, a collision monitoring and / or adaptation of the driving maneuver to changed environmental conditions takes place. The motor vehicle thus secures the immediate environment from collisions with its sensors. At the same time it is conceivable, for example, when the maneuver information contains a trajectory and an associated environmental image to check whether changes in the environment have occurred, which require an adaptation of the trajectory and thus the driving maneuver against the driving maneuver information. Corresponding procedures are described for example in the publications mentioned above.

A particularly advantageous use of the server device also results when several maneuver information relate to the same or at least a comparable driving maneuver. For example, it can be provided that in the case of a number of maneuver information associated with the same marshalling environment and fulfilling a comparability criterion, in particular within a tolerance range, the target maneuver information is merged into a common maneuver information item. Specifically, it can be provided, for example, that all starting information, in particular with assigned trajectories, is retained in the merged maneuver information and / or in trajectory-describing maneuver information the trajectories are at least partially fused to form a common trajectory, in particular by means of static methods and / or depending on an evaluation of the respective output trajectories and / or trajectory sections. Thus, a kind of maneuvering fusion can take place, for example by adding maneuver information to different starting positions for driving maneuvers, so that the maneuver information can be used more widely. In particular, it is expedient to contract driving maneuver information relating to a common destination position, for example a common destination parking space. These driving maneuvers can also be statistically combined to optimally combine the results of different recording or learning processes, for which, for example, an evaluation of the starting trajectories to be merged can take place and these can then be combined weighted depending on the rating. For example, the rating may relate to a security value. A fusion of trajectories can also be limited to trajectory sections.

It should also be noted that within the scope of the present invention a license model can also be used. It can be provided that whenever a driving maneuver information is used by a subscriber who is not the recorder / creator, a license fee is payable to the recorder / creator.

Further advantages and details of the present invention will become apparent from the embodiment described below and from the drawing. The single figure shows a system in which the method according to the invention can be used.

The figure shows a system in which the method according to the invention can be used. Central is a server device 1 , which can be configured, for example, as a cloud or as a backend computer. On the server device 1 is a database 2 stored in the a variety of different maneuvering information associated with maneuvering information describing a driving maneuver is stored. The respective maneuver information can also be assigned an access information. The maneuver information can include, in addition to the assignment to a maneuvering environment, a start position and / or a start area and / or a travel maneuver trajectory and / or environment information, in particular also related to different trajectory sections, as is basically known. To record this maneuver information, there are different possibilities in the context of the exemplary embodiment shown here, which are indicated schematically in the figure.

Shown is first a first motor vehicle 3 in an exemplary routing environment 4 in which the motor vehicle 3 in a garage 5 should park as a target position. The car 3 has a shunting assistance system 6 and a communication device 7 on, over which a communication connection 8th to the server device 1 can be built. During a training process that is basically known, the motor vehicle learns 3 as a driving maneuver a trajectory 9 in addition to other maneuver information such as start position, environment information and destination position as well as a description of the maneuvering environment 4 is recorded. The thus recorded and learned maneuver information can via the communication link 8th to the server device 1 be transferred there to be provided to other vehicles or even from the motor vehicle 3 be recalled as needed, which will be discussed in more detail below.

Another possibility for recording a maneuver information is the use of a computing device 10 , In particular, therefore, a computer on which a corresponding computer program can be used, which the corresponding Rangierumgebung 4 reproduces and allows, in particular using simulations, to define driving maneuvers and store them accordingly, in turn, then via a communication link 11 to the server device 2 to transmit and save there.

Another motor vehicle 3 ', just like the motor vehicle 3 a shunting assistance system 6 and a communication device 7 is in another Rangierumgebung 4 'shown. The car 3 'is intended as a target position starting from its current position as a starting position in a parking space 12 be turned off. At least partially, preferably completely, this is automated by means of the maneuvering assistance system 6 Being able to realize, in turn, becomes one communication link 8th to the server device 1 built up. The car 3 Presented here as position information a geodetic position information, which was recorded by means of a GPS sensor, to the server device 1 , With this request, the destination position, ie the parking space, is used as further request information 12 , transmitted. The request further comprises an authentication information that the motor vehicle 3 Identified after being in the maneuvering environment 4 'is a private property for which only a certain group of motor vehicles 3 . 3 'Get maneuver information.

The server device 1 who received the request will now find in the database 2 maneuver information matching the position information, which is therefore on the same starting area / same starting position in the maneuvering environment 4 'refer to, which at the same time the parking space 12 as a target position. Then, the authentication information is compared with the associated access information, thus determining whether the motor vehicle 3 belongs to the motor vehicle group that has access to the maneuver information. Incidentally, instead of or in addition to the motor vehicle group, a group of persons may also be used, in which case the authentication information relates to a person in the motor vehicle 3 'refers. If the comparison is successful, the maneuver information is transmitted.

Through the maneuvering assistance system 6 The maneuver information can then be used to describe the driving maneuver described by it, for example along the trajectory 13 , at least partially perform automatically, during the driving maneuver collision monitoring takes place and also an adaptation of the driving maneuver, in particular the trajectory 13 , Can be done to changed environmental conditions, for example, by sensors of the motor vehicle 3 'detected obstacles 14 ,

It should also be noted that it is also conceivable, the maneuver information when the motor vehicle 3 'They needed more often, inside the motor vehicle 3 ', for example in Rangerassistenzsystem 6 store, for which a storage criterion can be checked. The storage criterion can evaluate a user input and / or history data to determine whether the maneuver information will still be needed in the future. With the maneuver information, version information can be stored, so that when updating the maneuver information on the server device 1 if necessary, an updated maneuver information can be retrieved. It should be noted that maneuver information in the database 2 on several maneuvering environments 4 . 4 'can be assigned, for example, in comparable garages 5 with comparable directions and the like. It should also be noted that, in particular for the same target position in a maneuvering environment 4 . 4 ' in the database 2 present maneuver information can also be summarized to a common maneuver information.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 102011107974 A1 [0003]
• DE 102014014219 A1 [0004]

Claims (13)

Method for operating a motor vehicle when performing a maneuvering operation in a maneuvering environment (4, 4 ') that can be described by a position information, wherein at least one of the maneuvering environments (4, 4') is assigned as a function of the current position information of the motor vehicle (3, 3 '), a maneuver information describing a maneuver for maneuvering maneuvering is selected and used to perform the maneuvering operation, characterized in that the selected maneuver information is received from an off-board server device (1) via a communication link (8). Method according to Claim 1 , characterized in that at least upon fulfillment of a memory criterion, the maneuver information for repeated use within the motor vehicle (3, 3 ') is stored. Method according to Claim 1 or 2 , characterized in that a server device (1) assigned to maneuver information for retrieving maneuver information for a plurality of motor vehicles (3, 3 ') and / or assigned to a plurality of maneuvering information (4, 4'), in particular at least partially different maneuvering environments (4, 4 ') is used. Method according to Claim 3 Characterized in that the maneuver information to the server device (1) is associated with access to the maneuver information limiting access information, wherein the motor vehicle (3, 3 ') to obtain the maneuver information a with the access information to be compared authentication information to the server device (1) transmitted. Method according to Claim 4 , characterized in that the access information describes a restriction to a group of persons and / or a motor vehicle group and the authentication information identifies a person driving the motor vehicle (3, 3 ') and / or the motor vehicle (3, 3'). Method according to one of the preceding claims, characterized in that a maneuvering information is associated with a plurality of maneuvering environments (4, 4 '), in particular having at least partially comparable properties. Method according to one of the preceding claims, characterized in that the server device (1) is a cloud or part of a cloud or a backend computer. Method according to one of the preceding claims, characterized in that at least one maneuver information by means of or another motor vehicle (3, 3 ') in the Rangierumgebung (4, 4') is taught and transmitted to the server device (1), where it is stored , Method according to one of the preceding claims, characterized in that at least one maneuver information by means of a computing device (10) virtually, in particular in the context of a simulation of a motor vehicle (3, 3 ') in the Rangierumgebung (4, 4'), recorded and to the server device (1) where it is stored. Method according to one of the preceding claims, characterized in that the driving maneuver is carried out at least partially automatically by a vehicle system of the motor vehicle (3, 3 '). Method according to Claim 10 , characterized in that during the at least partially automatically executed driving maneuver a collision monitoring and / or adaptation of the driving maneuver to changed environmental conditions takes place. Method according to one of the preceding claims, characterized in that at several of the same Rangierumgebung (4, 4 ') associated and a comparability criterion, in particular within a tolerance range lying target positions, fulfilling maneuver information these are merged into a common maneuver information. Method according to Claim 12 , characterized in that at start positions containing maneuver information in the merged maneuver information all start positions, in particular with associated trajectories (9, 13), maintained and / or at trajectories (9, 13) describing maneuver information, the trajectories (9, 13) at least partially a common trajectory (9, 13) are fused, in particular by means of statistical methods and / or in dependence on an evaluation of the respective output trajectories and / or Trajektorienabschnitte.

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