DE102017203983B4 - Method for operating a motor vehicle during maneuvering - Google Patents

Abstract

Method for operating a motor vehicle when carrying out a maneuvering process in a maneuvering environment (4, 4') that can be described by position information, wherein, depending on the current position information of the motor vehicle (3, 3'), at least one of the maneuvering environments (4, 4') is assigned, Maneuver information describing a driving maneuver for the maneuvering process is selected and used to carry out the maneuvering process, characterized in that the selected maneuver information is received by a server device (1) external to the motor vehicle via a communication connection (8) and that a maneuver information item has several, in particular at least partially comparable properties Marshalling environments (4, 4') are assigned.

Description

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

For example, under the term “trained parking”, options have already been proposed for teaching the motor vehicle to perform repeated driving maneuvers, for example parking in a specific parking space, for example in a garage. This means that 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 can, in particular at least partially automatically, repeat the driving maneuver, for example partially or completely can be automatically parked in the parking space.

Such a method for learning a motor vehicle was, for example, in DE 10 2011 107 974 A1 already proposed, which concerns a method for maneuvering a vehicle in an environment and a maneuvering assistance system for a vehicle. For this purpose, it is proposed to first have the vehicle carry out a reference maneuvering process in the environment in a learning mode, which is stored, so that in a repeat maneuvering to be carried out at least semi-autonomously by the vehicle after the learning mode in this environment, the stored reference maneuvering process is taken into account for repeat shunting. This is intended to create an optimal maneuvering process in a certain way, so that repeated, optimized driving in this specific environment is contributed. It is possible to record and save start positions, target positions, routes and environmental data.

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

The problem here is that every driving maneuver has to be learned by the driver in his motor vehicle in order to carry it out partially automatically, which involves a certain amount of effort and limits the process to the possibilities, in particular the sensors, of his own motor vehicle.

US 2017/0008521 A1 describes an autonomous calibration of the vehicle speed and the briefest possible representation of the environment traveled through in the form of a sparse map, in particular its interaction with image recording devices. “Big data” concepts are also being discussed, in which travel data from a large number of motor vehicles are evaluated to determine recommended trajectories. A specific embodiment provides that the map is divided into road segments and navigation information from a large number of vehicles is associated with a common road segment in order to determine a road navigation model for the common road segment based on the navigation information and distribute it via a server in order to navigate vehicles autonomously to be able to.

The invention is therefore based on the object of providing a way to reduce the training effort for driving maneuvers in maneuvering environments.

To solve this problem, in a method of the type mentioned at the outset, it is provided according to the invention that the selected maneuvering information is received from a server device external to the motor vehicle via a communication connection and that a plurality of maneuvering environments, in particular at least partially having comparable properties, are assigned to one maneuvering information.

According to the invention, it is therefore proposed to store maneuver information on a server device external to the vehicle and to make it retrievable when necessary. This means that the motor vehicle can access driving maneuver information stored on the server device, depending on where the motor vehicle is currently located and which driving maneuver information is required. It is therefore no longer necessary for your own motor vehicle to have recorded the driving maneuver information, but rather it is possible to record specific maneuvers, for example the entry into an underground car park, from a motor vehicle or otherwise, and to record them The relevant maneuver information can then be transmitted to other motor vehicles via the server device and by means of position comparison or can be retrieved by them as soon as you are in the location-related starting area for the maneuver.

The present invention thus makes it possible to significantly reduce the number of training processes required for specific maneuvers, since maneuvers that can be used by several motor vehicles only have to be trained by one motor vehicle, but other motor vehicles can benefit from the maneuver information made available via the server device. There are also a number of other options for managing a database of maneuver information online, which will be discussed in more detail below.

In other words, the present invention makes it possible, in particular, to transmit maneuver information to other motor vehicles and/or, generally speaking, to share it. 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 maneuver information learned from another motor vehicle and/or recorded via a computing device external to the motor vehicle.

A further development of the invention can provide that at least when a storage criterion is met, the maneuver information is stored for repeated use within the motor vehicle. This means that it is entirely conceivable, at least if it is foreseeable that the maneuver information will be used more frequently, which can be described by a storage criterion, to store it locally in the motor vehicle, so that it is not necessarily necessary to retrieve it again. Of course, it is alternatively also conceivable that the maneuver information is discarded each time after use, especially if an update of the maneuver information on the server device side is provided, which will be discussed in more detail below.

The storage criterion can in particular evaluate user input and/or history data. For example, the storage criterion can ask the user whether it can be assumed that the maneuver information retrieved will be needed more frequently. However, this information can also be provided at least in part through automatic evaluation of data on the use of the motor vehicle in the past, i.e. history data, by checking, for example, whether the maneuvering area is frequently approached by the motor vehicle.

Preferably, a server device provided for retrieving maneuvering information for several motor vehicles and/or holding several maneuvering information, in particular at least partially assigned to different maneuvering environments, can be used. The server device can then in particular represent a central contact point for motor vehicles that require maneuvering information for a maneuvering environment. Maneuvering information determined by a specific motor vehicle or otherwise, in particular through learning, can be made available to other motor vehicles that require it. In particular, however, it is also conceivable to provide the server device not only for specific maneuvering information, but also to provide maneuvering information for a large number of maneuvering and/or maneuvering environments, so that ultimately a type of database for maneuvering information of different types is created.

It should be noted at this point that the selection of the appropriate maneuver, i.e. the comparison with the current position information of the motor vehicle, ultimately represents the essential starting point for selecting the appropriate maneuver information. The comparison can be aimed at a starting position or a starting area of the maneuver and/or at the maneuvering environment as such. It is generally preferred or in many cases also provided that an absolute position information, 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. In this context, however, it should be noted that for generic driving maneuvers it is also conceivable to keep the maneuvering environment information, which describes the maneuvering environment to which the driving maneuver information is assigned, broad, with the position information then correspondingly also being based on the description of the current environment of the Motor vehicle can target; If necessary, it is also possible for different types of position information to be used for comparison for several driving maneuver information stored in the server device. Such a generic driving maneuver can 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 tion, further query information can also be used to select a desired driving maneuver, especially if different maneuvers are assigned to a maneuvering environment and the like. Such additional request information can relate in particular to a destination of the maneuvering process, for example a desired parking location of the motor vehicle.

In a particularly advantageous development of the present invention, it can be provided that the maneuver information on the server device is assigned access information that restricts access to the maneuver information, with the motor vehicle transmitting authentication information to be compared with the access information to the server device in order to receive the maneuver information. In such an embodiment, the maneuver information is only transmitted to the motor vehicle if the authentication information is successfully compared with the access information. In this way, certain driving maneuvers can be reserved for certain groups of people and/or motor vehicles. It can therefore be specifically provided that the access information describes a restriction to a group of people 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 be realized, for example, that driving maneuvers on private property can only be made accessible to a certain group of people, for example only family members or the like.

The invention provides that a number of maneuvering environments, in particular at least partially having comparable properties, are assigned to one maneuvering piece of information. This makes it possible to transfer learned driving maneuvers from one location 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 learning processes for specific driving maneuvers can be further reduced by using the same driving maneuver information for several maneuvering environments, for example for generic driving maneuvers, for example turning maneuvers, or generic garage entrances.

Specifically, it can be provided here that the maneuver information recorded in relation to a first maneuvering environment is assigned to at least one further maneuvering environment based on a user input and/or an evaluation process of the server device that compares maneuvering environments. While a driving maneuver can be transferred to a similar maneuvering environment on a user-initiated basis, it is also conceivable to at least partially compare relevant properties of maneuvering environments in order to determine the applicability of a driving maneuver in a different maneuvering environment. For example, the ratios of the starting position to the target position and/or the shape and size of accessible open spaces in between can be compared.

The server device can be a cloud or part of a cloud or a backend computer. A cloud is particularly suitable here, as it allows calculation and storage resources for a large number of different maneuvering information for different maneuvering environments. The use of back-end computers, for example for a vehicle fleet or the like, is of course also conceivable.

There are various options for learning maneuver information. For example, it can be provided that at least one piece of 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 learning driving maneuvers in maneuvering environments are already fundamentally known in the prior art, as explained at the beginning, so this will not be explained in more detail here.

Alternatively or additionally, however, it is also conceivable that at least one piece of maneuver information is recorded virtually by means of a computing device, in particular as part 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 also allows driving maneuvers to be created virtually, for example on a computer, in order to then transmit them to the motor vehicle. An example of this is turning around in a garage. For this purpose, motor vehicle owners can, for example, be provided with suitable computer programs/apps which, in particular, virtually reproduce the maneuvering environment in question and allow appropriate trajectory planning for a driving maneuver, in particular with at least partially simulatively specified aspects. From the computing device on which the maneuver information was recorded, it can then be transmitted to the server device and made available to the motor vehicle; It should be noted that it is also fundamentally 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 driver vehicle system. 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, i.e. the driving maneuver information, in order to provide the driver with appropriate support when maneuvering, in particular to carry out the driving maneuver completely automatically.

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

A particularly advantageous benefit of the server device also arises when multiple maneuver information relates to the same or at least a comparable driving maneuver. For example, it can be provided that in the case of several maneuver pieces of information assigned to the same maneuvering environment and meeting a comparability criterion, in particular target positions lying within a tolerance range, these are merged to form a common maneuver piece of information. Specifically, it can be provided, for example, that in the case of maneuver information containing starting positions, all start information, in particular with assigned trajectories, is retained in the fused maneuver information and/or in the case of maneuver information describing trajectories, the trajectories are at least partially merged into a common trajectory, in particular by means of static methods and/or depending on an evaluation of the respective initial trajectories and/or trajectory sections. A kind of maneuver fusion can therefore take place, for example by adding maneuver information to different starting positions for driving maneuvers, so that the maneuver information can be used over a wider area. It is particularly useful to collect driving maneuver information that relates to a common target position, for example a common target parking space. These driving maneuvers can also be combined statistically in order to optimize the results of different recording or learning processes, for which purpose, for example, an evaluation of the initial trajectories to be merged can also be carried out and these can then be combined in a weighted manner depending on the evaluation. The evaluation can, for example, relate to a security value. A fusion of trajectories can also be limited to trajectory sections.

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

Further advantages and details of the present invention emerge from the exemplary embodiment described below and from the drawing. The only 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 to this is a server device 1, which can be designed, for example, as a cloud or as a backend computer. A database 2 is stored on the server device 1, in which a large number of maneuver information assigned to different maneuvering environments and describing a driving maneuver is stored. Access information can also be assigned to the respective maneuver information. The maneuver information can, for example, in addition to the assignment to a maneuvering environment, include a starting position and/or a starting area and/or a trajectory to be traveled as a driving maneuver and/or environmental information, in particular also related to different trajectory sections, as is generally known. There are different options for recording this maneuver information within the scope of the exemplary embodiment shown here, which are indicated schematically in the figure.

Firstly, a first motor vehicle 3 is shown in an exemplary maneuvering environment 4, in which the motor vehicle 3 is to park in a garage 5 as the target position. The motor vehicle 3 has a maneuvering assistance system 6 and a communication device 7, via which a communication connection 8 to the server device 1 can be established. During a training process carried out as is generally known, the motor vehicle 3 learns a trajectory 9 as a driving maneuver, which is recorded in addition to other maneuver information such as starting position, environmental information and target position as well as a description of the maneuvering environment 4. The maneuver information recorded and learned in this way can be transmitted via the commu nication connection 8 can be transmitted to the server device 1 in order to be made available there to other motor vehicles or to be retrieved again by the motor vehicle 3 if necessary, which will be discussed in more detail below.

Another possibility for recording maneuver information is to use a computing device 10, in particular a computer, on which a corresponding computer program can be used, which reproduces the corresponding maneuvering environment 4 and allows driving maneuvers to be defined and saved accordingly, in particular using simulations in order to then transmit them to the server device 2 via a communication connection 11 and store them there.

Another motor vehicle 3', which, just like the motor vehicle 3, has a maneuvering assistance system 6 and a communication device 7, is shown in a further maneuvering environment 4'. The motor vehicle 3 'should be parked as the target position on a parking space 12, starting from its current position as the starting position. In order to be able to realize this at least partially, preferably completely, automatically using the maneuvering assistance system 6, a communication connection 8 is in turn set up to the server device 1. In the present case, the motor vehicle 3 'transmits a geodetic position information, which was recorded using a GPS sensor, to the server device 1 as position information. With this request, the target position, i.e. the parking space 12, is transmitted as further request information. The request further includes authentication information that identifies the motor vehicle 3', since the maneuvering environment 4' is a private property for which only a specific group of motor vehicles 3, 3' can retrieve maneuvering information.

The server device 1, which has received the request, now finds maneuver information in the database 2 that matches the position information, which therefore relates to the same starting area/the same starting position in the maneuvering environment 4 ', which at the same time also has the parking space 12 as the target position. The authentication information is then compared with the assigned access information, thus determining whether the motor vehicle 3 'belongs to the motor vehicle group that has access to the maneuver information. Instead of or in addition to the motor vehicle group, a group of people can also be used, in which case the authentication information relates to a person in the motor vehicle 3 '. If the comparison is successful, the maneuver information is transmitted.

Through the maneuvering assistance system 6, the maneuver information can then be used to at least partially automatically carry out the driving maneuver described by it, for example along the trajectory 13, with collision monitoring taking place during the driving maneuver and also an adaptation of the driving maneuver, specifically in particular the trajectory 13 changed environmental conditions can occur, for example obstacles 14 detected by sensors of the motor vehicle 3 '.

It should also be noted that it is also conceivable to store the maneuver information within the motor vehicle 3', for example in the maneuvering assistance system 6, if the motor vehicle 3 'needs it more frequently, for which a storage criterion can be checked. The storage criterion can evaluate user input and/or historical data to determine whether the maneuver information will still be needed in the future. Version information can be stored with the maneuver information, so that when the maneuver information is updated on the server device 1, updated maneuver information can be retrieved if necessary. It should also be noted that maneuver information in the database 2 can be assigned to several maneuvering environments 4, 4 ', for example in comparable garages 5 with comparable access options and the like. Furthermore, it should be noted that maneuver information present in the database 2 can also be combined to form common maneuver information, particularly for the same target position in a maneuvering environment 4, 4 '.

Claims (12)

Method for operating a motor vehicle when carrying out a maneuvering process in a maneuvering environment (4, 4') that can be described by position information, wherein, depending on the current position information of the motor vehicle (3, 3'), at least one of the maneuvering environments (4, 4') is assigned, Maneuver information describing a driving maneuver for the maneuvering process is selected and used to carry out the maneuvering process, characterized in that the selected maneuver information is received by a server device (1) external to the motor vehicle via a communication connection (8) and that a maneuver information item has several, in particular at least partially comparable properties Marshalling environments (4, 4') are assigned. Procedure according to Claim 1 , characterized in that at least when a storage criterion is met, the maneuver information is stored for repeated use within the motor vehicle (3, 3'). Procedure according to Claim 1 or 2 , characterized in that a server device (1) provided for retrieving maneuvering information for several motor vehicles (3, 3') and/or holding maneuvering information assigned to several, in particular at least partially different, maneuvering environments (4, 4') is used. Procedure according to Claim 3 , characterized in that the maneuver information on the server device (1) is assigned access information restricting access to the maneuver information, the motor vehicle (3, 3 ') sending authentication information to be compared with the access information to the server device (1) in order to receive the maneuver information. transmitted. Procedure according to Claim 4 , characterized in that the access information describes a restriction to a group of people 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 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 piece of maneuver information is trained by means of the or another motor vehicle (3, 3') in the maneuvering environment (4, 4') 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 piece of maneuver information is recorded virtually by means of a computing device (10), in particular as part of a simulation of a motor vehicle (3, 3') in the maneuvering environment (4, 4'), and sent to the server device (1) is transmitted 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'). Procedure according to Claim 9 , characterized in that during the driving maneuver, which is at least partially carried out automatically, 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 in the case of a plurality of maneuver information assigned to the same maneuvering environment (4, 4') and satisfying a comparability criterion, in particular target positions lying within a tolerance range, these are merged to form a common maneuver information. Procedure according to Claim 11 , characterized in that in the case of maneuver information containing starting positions, all starting positions, in particular with assigned trajectories (9, 13), are retained in the merged maneuver information and/or in the case of maneuver information describing trajectories (9, 13), the trajectories (9, 13) are at least partially assigned a common trajectory (9, 13), in particular by means of statistical methods and/or depending on an evaluation of the respective initial trajectories and/or trajectory sections.

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