DE102018212998A1 - Method for driving a vehicle in a parking environment - Google Patents

Abstract

A method for guiding a vehicle (100) in a parking environment from a starting position (1) to a target position (5) is proposed. The parking environment has a central device (120) which assigns a target position (5) to the vehicle (100). It is further provided that the parking area comprises a plurality of guidance devices, each of which has a field of vision in which the respective guidance device can recognize the vehicle (100) and obstacles. In a first step a), guiding a vehicle (100) from the starting position (1) to the target position (5) includes planning a route from the starting position (1) to the target position (5) through the central device (120), the route comprising a sequence of guidance devices which will guide the vehicle (100) to the target position (5) in succession. A guide device on the route then determines a trajectory in a subsequent step b), the trajectory leading the vehicle (100) to the target position (5) or to a transfer position (2, 3) and the trajectory lying completely within a field of vision of the guide device , In a subsequent step c), the determined trajectory is transmitted to the vehicle (100) by the guide device and the vehicle (100) is guided along the transmitted trajectory. Steps b) and c) are repeated for each additional guide device of the route, the guide devices on the route beginning to guide the vehicle (100) at a transfer position (2) and the vehicle (100) to a further transfer position (3) or lead to the target position (5). Further aspects of the invention relate to a vehicle (100), a guiding device, a central device (120) and a parking environment, which are each set up for use with the method.

Description

The invention relates to a method for guiding a vehicle in a parking environment from a starting position to a target position, the parking environment having a central device which assigns the vehicle a target position. Further aspects of the invention relate to a vehicle, a control device, a central device and a parking environment, which are each set up for use with the method.

State of the art

Modern vehicles are equipped with driver assistance systems to support the driver of a vehicle in performing various driving maneuvers. Automatic and semi-automatic systems are known in the prior art. In the case of automatic systems, the driving maneuver to be carried out is carried out automatically by the driver assistance system with regard to both the longitudinal guidance and the lateral guidance of the vehicle. Here, longitudinal guidance is understood to mean the acceleration or braking of the vehicle and transverse guidance is understood to mean the steering of the vehicle. In a semi-automatic system, the driver of the vehicle either performs the longitudinal guidance and the lateral guidance is carried out by the driver assistance system, or the lateral guidance is carried out by the driver of the vehicle and the longitudinal guidance is carried out by the driver assistance system.

Methods are known in the prior art for assigning a target position to a vehicle in a parking environment, automatically guiding the vehicle to the target position without the intervention of a driver, and parking the vehicle at the target position. Such methods are known as automated valet parking (AVP).

DE 10 2009 029 117 A1 describes a method for supporting a driving operation of a motor vehicle in which navigation information is transmitted to the motor vehicle by an external device. The navigation information can include a target position. The vehicle is guided to the target position at least partially automatically using the navigation information. In the method, a roughly resolved map can first be transmitted as navigation information, which is updated by re-transmitting navigation information taking into account the current position and / or a selected route.

DE 10 2014 224 073 A1 describes a server for operating a parking lot, which includes a database with a digital map of the parking lot. For fully automated parking of vehicles, a section of the map is determined based on the map for a target position, which corresponds to a partial area of the parking lot which the vehicle is to drive through autonomously on its way to the target position. This section of the map is sent to the vehicle via a communication network. The section can be divided into sub-sections, the sub-sections corresponding to areas that the vehicle is to cross autonomously, only the sub-sections being transmitted to the vehicle. Furthermore, it can be provided to determine a route leading through the partial area to the target position based on the map and to send it to the vehicle.

DE 10 2012 222 562 A1 describes a system for managed parking areas for transferring a vehicle from a starting position to a target position. A stationary central computing device calculates a movement path along which the vehicle moves autonomously to the target position at a predetermined speed. The movement path is transmitted in the form of waypoints, deviations from the movement path being monitored by the central computing device and regulated to the vehicle via control instructions. For this purpose, camera recordings are evaluated, for example.

DE 10 2014 221 751 A1 discloses a method of driving a vehicle in a parking lot. A route with which the vehicle is guided from a starting position to a target position is determined outside the vehicle and is transmitted to the vehicle in the form of parts to be driven autonomously by the vehicle. The traversing of the sections is monitored by a monitoring system external to the vehicle, a compensation route for compensating the deviation being determined and detected when deviations are detected and transmitted to the vehicle. If a route is blocked by an obstacle, a route around the obstacle is calculated outside the vehicle and transmitted to the vehicle as a detour route.

Out US 2012/0188100 A1 a method for providing a valet parking service is known. In the method, the progress of the parking process is displayed to a user on a terminal, which can be a user's mobile device. A final parking position of the vehicle is selected by the user via the terminal. A route is then generated by a server device and sent to the vehicle. The vehicle drives autonomously along the received route to the final parking position. During the execution of the process, the vehicle is considered as infrastructure Provided sensors are located and monitored, whereby the route is updated when obstacles are detected or if the selected final parking position is in the meantime occupied by another vehicle.

A disadvantage of the known prior art is that a highly precise map is required for guiding vehicles through a central facility in the parking area. The creation of such a map is associated with great effort and high costs. There is therefore a need for a method of driving vehicles that does not require a highly accurate map of the entire parking area.

Disclosure of the invention

A method for guiding a vehicle in a parking environment from a starting position to a target position is proposed. The parking area has a central device which assigns a target position to the vehicle. It is further provided that the parking area comprises a plurality of guidance devices, each of which has a field of vision in which the respective guidance device can recognize the vehicle and obstacles.

In a first step a) guiding a vehicle from the starting position to the target position comprises planning a route from the starting position to the target position through the central device, the route comprising a sequence of guide devices which will guide the vehicle to the target position one after the other , A guide device on the route then determines a trajectory in a subsequent step b), the trajectory leading the vehicle to the target position or to a transfer position and the trajectory lying completely within a field of vision of the guide device.

The determined trajectory is transmitted to the vehicle in a subsequent step c) and the vehicle is guided along the transmitted trajectory. The transmission of the determined trajectory to the vehicle is preferably carried out by the control device which determined the trajectory. Alternatively or additionally, it is possible for the guiding device to transmit the specific trajectory to the central device, wherein the central device can forward the specific trajectory to the vehicle.

If the vehicle has not yet reached the target position, steps b) and c) are repeated for each additional guidance device of the route, the guidance devices on the route beginning in each case guiding the vehicle at a transfer position and moving the vehicle to a further transfer position the target position.

The parking area, which can be, for example, a parking garage, an underground car park or an open parking area, comprises a large number of parking spaces, a large number of guidance devices and a central device. Optionally, the parking area can also include parking space occupancy sensors that detect the occupancy of individual parking spaces and report them to the central facility. The guide devices are preferably designed such that they recognize the occupancy of the parking spaces and forward them to the central device. Furthermore, it can optionally be provided to provide the parking area with markings such as landmarks to support and adjust the position detection.

The guidance devices each have at least one environment sensor with which they can detect vehicles, in particular the vehicle to be guided, and obstacles within a field of vision. Furthermore, the guiding device is preferably set up to determine boundaries such as walls or columns and to detect areas within a partial area of the parking area within the field of vision that can be driven on by vehicles. This determined data about the partial area of the parking area is used to create a map, on the basis of which the guidance device determines trajectories.

The guidance devices preferably detect both movable or dynamic obstacles such as other vehicles or pedestrians and static obstacles such as walls, columns or other fixed boundaries. A traffic density is preferably determined from the detected movable obstacles, with the guidance devices preferably reporting the detected movable obstacles to the central device, in particular the vehicles detected in their field of vision, including a specific direction of travel. A potential collision risk is preferably also determined from the detected movable obstacles and, if necessary, an adaptation of the vehicle movement, e.g. speed reduction or emergency braking initiated.

The control devices are preferably set up to record information about occupied and free parking spaces, which are recognizable in their field of vision, and to transmit them to the central device. This information can also include the position of the parked vehicle relative to parking space limitations such as markings or walls, for example, to determine the available parking space area and to release the parking space for suitable vehicle sizes. As an alternative or in addition, further sensors can be arranged in the parking area in order to recognize the occupancy of the parking spaces.

The guide devices are preferably each configured to plan a trajectory with which a vehicle can be guided from one position to another position within the field of vision of the guide device. A trajectory represents a trajectory that the vehicle can follow in order to get from the position to the further position. If the start position and the target position are both in the field of view of the same guide device, the guide device determines a trajectory which leads the vehicle from the start position to the target position and this trajectory is transmitted to the vehicle. Since a field of vision of a guidance device generally only covers a sub-area of the parking area, several guidance devices interact and guide the vehicle in each case within their viewing area. A visual area of a guidance device corresponds to a partial area of the parking area that is assigned to the corresponding guiding device, wherein visual areas of guiding devices can partially overlap, so that the partial areas of the parking area can overlap accordingly.

The central facility is preferably set up to coordinate the allocation of parking spaces in the parking area. Information about free parking spaces and / or their available area can be obtained, for example, via the sensors of the control devices and / or via further occupancy sensors arranged in the parking area.

To park a vehicle using the proposed method, it is preferably parked at a delivery point and the driver preferably leaves the vehicle. The vehicle contacts the central facility. Contact is preferably made before the vehicle is parked at the delivery point. For example, contact can be made as soon as the vehicle enters an area assigned to the parking area. This can be done, for example, via a direct communication link or, for example, indirectly via one of the control devices or via a network such as the Internet. A free parking space is assigned to the vehicle as the target position by the central device.

The central facility also plans a route along which the vehicle is to be guided to the target position. The central device advantageously takes into account a traffic density detected using the guidance devices and possible bottlenecks or blockages on the possible routes. This route is created in the form of a list which represents a sequence of guidance devices and thus represents a sequence of subareas of the parking area which the vehicle has to cross on the way to the target position. It is provided that the guidance devices are responsible for driving the vehicle in succession in accordance with the sequence defined with the route. The route planned by the central device is transmitted to the relevant control devices, it being possible, for example, to use wired or wireless communication means for this purpose. Furthermore, it can be provided that the route with the sequence of the guidance devices is also transmitted to the vehicle to be guided.

First of all, the first guide device of the route takes over the guidance of the vehicle, whereby a trajectory is determined which leads the vehicle to the target position, provided that the target position is also in the field of vision of the first guide device, or to a transfer position at which the responsibility for driving the Vehicle passes to the guidance device following in the route. To determine the trajectory, the guide device preferably uses a map of the subarea of the parking area lying in the field of view of the parking area, which map is created using the at least one environment sensor.

The trajectory is transmitted to the vehicle and executed by actuators of the vehicle. The vehicle performs longitudinal guidance, that is, acceleration and braking, as well as lateral guidance, that is, steering, without the need for an intervention by a driver.

If the target position is reached at the end of the trajectory, the vehicle is parked and the process ends. If the vehicle reaches a transfer position at the end of the trajectory, the guidance of the vehicle there changes to the guide device following the route created by the central device. A trajectory is then determined again and transmitted to the vehicle. This sequence is repeated until the target position is reached.

The proposed method can be used accordingly to guide the vehicle from the parking space at which the vehicle was parked to a pick-up position at which the vehicle is picked up again by a driver, the starting position then being the position at which the vehicle was previously parked and the target position is the pick-up position.

The route through the central facility is preferably rescheduled if the central facility defines a new destination position while driving the vehicle or if it is recognized that the previous route is blocked.

A reassignment of a target position may be necessary, for example, if the parking area is also used by non-automated vehicles and the previous target position is now blocked by another vehicle.

The control devices preferably continuously monitor the respective fields of vision. If an obstacle is recognized by the control device which is currently guiding the vehicle, the trajectory is updated and the updated trajectory is transmitted to the vehicle. In this way, emerging obstacles can be avoided. If the control device determines that no trajectory to the target position or to a transfer position can be determined due to an obstacle, the central device preferably notifies and the route is rescheduled by the central device. All detected vehicles or moving obstacles are preferably reported to the central device, so that the central device has information about the density of the traffic and potential obstacles in the parking area.

The fields of view of at least two guide devices preferably overlap partially, a transfer position from one guide device to another guide device being within the overlapping field of view of the two guide devices. When planning the route, the sequence of the guidance devices is selected in such a way that the fields of vision of two guidance devices which follow one another in the route partially overlap.

Another aspect of the invention is to provide a control device comprising at least one environment sensor, a computing device, a vehicle communication device and means for communication with a central device. The guide device is preferably set up for use with one of the methods described herein. Features described in connection with the method therefore apply accordingly to the control device and vice versa, features described in connection with the control device also apply accordingly to the methods.

The vehicle communication device is preferably set up to communicate with a vehicle via common radio standards such as WLAN, Bluetooth, Zigbee and the like. Furthermore, the vehicle communication device can be designed as a connection to a mobile radio network such as GSM, UMTS or LTE. A connection to a communication infrastructure such as the Internet is also possible, in which case the vehicle preferably has wireless Internet access.

The means for communicating with a central device are designed, for example, as wireless or wired means of communication. The means for communication with a central device and the vehicle communication device can also be designed as a common communication device.

The at least one environment sensor of a control device is preferably designed such that it can detect the environment in three dimensions. In particular, this enables the space that can be safely driven by a vehicle to be recognized and measured. Furthermore, a three-dimensional detection enables the relative position and the dimension of an obstacle to be recognized. By evaluating a plurality of data about the surroundings recorded one after the other, it is also possible to differentiate between movable and static obstacles, a direction of movement and a speed of movement preferably also being determined in the case of movable obstacles.

The at least one environment sensor is preferably selected from a lidar sensor, a mono camera, a stereo camera, a time-of-flight sensor or a combination of several of these environment sensors. Basically, all sensors or sensor combinations are suitable as surroundings sensors, which enable a three-dimensional detection of the surroundings.

When using a mono camera, it is preferred to make markings or landmarks in the parking area in order to support a three-dimensional detection of the parking area.

Another aspect of the invention is to provide a central device which comprises communication means for communicating with a plurality of control devices and a computing unit. The central device is preferably set up for use with one of the methods described herein. Features described in connection with the method therefore apply correspondingly to the central facility and conversely features described in connection with the central facility also apply accordingly to the methods.

The central device can be configured, for example, as a server or also as a cloud server, which communicates with the plurality of control devices via a communication network connected is. The computing unit is in particular set up to assign a target position to vehicles and to plan a route to the target position starting from a starting position. The route is a sequence of guidance devices that take over the guidance of the vehicle one after the other.

Another aspect of the invention is to provide a parking environment, which comprises a central device, a plurality of guidance devices and a plurality of parking spaces. The parking environment is preferably set up for use with one of the methods described herein. Features described in connection with the method therefore apply accordingly to the parking environment and vice versa, features described in connection with the parking environment also apply accordingly to the methods.

The parking area is preferably designed as a parking garage, an underground car park or an open parking area.

Furthermore, a vehicle is provided which has actuators for taking over a longitudinal guide and a transverse guide and is set up for use with one of the methods described herein. Features described in connection with the method therefore apply accordingly to the vehicle, and conversely, features described in connection with the vehicle also apply accordingly to the methods.

The vehicle preferably comprises a communication unit which is set up for wireless communication with a control device and / or a central device.

Advantages of the invention

The proposed method for guiding a vehicle in a parking environment only requires a central facility with low resources, since it does not require high-precision maps of the parking environment. The central facility only takes on a general coordination by assigning target positions to vehicles to be parked and planning rough routes. The planning of the routes for the vehicles to be parked does not require a highly precise map and also only a low computing power, since the central device merely creates the route as a list with a sequence of guidance devices which guide the respective vehicle to the target position one after the other. The route is therefore only a rough plan, which defines the sequence of the parts of the parking area that cross from the vehicle. Guiding within one of the sub-areas then takes place via one of the guidance devices.

The guidance devices each have at least one environment sensor with which they can monitor a sub-area of the parking environment. Thus, a guidance device which guides a vehicle in the subarea of the parking area assigned to it can react dynamically to changes like other vehicles or pedestrians. Advantageously, a map of the subarea required by the control device can be created using the environment sensor. A guidance system only has to create a map for its own subarea, a complex merging of the data into a highly precise map of the entire parking area is not necessary.

By guiding the vehicle through the control devices, the processing path of environmental information is advantageously shortened, since prior transmission to a central device is not necessary. A delay (latency) caused by information transmission and information processing between the acquisition of environmental information and the creation of the trajectory is advantageously shortened, so that a reaction can be made quickly in the event of suddenly emerging obstacles. The time elapsing before an emergency stop is initiated is shortened and the operational safety is thus increased.

list of figures

Embodiments of the invention are shown in the drawings and explained in more detail in the following description.

• 1 eine schematische Darstellung eines Fahrzeugs mit Aktuatoren zur automatischen Ausführung von Fahrmanövern,
• 2 eine schematische Darstellung einer Leiteinrichtung, und
• 3 eine schematische Darstellung einer Parkumgebung.

Show it

• 1 1 shows a schematic representation of a vehicle with actuators for the automatic execution of driving maneuvers,
• 2 a schematic representation of a control device, and
• 3 a schematic representation of a parking area.

Embodiments of the invention

In the following description of the exemplary embodiments of the invention, the same or similar components or elements are denoted by the same reference numerals, with a repeated description of these components or elements being dispensed with in individual cases. The figures represent the subject matter of the invention only schematically.

In 1 is a schematic of a vehicle 100 shown. The vehicle 100 comprises a first actuator 101 , which is set up to carry out the lateral guidance, i.e. the steering. Of The vehicle also includes 100 a second actuator 102 , which is set up to carry out the longitudinal guidance, that is to say the acceleration and braking. In the 1 is the first actuator 101 shown schematically as a connection to a steering wheel and the second actuator 102 is shown schematically as a connection to a pedal.

The vehicle 100 further comprises a control unit 103 which with the first actuator 101 , the second actuator 102 and with a communication unit 104 connected is. The control unit 103 is set up via the communication unit 104 to receive a trajectory and the vehicle 100 by driving the first actuator 101 and the second actuator 102 to run along this trajectory.

In the in 1 The example shown includes the vehicle 100 additionally a sensor 105 with which the vehicle 100 can monitor the environment. The sensor 105 can be used as a safety measure, for example to pause or stop driving along the received trajectory if the sensor 105 should recognize an obstacle.

2 schematically shows a guide device 130 , The control device 130 comprises a computing device 152 which with an environment sensor 150 , a vehicle communication device 154 and means 156 to communicate with a central facility 120 , compare 3 , connected is.

The environment sensor 150 is designed, for example, as a lidar sensor or a stereo camera and has a field of view 140 on within which the environment sensor 150 Detect obstacles and vehicles and their relative position to the guidance system ( 130 ) can determine. Furthermore, the environment sensor 150 preferably set up, one in the field of vision 140 lying portion of the parking area to measure, preferably in addition to obstacles and vehicles in particular the location of boundaries such as walls 112 or pillars 114 , compare 3 , is determined and saved. The environment sensor also detects 150 the areas within the field of vision 140 or within the field of vision 140 lying partial area of a parking area that can be driven by vehicles and preferably also the parking spaces marked with markings and their occupancy with vehicles. The computing device creates using the acquired data 152 a digital map of the field of vision 140 lying sub-area of a parking area, which in particular for determining trajectories for guiding vehicles 100 is used.

About the means 156 to communicate with a central facility 120 receives the control device 130 a route for the vehicle 100 , which is in the form of a list of guidance devices 130 provided. Furthermore, positions may become like a start position 1 , Target position 5 and / or transfer positions 2 . 3 transferred, compare 3 , Once the guide 130 according to this list, it is the turn of the vehicle's guidance 100 to be taken over by the computing device 152 a trajectory is determined using the created digital map and knowledge of any transmitted positions, which is then via the vehicle communication device 154 to the vehicle 100 is transmitted. The vehicle 100 executes the trajectory and moves along the path defined by the trajectory.

3 shows schematically an example of a parking environment, which as a parking deck 110 a parking garage is designed. The parking deck 110 includes a variety of parking spaces 116 , a central facility 120 and a variety of control systems 130 , The parking area also has obstacles and boundaries, which are exemplary here as walls 112 and pillars 114 are shown. The central device comprises a computing unit 122 and means of communication 124 ,

In the 3 is also a vehicle 100 to recognize which one at a starting position 1 was handed in and on one of the parking spaces 116 of the parking deck 110 should be turned off. The vehicle 100 communicates with the central facility 120 and shares the central facility 120 the parking request with. In the example shown, communication takes place indirectly via a first control device 131 which is the request of the vehicle 100 to the central facility 120 forwards.

The central facility 120 selects one of the parking spaces 116 the parking area as the target position 5 and plans a route in the form of a list of guidance devices 130 , The target position 5 and the route will be sent to the control centers involved 130 transmitted. The first guide 131 guides the route and the destination 5 also to the vehicle 100 further.

The starting position 1 is in a first field of vision 141 the first guide 131 , the target position 5 however not. That means multiple guidance devices 130 needed to the vehicle 100 to the target position 5 to lead, at transfer positions 2 . 3 responsibility for driving the vehicle 100 from a control system 130 to the guidance system following in the route 130 is handed over.

In a first example, the route leads via the first guidance device 131 , a second guide 132 and a third guide 133 , For a transfer between the first control device 131 and the second guide 132 becomes a transfer position 2 provided which is in an overlapping area of the first field of view 141 the first guide 131 and a second field of view 142 the second control device 132 lies. Furthermore, another transfer position 3 provided in an overlapping area of the second field of view 142 the second control device 132 and a third field of view 143 the third control device 133 lies.

The vehicle 100 is first from the first control device 131 led, which is the primary guide 130 on that of the central facility 120 created route is. The first guide 131 determines a first trajectory 11 which the vehicle 100 from the starting position 1 to the transfer position 2 leads. The first trajectory 11 is attached to the vehicle 100 transmitted and by actuators 101 . 102 of the vehicle 100 executed.

At the handover position 2 once arrived, the second guidance system takes over 132 the guidance of the vehicle 100 because the second guide 132 the next guide 130 is on the route. The second guide 132 determines a second trajectory 12 which the vehicle 100 from the transfer position 2 to another transfer position 3 leads. The second trajectory 12 is attached to the vehicle 100 transmitted and through the vehicle 100 executed.

At the further transfer position 3 once arrived, the third guidance system takes over 133 the leadership. To reach the target position 5 adds the third guide 133 an intermediate position 4 one which as well as the target position 5 in the third field of vision 143 the third control device 133 lies. Via a third trajectory 13 reaches the vehicle 100 the intermediate position 4 and a fourth trajectory 14 the vehicle arrives 100 to the target position 5 where the vehicle 100 is turned off.

Another example was an alternative target position 5 ' through the central facility 120 selected. Other control devices serve accordingly 130 as an alternative second guide 132 ' and as an alternative third guide 133 ' with alternative fields of vision 142 ' . 143 ' , wherein the transfer between two control devices at the alternative transfer positions 2 ' and 3 ' he follows. The alternative target position 5 ' is in the further example by traversing the alternative trajectories 11 ' . 12 ' . 13 ' without inserting an intermediate position 4 reached.

The invention is not restricted to the exemplary embodiments described here and the aspects emphasized therein. Rather, a large number of modifications are possible within the scope specified by the claims, which lie within the framework of professional action.

QUOTES INCLUDE IN THE DESCRIPTION

This list of documents listed by the applicant has been generated automatically and is only included for better information for 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.

Patent literature cited

• DE 102009029117 A1 [0004]
• DE 102014224073 A1 [0005]
• DE 102012222562 A1 [0006]
• DE 102014221751 A1 [0007]
• US 2012/0188100 A1 [0008]

Claims (11)

Method for guiding a vehicle (100) in a parking environment from a starting position (1) to a target position (5), the parking environment having a central device (120) which assigns the vehicle (100) a target position (5), characterized that the parking area comprises a plurality of guidance devices (130), each of which has a field of view (140) in which the respective guidance device (130) can recognize the vehicle (100) and obstacles, and the method further comprises: a) planning a route from the starting position (1) to the target position (5) by the central device (120), the route comprising a sequence of guide devices (130) which will lead the vehicle (100) to the target position (5) in succession, b) Determination of a trajectory by a guide device (130) on the route, the trajectory leading the vehicle (100) to the target position (5) or to a transfer position (2, 3) and the trajectory being completely inside lies within a field of view (140) of the guiding device (130), c) transmitting the trajectory to the vehicle (100) and guiding the vehicle (100) along the transmitted trajectory, and d) if the vehicle (100) has the target position (5) has not yet been reached, repeating steps b) and c) for each further guide device (130) of the route, the guide devices (130) starting to guide the vehicle (100) in each case at a transfer position (2) and the vehicle (100) lead to a further transfer position (3) or to the target position (5). Procedure according to Claim 1 , characterized in that the route is planned anew if the central device (120) defines a new destination (5) or if the previous route is blocked. Procedure according to Claim 1 or 2 , characterized in that the field of view (140) of the control devices (130) is continuously monitored. Procedure according to Claim 3 , characterized in that a trajectory of the vehicle (100) guided by the respective guide device (130) is updated when an obstacle is detected or if a guide device (130) has no trajectory to the target position (5) or to a transfer position (2, 3) can determine rescheduling of the route by the central facility (120). Procedure according to one of the Claims 1 to 4 , characterized in that the fields of view (140) of at least two guide devices (130) each partially overlap, the transfer position (2, 3) from one guide device (130) to another guide device (130) within the overlapping field of view of the two guide devices ( 130) lies. Guide device (130) comprising at least one environment sensor (150), a computing device (152) and a vehicle communication device (154) and means (156) for communication with a central device (120), characterized in that the guide device (130) can be used with a procedure according to one of the Claims 1 to 5 is set up. Guide device (130) after Claim 6 , characterized in that the at least one environment sensor (150) is selected from a lidar sensor, a mono camera, a stereo camera, a time-of-flight sensor or a combination of several of these environment sensors (150). Central device (120), comprising communication means (124) for communication with a plurality of control devices (130) and a computing unit (122), characterized in that the central device (120) for use with a method according to one of the Claims 1 to 5 is set up. Parking environment comprising a variety of parking spaces (116), a central facility (120) Claim 8 and a plurality of baffles (130) Claim 6 or 7 , Parking area after Claim 9 , characterized in that the parking area is designed as a parking garage, underground car park or open parking area. Vehicle (100) comprising actuators for taking over a longitudinal guide and a transverse guide, characterized in that the vehicle (100) for use with a method according to one of the Claims 1 to 5 is set up.

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