DE102019200369A1 - Method of driving a means of transportation - Google Patents

Abstract

Method for guiding a means of transportation within an environment, in which the environment of the means of transportation is detected using sensor data of at least one sensor, the means of transportation are additionally provided with environmental information, at least one trajectory of the means of transportation is determined taking into account at least one parameter of the means of transportation which the means of transportation is guided through the surroundings, the sensor data and the surroundings information being used to determine the trajectory.

Description

The present invention relates to a method for guiding a means of transportation according to claim 1 and the subordinate method claim as well as a device for carrying out a method according to the invention and a means of transportation having such a device.

Technological background

Generic means of transportation, such as. B. Passenger cars (cars), trucks (trucks) or motorcycles are increasingly equipped with driver assistance systems that can use sensor systems to detect the environment, recognize the traffic situation and support the driver, e.g. B. by braking or steering intervention or by issuing an optical or acoustic warning. Radar sensors, lidar sensors, camera sensors or the like are regularly used as sensor systems for environmental detection. Conclusions about the environment can then be drawn from the sensor data determined by the sensors.

The term “driving function” includes in particular the (partially) automated, driver-experienced vehicle behavior in driver assistance systems (FAS). The processed sensor information is used for environment detection in order to give instructions based on this for driver warning / information or for controlled steering, braking and accelerating. Generic driving functions can thus help to avoid accidents with other road users or to facilitate complicated driving maneuvers by supporting or even taking over the driving task or vehicle management. For example, the vehicle can e.g. B. Autonomous emergency braking (AEB, Automatic Emergency Brake) or an active lane keeping assistant with steering assistance (LKA, Lane Keeping Assist) can be kept on track by an emergency brake assistant (EBA, Emergency Brake Assist). In addition, several of these functions can be combined in one system. In this way, e.g. B. the so-called "Low Speed Collision Avoidance" function, a collision avoidance function at low speed with longitudinal guidance, some of the functions described here (especially the autonomous emergency braking). This function prevents collisions in the event that the driver does not recognize objects in the vehicle path or in the course of movement of the means of transportation or incorrectly does not correctly estimate the dimensions of his vehicle. In addition, this function is intended to increase the safety of road users at risk and to prevent collisions if the driver overlooks the imminence of one. The driver is thus supported with an active protective function when maneuvering with information and interventions. The function monitors the static and dynamic environment of the vehicle, especially with an “all-round view” (360 ° protection function), and brakes the vehicle in the event of an impending collision. Such a driving function thus represents a type of partial automation of the vehicle in which one or more driver assistance systems support the driver in vehicle operation by means of longitudinal and transverse guidance. Furthermore, the degree of autonomy of the respective driver assistance system, e.g. B. according to the SAE J3016 standard can be divided into six levels (SAE level or autonomy levels), with such an assistance system such. B. an assistance system of the SAE level 2nd acts.

However, an application that is not yet specifically covered by existing individual driving functions is to act at slow or medium speeds, especially in complex environments, for example in the area of a construction site or a complex infrastructure, such as B. in a parking garage.

Printed state of the art

From the EP 3 172 117 B1 a method for supporting a parking process of a motor vehicle is known. In addition to sensor information of the vehicle, parking area information from predetermined map data can also be used to carry out the parking process. The motor vehicle can z. B. partially guided longitudinally and / or transversely along a calculated trajectory to a specific parking area by a driver assistance system, the trajectory being determined as a function of both a detection area of the sensor and the parking area information. Furthermore, such a parking function monitors the environment with regard to possible collisions and accordingly takes effect z. B. with an emergency stop. The method offers the driver support for the parking process, but no continuous, comfortable and safe guidance through the parking area to the parking area.

The DE 10 2014 015 073 A1 describes a method for updating or expanding a map data set of a limited environment that is used by a vehicle. A current map data record is transmitted to the vehicle operated within this environment. The map data set is then used by the vehicle to locate the vehicle within the environment.

Furthermore, from the DE 10 2011 080 789 A1 a method is known in which the driving behavior of a vehicle is influenced in a driver-initiated manner as a function of ambient data in order to support an evasive maneuver as soon as a risk of collision is detected. Such a risk of collision is detected using environment sensors, such as radar sensors or cameras, and vehicle sensors, such as steering angle, yaw rate or wheel speed sensors. In addition, if a risk of collision is detected, steering in of the driver is supported in a first phase and steering of the driver is dampened in a second phase. The driving function thus intervenes in a corrective manner, but it does not take into account a planned route or the driver's destination, so that the driver is not provided with continuous, comfortable and safe guidance in the respective situation.

Object of the present invention

Starting from the prior art, the object of the present invention is now to provide a method with which the guidance of a vehicle is improved, in particular at low speeds, and with which the disadvantages of the prior art are overcome.

Solution of the task

The above object is achieved by the entire teaching of claim 1 and the subordinate claims. Advantageous embodiments of the invention are claimed in the subclaims.

In the method according to the invention for guiding a means of transportation within an environment, the environment of the means of transportation is detected on the basis of sensor data of at least one sensor (eg radar, lidar, camera sensor or the like), preferably a plurality of sensors. In addition, environmental information or infrastructure information can be made available to the means of transportation. The means of transportation can then be guided through the surroundings on the basis of at least one trajectory, preferably a plurality of trajectories, the respective trajectory on the basis of the sensor data and the environmental information, taking into account the characteristics and parameters of the means of transportation and in particular the patient's own movement (e.g. vehicle width, vehicle speed, Vehicle acceleration and the like) is determined. As a means of transportation vehicles of any kind, such as. B. Passenger cars (cars), trucks (trucks), two-wheeled vehicles (motorcycles), uniaxial people transporters, tractors, lawn tractors, forestry vehicles (harvesters), tracked vehicles, or other means of transportation known from the prior art, such as. B. robots for cleaning, transport or bomb / mine defusing, drones, flying objects, floating objects or the like may be provided. By means of an assistance function operated with the method according to the invention, a vehicle can take over a collision-avoiding guidance, for example, on the basis of existing environmental or infrastructure information if the vehicle z. B. is in a driving situation assessed by the driver as complex or environmental situation, z. B. an unknown parking garage. This reduces the complexity of the situation perceived by the driver. The invention relieves the driver of a (partially) automated longitudinal and / or transverse guidance of the vehicle in an environment that is difficult for him to see or demanding. In the sense of the present invention, guidance can be understood in addition to the guidance of the movement of the means of transportation (e.g. by steering interventions), the guidance of speed and acceleration up to the braking of the means of transportation. The method according to the invention can thus avoid that other road users collide with the vehicle or that the vehicle collide with other road users, the infrastructure or other objects. This can protect the vehicle from damage, such as. B. scratches, dents in the body, bumpers (including the protection of directly attached environmental sensors such as radar and ultrasonic sensors), rims and tires, side mirrors or underbody. Furthermore, it can be avoided that the vehicle travels inaccessible or undesired areas. The focus is also on the continuous and comfortable driving of the vehicle.

In addition to or subordinate, the present invention also claims a method for guiding a means of transportation, in which the environment, in particular a constriction, of the means of transportation is monitored on the basis of sensor data and made available to the means of transportation as environmental information, ie the space available for the means of transportation, in particular in terms of height and width, for the required movement or driving corridor of the means of transportation is determined or measured. The environmental information is then compared to a parameter of the means of transportation (eg "X greater than Y", "X less than Y", "X equal to Y"). As a result, taking into account the comparison, a warning (e.g. warning signal or warning lights) is then output and / or a trajectory is determined, on the basis of which the means of transport is guided through the surroundings or the constriction. For example, as soon as the required movement or driving corridor is larger than the available space, a warning signal is issued or an alternative trajectory is planned if the driver does not react. An evasive movement or an evasive maneuver and / or (emergency) braking can then be initiated in accordance with the evasive trajectory. In the event that the required driving corridor is only slightly smaller than the available space, the means of transportation can thus be guided through this constriction. This can e.g. B. can be realized with a lateral and / or longitudinal guidance of the means of transportation. This has the advantage that, for. B. Your own vehicle is not damaged due to lack of attention and / or spatial imagination of the driver or lack of visibility (e.g. scratches on rims, exterior mirrors, vehicle roof). In addition, damage to the infrastructure (e.g. parking garage entrance, bridge, parking / oncoming vehicles and the like) can be avoided. In a practical manner, the driver can be cascaded, ie supported by step-by-step control.

The speed, the acceleration, the weight, the load, the length, the width, the height, the contour and / or the tires of the means of transportation and / or the geometry of a trailer are preferably provided as parameters of the means of transportation. In the event that a comparison of the parameter with the environmental information is provided, this should be of the same nature, e.g. B. height of an obstacle and vehicle height, width of an obstacle and vehicle width, length of an infrastructure and vehicle length (z. B. in parking maneuvers) and the like.

The deviation of the trajectory from the current course of movement of the means of transportation can expediently be determined. The course of movement can thus be changed or adapted by a steering movement and / or a steering suppression in the direction of the trajectory, i. H. the movement of the means of transportation is changed such that it follows the determined or calculated trajectory. As a result, the vehicle can be guided in a simple manner along the calculated trajectory.

Furthermore, situations can arise in which a steering movement is not sufficient due to an increased vehicle speed to avoid a collision. An additional deceleration in combination with the steering movement and / or the steering suppression may therefore be necessary to avoid collisions. The management function and security is thereby further improved.

The deviation of the trajectory is preferably determined continuously, so that the movement of the means of transportation can be continuously adapted to the calculated trajectory. The guidance of the means of transportation is thereby further improved.

The fact that the steering movement and possibly a deceleration in the direction of the trajectory takes place automatically or automatically results in a fully automated or partially automated guidance of the means of transportation. The driver is particularly supported in guiding the means of transportation.

The movement of the means of transport in the direction of the trajectory is preferably changed on the basis of a plurality of steering movements and / or steering suppressions and / or delays. The steering movements or steering suppression and any decelerations are carried out step by step, that is to say they take place automatically one after the other. For this purpose, the steering torque is either applied or removed. This application or removal of the torque can take place in pulsed fashion, in the provided application or removal ramps, ie the steering torque is “ramped in” or “ramped out”. This has the advantage that, for. B. a driver one Car the feeling is conveyed that this is carried out with gentle interventions. The acceptance of the driver and the driving experience are particularly improved.

According to a preferred embodiment of the method, the method according to the invention comprises the method steps: Detecting the environment using sensor data, environmental information and / or parameters of the means of transportation (e.g. speed, acceleration, weight, load, existing trailer, length, width, height, Contour, tires and / or the like), determining or calculating a trajectory of the means of transportation as well as consequences of the trajectory based on, in particular automatically guided, steering movements and / or steering suppression in order to guide or control the means of transportation along the specific trajectory.

The function can preferably guide the driver laterally and longitudinally to the destination (mission). For example, fully automated (e.g. at speeds up to 10 km / h) or partially automated (e.g. at speeds> 10 km / h).

The environmental information can be derived from the sensor data or obtained or provided by a higher-level unit. As a result, the sensor information of the vehicle can be used to record the surroundings or the infrastructure.

For example, the vehicle can drive through a parking garage and detect the paths, parking areas, other road users and parked vehicles for determining the parking space occupancy and the like, by means of suitable sensors (radar, lidar, camera, ultrasound and the like) in order to provide environmental and infrastructure information in a simple manner to create or generate a map and this z. B. to store in a memory so that this information can be accessed. In addition, the environmental information can also be provided by a higher-level unit. This can be, for example, a map material provider, the operator of the respective infrastructure environment (e.g. multi-storey car park operator), mobile phone provider, the operator of industrial units and factory premises or vehicle manufacturers. For example, provision can be made at the factory (e.g. by pre-assembly, in the course of navigation data transmission, by storage medium such as a USB stick, SD card or the like), when entering the respective infrastructure environment (e.g. via a WiFi network of the infrastructure operator, Internet of Things, Bluetooth) or continuously (e.g. via cell phone update, map data update) during vehicle operation.

The environment or infrastructure information provided can expediently be blueprints, overview maps, GPS (Global Positioning System) data or GPS coordinates or the like. In addition, various IT systems known from the prior art can be used to record the environmental and / or infrastructure information, e.g. B. Back-end systems (eHorizon), V2X (VRU, vehicles, infrastructure etc.), GPS positioning, HD-MAP, parking garage map (parking garage-specific maps), virtual city maps, geographic information systems (GIS) or geodata or the like. Furthermore, height, length or width information of obstacles can serve as environmental or infrastructure information, e.g. B. The passage height of parking garage entrances or underpasses can be provided. Furthermore, traffic information (speed restriction, passage height, maximum vehicle width) can also be transmitted (e.g. via radio) and / or recorded (e.g. traffic sign recognition via camera).

The environmental information can thus be provided in a simple manner via a wired or wireless transmission, for example by radio (e.g. via ISM (Industrial, Scientific and Medical) - or SRD (Short Range Device) bands, mobile radio, W-LAN , LAN or another type of transmission known from the prior art).

Alternatively or additionally, environmental and / or infrastructure information can also be learned. For example, paths and routes can be learned by using them frequently, in particular. The learning is preferably carried out by implementing learning algorithms (“machine learning”). Through the implementation of data extensions (“data augmentation”), environmental scenarios can also be learned without actually having to go through them.

Furthermore, environmental and / or infrastructure information of other means of transportation can also be used to determine the trajectory. For example, this information may have been learned by the other means of transportation or transferred to it by a higher-level unit. This enables additional information to be obtained in the course of V2X, car-to-car or car-to-X communications.

The means of transportation can expediently be guided using a potential field method, a region in the middle of the potential field being determined in a practical manner, in which no intervention for guiding takes place.

According to a special embodiment of the method, the environmental information or the learned routes and routes can also be transmitted or transmitted or communicated to other vehicles. In the same way, infrastructure information from other vehicles can be received and used for orientation in the respective infrastructure environment. In a practical way, it is thus possible for other drivers or means of transportation to be used as a basis for calculating trajectories and for vehicle guidance, and vice versa, in particular as routes that are classified as frequent (averaged) and ideal and that are often driven in everyday life.

Furthermore, the present invention claims a device for guiding a means of transportation, which preferably has at least one sensor for detecting the surroundings. The device is designed such that it guides a means of transportation through an environment using the method according to the invention.

Furthermore, a means of transportation, in particular a vehicle, is claimed, which is characterized in that the means of transportation comprises a device according to the invention for guiding the means of transportation, the means of transportation being guided using the method according to the invention.

The invention also expressly includes combinations of features of the features or claims, so-called sub-combinations, which are not explicitly mentioned.

Description of the invention using exemplary embodiments

• 1 eine stark vereinfachte Darstellung einer Führung eines PKW durch eine Parkhausspirale anhand des erfindungsgemäßen Verfahrens;
• 2 eine vereinfachte schematische Darstellung eines Ablaufs von Lenkbewegungen zur erfindungsgemäßen Führung eines Fortbewegungsmittels;
• 3 eine stark vereinfachte Darstellung einer Führung eines PKW durch eine Engstelle anhand des erfindungsgemäßen Verfahrens;
• 4 eine stark vereinfachte Darstellung einer Führung eines PKW durch ein Höhenhindernis und ein Breitenhindernis, sowie
• 5 vereinfachte schematische Darstellung einer Ausgestaltung eines erfindungsgemäßen Ablaufplans zur Führung eines PKW.

The invention is explained in more detail below on the basis of practical exemplary embodiments. Show it:

• 1 a very simplified representation of a leadership of a Car by a parking garage spiral using the method according to the invention;
• 2nd a simplified schematic representation of a sequence of steering movements for guiding a means of transportation according to the invention;
• 3rd a very simplified representation of a leadership of a Car by a constriction based on the method according to the invention;
• 4th a very simplified representation of a leadership of a Car by a height obstacle and a width obstacle, as well
• 5 Simplified schematic representation of an embodiment of a flow chart according to the invention for the management of a Car .

In 1 is a form of transportation or a Car shown, which is in a parking garage, ie in a possibly classified as complex environment or infrastructure. Of the Car in this case comprises a device for carrying out the method according to the invention and at least one sensor for environmental detection (e.g. radar, lidar, camera, ultrasonic sensor and the like). Of the Car can pass through the parking garage to detect the paths, parking areas, other road users and parked vehicles to determine the parking space occupancy by means of suitable sensors in order to easily create environmental and infrastructure information. Alternatively, the Car also environmental information, such as B. the current parking space occupancy or a parking garage plan (e.g. overview plan, GPS data or one from a mobile phone or from the navigation system of the Car readable card information) from the car park operator, e.g. B. via mobile radio, via storage medium (e.g. by means of a USB stick or SD card handed over at the entrance), WLAN, Internet of Things, Bluetooth or the like.

According to 1 will the Car guided through a parking garage spiral by first performing a line detection in a first step (“sense”). The line detection can e.g. B. based on the parking garage spiral (ie environmental or infrastructure information), the ego vehicle ( Car ) or its rims or its contour as well as the sensor information or sensor data. The parking garage spiral is modeled as a combination of clothoids (entry in spiral) and arcs (in spiral). As a clothoid z. B. the transition curve between a straight line and a curvature. The respective course of the clothoid z. B. can be estimated on the basis of static targets or objects that are located in the area of the road boundary (e.g. the curb or the edging or wall of the parking garage spiral). Furthermore, the current movement of the Car can be determined using the steering movement and speed (using the solid arrow in 1 shown). In a second step, the trajectory or trajectory of the Car calculated, determined or planned (“plan”), which corresponds to the optimal trajectory for the evasive situation or evasive movement (dashed arrow). For example, when the rims approach (criterion of lateral placement and yaw angle between vehicle / tangent to the parking garage spiral), a movement back “in the middle of the road”, ie in the direction of the desired or specific trajectory, is planned. Planning can be carried out in a simple manner, taking into account the environmental and infrastructure information.

In the third step, the Car ("Act"), e.g. B. by a steering movement and / or steering suppression in combination with a deceleration. This can be done by applying a steering torque to the road or the current trajectory of the Car to be adjusted according to the determined optimal trajectory or to adapt the movement path of the means of transportation to the trajectory. This is done by suitably "ramping out" the steering torque when the target path is reached, ie by stepping in or applying a steering torque step by step. Furthermore, a so-called “dead zone” is defined, upon reaching which the applied steering torque is ramped down to 0 in order to prevent the Car exceeds the target path and collides with the wall towards the center of the parking garage spiral. If the target path is then left again, a steering torque is ramped in again. This gives the driver the feeling of being guided step by step with "gentle interventions". 2nd shows a simplified course of the stepwise application of a steering torque M as a function of time t. The rise and / or fall of the ramps or the application of the steering torque can be contrary to the representation in 2nd run flatter or flat to ensure a jerky and abrupt movement or guidance of the Car to reduce or even prevent. The driving experience can be further improved. Furthermore, several plateaus and / or delays can also occur be provided so that the steering torque z. B. cascaded or gradually increasing and / or decreasing and / or not completely reduced to 0.

An emergency trajectory can also be calculated, as in 1 represented by the dotted arrow. This represents z. B. is an (automatic) emergency braking (AEB), so that the Car in the event of an impending collision, braking is (partially) automatic in order to avoid a collision or to reduce its extent. In a practical manner, the method according to the invention can additionally be combined with other functions, e.g. B. with automated parking (valet parking, remote parking, driver-in-vehicle parking, semi-automated parking, etc.), cruising chauffeur, traffic jam assist, traffic jam chauffeur, low speed collision avoidance.

In 3rd Another application example of the present invention is shown, in which the Car through a constriction in a complex infrastructure environment. The infrastructure environment is characterized by many objects on both sides of the Car which narrow the driving hose or driving range. As in 1 is in 3rd First the current trajectory or the course of the movement Car as well as the line recognition based on the ego vehicle or its rims or its contour, the sensor information and the provided infrastructure information ("sense"). In the next step, the preferred trajectory is planned ("plan"). For example, this can be done using the potential field method to calculate the "ideal restoring torque". For example, obstacles or deviations from the calculated trajectory generate a repulsive potential field, whereas the target or the optimal trajectory can generate an attractive potential field. As a result, e.g. For example, a “dead zone” can be defined or defined in the middle of the potential field, in which no interventions take place, ie no steering movements. As a result, the applied steering torque is ramped down to 0 when the “dead zone” is reached. If the “dead zone” is then left again, a steering torque is “ramped in” (“Act”). In this way, the driver is given the feeling of being guided with "gentle interventions".

The method according to the invention can be used to provide a guidance assistant for demanding infrastructure environments and driving environments in a simple manner, in particular for situations at low speeds in parking garages, construction sites (lateral guidance through narrow passages, avoiding impassable areas: scanning the surface by laser scanner), terrain environments (avoidance colliding with trees, stones and other obstacles, preventing tipping over by precise modeling of the terrain, which can be scanned by the laser scanner) or for other infrastructure interiors, e.g. B. warehouses, industrial and factory rooms or the like.

Furthermore, the environmental information can also include information from obstacles, such as. B. the height h or width b of an obstacle around which a vehicle ( Car ) to determine or measure available driving corridor FK. In 4th is shown as an example that a Car due to a height obstacle HH and a width obstacle bra is moved or guided. With the height obstacle HH is it z. B. a bracket for traffic signs. It could also be the height obstacle HH also act as a parking garage entrance, a garage door, a parking garage ceiling, a tunnel, an underpass (e.g. under a pedestrian bridge), a traffic sign, a traffic light or the like. As environmental information, z. B. by suitable sensors (radar (front and rear), camera (front and rear), lidar, surround view camera, ultrasonic sensors and the like), the height of the obstacle or the height of the available driving corridor H (FK) determined and with the specified or known vehicle height h ( Car ) compared. If an impending collision is determined, i.e. if h ( Car )> h (FK), e.g. B. a deviating from the FK corridor, possibly on the height obstacle HH Passing trajectory (alternative trajectory) planned or a braking process is initiated. A collision can thus be avoided with the method according to the invention. Furthermore, as a width obstacle HH in 4th shown a bridge with side boundaries. This obstacle causes a lane narrowing or a narrowing and in this way reduces the width of the driving corridor b (FK). Generic obstacles to width bra can include lane reductions, construction site barriers and boundaries, garage doors, narrow road passages, posts, pylons, beacons and the like. In a similar way, the width of the available driving corridor b (FK) is first determined and made available as environmental information. In addition, lane narrowing can also be detected by the detection of road markings, hard shoulder and the like. Furthermore, oncoming vehicles can also reduce the driving corridor FK, so that they are also taken into account in a simple manner as soon as they have been detected by sensors, ie oncoming vehicles also reduce the driving corridor FK. By planning alternative trajectories or alternative trajectories, gentle steering interventions and / or braking processes, a collision with generic obstacles or oncoming vehicles can thus be avoided.

In 5 A flowchart of a method with determination or measurement of the driving corridor is shown, such a determination being used as environmental information. The first step is to recognize 1 ("Sense"), whereby the Car recognizes or misses the respective obstacle and z. B. determines the height and width of the respective obstacle. The detection takes place by means of suitable sensors 4th or sensors (radar, lidar, camera, ultrasound and the like). As a result, different modules can be generated or implemented, such as. B. Environment detection 41, a road user detection 42 (pedestrian detection, detection of parked and oncoming vehicles), free space detection 43, self or ego movement and location 44 (speed, acceleration, (GPS) position and the like) and driver evaluation 45 (z. B. risky / safe driver, attentive / distracted driver, tired / awake driver). An environment model 5 can then be created on the basis of environment detection 41, road user detection 42 and free space detection 43. This also creates various lists (e.g. infrastructure list, object list and free space list), which can then be used for planning 2 ("plan"). Here, for. B. the determined height and / or width of the respective obstacle HH , bra or the FK corridor with the vehicle height h ( Car ) and / or vehicle width b ( Car ) compared. Furthermore, odometry information (distance measurement information) by the ego movement and localization 44 or driver's attention and activity information by the driver evaluation 45 can also be taken into account in the planning 2.

Planning 2 can then be carried out via an assistant function, e.g. B. a Narrow Path Assistant 8 ("Narrow Path Assist", NPA), whereby alternative trajectories and / or braking processes can be planned. After planning 2, the action or action takes place in the third step 3rd . For example, if the height or width of the driving corridor is smaller than the height or width of the Car a warning to the driver. This warning can take place via a user interface 6, e.g. B. visual 61 (signal lamps, flashing, LED, virtual display, head-up display), haptic 62 (vibrations in the steering wheel or driver's seat and the like) or audible 63 (signal tone, melody, navigation announcement, audio assistant and the like). The driver can also use controls 64 (Voice input, control buttons, touch display, hand signals, gestures or the like) influence the planning, e.g. B. Trajectory selection, switch warnings off / on.

If e.g. B. an emergency situation is imminent (unavoidable collision) and / or there is no reaction by the driver, evasive, steering and / or braking maneuvers are initiated by the system. For this purpose, a longitudinal and / or transverse control (longitudinal / lateral) of the Car via the control of suitable actuators or actuators 7 (e.g. drive or motor 71, brake 72, control or control 73). The actuators 7 are preferably guided or actuated in a cascaded manner using gentle guidance. For example, the torque intervention in the steering is continuously increased as soon as the driver no longer follows the calculated alternative trajectory. As soon as the means of transportation comes back to the calculated trajectory, the steering torque is continuously reduced again. Here, a “dead zone” is defined around the target path, upon reaching which the applied torque is continuously reduced to 0. If the target track is left again, the steering torque is continuously increased again to give the driver the feeling of being guided with "gentle interventions".

Furthermore, when dimensioning the vehicle height h ( Car ) or vehicle width b ( Car ) additional elements are taken into account to adjust the height and width accordingly. For example, by widening due to side or rear-view mirrors or wider trailers, increases due to superstructures, bike racks, roof racks or higher trailers. These changes could e.g. B. adjustable by the driver (e.g. via controls 64) or automatically recognized (e.g. using a camera). Tolerances can also be taken into account or scheduled. For example, if the width of the FK driving corridor is only minimally smaller than the vehicle width and the vehicle is off-center, the vehicle can calculate a trajectory in which a safety distance from the boundaries of the FK driving corridor is maintained by bridge railings, edge structures, barrier beacons or, if applicable, oncoming traffic becomes. In addition, traffic signs, warning signs (warning triangles), traffic light phases, radio and navigation messages or messages from other road users or operators of infrastructures can be received or recognized, which are then used for planning 2 or bottleneck assistance 8

In summary, the method according to the invention provides a smooth guidance of a means of transportation, by means of which a so-called gentle guidance function can be implemented (“smooth guidance assist”). With such a function, the guidance in complex and demanding infrastructure and environmental situations is largely improved by the driver in such situations on the basis of possible input variables (sensor data, map data (e.g. e-horizon, fusion different Data), etc) is supported. With regard to parking processes, existing parking trajectories can also be overwritten using the gentle guidance function. In contrast to conventional parking functions, the gentle guidance function supports all situations in which the vehicle is maneuvered by the driver in narrow passages (parking garages, limited streets, narrow ramps, toll stations, etc.). The gentle guidance function can comfortably guide the vehicle past an obstacle based on newly calculated trajectories. The present method thus represents a very special contribution in the area of driver assistance functions. Furthermore, the driver is provided with the height and width determination or measurement of the available driving corridor (including warning function, consideration of street signs and other sources for height and passage information (Bridge underpasses, parking garage entrances, construction sites etc.) as well as the consideration of dynamic road users (e.g. oncoming traffic, pedestrians, etc.) an assistance function for bottlenecks or a bottleneck assistant ("narrow path assist") is provided, which cascades the driver can support and with which collisions can be avoided in a simple manner.

Reference list

Car

Vehicle (passenger car)

HH

Height obstacle

bra

Obstacle to width

H

height

b

width

1

Recognize

2nd

Plan (plan)

3rd

Action

4th

Sensors

41

static environment detection

42

Road user detection

43

Free space detection

44

(Ego) movement and localization

45

Driver rating

5

Environment model

6

Human machine interface (HMI)

61

Visually

62

Haptic

63

Audible

64

Controls

7

Actuators

71

drive

72

brake

73

tax

8th

Bottleneck Assistant (NPA)

QUOTES INCLUDE IN THE DESCRIPTION

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

Patent literature cited

• EP 3172117 B1 [0005]
• DE 102014015073 A1 [0006]
• DE 102011080789 A1 [0007]

Claims (19)

Method for guiding a means of transportation within an environment, in which the environment of the means of transportation is detected using sensor data from at least one sensor, environmental information is also made available to the means of transportation, at least one trajectory of the means of transportation is determined taking into account a parameter of the means of transportation, on the basis of which the means of transportation is guided through the surroundings, wherein the sensor data and the environmental information are used to determine the trajectory. Method for guiding a means of transportation in an environment, in particular according to Claim 1 , in which the environment of the means of transportation is detected on the basis of sensor data of at least one sensor, the means of transportation are provided with environmental information, at least one parameter of the means of transportation is used, the parameter is compared with the environmental information and, taking into account the comparison, a warning is issued and / or a trajectory for guiding the means of transportation through the surroundings is determined. Procedure according to Claim 1 or 2nd , characterized in that speed, acceleration, weight, load, existing trailer, length, width, height, contour and / or tires of the means of transportation are used as parameters of the means of transportation. Method according to at least one of the preceding claims, characterized in that the deviation of the trajectory from the current course of movement of the means of transportation is determined and the course of movement is changed by a steering movement and / or a steering suppression in the direction of the trajectory. Method according to at least one of the preceding claims, characterized in that in combination with the steering movement and / or the steering suppression there is an additional delay. Method according to at least one of the preceding claims, characterized in that the deviation of the trajectory is determined continuously. Procedure according to one of the Claims 3 - 6 , characterized in that the steering movement and the steering suppression in the direction of the trajectory and the deceleration takes place automatically. Procedure according to one of the Claims 3 - 7 , characterized in that the steering movement in the direction of the trajectory takes place on the basis of a plurality of steering movements and / or steering suppressions and / or decelerations. Method according to at least one of the preceding claims, characterized in that the method comprises the following method steps: - detection of the surroundings on the basis of sensor data, surroundings information and / or parameters of the means of transportation, - determination of a trajectory of the means of transportation, - consequences of the trajectory on the basis of steering movements and / or steering suppression to guide the vehicle. Method according to at least one of the preceding claims, characterized in that a lateral and optionally longitudinal route guidance is provided, which is in particular fully automated or partially automated. Method according to at least one of the preceding claims, characterized in that the environmental information is derived from the sensor data and / or provided by a higher-level unit. Method according to at least one of the preceding claims, characterized in that the environmental information comprises the following: construction plans, overview maps, GPS data, data from back-end systems (eHorizon), V2X data, HD-MAP data, virtual city maps and / or Geographic information, elevation, latitude or longitude and / or traffic information. Method according to at least one of the preceding claims, characterized in that the environmental information is provided wirelessly or by wire. Method according to at least one of the preceding claims, characterized in that the environmental information is created and / or learned on the basis of movements made by the means of transportation. Method according to at least one of the preceding claims, characterized in that environmental information from another means of transportation is used to determine the trajectory. Method according to at least one of the preceding claims, characterized in that the means of transportation are guided using a potential field method, an area being defined in the middle of the potential field in which no intervention for guiding the means of transportation takes place. Method according to at least one of the preceding claims, characterized in that the environmental information is transmitted to other means of transportation. Device for guiding a means of transportation, characterized in that the device is designed to guide a means of transportation through an environment using a method according to at least one of the preceding claims. Means of transportation, in particular vehicle with at least one sensor for detecting the environment, characterized in that the means of transportation have a device Claim 18 includes.

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