DE102021203839A1 - Method and device for operating a vehicle - Google Patents

Abstract

According to a first aspect of the invention, a method is therefore proposed for determining a delivery position for a vehicle from a plurality of delivery positions comprised by a parking space, at which the vehicle is to be parked for an automatic parking process. The method comprises at least the following steps: - detecting the entry of a vehicle into the parking space; - determining vehicle attributes and/or service attributes for the automatic parking process, it being detected in particular whether the vehicle is a vehicle intended for an automatic parking process is;- determining at least one delivery position for the vehicle depending on the vehicle attributes and/or the service attributes and depending on a current occupancy status of the delivery positions;- generating and outputting first output signals for guiding the vehicle to the specific delivery position, so that a driver of the vehicle manually guiding the vehicle to the designated drop-off position;- starting the automatic parking process of the vehicle at the designated drop-off position.

Description

The invention relates to a method and a device for determining a delivery position for a vehicle from a plurality of delivery positions comprised by a parking space, at which the vehicle is to be parked for an automatic parking process. The invention also relates to a parking lot for vehicles. The invention also relates to a computer program.

State of the art

Automated Valet Parking (AVP) is a system that allows drivers to park and pick up their vehicle autonomously. In fully automated (autonomous) valet parking (AVP), a vehicle is parked by its driver at a drop-off point, for example in front of a multi-storey car park, and from there the vehicle drives itself into a parking position/parking bay and back to the drop-off point.

In one possible form, the AVP system is based on an infrastructure. This means that corresponding AVP parking lots (e.g. underground garages, multi-storey car parks, parking areas) are equipped with a highly networked, distributed system that is responsible for the perception of the environment, vehicle guidance, parking space management and security. For this purpose, e.g. one or more management units (parking server) can be provided. On the other hand, the compatible vehicles must be equipped with a communication interface for data exchange with the management unit of the AVP system. This enables the remote control of the actuators of the compatible vehicles and thus their remote control via the AVP system.

• - Der Fahrer eines AVP-Fahrzeugs parkt sein/ihr Auto auf einer festgelegten Abgabeposition, der sogenannten Drop Zone (DZ), die sich üblicherweise in der Nähe der Einfahrt des Parkplatzes befindet.
• - Der Fahrer steigt aus dem Fahrzeug aus und aktiviert (z.B. mittels einer auf einem Mobilgerät installierten App) die Parkanforderung.
• - Die Infrastruktur erhält diese Anforderung und plant eine Trajektorie von der Abgabeposition zu einem verfügbaren Parkplatz.
• - Die AVP-Infrastruktur startet eine bidirektionale Kommunikation mit dem Fahrzeug, um es fahrerlos auf dem Parkplatz zu führen. Während der Fahrt zum Parkplatz sorgt das AVP-System für die Sicherheit, indem z.B. stationäre Sensoren innerhalb des Parkplatzes Hindernisse bzw. Gefahren erfassen und das Fahrzeug entsprechend geführt wird.
• - In ähnlicher Weise kann der Fahrer eine Abholanfrage für sein Fahrzeug beispielsweise mit einem mobilen Gerät starten.
• - Daraufhin wird das Fahrzeug automatisiert zu einer Abholposition, der sogenannten Pick-Up Zone (PZ) geführt, wo der Fahrer physisch wieder auf sein Fahrzeug zugreifen und den Parkplatz verlassen kann.

The general AVP use case can be as follows:

• - The driver of an AVP vehicle parks his/her car in a designated drop zone (DZ), which is usually located near the entrance to the parking lot.
• - The driver gets out of the vehicle and activates the parking request (e.g. using an app installed on a mobile device).
• - The infrastructure receives this request and plans a trajectory from the delivery position to an available parking space.
• - The AVP infrastructure starts a two-way communication with the vehicle to guide it driverless in the parking lot. When driving to the parking lot, the AVP system ensures safety, for example by stationary sensors within the parking lot detecting obstacles or dangers and guiding the vehicle accordingly.
• - Similarly, the driver can start a pick-up request for his vehicle, for example with a mobile device.
• - The vehicle is then automatically guided to a pick-up position, the so-called pick-up zone (PZ), where the driver can physically access his vehicle again and leave the parking lot.

A second possible concept for an AVP system is vehicle-based. This means that a vehicle is designed for environment detection using on-board sensors, navigation and control of the AVP vehicle. The infrastructure plays no role in ensuring security in this variant.

In both concepts mentioned above, there is usually a drop-off position and a pick-up position, which can also match in certain designs. As a result, the vehicles involved are guided serially in the sense of a FIFO (First In First Out) principle, i.e. the vehicle that arrives earlier is also guided earlier from the drop-off position to an assigned parking space. Vehicles arriving later may have to wait. This is inefficient as the flow of traffic is reduced and drivers may be subject to long waiting times. In addition, the operating cost of the parking lot increases as the facility uptime increases.

The disclosure document DE 10 2018 217 896 A1 shows a parking area management system in which autonomous vehicles are guided from a transfer area to a parking space. The selection of a parking space can be made taking into account the size of the vehicle. Furthermore, a return time can be taken into account, in particular with regard to the distance of the parking space from the transfer area, with vehicles with a short parking time being parked in the front spaces and vehicles with a long parking time in the rear spaces. Prioritization according to vehicle class can also be carried out during the process planning.

the DE 10 2018 202 481 B3 shows a method for providing a motor vehicle for a service. In connection with automated valet parking (AVP), it is planned to provide a service room that is separate from the parking environment. If a service is to be provided for a vehicle, the corresponding vehicle is taken from the parking area into the service room.

the DE 10 2014 221 764 A1 shows a method for operating a parking lot, in which an image of an arriving vehicle is recorded and the vehicle type is determined. The vehicle properties are determined on the basis of the vehicle type and a database, and a parking position for the vehicle in the parking lot is determined. In this case, an autonomous parking process can take place starting from a delivery position.

Disclosure of Invention

An object underlying the invention can therefore be seen as providing a method and a device for determining a delivery position from a plurality of delivery positions included in a parking space for a vehicle in such a way that rapid and efficient handling can be guaranteed.

The object on which the invention is based can furthermore be seen in each case as specifying a corresponding vehicle, a corresponding parking space and a corresponding computer program.

These objects are solved by means of the respective subject matter of the independent claims. Advantageous configurations of the invention are the subject matter of the dependent subclaims.

• - Erfassen der Einfahrt eines Fahrzeugs in den Parkplatz;
• - Ermitteln von Fahrzeugattributen und/oder Serviceattributen für den automatischen Parkvorgang, wobei insbesondere erfasst wird, ob es sich bei dem Fahrzeug um ein für einen automatischen Parkvorgang vorgesehenes Fahrzeug handelt;
• - Bestimmen einer mindestens Abgabeposition für das Fahrzeug abhängig von den Fahrzeugattributen und/oder den Serviceattributen sowie abhängig von einem aktuellen Belegungszustand der Abgabepositionen;
• - Erzeugen und Ausgeben von ersten Ausgabesignalen zum Leiten des Fahrzeugs zu der bestimmten Abgabeposition, so dass ein Fahrer des Fahrzeugs das Fahrzeug manuell zu der bestimmten Abgabeposition führen kann;
• - Beginnen des automatischen Parkvorgangs des Fahrzeugs an der bestimmten Abgabeposition.

According to a first aspect of the invention, a method is therefore proposed for determining a delivery position for a vehicle from a plurality of delivery positions included in a parking space, at which the vehicle is to be parked for an automatic parking process. The procedure comprises at least the following steps:

• - detecting the entry of a vehicle into the parking lot;
• - Determining vehicle attributes and/or service attributes for the automatic parking process, it being detected in particular whether the vehicle is a vehicle provided for an automatic parking process;
• - Determining at least one delivery position for the vehicle depending on the vehicle attributes and/or the service attributes and depending on a current occupancy status of the delivery positions;
• - generating and outputting first output signals for guiding the vehicle to the specified drop-off position, so that a driver of the vehicle can manually guide the vehicle to the specified drop-off position;
• - Starting the automatic parking process of the vehicle at the determined drop-off position.

The invention therefore includes in particular and among other things the idea of providing a plurality of possible delivery positions for a vehicle that is to be automatically parked in a parking lot as part of an AVP system, with at least one currently available delivery position being selected in an optimized manner depending on Properties (attributes) of the vehicle and/or depending on specific services to be performed on the vehicle during, before or after the parking process. When an optimal drop-off position has been determined, guidance signals are output to the driver of the vehicle so that he can park the vehicle at the specific drop-off position, from where the vehicle is then automatically guided.

Initially, the entry of a vehicle into the parking lot is detected. This can be done, for example, by detecting the vehicle using a suitable sensor that is arranged in the area of the entrance to the parking lot. This sensor could, for example, include a camera that detects an entering vehicle. Alternatively or additionally, sensors such as light barriers and/or pressure sensors in the ground and/or lidar sensors can be used. Alternatively or additionally, the entry of a vehicle into the parking lot can be detected by the vehicle emitting a radio signal which is received by a corresponding receiver in the parking lot. Known technologies such as Bluetooth, Wifi, mobile communications, NFC or other technologies can be used for this purpose. Information about the vehicle and/or the planned parking process and/or additionally requested or already booked services can also be transmitted. Furthermore, it can be detected whether the vehicle is actually a vehicle provided for an automatic parking process. If it is a regular vehicle, appropriate information can be given to the driver of the vehicle. If it is detected that the vehicle is a vehicle that is suitable for an automatic parking process, in particular automated valet parking (AVP), depending on vehicle attributes and/or service attributes and depending on a current occupancy status Delivery positions now determined or set a delivery position for the vehicle.

According to the invention, vehicle attributes and/or service attributes are determined for the automatic parking process. The vehicle attributes can include in particular a length and/or width of the vehicle, a vehicle type and/or vehicle model of the vehicle, the wheelbase of the vehicle and/or driving dynamics parameters. The vehicle attributes can also reflect the special needs of the user, for example a wheelchair user can be given a certain distance from a wall or another vehicle so that the vehicle doors can open wide enough. The service attributes can in particular include information about booked or desired additional services, such as charging an energy storage device of the vehicle or refueling the vehicle with fuel, cleaning the vehicle's exterior and/or interior, servicing the vehicle (vehicle service), a software update for a function of the vehicle. Furthermore, the service attributes can include information relating to a subscription model for the AVP service linked to the vehicle and/or the driver and/or other services.

• Besitzer: Musterman, Max
• Modell: Mercedes Benz 213-xyz
• Amtliches Kennzeichen: S-MM-1234
• Abo-Modell: Premium (VIP)
• Zusatzdienste: E-Charging
• Etc.

In a preferred embodiment of the invention, an official registration number of the vehicle is recorded and recognized. This allows the vehicle to be uniquely identified. Vehicle attributes and/or service attributes assigned to the recognized registration number can then be read from a database. For example, a data record can be assigned to a license plate number, which is available in the following form, for example:

• Owner: Musterman, Max
• Model: Mercedes Benz 213-xyz
• Registration number: S-MM-1234
• Subscription model: Premium (VIP)
• Additional services: e-charging
• Etc.

Vehicle attributes and/or service attributes can be derived from the data of such a data set. In the present example data set, the vehicle model is available as a vehicle attribute. Further vehicle attributes, such as the length and width of the vehicle, the wheelbase and/or driving dynamics properties, can be derived from the vehicle model.

In particular, with this information it is possible to personalize the service offered. For example, by knowing the vehicle type, the vehicle dimensions are known. The dimensions of the vehicle have an impact on the type of parking space (small, medium, large, outdoor, etc.) on which the vehicle can be parked. Knowing the subscription model, it is possible to offer users advantages over others. For example, the vehicle can be parked in a parking space in the immediate vicinity of a pick-up zone, so that the driver does not have to wait long when picking up the vehicle later. For example, if the user has booked an e-charging service, the vehicle must be parked in an area with an appropriate charging device.

This embodiment achieves the technical advantage that the identification or authentication of the vehicle is efficiently combined with the determination of vehicle attributes and/or service attributes.

In a preferred embodiment of the invention, a parking space is assigned to the vehicle depending on vehicle attributes and/or service attributes for the automatic parking process, the vehicle being guided automatically from the specific delivery position to the parking space and the delivery position being determined as a function of the parking space. This means that the delivery position is determined on the one hand as a function of vehicle attributes and/or service attributes of the vehicle and on the other hand as a function of properties of the assigned parking space, whereby, for example, a distance and/or a positioning and/or an accessibility of the parking space based on the delivery position can be taken into account.

In particular, this has the advantage that the vehicle can be parked efficiently in the allocated parking space, with the shortest possible travel times for the vehicle within the parking lot being achieved, and thus the flow of traffic within the parking lot being optimized and waiting times for other vehicles being able to be shortened.

In a preferred embodiment of the invention, the delivery position is alternatively or additionally determined as a function of a current traffic situation within the parking lot. For example, a delivery position can be determined in such a way that it is in an area of the parking lot where there is currently little traffic.

This achieves the advantage in particular that the vehicle can be parked efficiently on the assigned parking space.

In a preferred embodiment of the invention, while the driver places the vehicle in the specific delivery position, a positioning of the vehicle within the specific delivery position is monitored. If the monitoring detects deviations in the positioning of the vehicle from a target positioning, correction signals can be output so that the driver of the vehicle can correct the positioning of the vehicle Vehicle can correct within the specific delivery position. When a target positioning within the delivery position is reached, a second output signal is output so that the driver knows that the vehicle is now correctly positioned so that the automatic parking process can be carried out.

This achieves the technical advantage that it is ensured that the vehicle is parked at the specific delivery position in such a way that the subsequent automatic parking process can be carried out safely and efficiently. In particular, it is avoided that the driver accidentally parks the vehicle in a way that impedes or prevents the automatic parking process.

Driving the vehicle into the specific delivery position is particularly preferably detected by means of a sensor assigned to the delivery position, and the monitoring of the positioning of the vehicle within the specific delivery position is started depending on the detection of the vehicle driving into the specific delivery position. For example, a sensor can be assigned to each dispensing position, for example in the form of a light barrier. Alternatively, a sensor, which is designed as a camera, for example, can be assigned to a number of dispensing positions. The monitoring of deviations in a positioning of the vehicle from a target positioning and the detection of the entry of the vehicle into the specific delivery position can be carried out by the same sensor or by different sensors.

With this embodiment, it can advantageously be achieved that the positioning of the vehicle is only checked if there is actually a vehicle at the delivery position in question. In order to ensure that the monitoring of the positioning of vehicles is carried out efficiently.

The first output signals for guiding the vehicle to the specific drop-off position and/or the correction signals and/or the second output signal preferably include optical signals which are projected in particular onto a surface visible to the driver upon entry, e.g. onto the roadway in front of the vehicle and /or on a wall surface. Alternatively or additionally, light signal systems can be installed within the parking lot, which can be controlled accordingly in order to output the output signals for guiding the vehicle to the specific delivery position and/or the correction signals and/or the second output signal

Alternatively or additionally, the first output signals for guiding the vehicle to the specific delivery position and/or the correction signals and/or the second output signal can be output visually and/or acoustically on the driver's terminal and/or on an HMI of the vehicle, in particular as driving instructions .

This achieves the technical advantage that the route to the specific delivery position can first be signaled to the driver in a simple and intuitive manner. In the event that the positioning of the vehicle within the specific delivery position is checked, the driver can in this way be given simple and intuitive instructions for correcting the positioning of the vehicle or be signaled that the positioning is correct.

Before the automatic parking process is started, provision can be made for receiving a start signal from the vehicle and/or from a terminal device of the driver.

• - eine erste Sensorik, die zum Erfassen der Einfahrt eines Fahrzeugs in den Parkplatz ausgebildet ist;
• - eine Identifikationsvorrichtung, die zum Ermitteln von Fahrzeugattributen und/oder Serviceattributen für den automatischen Parkvorgang ausgebildet ist, wobei insbesondere durch die Identifikationseinrichtung erfasst wird, ob es sich bei dem Fahrzeug um ein für einen automatischen Parkvorgang vorgesehenes Fahrzeug handelt;
• - eine Recheneinheit, die zum Bestimmen mindestens einer Abgabeposition für das Fahrzeug abhängig von den Fahrzeugattributen und/oder den Serviceattributen sowie abhängig von einem aktuellen Belegungszustand der Abgabepositionen ausgebildet ist und außerdem zum Erzeugen von ersten Ausgabesignalen zum Leiten des Fahrzeugs zu der bestimmten Abgabeposition ausgebildet ist, so dass ein Fahrer des Fahrzeugs das Fahrzeug manuell zu der bestimmten Abgabeposition führen kann;
• - Ausgabemittel, die zum Ausgeben der Ausgabesignale ausgebildet sind.

According to a second aspect of the invention, a device is proposed for determining a delivery position for a vehicle from a plurality of delivery positions comprised by a parking space, at which the vehicle is to be parked for an automatic parking process. The device includes

• - A first sensor, which is designed to detect the entry of a vehicle into the parking lot;
• - An identification device, which is designed to determine vehicle attributes and/or service attributes for the automatic parking process, it being detected in particular by the identification device whether the vehicle is a vehicle provided for an automatic parking process;
• - a computing unit which is designed to determine at least one delivery position for the vehicle depending on the vehicle attributes and/or the service attributes and depending on a current occupancy status of the delivery positions and is also designed to generate first output signals for guiding the vehicle to the specific delivery position, so that a driver of the vehicle can manually guide the vehicle to the determined drop-off position;
• - Output means which are designed to output the output signals.

The device is particularly suitable for carrying out a method according to the invention.

The device can preferably also have communication means, which are designed to receive a start signal for the automatic parking process from the vehicle and/or from a terminal device of the driver.

In a preferred embodiment, the device has a second sensor system, which is designed to monitor a positioning of the vehicle within the specific release position, so that correction signals can be output by the output means if the second sensor system detects deviations from a target positioning. A driver of the vehicle can thus correct the positioning of the vehicle within the specific delivery position, with the output means also being designed, when the target positioning within the delivery position has been reached, to output a second output signal which, in particular, signals that the positioning is correct.

The second sensor system particularly preferably comprises one or more sensors, which are designed as cameras and/or lidar sensors and/or radar sensors and/or pressure sensors, with the sensor or sensors being arranged in a stationary manner within the parking space, in particular in the immediate vicinity of the delivery positions. In particular in an infrastructure-based AVP system, sensors of the AVP infrastructure can also be used.

In a preferred embodiment, the identification device of the device has an image capturing device that is designed to capture and recognize an official registration number of a vehicle, the vehicle attributes and/or service attributes being read from a database depending on the recognized official registration number.

In a preferred embodiment, the identification device has a communication device that is designed to receive a unique identifier of a vehicle and/or vehicle attributes and/or service attributes by means of a communication connection with the vehicle.

According to a third aspect of the invention, a parking space is proposed which is designed to carry out automatic parking processes (AVP) and has a device according to the invention.

According to a third aspect of the invention, a computer program comprising program code for carrying out a method according to the invention when the computer program is executed on a computer.

The invention thus relates to parking spaces or multi-storey car parks with an AVP (automated valet parking) offer, in which several delivery zones are provided. A notification system guides arriving vehicles to a suitable delivery zone and can help with the positioning of the vehicle.

The invention is based on the idea that each AVP vehicle is assigned attributes that can influence the selection of the drop-off position (drop zone). These attributes can be specified by the user, for example, by selecting certain services. For example, certain drop-off positions may be available for a so-called VIP service, others only for large vehicles such as VANs or buses, while others are only intended for much smaller AVP vehicles or electric AVP vehicles, for example. Furthermore, it may happen, for example, that certain parking spaces (e.g. for electric vehicles) cannot be reached from all available drop-off positions due to the physical design of the parking space and the associated restrictions. The invention ensures that when there are a plurality of available dispensing positions, the one which best suits the needs of the driver and the vehicle is selected and signaled to the driver.

character list

• 1 shows schematically an entrance area of an AVP parking lot.
• 2 shows schematically an entrance area of an AVP parking lot according to a possible embodiment of the invention.
• 3 shows schematically an entrance area of an AVP parking lot according to a second possible embodiment of the invention.
• 4 shows schematically an entrance area of an AVP parking lot according to a possible embodiment of the invention.
• 5 a)-e ) show different positionings and positionings of a vehicle within a specific delivery position, which deviate from a target positioning in such a way that starting the automatic parking process of the vehicle is not possible.
• 6 a)-e ) show different positionings and positions of a vehicle within a specific delivery position, which correspond to a target positioning, so that it is possible to start the automatic parking process of the vehicle.

Embodiments of the invention are described in detail with reference to the attached figures.

Preferred Embodiments of the Invention

In the following description of the exemplary embodiments of the invention, the same elements are denoted by the same reference symbols, with a repeated description of these elements being dispensed with if necessary. The figures represent the subject matter of the invention only schematically.

1 shows an entrance area of a parking lot 1. The parking lot 1 is designed as an AVP (automated valet parking) - parking lot, ie the parking lot 1 includes means that enable an automatic parking process, so that a user, a vehicle provided for an automatic parking process on one of can turn off the parking lot 1 included delivery position and the actual parking process is carried out automatically, for example by the vehicle autonomously drives to an allocated parking space. In particular, the parking lot 1 includes a parking lot management system (not shown). The parking lot includes a device designed according to the invention for determining a drop-off position for vehicle 10.

A vehicle 10, which is manually controlled by a driver, moves on an access road 20 of the parking lot 1. The driver intends to park the vehicle 10 in a drop-off position covered by the parking space 1 . From there, the vehicle 10 is to be parked automatically as part of an automatic parking process on a parking space (not shown) assigned to the vehicle 10 . According to the invention, the entry of the vehicle 10 was detected and vehicle attributes and/or service attributes for the automatic parking process of the vehicle 10 were determined. Depending on the vehicle attributes and/or the service attributes and depending on a current occupancy status of the delivery positions 23, 24, 25 and 26 included in the parking space 1, at least one delivery position for the vehicle 10 was determined. In the example shown, the four drop-off positions 23, 24, 25 and 26 are both available and suitable for the automatic parking process of the vehicle 10, taking into account the determined vehicle attributes and service attributes, and are therefore determined as drop-off positions for the vehicle 10.

A plurality of sensors 12 are arranged in a stationary manner along the driveway 20 and detect the entry of the vehicle 10 into the parking space 1 . The sensors 12 can be embodied, for example, as cameras and/or as lidar sensors and monitor the vehicle 10 as it travels within the parking lot and in particular within the driveway 20 .

The delivery positions 23, 24, 25 and 26 also have associated stationary sensors 14. The sensors 14 can also be embodied as cameras and/or lidar sensors, for example, and can in particular be structurally identical to the sensors 12 . The sensors 14 are designed to detect whether a delivery position 23, 24, 25, 26 is occupied by a vehicle or another object. In addition, the sensors 14 can be designed to detect a positioning of a vehicle on the assigned delivery position 23, 24, 25, 26, for example by determining a distance from the vehicle from each of the sensors 14 or by evaluating image or video data.

The parking lot 1 comprises a projection unit 30, which in this example is designed to project output signals 40 in the form of one or more arrows or trajectories onto the roadway 32 for the driver of the vehicle 10, and thus to guide the vehicle 10 to the specific delivery positions 23, 24, 25, 26 so that a driver of the vehicle can manually guide the vehicle to one of the specific delivery positions 23, 24, 25, 26. If the driver has parked vehicle 10 in one of the drop-off positions 23, 24, 25, 26, the driver can use a mobile device and/or an operating unit of vehicle 10, for example, to send a start signal to the parking lot management system and thus signal that the automatic parking process of the Vehicle 10 at the specific delivery position 23, 24, 25, 26 can begin.

In the embodiment after 2 the driveway 20 of the parking lot 1 has a so-called trigger zone 15 . Several stationary sensors 13 are assigned to the trigger zone 15 . The sensors 13 can, for example, in turn be embodied as cameras and/or lidar sensors and in particular can be structurally identical to the sensors 12 and/or the sensors 14 . The sensors 13 are designed to detect that a vehicle 10 is driving into the access area 20 of the parking lot 1 . When a vehicle 10 passes the trigger zone 15, the parking lot management system can be notified, for example, and can then start calculating an occupancy grid for the delivery positions 23, 24, 25, 26 and for the parking spaces in the parking lot 1. The sensors 13 can also detect whether the vehicle 10 is intended for an automatic parking process, for example one or more of the sensors 13 can be designed as a camera that detects and reads an official license plate number of the vehicle 10 . For example, by comparing the registration number with a database, it can now be determined whether the vehicle 10, for example, for the parking lot 1 as an AVP vehicle is registered. The parking lot management system can now initiate a communication link with the vehicle 10 . The communication connection can be used to carry out the automatic parking process.

If the recognized registration number of the vehicle 10 is not present in the database, the vehicle can either register as a new AVP vehicle, for example via an appropriate application on a driver's mobile device or via a communication link with the parking lot management system. If the vehicle 10 is not designed for automated parking processes or the driver does not want to use the AVP service, the vehicle 10 can be directed to a corresponding parking space 22 where the driver can park the vehicle 10 manually.

If the vehicle 10 is determined to be an AVP vehicle, vehicle attributes and/or service attributes are determined for the automated parking process. This can result, for example, from the corresponding database entry as a function of the previously recorded registration number of vehicle 10 . Alternatively or additionally, the vehicle 10 can transmit vehicle attributes and/or service attributes for the automatic parking process to the parking lot management system via a communication link. Depending on the vehicle attributes and/or the service attributes and depending on a current occupancy status of the delivery positions 23, 24, 25, 2 6, at least one delivery position for the vehicle is now determined and the projection unit 30 generates output signals 40 and in the form of one or more arrows or trajectories are projected onto the roadway 32 in order to guide the vehicle 10 to the specific delivery positions 23, 24, 25, 26, so that a driver of the vehicle can manually guide the vehicle to one of the specific delivery positions 23, 24, 25, 26 can.

in the in 3 In the embodiment shown, a further trigger zone 23a, 24a, 25a, 26a is additionally formed within each of the delivery positions 23, 24, 25, 26. If a vehicle drives to a delivery position 23, 24, 25, 26 and thereby passes the trigger zone 23a, 24a, 25a, 26a associated with the delivery position, this is detected by at least one sensor 14 assigned to the respective delivery position and the monitoring of the positioning of the vehicle of the it can be started within the specific delivery position.

in the in 3 In the illustrated embodiment, the delivery position 23 is already occupied by another vehicle 11, so that only the delivery positions 24, 25 and 26 are available to the vehicle 10 entering. In 4 the situation is shown in which the delivery position 23 is already occupied by another vehicle 11 and the delivery position 25 is blocked by a piece of luggage 17 . This is recognized by the sensors 14 assigned to the respective dispensing positions 23, 24, 25, 26. The delivery position 26 is already provided for another vehicle. The delivery position 25 is thus defined as a specific delivery position for the vehicle 10 and the projection unit projects corresponding output signals 40 onto the roadway 32 in order to guide the vehicle 10 to the delivery position 25 . When the vehicle 10 has entered the delivery position 25, the positioning of the vehicle 10 within the specific delivery position 25 is monitored by the sensors 14 and correction signals can be output if there are deviations from a target positioning. The correction signals can be generated, for example, by means of the projection unit 30 and projected onto the delivery position 25 so that the driver of the vehicle 10 can correct the positioning of the vehicle 10 within the specific delivery position 26 . When a target positioning within the delivery position 26 is reached, a second output signal can be output, which signals to the driver that the vehicle is now correctly parked. In 5 a) to e) several examples of positioning of the vehicle 10 within the delivery position 26 are shown, which do not match a target positioning. In these examples, the target positioning is defined such that the vehicle must be located completely within the area of the delivery position 26 in relation to its outer contour. in the in 5 a) In the examples shown, at least part of vehicle 10 is located outside the area of delivery position 26. This can be detected by sensors 14, for example optically, and corresponding correction signals can be output to the driver of vehicle 10.

In 6 a) to g) several examples of positioning of the vehicle 10 within the delivery position 26 are shown, which correspond to a target positioning, ie the vehicle 10 is completely within the area of the delivery position 26, based on the outer contour of the vehicle 10. The driver of the vehicle 10 a second output signal can therefore be output, for example by means of the projection unit 30. The driver thus knows that the vehicle 10 is now parked correctly and the automatic parking process can begin. In order to confirm this, the driver can send a start signal to the parking lot management system of parking lot 1, for example by means of a terminal device (eg smartphone).

QUOTES INCLUDED IN DESCRIPTION

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

Patent Literature Cited

• DE 102018217896 A1 [0007]
• DE 102018202481 B3 [0008]
• DE 102014221764 A1 [0009]

Claims (17)

Method for determining a delivery position from a plurality of delivery positions (23, 24, 25, 26) included in a parking space (1) for a vehicle (10), at which the vehicle (10) is to be parked for an automatic parking process, comprising the following steps : - Detecting the entry of a vehicle (10) into the parking lot (1); - Determining vehicle attributes and/or service attributes for the automatic parking process, it being detected in particular whether the vehicle (10) is a vehicle (10) provided for an automatic parking process; - Determine at least one delivery position (23, 24, 25, 26) for the vehicle (10) depending on the vehicle attributes and / or the service attributes, and depending on a current occupancy status of the delivery positions (23, 24, 25, 26); - generating and outputting first output signals (40) for guiding the vehicle (10) to the determined delivery position (23, 24, 25, 26) such that a driver of the vehicle (10) manually guides the vehicle (10) to the determined delivery position (23, 24, 25, 26); - Beginning of the automatic parking process of the vehicle (10) at the determined delivery position. procedure after claim 1 , characterized in that a positioning of the vehicle (10) within the specific delivery position (23, 24, 25, 26) is monitored and in the event of deviations from a target positioning, correction signals are output so that a driver of the vehicle (10) can correct the positioning of the Vehicle (10) within the specific delivery position (23, 24, 25, 26) can correct, wherein when a target positioning is reached within the delivery position, a second output signal is output. procedure after claim 2 , characterized in that entry of the vehicle (10) into the specific delivery position (23, 24, 25, 26) is detected by means of a sensor (14) assigned to the delivery position (23, 24, 25, 26), and the monitoring of the Positioning of the vehicle (10) within the specific delivery position depending on the detection of the entry of the vehicle (10) in the specific delivery position (23, 24, 25, 26) is started. Method according to one of the preceding claims, characterized in that the vehicle (10) is assigned a parking space depending on the vehicle attributes and/or service attributes for the automatic parking process, the vehicle (10) being automatically driven from the specific delivery position (23, 24, 25 , 26) is guided to the parking space and the delivery position is determined as a function of the parking space. Method according to one of the preceding claims, characterized in that the delivery position (23, 24, 25, 26) is determined as a function of a current traffic situation within the parking lot. Method according to one of the preceding claims, characterized in that the vehicle attributes are selected from: - length and/or width of the vehicle (10) - vehicle type and/or vehicle model - wheelbase - special needs of the user - driving dynamics parameters Method according to one of the preceding claims, characterized in that an official registration number of the vehicle (10) is recorded and recognized, vehicle attributes and/or service attributes assigned to the official registration number being read from a database. Method according to one of the preceding claims, characterized in that the service attributes indicate booked additional services, the booked additional services being selected from: - charging an energy store of the vehicle (10) - refueling the vehicle (10) with a fuel - external and/or Interior cleaning of the vehicle (10) - vehicle service - software update for a function of the vehicle (10) - subscription model for the AVP service - other services Method according to one of the preceding claims, characterized in that the first output signals (40) for guiding the vehicle (10) to the specific delivery position (23, 24, 25, 26) and/or the correction signals comprise optical signals which, in particular, refer to a area (32) visible to the driver when entering the vehicle. Method according to one of the preceding claims, characterized in that the first output signals for guiding the vehicle (10) to the specific delivery position (23, 24, 25, 26) and/or the correction signals and/or the second output signal are visual and/or acoustic are output on the driver's end device and/or on an HMI of the vehicle (10), in particular as driving instructions. Device for determining a delivery position (23, 24, 25, 26) from a plurality of a parking lot (1) included delivery positions (23, 24, 25, 26) for a vehicle (10), at which the vehicle (10) for an automatic Parking process is to be turned off, comprising: - a first sensor system designed to detect the entry of a vehicle into the parking lot; - An identification device (15) designed to determine vehicle attributes and/or service attributes for the automatic parking process, it being detected in particular whether the vehicle is a vehicle provided for an automatic parking process; - a computing unit designed to determine at least one delivery position (23, 24, 25, 26) for the vehicle (10) depending on the vehicle attributes and/or the service attributes and depending on a current occupancy status of the delivery positions (23, 24, 25, 26) and for generating first output signals (40) for directing the vehicle (10) to a specific drop-off position (23, 24, 25, 26) so that a driver of the vehicle (10) can manually move the vehicle (10) to a specific drop-off position ( 23, 24, 25, 26); - Output means (30) designed to output the first output signals (40). device after claim 11 , characterized by a second sensor system designed to monitor a positioning of the vehicle (10) within a specific delivery position (23, 24, 25, 26), so that when the second sensor system (14) detects deviations from a target positioning, correction signals are output by means of the output means ( 30) can be output, so that a driver of the vehicle (10) can correct the positioning of the vehicle (10) within the specific delivery position (23, 24, 25, 26), the output means (30) also being configured if the target positioning within the delivery position (23, 24, 25, 26) is reached to output a second output signal. device after claim 11 or 12 , characterized in that the first sensor system and/or the second sensor system comprises one or more sensors (12, 13, 14) which are designed as cameras and/or lidar sensors and/or radar sensors and/or pressure sensors, the sensor (12 , 13, 14) or the sensors (12, 13, 14) are arranged in a stationary manner within the parking lot (1), in particular in the immediate vicinity of the delivery positions (23, 24, 25, 26). Device according to one of Claims 11 until 13 , characterized in that the identification device (15) comprises an image capturing device which is designed to capture and recognize an official registration number of a vehicle (10), the vehicle attributes and/or service attributes being read from a database depending on the recognized official registration number . Device according to one of Claims 11 until 13 , characterized in that the identification device (15) comprises a communication device which is designed to receive a unique identifier of a vehicle (10) and/or vehicle attributes and/or service attributes by means of a communication connection with the vehicle (10). Parking lot (1), designed to carry out automatic parking processes comprising a device according to one of Claims 11 until 15 . Computer program comprising program code for carrying out the method according to one of Claims 1 until 10 , if the computer program runs on a computer.

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