CN116718174A - Method for positioning a motor vehicle - Google Patents

Abstract

The invention relates to a method for locating a motor vehicle located in a public facility in which a plurality of environmental sensors are spatially distributed. The method includes the following steps: receiving at the public facility side a signal sent by the motor vehicle. the requirement of locating said motor vehicle on the side of a public facility, detecting the motor vehicle on the side of the public facility by means of at least one environmental sensor among a plurality of environmental sensors, and locating the detected motor vehicle on the side of the public facility and within the public facility, to obtain the position of the motor vehicle on the public facility side, obtain positioning data for locating the motor vehicle at the public facility based on the position of the motor vehicle obtained on the public facility side, and transmit the positioning data to the motor vehicle on the public facility side . The invention relates to a corresponding system, a further method for locating a motor vehicle and a further system for locating a motor vehicle, a computer program product and a machine-readable storage medium.

Description

Methods for locating motor vehicles

Technical field

The present invention relates to a method and system, a computer program product and a machine-readable storage medium for locating a motor vehicle located within a public facility.

Background technique

For example, the positioning of a vehicle located in a public facility can be performed on the vehicle side using GPS. In the case of poor GPS reception, for example in enclosed spaces, positioning on the side of the vehicle may be difficult or even impossible.

Contents of the invention

The object on which the present invention is based is to provide a solution for efficient positioning of motor vehicles located in public facilities.

According to a first aspect, a method for locating a motor vehicle located in a public facility is provided, wherein a plurality of environmental sensors are spatially distributed within the public facility, and the method includes the following steps:

receiving on the public facility side a request sent by a motor vehicle to locate the motor vehicle on the public facility side,

detecting the motor vehicle on the utility side by means of at least one environmental sensor of the plurality of environmental sensors,

Locate the detected motor vehicle on the public facility side and within the public facility in order to obtain the position of the motor vehicle on the public facility side,

Deriving positioning data for locating the motor vehicle at the public facility based on the position of the motor vehicle obtained at the public facility, and

Sending positioning data to motor vehicles on the side of public facilities.

According to a second aspect, a system for locating a motor vehicle located in a public facility is provided, the system comprising:

a plurality of environmental sensors spatially distributed within the public facility, the plurality of environmental sensors being respectively configured to detect motor vehicles located within the detection range of the corresponding environmental sensor on the public facility side,

a processing device configured for locating a detected motor vehicle on the utility side and within the utility on the basis of a known position of at least one environmental sensor in order to ascertain the position of the motor vehicle on the utility side,

The processing device is configured to determine positioning data for locating the motor vehicle on the utility side based on a position of the motor vehicle ascertained on the utility side, and

A communication device is provided for transmitting positioning data to a motor vehicle on the side of a public facility.

According to a third aspect, a method for locating a motor vehicle located in a public facility is provided, wherein a plurality of environmental sensors are spatially distributed within the public facility, and the method includes the following steps:

Determine on the vehicle side: Motor vehicles should be located on the utility side,

transmitting on the side of the motor vehicle to the public facility a request to locate the motor vehicle on the side of the public facility, receiving on the side of the motor vehicle positioning data sent by the public facility for locating the motor vehicle, and

The motor vehicle is positioned on the side of the motor vehicle based on the positioning data.

According to a fourth aspect, a system for locating a motor vehicle located in a public facility is provided, the system comprising:

a determining device configured to determine that the motor vehicle should be positioned on the side of the public facility,

a communication device configured for transmitting on the vehicle side to the utility a request to locate the motor vehicle on the utility side and for receiving on the vehicle side positioning data transmitted by the utility for locating the motor vehicle, and

A positioning device is provided for positioning the motor vehicle on the side of the motor vehicle based on positioning data.

According to a fifth aspect, there is provided a computer program product comprising instructions which, when executed by a computer, for example by a system according to the second aspect and/or according to the fourth aspect, cause the computer to implement the computer program product according to the second aspect and/or the fourth aspect. the first aspect and/or a method according to the third aspect.

According to a sixth aspect, there is provided a machine-readable storage medium on which a computer program product according to the fifth aspect is stored.

The invention is based on and includes the recognition that public facilities detect motor vehicles via their own public facility environment sensors and locate the detected motor vehicles. Based on the positioning of the motor vehicle by the public installation, positioning data are determined on the public installation side which are suitable on the motor vehicle side for locating the motor vehicle. This positioning data is sent from the public facility to the vehicle so that the vehicle can position itself based on the data.

Therefore, in particular the following technical advantages are achieved: effective positioning of the motor vehicle can be achieved. This is advantageous in particular if the vehicle itself is unable to perform positioning, for example because the vehicle has no or only poor reception of the satellites of the Global Navigation Satellite System. This can be the case, for example, if the motor vehicle is located in a tunnel, a parking lot or an underground garage.

This is advantageous for positioning the motor vehicle so that the motor vehicle can be guided at least partially automatically. Since in certain situations where vehicle-side positioning should not be possible, it is still possible to position the vehicle using public facilities, it is also possible to guide the motor vehicle at least partially automatically in such situations. This results in particular the technical advantage that even in this case the motor vehicle can be efficiently guided at least partially automatically.

It is provided, for example, to guide motor vehicles within a public facility at least partially automatically, for example on the basis of positioning data.

In one embodiment of the method according to the first aspect, it is provided that a position of the motor vehicle transmitted by the motor vehicle and determined on the vehicle side is received on the public facility side, wherein the on-board position of the motor vehicle is transferred to the public facility side. The position obtained on the motor vehicle side is compared with the position of the motor vehicle obtained on the public facility side, in order to obtain a comparison result, wherein the positioning data is obtained on the public facility side, so that the positioning data includes the comparison result.

This achieves, for example, the following technical advantage: the positioning data can be determined efficiently, so that the motor vehicle can be positioned in an efficient manner on the side of the motor vehicle.

According to an embodiment of the method according to the first aspect, the comparison shows whether the position determined on the vehicle side is correct or incorrect.

This achieves, for example, the following technical advantage: the motor vehicle can be effectively informed whether the position determined on the motor vehicle side is correct or incorrect. In this case, the position of the motor vehicle can be determined again on the vehicle side, for example.

In one embodiment of the method according to the first aspect, it is provided that the positioning data are ascertained on the public installation side, so that the positioning data comprise the position of the motor vehicle ascertained on the public installation side.

This achieves, for example, the technical advantage that the motor vehicle can effectively position itself on the basis of the position determined on the public installation side.

In one embodiment of the method according to the first aspect, it is provided that at least one environmental sensor and/or at least one further environmental sensor of the plurality of environmental sensors and/or a local computing unit of the public installation is used and /Or positioning on the utility side is performed by means of a remote computing unit implemented in a cloud utility.

Thereby, for example, the technical advantage is achieved that positioning on the utility side can be efficiently performed.

In one embodiment of the method according to the first aspect, provision is made that by means of at least one environmental sensor or by means of at least one further environmental sensor of a plurality of environmental sensors and/or by means of a local computing unit of the public installation and/or The aforementioned comparison of the position determined on the vehicle side with the position determined on the utility side is performed on the utility side by means of a remote computing unit implemented in the cloud utility.

Thus, for example, the following technical advantages are achieved: the aforementioned comparison steps can be efficiently performed.

According to one embodiment it is provided that the method steps are performed using a system for locating a motor vehicle located in a public facility, wherein the system and/or parts of the system each have a predetermined safety integrity level, Especially predetermined ASIL or predetermined SIL.

This achieves, for example, the technical advantage that reliable implementation of the method is enabled and ensured.

"Safety" in the sense of this description means in particular "safe" and "secure". Although these two English terms are usually translated as "security," they have partially different meanings in English.

The term "safe" refers particularly to the subject of accidents and accident avoidance. "Safe" therefore means in particular that measures are used to ensure the correct functioning of the system according to the second aspect and to ensure the correct operation of the method according to the first aspect.

The term "secure" refers in particular to the subject of computer protection and hacker protection, that is to say, in particular: how securely a system and its components are protected against unauthorized access by third parties, so-called "hackers" and Data tampering. Therefore, the method and system according to the present description, especially as a basis for performing method steps and system functions, have reasonable and sufficient computer protection and hacker protection.

The abbreviation "ASIL" stands for the English term "Automotive Safety Integrity Level", which can be translated as "Automotive Safety Integrity Level". The "Automotive Safety Integrity Level" is a key component of the ISO 26262 standard. ASIL distinguishes four different ASIL risk levels, which are represented by ASIL-A, ASIL-B, ASIL-C and ASIL-D.

The abbreviation "SIL" stands for the English term "Safety Integrity Level" which can be translated as "Safety Integrity Level". "Safety integrity level" is a key component of the IEC EN 61508 standard. SIL distinguishes four different SIL risk levels, which are represented as SIL-1, SIL-2, SIL-3 and SIL-4.

In one embodiment of the method according to the first aspect, the public facilities include one or more of the following public facility elements: areas next to high-rise buildings, parking lots, tunnels, highway entrances, highway exits, meeting points, This is especially true in areas such as roundabouts, intersections, merges, T-junctions, zebra crossings, construction sites, bridges, underpasses, areas where satellite reception of GNSS satellites is poor and/or not consistently sufficient. It's the area next to high-rise buildings.

This achieves, for example, the technical advantage that motor vehicles in the aforementioned public facility elements can be effectively positioned.

For example, in one embodiment of the method according to the first aspect it is provided that the motor vehicle performs an AVP procedure in a parking lot.

The abbreviation "AVP" stands for "Automated Valet Parking" and can be translated as "Automated Valet Parking Service". The AVP process includes, for example, at least highly automated guidance of the motor vehicle from a delivery location to a parking location and, for example, at least highly automated guidance of the motor vehicle from a parking location to a pickup location. At the delivery location, the driver of the motor vehicle delivers the motor vehicle for the AVP process. At the extraction location, the vehicle is extracted after the AVP process is completed.

Therefore, within the meaning of this description, a motor vehicle may also be called an AVP motor vehicle if it is configured for carrying out an AVP procedure.

For example, it is provided that the AVP process includes AVP processes according to AVP types 1, 2, and/or 3, where AVP type 1 is a vehicle-centered AVP process, and where AVP type 2 is a utility-centered AVP process, Among them, AVP type 3 is the AVP process shared between motor vehicles and public facilities.

Thereby, for example, the following technical advantages are achieved: the AVP process can be efficiently performed.

AVP type 1 represents a vehicle-centric AVP process. The primary responsibility for the AVP process lies with the motor vehicle.

AVP Type 2 represents a utility-centric AVP process. The main responsibility for the AVP process lies with the public facilities, which is the AVP system.

AVP type 3 represents the vehicle-to-utility shared AVP process. Here, primary responsibility for the AVP process is shared between the vehicle and the AVP system.

The AVP process includes the following processes or functions:

1. Determine the target location for the motor vehicle in the parking lot.

2. Plan a route from the starting location included in the parking lot to the target location.

3. Detect objects and/or events and respond accordingly to detected objects and/or detected events.

4. Locate motor vehicles in parking lots.

5. Calculate the desired trajectory for the motor vehicle based on the planned route.

6. Control the lateral and longitudinal guidance of the motor vehicle based on the calculated desired trajectory.

The following table indicates the distribution of which of said processes or functions are performed depending on the AVP type of the motor vehicle or the AVP type of the utility-side AVP system (which may for example comprise a system according to the second aspect), wherein " I" stands for "public facility", i.e. the AVP system, and "K" stands for "motor vehicle", so "I" stands for the execution of the process by the AVP system, and "K" stands for the execution of the process by the motor vehicle:

Therefore, in the above table it is stated specifically for each AVP type for each function whether the function is via the utility, ie via the utility-side AVP system, or via the motor vehicle, ie via the motor vehicle-side AVP system, for example. to execute. In some cases it can be provided that the function is performed both by the utility-side AVP system and by the motor vehicle, ie by the vehicle-side AVP system.

In terms of object and event detection for AVP type 1, it can optionally be provided that AVP systems attached to motor vehicles and public facilities also implement the described functions.

AVP types 1, 2 and 3 described here are described in more detail in ISO 23374.

The expression "guiding at least partially automatically" includes one or more of the following: auxiliary guidance, partially automated guidance, highly automated guidance, fully automated guidance. Therefore, the expression "at least partially automated" includes one or more of the following expressions: auxiliary, partially automated, highly automated, fully automated.

“Supplementary guidance” means that the driver of the motor vehicle continuously guides the motor vehicle either transversely or longitudinally. The corresponding further driving task (ie control of the longitudinal or transverse guidance of the motor vehicle) is automatically performed. This means that either the transverse guidance or the longitudinal guidance is automatically controlled when the motor vehicle is guided auxiliarily.

"Guiding in a partially automated manner" means that under certain circumstances (e.g. driving on the motorway, driving in a parking lot, passing objects, driving in a lane defined by lane markings) and/or within a certain period of time Automatically controls the longitudinal and lateral guidance of the motor vehicle. The driver of the motor vehicle himself does not have to manually control the longitudinal and transverse guidance of the motor vehicle. However, the driver must constantly monitor the automatic control of longitudinal and lateral guidance in order to be able to intervene manually if required. The driver must be ready to take over full control of the vehicle at all times.

"Guidance with a high degree of automation" means that under certain circumstances (e.g. driving on the motorway, driving in a parking lot, overtaking objects, driving in a lane determined by lane markings), the vehicle is automatically guided for a certain period of time. to control the longitudinal and lateral guidance of the motor vehicle. The driver of the motor vehicle himself does not have to manually control the longitudinal and transverse guidance of the motor vehicle. The driver does not have to constantly monitor the automatic control of longitudinal and lateral guidance in order to be able to intervene manually if required. When necessary, a takeover request is automatically issued to the driver to take over control of the longitudinal and transverse guidance, in particular with a sufficient time reserve. The driver must therefore potentially be able to take over control of longitudinal and lateral guidance. Automatically identify boundaries for automatic control of lateral and vertical guidance. In a highly automated boot it is not possible to automatically induce the least risky state in every initial situation.

"Guidance in a fully automated manner" means automatically controlling the longitudinal direction of the vehicle in certain situations (e.g. driving on the motorway, driving in a parking lot, passing objects, driving in a lane defined by lane markings) and lateral guidance. The driver of the motor vehicle himself does not have to manually control the longitudinal and transverse guidance of the motor vehicle. The driver does not have to monitor the automatic control of longitudinal and lateral guidance in order to be able to intervene manually if required. Before terminating the automatic control of the transverse and longitudinal guidance, the driver is automatically required to take over the driving task (control of the transverse and longitudinal guidance of the motor vehicle), in particular with a sufficient time reserve. As long as the driver does not take over the driving task, it automatically returns to the least risky state. Automatically identify boundaries for automatic control of lateral and vertical guidance. Automatically returns to the least risky system state in all situations.

In one embodiment of the method according to the first aspect, it is provided that the vehicle is positioned on the utility side based on a known position of at least one environmental sensor.

This achieves, for example, the following technical advantage: the motor vehicle can be effectively positioned on the public side.

Environmental sensors for public facilities may also be called public facility environment sensors.

An environmental sensor in the sense of this description is, for example, one of the following environmental sensors: a radar sensor, an image sensor, in particular an image sensor of a camera, an ultrasonic sensor, a lidar sensor, a magnetic field sensor and an infrared sensor.

The expression "at least one" means "one or more".

In an embodiment of the method according to the first aspect it is provided that the method is carried out by a system according to the second aspect.

For example, a system according to the second aspect is provided for carrying out a method according to the first aspect.

It is provided, for example, that the method according to the third aspect is implemented by means of a system according to the fourth aspect.

For example, a system according to the fourth aspect is arranged for carrying out a method according to the third aspect.

The technical functionality of the method according to the first aspect and/or the system according to the second aspect follows analogously from the corresponding technical functionality of the method according to the third aspect and/or the system according to the fourth aspect, and vice versa.

In general, method characteristics are derived from corresponding system characteristics and vice versa.

The method according to the first aspect and/or the third aspect is, for example, a computer-implemented method respectively.

Positioning data according to the method according to the first aspect is, for example, positioning data according to the method according to the third aspect and/or the system according to the fourth aspect.

For example, in the method according to the third aspect, it is provided that when it is determined on the motor vehicle side that vehicle positioning using a global navigation satellite system is no longer sufficient for at least partially automated driving functions, it is determined that a public location should be used. Position the vehicle on the facility side.

The embodiments and examples described here can be combined with each other in any way, even if this is not explicitly mentioned.

In one embodiment of the method according to the first aspect, it is provided that the positioning data is sent to the motor vehicle on the utility side as a heartbeat message.

In one embodiment of the method according to the third aspect, it is provided that the positioning data are received on the vehicle side as heartbeat messages.

This achieves, for example, the technical advantage that positioning data can be transmitted efficiently. Heartbeat messages are expected by the receiver at predefined intervals. If the expected heartbeat message is accordingly not received, it is assumed that the receiver is faulty, for example in the communication link between the current utility and the motor vehicle (the receiver is currently the motor vehicle). For example, a breakdown may occur in a public facility. This failure may result in the motor vehicle being no longer informed that "the positioning is no longer available via public facilities". However, since heartbeat messages can no longer be sent in this case, the motor vehicle therefore learns from this non-receipt that positioning via public facilities is no longer available, so that the motor vehicle can plan its further operations accordingly. Actions, such as an emergency stop, can be performed.

Description of the drawings

The invention is explained in detail below with the aid of preferred embodiments. Shown here:

Figure 1 is a flow chart of a method according to the first aspect,

Figure 2 A system according to the second aspect,

Figure 3 is a flowchart of a method according to the third aspect,

Figure 4 According to the system of the fourth aspect,

Figure 5 A machine-readable storage medium according to the sixth aspect,

Figure 6 Motor vehicles in the parking building, and

Figure 7 Motor vehicles in the tunnel.

In the following, the same reference signs are used for the same features.

Detailed ways

Figure 1 shows a flow chart of a method for locating a motor vehicle located in a public facility, wherein a plurality of environmental sensors are spatially distributed within the public facility. The method includes the following steps:

Receive 101 a request sent by a motor vehicle on the public facility side to locate the motor vehicle on the public facility side,

detecting 103 the motor vehicle on the utility side by means of at least one environmental sensor among a plurality of environmental sensors,

Position the detected motor vehicle 105 on the public facility side and in the public facility, so as to obtain the position of the motor vehicle on the public facility side,

Positioning data for locating the motor vehicle is obtained 107 at the public facility based on the position of the motor vehicle obtained at the public facility, and

Send 109 positioning data to motor vehicles on the side of public facilities.

Figure 2 shows a system 201 for locating a motor vehicle located in a public facility. The system includes:

a plurality of environmental sensors 203 spatially distributed within the public facility, the plurality of environmental sensors being respectively configured to detect motor vehicles located within the detection range of the corresponding environmental sensor 203 on the public facility side,

processing device 205 , said processing device being configured for locating the detected motor vehicle on the public facility side and within the public facility based on the known position of the at least one environmental sensor 203 in order to determine the position of the motor vehicle on the public facility side,

The processing device 205 is configured to determine positioning data for locating the motor vehicle on the public facility side based on the position of the motor vehicle ascertained on the public facility side, and

Communication device 207, said communication device being arranged for transmitting positioning data to the motor vehicle on the side of the public facility.

Figure 3 shows a flow chart of a method for locating a motor vehicle located in a public facility, wherein a plurality of environmental sensors are spatially distributed in the public facility. The method includes the following steps:

Determine on the motor vehicle side 301: The motor vehicle should be located on the public facility side,

Send 303 on the side of the motor vehicle to the public facility to locate the motor vehicle on the side of the public facility,

receiving 305 positioning data sent by the utility for locating the motor vehicle on the side of the motor vehicle, and

Locate 307 motor vehicles on the side of the motor vehicle based on the positioning data.

Figure 4 shows a system 401 for locating a motor vehicle located in a public facility. The system includes:

Determining device 403, the determining device is configured to determine that the motor vehicle should be positioned on the public facility side,

Communication device 405 , said communication device being configured for transmitting on the vehicle side to the public facility a request to locate the motor vehicle on the public facility side and for receiving on the motor vehicle side a positioning request sent by the public facility for locating the motor vehicle. data, and

Positioning device 407, said positioning device being configured to position the motor vehicle on the side of the motor vehicle based on positioning data.

“Sending” and “receiving” within the meaning of this description include, for example, sending and receiving via a communication network, such as a mobile radio network and/or a WLAN communication network.

Figure 5 shows a machine-readable storage medium 501 on which a computer program product 503 is stored. The computer program product 503 includes instructions which, when executed by a computer, cause the computer to execute the method according to the first and/or third aspect.

Figure 6 shows a parking building, which should be symbolically represented by the roof with reference numeral 603. A motor vehicle is driven in the parking building 601 and has a video camera 607 including an image sensor not shown. Since the vehicle 605 is located inside the parking building 601 , ie under the roof 603 , positioning on the vehicle side is difficult or even impossible using global navigation satellite systems. Therefore it is set, determined on the vehicle side: the vehicle should be positioned on the utility side. In response to this determination, a corresponding request is sent to the utility on the vehicle side.

The public facility, here the parking building 601 , includes a plurality of environmental sensors, of which only a video camera 609 is shown including an image sensor that is not shown for the sake of clarity. The video camera 609 detects the motor vehicle 605 . In response to the detection, the motor vehicle is located 605 on the utility side. For this purpose, for example, a known position of the video camera 609 is used. This known position is indicated by the reference number 611 by a quadrilateral with an "X". After positioning via public facilities, corresponding positioning data are determined and sent to the motor vehicle.

Figure 7 shows a tunnel 701 with a motor vehicle 605 located within the tunnel 701. In this case, it is often not possible or sufficient to receive satellite signals of a global satellite navigation system for positioning purposes on the side of the motor vehicle. Therefore, motor vehicle 605 requires location via public facilities. Similar to the parking building 601 , there are a plurality of environmental sensors within the tunnel 701 , of which only the video camera 703 with an image sensor not shown is shown for the sake of clarity. Similar to Figure 6, the known location of video camera 703 is indicated by reference numeral 705 by a quadrilateral with an "X". The utility locates the motor vehicle 605 using the known position 705 of the video camera 703 and determines corresponding positioning data and sends the positioning data to the motor vehicle 605 so that the motor vehicle can be located based on the positioning data.

Claims (13)

1. A method for locating a motor vehicle (605) located in a public facility (601, 701), wherein a plurality of environmental sensors (609, 609, 703), the method includes the following steps: receiving (101) a request sent by the motor vehicle (605) on the public facility side to locate the motor vehicle (605) on the public facility side, detecting (103) the motor vehicle (605) on the utility side by means of at least one environmental sensor (609, 703) of the plurality of environmental sensors (609, 703), Positioning (105) the detected motor vehicle (605) within said public facility (601, 701) on the public facility side in order to determine the position of said motor vehicle (605) on the public facility side, Positioning data for locating the motor vehicle (605) are determined (107) on the utility side based on the position of the motor vehicle (605) ascertained on the utility side, and The positioning data is sent (109) to the motor vehicle (605) on the side of the utility. 2. The method according to claim 1, wherein a position of the motor vehicle (605) transmitted by the motor vehicle (605) and determined on the vehicle side is received on the public utility side, wherein the position of the motor vehicle (605) is received on the public utility side. The facility side compares the position of the motor vehicle (605) ascertained on the motor vehicle side with the position of the motor vehicle (605) ascertained on the public facility side in order to obtain a comparison result, wherein at the public facility The positioning data is obtained on the side, so that the positioning data includes the comparison result. 3. Method according to claim 1 or 2, wherein the comparison result indicates whether the position determined on the motor vehicle side is correct or incorrect. 4. Method according to any one of the preceding claims, wherein the positioning data are determined on the utility side such that the positioning data comprise a utility-side determined position of the motor vehicle (605) . 5. Method according to any one of the preceding claims, wherein by means of the at least one environmental sensor (609, 703) and/or by means of at least one of the plurality of environmental sensors (609, 703) Positioning on the utility side is performed by additional environmental sensors (609, 703) and/or by means of local computing units of said utility (601, 701) and/or by means of remote computing units implemented in a cloud utility. . 6. The method according to any one of the preceding claims, wherein said method steps are performed using a system for locating a motor vehicle (605) located within a public facility (601, 701), wherein The system and/or parts of the system each have a predetermined safety integrity level, in particular a predetermined ASIL or a predetermined SIL. 7. Method according to any one of the preceding claims, wherein said public facilities (601, 701) comprise one or more of the following public service elements: parking buildings, tunnels, motorway entrances, motorway exits , meeting points, especially roundabouts, intersections, merges, T-junctions, zebra crossings, construction sites, bridges, underpasses, satellite reception of GNSS satellites is poor and/or not consistently adequate areas, especially areas next to high-rise buildings. 8. The method according to any one of the preceding claims, wherein the detection of the motor vehicle (605) in a public facility is performed based on a known position (611, 705) of the at least one environmental sensor (609, 703). side positioning. 9. A system (201) for locating a motor vehicle (605) located within a public facility (601, 701), said system comprising: A plurality of environmental sensors (203) spatially distributed within the public facility (601, 701), the plurality of environmental sensors are respectively configured to detect detection of the corresponding environmental sensor (203) on the public facility side. Motor vehicles in range (605), Processing means (205) arranged for locating detected data on the side of a utility, within said utility (601, 701) based on a known position (611, 705) of at least one environmental sensor (203) of the motor vehicle (605) in order to obtain the position of the motor vehicle (605) on the side of the public facility, The processing device (205) is configured to determine, on the public facility side, positioning data for positioning the motor vehicle (605) on the basis of a position of the motor vehicle (605) determined on the public facility side. ,and A communication device (207) is provided for transmitting the positioning data to the motor vehicle (605) on the utility side. 10. A method for locating a motor vehicle (605) located in a public facility (601, 701), wherein a plurality of environmental sensors (609, 609, 703), the method includes the following steps: Determination on the vehicle side (301): The motor vehicle (605) should be located on the utility side, A request is sent (303) on the vehicle side to the public facility (601, 701) to locate the motor vehicle (605) on the public facility side, Receive (305) positioning data sent by the utility (601, 701) for locating the motor vehicle (605) on the vehicle side, and The motor vehicle is positioned (307) on the vehicle side (605) based on the positioning data. 11. A system (401) for locating a motor vehicle (605) located within a public facility (601, 701), said system comprising: Determining means (403) configured to determine that the motor vehicle (605) should be positioned on the side of a public facility, A communication device (405) configured to transmit a request on the vehicle side to the public facility (601, 701) to locate the motor vehicle (605) on the public facility side and for locating the motor vehicle (605) on the vehicle side. receiving positioning data sent by the utility (601, 701) for locating the motor vehicle (605), and A positioning device (407) is provided for positioning the motor vehicle on the vehicle side based on the positioning data (605). 12. A computer program product (503) comprising instructions which, when executed by a computer, cause the computer to perform the method according to any one of claims 1 to 10 . 13. A machine-readable storage medium (501) on which the computer program product (503) according to claim 12 is stored.