DE102009057647B4 - Method and device for operating a motor vehicle and system for arranging parking positions of at least two motor vehicles - Google Patents

Abstract

Method for operating a motor vehicle with an interface that is designed for communication with another motor vehicle, and with a unit that is designed for autonomous maneuvering of the motor vehicle, in which, in response to receiving data and / or a maneuvering request in connection with a request to park or leave a parking space by the other motor vehicle or another motor vehicle via the interface, depending on the data and/or the maneuvering request, a maneuver is carried out by means of the unit and in which, after the interface has received an energy transmission request from the other motor vehicle, an inductive energy transmission to the another motor vehicle is carried out.

Description

The invention relates to a method and a device for operating a motor vehicle and a system for arranging parking positions of at least two motor vehicles.

Motor vehicles are increasingly being equipped with so-called assistants, which can be a parking assistant, for example. As the number of motor vehicles increases, it is a challenge, especially in conurbations, to provide sufficient parking facilities and, on the other hand, to keep parking space as scarce as possible by using it as efficiently as possible. It turns out that parking facilities along the respective street are used very inefficiently, especially in conurbations. This is mainly due to the fact that motor vehicles park at different times and large empty spaces are therefore difficult to avoid. In this way, valuable parking space is not used efficiently.

From the U.S. 2007/0282489 A1 a cooperative parking system is known. Vehicles are parked on a street, and all vehicles including a parking vehicle have a cooperative parking system installed. The respective vehicles have a transmitter that emits a parking signal to surrounding vehicles. The parking signal signals that a vehicle is nearby and intends to obtain sufficient space to park in a parking lot. A receiver is also part of the cooperative parking system. The respective neighboring vehicles respond to the parking signal by activating position sensors. If it is recognized that the vehicles can move together without collision so as to make space for parking the vehicle about to be parked, the respective vehicles start their drives and move forward or backward to make a suitable space for parking the vehicle about to be parked.

From the DE 20 2009 000 259 U1 an arrangement for charging a power storage device of electrically operated road vehicles is known. The vehicles have sensors for detecting the surroundings to determine their own position. They also have sensors for autonomous vehicle navigation, which allow the vehicle to drive autonomously, as well as sensors for measuring distance and free space, which are used to avoid collisions.

The vehicles also have a charging system for charging the respective on-board storage system. The charging system is functionally connected to charging contacts that are shaped in such a way that they can be functionally connected to at least one charging point of a charging station at a charging location. The charging contact between the charging station and the vehicle can be galvanic or inductive. In dialogue with the vehicle's charging assistance system, a driver can determine the desired transfer time for optimized charging. This request is communicated to the loading board system by the loading assistance system of the vehicle loading system.

In a handover area, the driver confirms the offer and thus selects the autonomous mode. The charging location system sends instructions from the master controller for autonomous driving to the assigned charging station and the necessary navigation data to the vehicle.

The vehicle is automatically made available for the driver to take over by autonomously moving up the vehicles in a transfer line or loop in a transfer area with a distance between the vehicles that makes it easier for the driver to bypass, get in, load and ultimately manually pull out of the vehicle. The gap that becomes free is closed again by the vehicles still waiting by moving up autonomously at this distance.

The object on which the invention is based is to provide a method and a device for operating a motor vehicle which contributes to the effective use of parking space.

According to a further aspect, the object on which the invention is based is to create a system for arranging parking positions of at least two motor vehicles, which contributes to the effective use of parking space.

The object is solved by the features of the independent patent claims. Advantageous configurations are characterized in the dependent claims.

According to a first aspect, the invention is characterized by a method and a device for operating a motor vehicle with an interface that is designed for communication with another motor vehicle, and with a unit that is designed for autonomous maneuvering of the motor vehicle. The motor vehicle is, for example, a parked motor vehicle and the other motor vehicle is, for example, a motor vehicle that is ready to leave or park. In response to receiving data and/or a maneuvering request in connection with a parking or parking space request of the other motor vehicle or yet another motor vehicle via the interface, depending on the data and/or the maneuvering request Shunting maneuvers performed by the unit with the motor vehicle.

In this way, an effective contribution is made to parking space optimization, in particular in the sense of cooperative parking space optimization. The motor vehicles can thus park at a very small distance from one another. Further, for example, a roadside power supply device can also be used efficiently. Thus, if there is a need, the power supply device can be used by the respective motor vehicle and otherwise the space can be released again for a next motor vehicle that has a corresponding need to use the power supply device. In addition, it is possible in this way to park in the second row, if necessary, and thus to use the available space even more effectively.

According to the first aspect, after the interface has received an energy transmission request from the further motor vehicle according to the first aspect, an inductive energy transmission to the further motor vehicle is carried out. For example, the energy store of the motor vehicle can be used for the other motor vehicle and energy can thus be transferred from the motor vehicle to the other motor vehicle, which can be advantageous for high availability, particularly in connection with motor vehicles that include an electric motor drive. In addition, a contribution can also be made in this way that the respective energy stores of the respective motor vehicles are used efficiently via different motor vehicles.

In addition, even if the other motor vehicle cannot be positioned at a roadside energy supply device, in the sense that direct energy transmission to the motor vehicle is possible there, the energy required for the other motor vehicle, in particular electrical energy, can be supplied indirectly via the inductive energy transfer are transmitted.

According to a second aspect of the invention, a system for arranging parking positions of at least two motor vehicles is provided, each having a device according to the first and/or a third aspect. In the interaction of the various motor vehicles, a cooperative parking space optimization can thus take place and motor vehicles can be parked in a simple manner at a small distance from one another and also efficiently use energy supply devices on the side of the road.

According to a third aspect, a method and a corresponding device for operating a motor vehicle are provided with an interface that is designed for communication with another motor vehicle. The motor vehicle preferably also has a unit that is designed for autonomous maneuvering of the motor vehicle. The motor vehicle can be, for example, a motor vehicle that is about to park or leave a parking space, and the other motor vehicle can be, for example, a parked motor vehicle.

Data and/or a maneuvering request in connection with a request to park or leave a parking space by the motor vehicle or another motor vehicle can be output via the interface to the further motor vehicle if the request to park or leave a parking space is present. By outputting the data and/or shunting request, a contribution is made to the fact that a shunting maneuver can be carried out in another motor vehicle using the unit that is designed for autonomous shunting, and so the free space between the motor vehicles and the motor vehicles can be kept very small can park at a small distance from each other.

According to an advantageous embodiment of the first aspect, in response to receiving data and/or the maneuvering request in connection with the parking or parking space request of the further motor vehicle or of the still further motor vehicle via the interface, depending on the data and/or the maneuvering request, Outputting data and/or the maneuvering request via the interface to yet another motor vehicle. In this way, the yet another motor vehicle can then carry out a corresponding maneuver, but also, if necessary, additionally or alternatively issue a maneuvering request to a next motor vehicle and thus cause any chain of motor vehicles to perform maneuvers. In this way, parking space can be created very effectively or the free space required for the maneuver to leave a parking space can then also be made available.

According to a further advantageous refinement, after the shunting maneuver has been carried out, shunting feedback is output via the interface. This maneuvering feedback can include, for example, that the maneuvering request has been carried out and/or a predetermined space has been created and/or parking and/or parking has been carried out. This can then be evaluated again in the respective motor vehicle to which the maneuvering feedback is addressed and, for example, for the through lead a shunting maneuver can also be used.

According to an advantageous refinement of the second aspect, the system is designed to successively output the maneuvering request from a starting motor vehicle to adjacent motor vehicles and then to carry out maneuvering in the reverse order compared to the successive output of the maneuvering requests. In this way, the free space required for the maneuver required in each case for parking or leaving a parking space can be provided in a particularly efficient manner.

According to a further advantageous refinement of the second aspect, the system is designed to successively output maneuvering requests from the one starting motor vehicle to adjacent motor vehicles and to carry out maneuvering maneuvers in the same order as compared to the successive output of the maneuvering requests. In this way, an intermediate space between motor vehicles can be suitably adjusted again after a parking and/or parking maneuver.

• 1 Ablaufdiagramme von Programmen, die in einem einparkwilligen Kraftfahrzeug und einem parkenden Kraftfahrzeug abgearbeitet werden,
• 2A bis 2D eine erste Beispielsituation für einen Einparkvorgang,
• 3 weitere Ablaufdiagramme, die in einem ausparkwilligen und einem parkenden Kraftfahrzeug ausgeführt werden,
• 4A bis 4C eine weitere Beispielsituation für einen Ausparkvorgang und
• 5A bis 5D eine weitere Beispielsituation für ein wirkungsvolles Benutzen einer Energieversorgungsvorrichtung.

Exemplary embodiments of the invention are explained in more detail below with reference to the schematic drawings. Show it:

• 1 Flowcharts of programs that are processed in a motor vehicle that is ready to be parked and a parked motor vehicle,
• 2A until 2D a first example situation for a parking maneuver,
• 3 further flowcharts that are executed in a motor vehicle that is ready to leave a parking space and in a parked vehicle,
• 4A until 4C another example situation for a parking maneuver and
• 5A until 5D another example situation for an efficient use of a power supply device.

A motor vehicle FA ready to be parked has an operating device, which can also be referred to as a device for operating the motor vehicle, which has, for example, a computing unit and also a data and/or program memory, programs being stored in the program memory which are in the computing unit during of the company are processed. The same also applies to a parked motor vehicle FB and possibly also a motor vehicle FA ready to leave a parking space and possibly also other motor vehicles.

A first program with steps S1, S11 and S13, which is processed during operation, is stored in the operating device of the motor vehicle FA ready to be parked. A second program is stored in the program memory in the parked motor vehicle FB with the steps S3, S5, S7, S9, S15, S17 and S19.

The motor vehicle FA ready to be parked has sensors by means of which a narrow but sufficient parking space can be detected. The motor vehicle FA that is ready to be parked has an interface that is designed for communication with another motor vehicle, which is the parked motor vehicle FB, for example. If a sufficient parking space is detected by the sensor system, then data and/or a maneuvering request in connection with the parking request of the motor vehicle FA ready to be parked are output via the interface to the parked motor vehicle FB.

In a step S3, the respective parking request of the motor vehicle FA ready to be parked is then received via an interface of the parked motor vehicle FB, with data and/or a maneuvering request in connection with the parking request of the motor vehicle FA ready to be parked being received in this connection. The total available space is determined in response to the received data and/or the shunting request.

In step S5, it is checked whether the total available space last determined in step S3 is sufficient. If this is not the case, data and/or the maneuvering request are output via the interface of the parked motor vehicle FB to another parked motor vehicle FC in a step S7.

The processing is then continued again in step S3 when corresponding feedback has arrived from the other parked motor vehicle FC and this is then taken into account when determining the total available space in step S3.

If it is determined in step S5 that the previous space is not sufficient and communication with another motor vehicle is also not possible, feedback is preferably given to the motor vehicle FA that is ready to park that the space available may not be sufficient for the parking process.

If, on the other hand, it is determined in step S5 that the previous space is sufficient, processing continues in step S9. In step S9, a sequential maneuvering of the parked motor vehicles is then preferably carried out in order for the To create the required parking space for the parking process of the motor vehicle FA that is ready to be parked, corresponding maneuvering maneuvers are then carried out in the respective parked motor vehicle FB and possibly other parked motor vehicles FC, and a shunting feedback is then preferably transmitted back from the respective motor vehicle via its interface. In this case, the sequential shunting can also be referred to as a successive implementation of the shunting manoeuvre.

If, in step S11, a message is received from the parked motor vehicle FB via the interface of the motor vehicle FA that is ready to park, that the space is sufficient to carry out the parking process, then the motor vehicle FA that is ready to park carries out the parking process in step S13. This can preferably be done by means of corresponding maneuvers, which are carried out with the unit that is designed for autonomous maneuvering of the motor vehicle FA that is ready to be parked, or also be carried out by the driver of the motor vehicle FA that is ready to be parked.

Alternatively, in step S13, the motor vehicle FA that is ready to be parked does not carry out the parking process. In any case, via the interface of the motor vehicle FA ready to be parked, communication takes place with the parked motor vehicle FB via its interface and in this context a message is sent as to whether the motor vehicle FA ready to be parked has parked or not, which is then in the parked motor vehicle FB in a Step S15 is received.

If the message is received in step S15 that the motor vehicle FA that is ready to be parked has parked, step S17 is used to sequentially, i.e. in particular successively, reverse maneuvering, with neighboring motor vehicles being informed in this context when the respective maneuvering maneuver has been completed and in a In step S19, a corresponding notification of the respective adjacently positioned motor vehicle takes place for unlocking, ie also for carrying out a corresponding maneuver suitable for this purpose.

In the 2A until 2 B Such a parking process is shown for a system consisting of motor vehicle FA that is ready to be parked and motor vehicles F1, F2, F4, F5, F6 and F7, with motor vehicles F2 and F4 each representing parked motor vehicles FB that are directly adjacent to the desired parking position of motor vehicle FA that is ready to be parked and motor vehicles F1, F5, F6 and F7 represent motor vehicles, which then represent other parked motor vehicles FC. In 2A the communication of the motor vehicle FA that is ready to be parked is shown in step S1. In the 2 B The figure shows the communication from the parked motor vehicle FB to the motor vehicle FA that is ready to park after steps S3, S5, S7 have been carried out in step S9 as to whether the space required for the parking process is sufficient. In the 2C the situation is shown when the parking process of the motor vehicle FA ready to be parked is completed and communication between the motor vehicle FA ready to be parked and the parked and other parked motor vehicles FB and FC takes place again, which then causes steps S17 and S19 to be carried out. 2D shows the situation when all shunting processes have been completed.

Based on the flow charts 3 a second program and a third program are explained in more detail. The second program is stored in the program memory of a motor vehicle FD ready to park and is processed during its operation, while the fourth program is stored in a program memory of the parked motor vehicle FB and is processed during its operation.

The carrying out of the parking space is carried out essentially in an analogous manner to the carrying out of the parking, which is based on the flow charts 1 was explained in more detail. The third program includes steps S23, S32 and S35.

The fourth program includes steps S25, S27, S29, S31, S33, S37 and S39. In principle, each of the motor vehicles can preferably assume the role of a motor vehicle FB ready to park, a motor vehicle FD ready to exit, the parked motor vehicle FB and also the other parked motor vehicle FC and thus preferably has both the interface for communication with another motor vehicle and also preferably a unit which is designed for autonomous maneuvering of the motor vehicle.

Together, several motor vehicles form a system for arranging parking positions of the motor vehicles. Their interaction can then be used in the context of cooperative parking space optimization.

In a step S23, the motor vehicle FD that is ready to leave the parking space communicates via the interface with, in particular, the parked motor vehicle FB, that the motor vehicle FD that is ready to leave the parking space wants to leave the parking space.

In a step S25, the parked motor vehicle FB receives the request to leave the parking space and checks the space to the front and rear to expand the possible parking space area for the driver who wants to leave the parking space vehicle FB. In step S27, it is checked whether the previous space is sufficient for the vehicle FD ready to leave the parking space. If this is not the case, communication takes place via the interface of the parked motor vehicle FB with another motor vehicle FC Motor vehicle FC are transmitted, to the other parked motor vehicle FC checks whether there is appropriate space to move to free up sufficient space for the parking maneuver of the motor vehicle FA and if necessary successively passes this on to other motor vehicles and ultimately then reports back to the parked motor vehicle FB .

If it is determined in step S27 that the previous space is not sufficient, but no further free space can be created because, for example, the other parked motor vehicle FC can no longer carry out any further maneuvering, the motor vehicle willing to leave the parking space is notified by means of step S31, that there is not enough space to park. This message is then received in a step S32 and ultimately means that the parking maneuver cannot be carried out initially and, if necessary, the program is then continued again in a step S23 after a predetermined period of time.

If, on the other hand, it is determined in step S27 that the space previously determined is sufficient for the motor vehicle FA ready to leave the parking space for the motor vehicle FA to exit, then in step S33 the motor vehicles are maneuvered sequentially, i.e. in particular successively, in order to create the required space for the desired one Parking process of the motor vehicle FA willing to park. If it is determined in the parked motor vehicle FB or overall that the required space has been created, the interface of the parked motor vehicle FB is used in step S31 to notify the motor vehicle FD that is ready to leave the parking space that there is enough space for the parking maneuver.

If the motor vehicle FD ready to leave the parking space receives this message in step S32, the motor vehicle FD ready to leave the parking space carries out the parking space maneuver, preferably using the unit that is designed to maneuver the motor vehicle autonomously. However, it is also possible for the driver of the motor vehicle FD that is about to leave the parking space to control parking. This then takes place in step S35 and following the exit from the parking space, a notification is sent via the interface of the vehicle FD ready to exit the parking space that the exit from the parking space has been completed, which is transmitted to the interface of the parked vehicle FB via the interface of the vehicle FD ready to exit.

If the notification was received in step S37 that the motor vehicle FD ready to leave the parking space has been completed, then in step S39 a sequential, i.e. in particular successive, reversal of the parked motor vehicle FB and, if applicable, the other parked motor vehicle FC and the other parked motor vehicles involved carried out in order to create better space conditions or to close gaps.

Based on 4A until 4C is the analogous procedure for the parking process analogous to the parking process according to the 2A until 2D shown.

Based on 5A until 5D a parking process of a motor vehicle FA ready to be parked is explained in more detail, in which context the parking process takes place with the aim of assuming a stationary position, which can carry out inductive energy transmission from an energy supply device BA, which can be an energizing device.

It is also possible for the parking process to take place with the aim that in the desired stationary position the energy is supplied indirectly from the energy supply device BA to the motor vehicle FA that is ready to be parked, for example via other motor vehicles. In this case, the energy can also be transmitted inductively between the motor vehicles.

In 5A It is shown that data and/or a maneuvering request in connection with the parking request of the motor vehicle FA that is ready to be parked is initially transmitted via the interface of the motor vehicle FA that is ready to be parked to the motor vehicle F2, which is a parked motor vehicle FB. The transmission takes place with regard to the fact that the motor vehicle F2 is in a stationary position adjacent to the energy supply device BA, which intends to use the motor vehicle FA ready to be parked to receive energy, in particular electrical energy.

The following steps ultimately correspond to those in connection with the parking process, as illustrated in the flow charts 1 is explained and thus ultimately corresponds to the further procedure that has already been based on the 2A until 2D was explained. So takes place in the state in which 5B then feedback from the motor vehicle F2 to the motor vehicle FA that is ready to park that the space is sufficient for parking. The consequence of this is that the motor vehicle FA that is ready to be parked is parked (see 5C ) and this can then take a standing position adjacent to the energy supply device BA (see 5D ). In this way, it can absorb energy from the energy supply device, in particular via an inductive coupling.

Claims (8)

Method for operating a motor vehicle with an interface that is designed for communication with another motor vehicle, and with a unit that is designed for autonomous maneuvering of the motor vehicle, in which, in response to receiving data and / or a maneuvering request in connection with a request to park or leave a parking space by the other motor vehicle or another motor vehicle via the interface, depending on the data and/or the maneuvering request, a maneuver is carried out by means of the unit and in which, after the interface has received an energy transmission request from the other motor vehicle, an inductive energy transmission to the another motor vehicle is carried out. procedure after claim 1 , in which, in response to receiving data and/or the maneuvering request in connection with the parking or parking space request of the other motor vehicle or of the yet another motor vehicle via the interface depending on the data and/or the maneuvering request, data and/or the maneuvering request be output via the interface to yet another motor vehicle. Procedure according to one of Claims 1 until 2 , in which a shunting feedback is output via the interface after the shunting maneuver has been carried out. Device for operating a motor vehicle with an interface that is designed for communication with another motor vehicle, and with a unit that is designed for autonomous maneuvering of the motor vehicle, the device being designed to react to receiving data and/or a maneuvering request in connection with a parking or parking space request of the other motor vehicle or yet another motor vehicle via the interface depending on the data and / or the maneuvering request to perform a maneuver by means of the unit and the device is designed so that after interface-side reception an energy transmission request of the other motor vehicle, an inductive energy transmission to the other motor vehicle is carried out. System for arranging stand positions of at least two motor vehicles, each with a device claim 4 . system after claim 5 , in which the respective motor vehicles each have a device for operating the motor vehicle with an interface that is designed for communication with another motor vehicle, the device being designed for data and/or a maneuvering request in connection with a parking or parking space request of the motor vehicle or of another motor vehicle if the parking or parking space request is present via the interface to the other motor vehicle. system after claim 5 or 6 , which is designed to successively issue maneuvering requests from a starting motor vehicle to neighboring motor vehicles and then to carry out maneuvering maneuvers in the reverse order compared to the successive issue of the maneuvering requests. system according to one of the Claims 5 until 7 , which is designed to successively output maneuvering requests from a starting motor vehicle to adjacent motor vehicles and to carry out maneuvering maneuvers in the same order as compared to the successive output of the maneuvering requests.

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