DE102015215127A1 - Automatic positioning of a motor vehicle - Google Patents

Abstract

A light signal (111) is transmitted between a first light source (101) and a photodetector (103), and a second light signal (112) is transmitted between a second light source (102) and the photodetector (103). Positional data indicative of positioning a motor vehicle (120) relative to a target (130) is determined. The motor vehicle (120) is controlled to approach the target (130). Such techniques may e.g. be used for an automatic parking system.

Description

TECHNICAL AREA

Various embodiments relate to a method of controlling a motor vehicle to approach a destination. In particular, various embodiments relate to techniques in which a first light signal is transmitted between a first light source and a photodetector and in which a second light signal is transmitted between a second light source and the photodetector.

BACKGROUND

Various applications are known in which it may be desirable to control a motor vehicle to approach a destination. Such techniques are also often referred to as automatic positioning of a motor vehicle or automatic parking system.

An exemplary application relates to the inductive charging of a motor vehicle with electrical energy storage. Typically, the automotive vehicle is positioned over a charging platform of the infrastructure during inductive charging with a vehicle-side load plate. According to reference implementations, the approach of the motor vehicle to the pallet occurs either through user input of a user, for example via the infotainment system, or through manual positioning. Implementations by means of an automatic parking system are also known.

However, conventional automatic parking systems have certain limitations or disadvantages. Typically, in known automatic parking systems, it is necessary to learn the geometry of the target. This means that it must be known to the automatic parking system, for example, by a corresponding learning step, where the loading plate of the infrastructure is in relation to the loading plate of the motor vehicle. Therefore, such solutions are often referred to as trained parking. For example, trained parking systems rely on the one-time travel of a route between a starting point and the destination. Subsequently, it may be possible to park the motor vehicle at the starting point so that the motor vehicle can subsequently drive to the destination, for example by means of recognizable patterns in image data obtained from a camera.

Teaching a particular geometry can be relatively time consuming and error prone. Moreover, in situations where many different targets are driven by the automatic parking system over time, trained parking may be impractical. In addition, changes in the environment along the path between the starting point and the destination can lead to inaccuracies in the parking process.

Another solution for automatic parking may be e.g. based on a map stored in the vehicle or transmitted by data connection. This can make dispensing with the manual traversing of a route for teaching the parking process unnecessary. Such a solution typically requires large amounts of data and storage space, as well as the preceding machine-suitable measurement of the environment. It may be necessary to measure the environment for each location. For measuring the environment, it may be necessary to perform a special adapted technique for different vehicles with different sensors. Even in such scenarios, it may be necessary for the vehicle during the parking process to continue to locate itself based on image or sensor data in the map and plan the way to the destination. Such a technique typically has a comparatively great complexity. In addition, changes in the environment may require re-fitting the map to avoid inaccuracies in the parking process.

Another automatic parking solution determines location data indicative of the positioning of the motor vehicle relative to the destination based on machine-readable codes located in the vicinity of the destination. For example, in such reference implementations, the machine-readable codes may be imaged via an automotive camera, and it may be possible to determine the position data based on image data obtained from the automotive camera. However, such techniques have the disadvantage that a relative placement of the machine-readable codes relative to the target must be predetermined and static. In particular, it may be necessary to train this relative arrangement on the automatic parking system before parking. Changes in the relative location of the machine-readable codes relative to the destination can lead to inaccuracies in the parking process.

Therefore, solutions are known which implement automatic parking systems that can be operated without manual training. Such techniques are based, for example, on radio frequency radio networks established between the infrastructure loading platform and the vehicle-side positioning location pad. However, such techniques can have the disadvantage that dedicated and expensive or error-prone hardware components in the motor vehicle must be provided to build the radio-frequency radio networks. In addition, it may be possible that the radio-frequency radio network has a comparatively limited range, so that the automatic parking system is limited to a comparatively limited radius.

SUMMARY

Therefore, there is a need for improved techniques of automatically positioning a motor vehicle. In particular, there is a need for such techniques that enable a precise and reliable positioning operation. In particular, there is a need for such techniques that can be operated without manual training.

This object is solved by the features of the independent claims. The dependent claims define embodiments.

In one aspect, the present invention relates to a method comprising transmitting a first light signal between a first light source and a photodetector. The method further comprises transmitting a second light signal between a second light source and the photodetector. The method further comprises determining position data based on transmitting the first light signal and based on transmitting the second light signal. The position data is indicative of a positioning of a motor vehicle with respect to a target. The method further comprises controlling the motor vehicle to approach the destination based on the position data.

For example, For example, the photodetector could have a sensitivity in the range of visible light and / or in the infrared spectral range and / or in the ultraviolet spectral range. The photodetector could e.g. to be implemented by a camera. For example, For example, the photodetector could be implemented by a CCD sensor element. The photodetector may be configured to provide image data with a spatial resolution.

For example, it would be possible for the first light source and the second light source to be stationary with respect to the motor vehicle. Accordingly, it would be possible for the photodetector to be stationary in relation to the target or the infrastructure. However, it would also be possible for the first light source and the second light source to be arranged stationary with respect to the target. Accordingly, it would be possible for the photodetector to be stationary in relation to the motor vehicle.

In various embodiments, it is possible to use more than one photodetector and / or more than one first light source and / or more than one second light source. For example, On the infrastructure side, satellite units could be provided which have additional light sources and / or photodetectors.

For example, For example, the destination may be a predetermined parking position of the motor vehicle, such as a garage or assigned parking lot, or a driveway, etc. For example, For example, the target may be a load plate of a non-contact charging device such as inductive charging. In this case, the light sources and / or the photodetector can be integrated with the loading plate. It would also be possible for the light sources and / or the photodetector to be arranged in satellite units separate from the loading plate. For example, the motor vehicle may be a car or a truck.

The transmission of the first light signal and the second light signal may comprise: transmitting the first light signal and the second light signal and / or receiving the first light signal and the second light signal. For example, for emitting the first light signal or the second light signal, the first light source or the second light source can be driven accordingly. For example, to receive the first light signal and the second light signal, the photodetector can be driven accordingly.

For example, it would be possible for the first light signal to be modulated between the first light source and the photodetector. For example, the modulation of the first light signal could encode data. Alternatively or additionally, it would be possible for the second light signal to be transmitted modulated between the second light source and the photodetector. For example, the modulation of the second light signal could encode data. Various data can be coded. For example, geometry reference data describing a geometry of the motor vehicle and / or the target could be encoded. Alternatively or additionally, it would also be possible for identification information of the motor vehicle to be transmitted; for example, a payment process for parking could be implemented.

For example, controlling the motor vehicle to approach the destination could further include: determining vehicle control data based on the position data. The vehicle control data could indicate a travel path of the motor vehicle to the destination. The method may further include controlling the motor vehicle to reach the destination based on the vehicle control data. This can be the taxes of the motor vehicle take place automatically or semi-automatically. For example, could be done by means of an electrified steering line fully automatic control of the motor vehicle.

For example, it would be possible for the first light source to be arranged at a distance from the second light source. By using the first light source and the second light source, it may be possible that the transmission of the first light signal and the transmission of the second light signal are indicative of the positioning of the motor vehicle with respect to the target. In particular, with a variable position of the motor vehicle with respect to the target, a relative arrangement of the mapping of the first light signal and the second light signal into image data acquired by the photodetector may change. Thus, it may be possible to use an arrangement of imaging the first light signal and the second light signal in the image data to determine the positional data.

The light sources may, for example, comprise light sources which emit light in the visible frequency range. For example, the light sources may include one or more light emitting diodes (LEDs). By using active light sources which emit the first light signal and the second light signal, a reliable determination of the position data can take place. In particular, in comparison to techniques that are based on an environment detection without active light sources, a more accurate determination of the position data may be possible.

By using light signals, a particularly good electromagnetic compatibility can be produced. In particular, an electromagnetic load can be comparatively low because, for example, no high-frequency transmission techniques are used.

For example, it would be possible for the first light signal and the second light signal to have frequencies in the visible spectrum. For example, it would be possible for the first light signal and the second light signal to have a bandwidth of more than 200 nm. It would also be possible for the first light signal and the second light signal to have a bandwidth of more than 500 nm. For example, it would be possible for the first light signal and the second light signal to comprise substantially white light. For example, it may be possible to implement the first light source and the second light source by exterior lights of the motor vehicle, such as headlights, turn signals, ambient lighting, fog lamps, brake lights, underbody lighting, headlights, tail light, side mirror light, etc. For example, it would be possible for the transmission of the first light signal to include activating a first exterior light of the motor vehicle as the first light source and transmitting the second light signal to activate a second exterior light of the motor vehicle as the second light source. As a result, light sources of the motor vehicle, which are anyway present in relation to other applications, for example, can be used in the context of the automatic parking system. This can reduce costs and complexity.

Moreover, by using the first light signal and the second light signal, it is possible to dispense with dedicated hardware for the automatic parking system. For example, it may be unnecessary to provide a radio frequency transmitter or radio frequency receiver in the motor vehicle, for example, to determine the relative positioning of the motor vehicle with respect to the target. This can reduce the susceptibility of the system to errors and reduce costs.

It is possible that the position data are determined by means of a computing unit. It may be possible that the position data are determined by means of a computing unit which is stationary with respect to the motor vehicle (motor vehicle-side) is arranged or the stationary reference to the target (infrastructure side) is arranged. In other words, it may be possible that the logic is provided for determining the position data in the motor vehicle or in the infrastructure. Techniques are also possible, for example by means of shared calculation, in which the logic for determining the position data is arranged partly in the motor vehicle and partly in the infrastructure.

Depending on whether the determination takes place at least partially in the infrastructure, it may be necessary for the position data to be made available to the motor vehicle. In this regard, it may be possible to steer the motor vehicle to approach the destination, wirelessly transmitting the position data.

In general, it may be possible to use another transmission technique for wirelessly transmitting the position data than for transmitting the first light signal and the second light signal, respectively. For example, it would be possible for the wireless transmission of the position data to be done with a high-frequency transmission technique, for example by means of electromagnetic waves. By using a high-frequency transmission technique, it may be possible to achieve comparatively high data rates. As a result, it may be possible to transmit position data representing the positioning of the motor vehicle with respect to the target index with a comparatively high accuracy. As a result, it may be possible for the motor vehicle to be controlled particularly precisely for approaching the destination.

However, it would also be possible for the wireless transmission of the position data to take place as a modulated further light signal between the further light source and a further photodetector. For example, it would be possible for the further light source to be stationary with respect to the motor vehicle; Accordingly, it would be possible for the further photodetector to be arranged stationarily with respect to the target or the infrastructure. However, it would also be possible for the further light source to be stationary with respect to the destination or the infrastructure; Accordingly, it would be possible for the further photodetector to be arranged stationarily with respect to the motor vehicle.

In particular, it may be possible for the position data to be transmitted in the opposite direction between the motor vehicle and the infrastructure in comparison to the first light signal and the second light signal.

By modulating the various light signals, unidirectional or bidirectional data communication between the motor vehicle and the infrastructure can be implemented.

For example, wirelessly transmitting the positional data as the modulated further light signal could further include: obtaining image data from the further photodetector that maps the modulated further light signal; and demodulating the imaged further light signal to decode the position data.

By implementing the wireless transmission of the position data by means of the modulated further light signal, effects can be achieved which are comparable to the effects explained above with respect to the first light signal and the second light signal. In particular, it can be dispensable to provide dedicated hardware, for example, to enable wireless transmission of the position data by means of high-frequency transmission technology.

It is possible that situations occur in which there is no direct visual connection with respect to the data transmission by means of the first light signal, the second light signal and / or the further light signal. This can be the case, for example, due to shadowing effects. For example, by controlling the motor vehicle to approach the target itself, shadowing effects may occur.

Shadowing effects can be avoided by deploying satellite units that implement repeater functionality. In this way, an indirect transmission path can be implemented.

For example, For example, it is possible for the position data to be transmitted as the modulated further light signal along an indirect transmission path between the further light source and the further photodetector. It is possible that the indirect transmission path comprises at least one repeater.

For example, it is possible to use passive or active repeaters. For example, a passive repeater could be implemented by a mirror. However, it would also be possible to implement an active repeater by, for example, a combination of a photodetector with a light source.

By providing the indirect transmission path, it is also possible to cover scenarios for which there is no direct straight line connection between the further light source and the further photodetector. This increases flexibility in transmitting the position data.

In general, a variety of techniques for determining the positional data based on transmitting the first light signal and transmitting the second light signal may be employed. For example, it would be possible for the position data to be determined to include obtaining image data from the photodetector that maps the first light signal and the second light signal. Then it would be possible for the positional data to be determined based on a technique selected from the following group: triangulation sizing; and left / right coding.

By means of the technique of triangulation, for example, it may be possible to deduce a relative arrangement of the photodetector with respect to the light sources from angles at which the first light signal and the second light signal are imaged in the image data.

For example, by sizing in relation to the first light source and to the second light source, it may be possible to deduce a distance of the photodetector with respect to the light sources.

For example, by means of the left / right encoding, it may be possible to resolve 180 ° ambiguities with respect to the location of the photodetector with respect to the light source. Moreover, it can be possible by means of the left / right coding to set a corridor through which the travel path for approaching the motor vehicle passes to the destination. For example, it would be possible for the first light source to be located to the left of the corridor and the second light source to be located to the right of the corridor. For example, it would then be possible for a property of the first light signal and the second light signal to assume a different value for the first light signal than for the second light signal. For example, the first light signal could have a first color and the second light signal could have a second color. Then, based on a determination of the colors of the first light signal and the second light signal, it would be possible to determine a left-side boundary of the corridor and a right-side boundary of the corridor. Other properties may relate, for example, to a modulation of the amplitude of the first light signal and the second light signal, for example a pulse pattern, etc.

Depending on the technique used or combination of techniques, it may be possible to determine the position data with greater or lesser accuracy.

In various embodiments, it is possible that the method further comprises wirelessly transmitting geometry reference data. It would be possible for the geometric reference data to indicate a geometry of the motor vehicle and / or the destination. Then it is possible that the determination of the position data is still based on the geometry reference data.

In general, it is possible for wireless transmission of the geometry reference data to use a different transmission technique than when transmitting the first light signal of the second light signal. For example, it would be possible to use a high-frequency transmission technique to transmit the geometry reference data. Then, for example, it would be possible to implement comparatively large data rates so that the geometry reference data can be transmitted with high accuracy.

It would also be possible for the wireless transmission of the geometry reference data to comprise a modulation of the first light signal and / or the second light signal to encode the geometry reference data. Higher data rates can be achieved by a higher modulation frequency. Thus, it may be possible to use an arrangement of imaging the first light signal and the second light signal in the image data, on the one hand, to determine the positional data, for example, using techniques of triangulation or sizing; On the other hand, the modulation of the first light signal and the second light signal for data transmission, in particular the geometry reference data, can be used.

For example, the geometry reference data could include elements selected from the group: a relative arrangement of the first light source with respect to the second light source; a dimension of the first light source; a dimension of the second light source; a position of the target with respect to the first light source; a position of the target with respect to the second light source; a position of the target with respect to the photodetector; an outer dimension of the motor vehicle; a position of a vehicle-side loading plate with respect to the first light source and with respect to the second light source or with respect to the photodetector; a position of the vehicle-side loading plate with respect to the first light source or with respect to the second light source or with respect to the photodetector.

By wirelessly transmitting the geometry reference data, it may be unnecessary to perform a manual training of the automatic parking system. In addition, it may be possible for changes in the geometry of the motor vehicle and / or the target to be currently mapped in the geometry reference data. For this, it may be possible to perform self-calibration techniques, for example, relative to the relative positioning of the first light source and the second light source with respect to the target. For example, by means of self-calibration techniques, it may be possible to determine an angular disposition and distance between the target and the first light source and the second light source. For example, it would be possible for the geometry reference data to be stored in a memory. For example, geometry reference data indicative of the geometry of the motor vehicle could be stored in nonvolatile memory by a motor vehicle manufacturer.

The method may further include, for example: monitoring whether the transmission of the first light signal and / or the transmission of the second light signal is aborted; as a function of monitoring: Determining the position data on the basis of an approximation based on historical position data. For example, it is possible that the transmission of the first light signal and the second light signal stops due to shading effects. Then it may be possible for the most probable position data to be determined on the basis of the approximation. For example, it would be possible for typically the transmission of the first light signal and the second light signal to break off in a situation where the motor vehicle is already comparatively close to the target. Then it may be possible that only the last approximation of the motor vehicle to the destination is made on the basis of the approximation.

It is also possible that the method further comprises monitoring whether the transmission of the first light signal and / or the transmission of the second light signal stops. Then it would be possible for the method to comprise, as a function of the monitoring, the transmission of a further first light signal between a further light source and a further photodetector and the transmission of a further second light signal between a further second light source and the further photodetector.

For example, the further photodetector or the further light sources can be arranged in a satellite unit.

Then it would be possible for the determination of the position data to be based on the transmission of the further first light signal and the transmission of the further second light signal. In other words, it would be possible to switch to a fallback transmission path in a scenario where the transmission of the first light signal and the transmission of the second light signal is stopped. For this purpose, it would be possible, for example, that the first light source is arranged opposite the further first light source; Correspondingly, it would be possible for the second light source to be arranged so as to be spaced apart from the further second light source, for example in a satellite unit; Correspondingly, it would be possible for the photodetector to be disposed of with respect to the further photodetector. Then, it may be possible that, for example, shading effects occur selectively with respect to the transmission of the first light signal and the transmission of the second light signal; however, not occur for transmitting the further first light signal and transmitting the further second light signal.

In this context, it would be possible, for example, to use satellite units or agent units that are located in opposition to a main unit.

Corresponding features described above with respect to switching to a fallback transmission path concerning the first and second light signals may also be implemented with respect to the further light signal transmitting the position data.

In another aspect, the present invention relates to an automatic parking system comprising: an interface configured to transmit a first light signal between a first light source and a photodetector; wherein the interface is further configured to transmit a second light signal between a second light source and the photodetector. The automatic parking system further comprises at least one processor configured to determine position data based on the transmission of the first light signal and the transmission of the second light signal. The position data is indicative of a positioning of a motor vehicle relative to a target. The at least one processor is further configured to control the motor vehicle for approaching the destination based on the position data.

For example, the automatic parking system according to the aspect currently discussed may be configured to perform a method according to another aspect of the present invention.

For an automatic parking system according to the presently discussed aspect, effects comparable to those achievable with the method according to another aspect of the present invention can be achieved.

The features and features set out above, which are described below, can be used not only in the corresponding combination explicitly set out, but also in further combination or isolation without departing from the scope of the present invention.

BRIEF DESCRIPTION OF THE FIGURES

The above-described characteristics, features, and advantages of this invention, as well as the manner in which they will be achieved, will become clearer and more clearly understood in connection with the following description of the embodiments, which will be described in detail in conjunction with the drawings.

1 is a schematic illustration of a parking system according to various embodiments, wherein the parking system comprises a motor vehicle with a first light source and a second light source and an infrastructure with a camera.

2 is a schematic illustration of a parking system according to various embodiments, wherein the parking system comprises a motor vehicle with a camera and an infrastructure with a first light source and a second light source.

3A schematically illustrates image data obtained by the camera of the automatic parking system, the image data being a first light signal emitted by the first light source and image a second light signal emitted by the second light source.

3B schematically illustrates techniques for determining position data indicative of positioning of the motor vehicle with respect to a target, the techniques including triangulation.

3C schematically illustrates techniques for determining position data indicative of the positioning of the motor vehicle relative to the target, the techniques including sizing images of the light signals.

3D schematically illustrates the position data.

4 schematically illustrates the parking guidance system of 1 in more detail, the parking guidance system further includes a satellite unit implementing repeater functionality.

5A schematically illustrates the motor vehicle of the parking guidance system of 1 in greater detail.

5B schematically illustrates the switching between a first transmission path and a second transmission path as a function of shading effects.

6A schematically illustrates the approach of the motor vehicle to the target, wherein position data is transmitted as a modulated further light signal between another light source and another camera, wherein no shading effects with respect to the transmission of the position data occur.

6B basically corresponds to the scenario of 6A wherein shadowing effects occur with respect to the transmission of the position data.

6C basically corresponds to the scenario of 6B wherein a satellite unit is used for implementing an indirect transmission path with respect to the modulated further light signal for transmitting the position data.

6D basically corresponds to the scenario of 6B wherein two satellite units are used for implementing an indirect transmission path with respect to the modulated further light signal for transmitting the position data.

7 schematically illustrates approaching the motor vehicle to a destination for a scenario where a plurality of first light sources and a plurality of second light sources are used in satellite units.

Detailed description of embodiments

Hereinafter, the present invention will be described with reference to preferred embodiments with reference to the drawings. In the figures, like reference characters designate the same or similar elements. The figures are schematic representations of various embodiments of the invention. Elements shown in the figures are not necessarily drawn to scale. Rather, the various elements shown in the figures are reproduced in such a way that their function and general purpose will be understood by those skilled in the art.

Connections and couplings between functional units and elements illustrated in the figures may also be implemented as an indirect connection or coupling. A connection or coupling may be implemented by wire or wireless. Functional units can be implemented as hardware, software or a combination of hardware and software.

In the following, techniques for automatic parking will be illustrated. In this case, the automatic parking, that is the approaching of a motor vehicle to a destination, based on the transmission of a first light signal between a first light source and a photodetector and the transmission of a second light signal between a second light source and the photodetector. Based thereon, positional data indicative of a positioning of the motor vehicle with respect to a target may be determined. The motor vehicle can then be controlled to approach the destination.

While various aspects relating to an implementation of the photodetector as a camera are described below, other photodetectors may be used in other scenarios. For example, CCD sensors or other photosensitive elements providing spatially resolved image data could be used.

Such techniques are implemented, for example, by a positioning system that includes the motor vehicle and an infrastructure. The motor vehicle is arranged movably in relation to the infrastructure or the destination.

Thus, by means of the techniques described herein it may be possible to base the relative positioning of the motor vehicle with respect to the target, for example by triangulation techniques on the first and second light signals. In this case, the technique of triangulation may describe a determination of a distance between the target and the motor vehicle, as well as a determination of the angular arrangement of the motor vehicle with respect to the target.

The use of the light signals can be used in various embodiments not only with respect to the determination of the position data. It would also be possible, for example, to transmit data such as in particular status messages between the motor vehicle and the infrastructure. This data may include, for example, position data indicative of the positioning of the motor vehicle with respect to the target. By continuously transmitting the position data, it is possible to implement a pilot system.

The present techniques have the advantage of reduced EMV pollution of the environment. Moreover, by means of the present techniques, it may be possible to use any existing motor vehicle components such as, for example, an exterior light or an LED light and / or light sensors in the form of cameras also with respect to the positioning system. It would also be possible to use light in the non-visible area.

The present techniques can be comparatively easily extended, for example, by a self-calibration of various locating components, for example, on the infrastructure side, the first and second. Provide light source. In this way, a swarm system comprising several satellite units can be implemented. It is possible to reduce areas of low sensitivity of the positioning of the motor vehicle with respect to the target or to avoid coverage problems / shadowing effects.

It is also possible to implement comparatively high data rates, for example with respect to the transmission of the position data. It may thus be possible to encrypt the transmitted data. Additional data could be transferred, such as might be relevant to inductive charging payment systems.

In 1 is a positioning system 100 illustrated according to various embodiments. In 1 are illustrated aspects where the first light source 101 and the second light source 102 on the vehicle side, ie stationary with respect to a motor vehicle 120 , are arranged. For example, the first light source could be 101 and the second light source 102 by an outside light of the motor vehicle 120 , such as a daytime running light or a nighttime running light, are implemented. In addition, the motor vehicle includes 120 an arithmetic unit 125 ,

The arithmetic unit 125 is set up to be the first light source 101 for emitting a first light signal 111 head for. In addition, the arithmetic unit 125 set up the second light source 102 to send out a second light signal 112 head for.

On the side of the infrastructure is a camera 103 available. The camera 103 is in a fixed relative position with respect to a target 130 , For example, the camera could 103 in a charging plate for inductive charging of an electrical energy storage of the motor vehicle 120 be integrated. It would also be possible for the camera 103 is arranged separately from the loading plate, for example in a satellite unit. The goal is that the motor vehicle 120 controlled so that it is at the destination 130 approaches. For example, the motor vehicle could 120 be controlled so that it is above the target 130 comes to a stop.

The camera 103 is oriented so that it is the first light signal 111 and the second light signal 112 can detect. The camera 103 is set up to provide image data. The image data of the camera 103 become a computing unit 135 provided the infrastructure. The arithmetic unit 135 is then configured to be based on the transmission of the first light signal 111 and transmitting the second light signal 112 in particular based on the image data provided by the camera 103 be obtained to determine position data indicative of a positioning of the motor vehicle in 120 in relation to the goal 130 is.

In 2 is a positioning system 100 illustrated according to various embodiments. In 2 are illustrated aspects where the first light source 101 and the second light source 102 on the infrastructure side, that is stationary with respect to the destination 130 , are arranged. In the scenario of 2 is still the camera 103 on the vehicle side, ie stationary with respect to the motor vehicle 120 arranged. For example, the camera could 103 through a front camera of the motor vehicle 120 be implemented. The front camera can provide image data for further driver assistance systems, for example for lane departure warning, traffic sign recognition, etc.

The camera 103 according to the 1 and 2 provides image data. In 3A are image data 301 shown. In the picture data 301 becomes the first light signal 111 and the second light signal 112 displayed. The illustration of the first light signal 111 and the second light signal 112 in the image data 301 is by different imaging parameters 310 - 314 characterized. Based on the mapping parameters, it is possible to determine the position data.

The illustration of the first light signal 111 is by certain dimensions 311 . 312 characterized. Accordingly, the image of the second light signal 112 by certain dimensions 313 . 314 characterized. In addition, the illustrations show the first and second light signals 111 . 112 a certain distance 310 to each other, cf. also 3C ,

Again referring to 3A There, for the sake of simplicity, there is only a relative positioning of the images of the first and second light signals 111 . 112 shown; additional imaging parameters related to the first and second light signals 111 . 112 from the image data 301 could be determined relate to an absolute positioning of the first and second light signals 111 . 112 in the image data 301 , for example, in relation to an origin of the image data 301 (1st pixel on the top left), etc .. For example, an absolute angle arrangement could 315 the image of the first light signal 111 with respect to the image of the second light signal 112 in the image data 301 be determined as a further imaging parameter, cf. 3B , For example, based on the absolute angle arrangement 315 in connection with a sizing of the images of the first light signal 111 and the second light signal 112 in the image data 301 a triangulation is made to the position data, which indicatively generates a positioning of the force 120 Relation to the goal 130 are to be determined.

In the scenario of 3B is the camera 103 in a pallet 139 for inductively charging an energy store of the motor vehicle 120 integrated. For inductive charging, the motor vehicle 120 a vehicle-side pallet 129 on. The aim is that the vehicle-side pallet 129 over the pallet 139 that the goal 130 represents, is positioned.

For this purpose, geometry reference data can be taken into account. Examples of the geometry reference data are a distance 331 between a center of the pallet 139 and the camera 103 ; a distance 332 . 333 between the first and second light sources 101 . 102 and the pallet 129 of the motor vehicle 120 , the dimensions 311 - 314 the first and second light source 101 . 102 , the distance 310 the first light source 101 from the second light source 102 , Etc.

For example, if determination of the position data takes place on the side of the infrastructure, it would be possible to generate corresponding vehicle-specific geometry reference data by means of a wireless transmission technology from the motor vehicle 120 to the arithmetic unit 135 infrastructure. For example, in various embodiments, it would be possible for the computing unit 125 of the motor vehicle 120 the light sources 101 . 102 such that it is the first light signal 111 and the second light signal 112 send out modulated. In the context of the modulation, it may be possible, for example, for the geometry reference data to be in the first light signal 111 and the second light signal 112 be coded.

Based on a combination of the geometry reference data and the mapping parameters, it is then possible to determine the position data used to control the motor vehicle 120 to approach the destination 130 can be used. Examples of position data relate to a distance 391 between a center of the vehicle-side pallet 129 and a center of the pallet 139 the infrastructure that is the destination 130 forms; and an angular arrangement 392 these sizes to each other, compare 3D ,

For example, in a scenario where the logic for determining the position data may be on the infrastructure side, for example, within the scope of the computational unit 135 , is implemented, necessary, the position data by means of a wireless transmission technology from the arithmetic unit 135 to the motor vehicle 100 transferred to. In relation to 4 Aspects are set out that allow bidirectional transmission between the motor vehicle 120 and infrastructure based on light signals.

Out 4 it is apparent that the pallet 139 other light sources 401 . 402 includes. It would be possible, for example, that the different light sources 401 . 402 implemented by LED bulbs with comparatively low power consumption. For example, the arithmetic unit 135 be set up to the light sources 401 . 402 such that it is a modulated further light signal 411 send out. In this way, the position data can be coded. The car 120 has a camera 403 which may be arranged to provide image data representing the further light signal 411 depict. It is then possible that the arithmetic unit 125 the image data from the camera 403 receives and the further light signal 411 demodulated. In this way, the position data can be decoded.

In 4 are also aspects related to shading effects of the different light signals 111 . 411 illustrated. For example, situations may occur where the motor vehicle 120 in relation to the camera 103 positioned so that the camera 103 that from the light source 101 emitted light signal 111 can not receive. For this purpose, the motor vehicle 120 other light sources 101-1 . 101-2 . 101-3 . 102-1 (compare also 5A ), which can be activated on demand or continuously.

A corresponding redundant configuration is also possible with respect to cameras: for example, the motor vehicle comprises 120 next to the forward camera 403 also a rear-facing camera 403-1 and one below the motor vehicle 120 positions the camera 403-2 , as well as an upward-oriented camera 403-3 , For example, in terms of 5B shown a scenario in which the motor vehicle 120 already above the pallet 139 located. That's why the camera can 403 of the motor vehicle 120 that from the light source 401 the pallet 139 emitted light signal 411 no longer detect. Then the below the motor vehicle 120 attached camera 403-2 be activated to the light signal 411 to detect. Thus, the position data by means of the modulated light signal 411 be transferred in situations where otherwise shading would occur.

For example, those from the different light sources could 101 . 102 . 101-1 . 101-2 . 101-3 . 102-1 distinguished light signals in various properties, such as color or frequency, modulation, etc., so that it is possible between the individual light signals in determining the position data 391 . 392 to distinguish.

For example, it would be possible to monitor whether transmitting the first light signal 111 and or the second light signal 112 aborts; then it may be possible, depending on the monitoring, a further first light signal and / or a further second light signal by appropriately controlling the other light sources 101-1 . 101-2 . 101-3 . 102-1 transferred to. In other embodiments, it would be possible that upon the occurrence of a shadowing effect, ie, when it is detected, that the transmission of the first and second light signals 111 . 112 aborts, determining the position data 391 . 392 is performed by approximation. For example, motor vehicle parameters of the motor vehicle 120 , such as steering angle, speed, etc., which indicate a derivative of the position with time are monitored; this could be deduced by integration to the current position, so that accordingly the position data 391 . 392 can be approximated.

In other embodiments, it would also be possible that upon the occurrence of a shadowing effect, that is, as soon as it is detected that the transmission of certain light signals stops, an indirect transmission path by means of a satellite unit 430 is implemented with repeater functionality (cf. 4 ). In the scenario of 4 instructs the repeater 430 a camera 433 and first and second light sources 431 . 432 on. The repeater 430 is at a certain distance 450 opposite the pallet 139 arranged. Regarding the 6A - 6D are further aspects of the operation of the repeater 430 illustrated. The repeater can be a light signal 415 send, which can be modulated, for example. This allows data transfer to the pallet 139 and / or to the motor vehicle 120 be implemented.

It would be possible, for example, that the different light sources 431 . 432 implemented by LED bulbs with comparatively low power consumption. So it may be possible for the repeater 430 provides its own energy supply; This power supply can be considered decentralized in terms of the charging plate 139 be designated.

First of all, in terms of 6A presented a scenario in which the light source 401 the pallet 139 the light signal 411 emits; the transmission path between the light source 401 and the camera 403 is not blocked and shading effects do not occur. That's why the camera can 403 the light signal 411 receive. The repeater 430 does not have to be operated.

Then, as in the scenario of 6B shown, a shading effect on. This means that the camera 403 the light signal 411 can not receive anymore.

The light signal 411 is then over the repeater 430 redirected, ie an indirect transmission path is implemented (cf. 6C ). It would also be possible for the indirect transmission link to have more than one repeater 430-1 . 430-2 includes (compare 6D ).

While standing above in relation to the 6A - 6D a detour with respect to the light signal 411 , which encodes the position data has been described, it is also possible in principle, the light signals 111 . 112 used to determine the positional data 391 . 392 be used by means of the repeater 430 . 430-1 . 430-2 redirect. In particular, the redirecting of the light signals 111 . 112 be desirable in situations where the light signals 111 . 112 are encoded to transmit data, such as the geometry reference data or identification data.

The repeater 430 can transmit data bidirectionally. Therefore, the repeater can also be used to capture the image data 301 capture, based on which the position data 391 . 392 can be determined.

Hereinafter, a preferred embodiment for operating the positioning system 100 as it is for example in the 4 is shown described.

The car 120 , for example, an electric vehicle with the inductive pallet 129 , must first approach a certain position. The positioning towards the goal 130 is the motor vehicle 120 not yet known.

On the infrastructure side, it will then be based on light sources, for example the daytime running lights 101 . 102 of the motor vehicle 120 , the distance 391 the angular arrangement 392 of the motor vehicle 120 in relation to the goal 130 certainly. For this purpose, the light sources are driven accordingly, so that the light signals 111 . 112 to be sent out. Furthermore, the light signals 111 . 112 modulated so that the geometry reference data is encoded; For example, the geometry reference data may describe the size, dimension, and spacing of the daytime running lights.

On the infrastructure side, the geometry reference data are received, for example by means of a corresponding camera 103 , Then you can use the position data 391 . 392 be determined. The position data 391 . 392 be wireless back to the vehicle 120 transmitted, for example, again by modulation of a light signal 411 , The car 120 receives the position data 341 . 392 through the operation of, for example, the front camera 403 ,

By providing the repeater 430 . 430-1 . 430-2 can be prevented during movement of the motor vehicle 120 the visual contact breaks off (shading effect). Then the arithmetic unit 135 do not build a direct line of sight and it can automatically over one or more repeaters 430 a diversion of the light signals 111 . 112 . 411 occur.

• 1) Der Fahrer steuert mit dem Kraftfahrzeug 120 einen Stellplatz zum Laden per Induktion an.
• 2) Durch Drücken einer Parktaste wird der Wunsch des Positionierens ausgelöst. Alternativ wäre es auch möglich, dass das Kraftfahrzeug 120 die Möglichkeit des Parkens durch Lichtsignale ausgehend von der Ladeplatte 139 automatisch erkennt. Hier kann die Detektion der von der Ladeplatte 139 ausgesendeten Lichtsignale 411 mittels einer Kamera 403, 403-1, 403-2 geschehen.
• 3) Sind die Kraftfahrzeuglichter 101, 101-1, 101-2, 102, 102-1 des Kraftfahrzeugs 120 nicht eingeschaltet, werden sie für den Parkvorgang zur Kommunikation in Richtung der Ladeplatte 139 eingeschaltet.
• 4) Die Kraftfahrzeugkameras 403, 403-1, 403-2 dienen während des Parkvorgangs zum Empfangen von Datenpaketen über die Lichtsignale 411, die von Lichtquellen 401, 402 auf der Ladeplatte 139 oder von Lichtquellen 431, 432 eines Repeaters 430, 430-1, 430-2 ausgesendet werden. Derart codierte Datenpakete können zum Beispiel indikativ für die Positionsdaten 391, 392 sein.
• 5) Es wird eine bidirektionale Kommunikation über Lichtdaten zwischen dem Kraftfahrzeug 120 und der Ladeplatte 139 bzw. der Recheneinheit 135 aufgebaut.
• 6) Die Kommunikation kann verschlüsselt ausgelegt sein.
• 7) Die Recheneinheit 135 möchte die Entfernung 391 berechnen. Dazu fordert die Recheneinheit 135 die Geometriereferenzdaten 331–333 vom Kraftfahrzeug 120 an.
• 8) Das Kraftfahrzeug 120 sendet seine Geometriereferenzdaten 331–333, die zum Beispiel die Größe und Beabstandung der Außenlichter 101, 101-1, 101-2, 101-3, 102, 102-1 umfassen. Zusätzlich können die Außenabmessungen des Kraftfahrzeugs 120 selbst übermittelt werden, beispielsweise um Kollisionen zu verhindern.
• 9) Dann kann die Recheneinheit 135 basierend auf den Geometriereferenzdaten, sowie basierend auf den empfangenen Lichtsignal 111, 112, die Positionsdaten 391, 392, d.h. die Entfernung zwischen der Ladeplatte 129 des Kraftfahrzeugs 120 von der Ladeplatte 139 der Infrastruktur bestimmen. Die Positionsdaten werden dann drahtlos an das Kraftfahrzeug 120 übertragen, zum Beispiel wiederum durch Modulation des Lichtsignals 411.
• 10) Die Recheneinheit 125 des Kraftfahrzeugs 120 kann dann den Fahrtweg zum Ziel 130 bestimmen. Zum Beispiel kann das Bestimmen des Fahrtwegs eine Bestimmung umfassen, wie viele Züge (Vorwärts- und Rückwärtsfahren) benötigt werden, um die Ladeplatte 129 über der Ladeplatte 139 zu positionieren.
• 11) Der Parkvorgang wird durchgeführt. Hierfür gibt es verschiedene Lösungen: 11A) Manuell: zum Beispiel können Anweisungen an einem Benutzer über eine Benutzerschnittstelle ausgegeben werden. Zum Beispiel können die Entfernung, der Soll-Lenkwinkel und Anweisungen für Vorwärts- und Rückwärtsfahrt vorgegeben werden. 11B) Halbautomatisch oder automatisch: der Fahrer kann sich hierfür außerhalb oder innerhalb des Kraftfahrzeugs 120 befinden.
• 12) Während des Parkvorgangs kann anschließend kontinuierlich die genaue Positionierung des Kraftfahrzeugs 120 in Bezug auf das Ziel 130 überwacht werden. Dazu kann zum Beispiel die Recheneinheit 135 eingerichtet sein, um kontinuierlich aktualisierte Positionsdaten 391, 392 zu ermitteln und drahtlos an das Kraftfahrzeug 125 zu übertragen.
• 13) Sobald sich das Kraftfahrzeug 120 dem Ziel 130 bzw. der Ladeplatte 139 nähert, kann es möglich sein, dass die Sichtverbindung zwischen der Kamera 403 des Kraftfahrzeugs 120 zur Lichtquelle 401, 402 auf der Ladeplatte 139 aufgrund von Abschattungseffekten abbricht. Eine Möglichkeit besteht in der Approximation der Positionsdaten 391, 392 aufgrund von historischen Daten; es wäre möglich, dass diesbezüglich das Kraftfahrzeug 120, zum Beispiel mittels der Recheneinheit 125, die Approximation der Positionsdaten 391, 392 selbst vornimmt. Dazu kann der Restweg basierend auf Wegdifferenzen und der Fahrtgeschwindigkeit und / oder des Lenkwinkels des Kraftfahrzeugs 120 bestimmt werden. Eine solche Technik des Approximierens kann jedoch gerade auf größere Strecken eine Vergleichsweise große Ungenauigkeit aufweisen.
• 14) Selbst in einer Situation, bei der der primäre Übertragungskanal durch Abschattungseffekte abgebrochen ist, kann es möglich sein, die Datenverbindung aufrechtzuerhalten; dies kann durch Einsetzen ein oder mehrere Satelliteneinheiten mit Repeaterfunktionalität 430, 430-1, 430-2, die als Router für Lichtsignale 411 wirken, implementiert werden.
• 15) Dabei können die Satelliteneinheiten 430, 430-1, 430-2 – genauso wie die Haupteinheiten der Ladeplatte 139 – eine Kamera 433 sowie ein oder mehrere Lichtquellen 431, 432 aufweisen. Im Rahmen von Techniken der Autokalibration wäre es zum Beispiel möglich, dass die Router 430 eingerichtet sind, um eigenständig ihre Position im 3-dimensionalen Raum, zum Beispiel in Bezug auf das Ziel 130, die Ladeplatte 139 bzw. gegenüber weiteren Satelliteneinheiten 430, 430-1, 430-2, zu bestimmen. Dann können die Satelliteneinheit das Erfassen der Bilddaten 301 zum Bestimmen der Positionsdaten 391, 392 übernehmen.
• 16) Vom Kraftfahrzeug 120 empfangene Daten können über die Kamera 433 und die Lichtquelle 401 30, 432 an die Haupteinheiten von der Ladeplatte 139 weitergereicht werden. In gleicher Weise ist es auch möglich, in umgekehrter Richtung die Übertragung von der Ladeplatte 139 zum Kraftfahrzeug 120 aufrechtzuerhalten.
• 17) Durch Sichtkontakt zwischen dem Repeater 430, 430-1, 430-2 zu den Kraftfahrzeuglichtern 101, 101-1, 101-2, 101-3, 102, 102-1 kann weiterhin eine genaue Ermittlung der Positionsdaten 391, 392 für den Parkvorgang vorgenommen werden. Über diese ständige Aktualisierung der Positionsdaten 301 90, 302 90 können auch komplizierte Manöver mit mehreren Vorwärts- und Rückwärtsfahrvorgängen durchgeführt werden.
• 18) Ist der Parkvorgang bzw. die Positionierung abgeschlossen, kann über die Datenübertragung auch eine Anmeldung am Ladesystem und Kommunikation zum Ladewunsch übermittelt werden.
• 19) Durch eine Verschlüsselung der Datenübertragung mittels der Lichtsignale ist auch ein Bezahlsystem mit Daten aus dem Kraftfahrzeug zur Ladeplatte 139 möglich, z.B. indem Identifikationsdaten übertragen werden.

Such steps will be described again in more detail below.

• 1) The driver controls with the motor vehicle 120 a parking space for loading by induction.
• 2) Pressing a park key triggers the desire to position. Alternatively, it would also be possible for the motor vehicle 120 the possibility of parking by light signals from the pallet 139 automatically detects. Here can the detection of the pallet 139 emitted light signals 411 by means of a camera 403 . 403-1 . 403-2 happen.
• 3) Are the motor vehicle lights 101 . 101-1 . 101-2 . 102 . 102-1 of the motor vehicle 120 not turned on, they are used for the parking process to communicate towards the pallet 139 switched on.
• 4) The motor vehicle cameras 403 . 403-1 . 403-2 serve during the parking process for receiving data packets via the light signals 411 by light sources 401 . 402 on the pallet 139 or from light sources 431 . 432 a repeater 430 . 430-1 . 430-2 to be sent out. For example, coded data packets can be indicative of the position data 391 . 392 be.
• 5) There is bidirectional communication about light data between the motor vehicle 120 and the pallet 139 or the arithmetic unit 135 built up.
• 6) The communication can be encrypted.
• 7) The arithmetic unit 135 want the distance 391 to calculate. The computing unit demands this 135 the geometry reference data 331 - 333 from the motor vehicle 120 at.
• 8) The motor vehicle 120 sends its geometry reference data 331 - 333 for example, the size and spacing of outside lights 101 . 101-1 . 101-2 . 101-3 . 102 . 102-1 include. In addition, the outer dimensions of the motor vehicle 120 themselves, for example, to prevent collisions.
• 9) Then the arithmetic unit 135 based on the geometry reference data, and based on the received light signal 111 . 112 , the position data 391 . 392 ie the distance between the pallet 129 of the motor vehicle 120 from the pallet 139 determine the infrastructure. The position data are then wirelessly to the motor vehicle 120 transmitted, for example, in turn, by modulation of the light signal 411 ,
• 10) The arithmetic unit 125 of the motor vehicle 120 can then drive to the destination 130 determine. For example, determining the route may include determining how many trains (forward and reverse) are needed to access the pallet 129 over the pallet 139 to position.
• 11) Parking is performed. There are several solutions for this: 11A) Manual: for example, instructions can be issued to a user via a user interface. For example, the distance, the desired steering angle and instructions for forward and reverse can be specified. 11B) Semiautomatic or automatic: the driver can do this outside or inside the motor vehicle 120 are located.
• 12) During the parking process, the exact positioning of the motor vehicle 120 in relation to the goal 130 be monitored. For this purpose, for example, the arithmetic unit 135 be set up to continuously update positional data 391 . 392 to determine and wirelessly to the motor vehicle 125 transferred to.
• 13) Once the motor vehicle 120 the goal 130 or the pallet 139 approaching, it may be possible that the line of sight between the camera 403 of the motor vehicle 120 to the light source 401 . 402 on the pallet 139 due to shadowing effects. One possibility is the approximation of the position data 391 . 392 based on historical data; it would be possible that in this regard the motor vehicle 120 , for example by means of the arithmetic unit 125 , the approximation of the position data 391 . 392 even makes. For this purpose, the residual path based on path differences and the driving speed and / or the steering angle of the motor vehicle 120 be determined. However, such a technique of approximation may have comparatively great inaccuracy, especially over longer distances.
• 14) Even in a situation where the primary transmission channel is broken by shadowing effects, it may be possible to maintain the data connection; This can be done by inserting one or more satellite units with repeater functionality 430 . 430-1 . 430-2 acting as a router for light signals 411 act, be implemented.
• 15) The satellite units can 430 . 430-1 . 430-2 - as well as the main units of the pallet 139 - a camera 433 and one or more light sources 431 . 432 exhibit. In the context of autocalibration techniques it would be possible, for example, that the routers 430 are set up to independently their position in 3-dimensional space, for example, in relation to the target 130 , the pallet 139 or compared to other satellite units 430 . 430-1 . 430-2 to determine. Then, the satellite unit can acquire the image data 301 for determining the position data 391 . 392 take.
• 16) From the motor vehicle 120 Received data can be transferred via the camera 433 and the light source 401 30 . 432 to the main units from the pallet 139 be passed on. In the same way it is also possible in the reverse direction, the transfer of the pallet 139 to the motor vehicle 120 maintain.
• 17) By visual contact between the repeater 430 . 430-1 . 430-2 to the motor vehicle lights 101 . 101-1 . 101-2 . 101-3 . 102 . 102-1 can continue to accurately determine the position data 391 . 392 be made for the parking process. By means of this constant updating of the position data 301 90, 302 90, it is also possible to carry out complicated maneuvers with several forward and reverse motions.
• 18) If the parking process or the positioning is completed, via the data transmission also a registration on the charging system and communication to the charging request can be transmitted.
• 19) By encrypting the data transmission by means of the light signals is also a payment system with data from the motor vehicle to the pallet 139 possible, eg by transferring identification data.

In relation to 7 is a leaflet system illustrated. There is a longer driveway to a target position 130 with a number of satellite units 430 equipped, each first or second light sources 101 . 102 to implement. It is thus possible that the position data 391 . 392 consistently to the motor vehicle 120 by modulation corresponding light signals 411 automatically parking along the entire road to the destination 130 becomes possible. Basically, a bidirectional connection is possible.

In a simple implementation, a left / right encoding of the various light sources could 431 . 432 a corridor 700 be limited, along which the motor vehicle 120 the goal 130 reached. For example, the left side light sources could 431 emit light signals in a different color than the light sources arranged on the right side 432 , The pilot system of 7 So it has a range that is over the direct line of sight between the target 130 to the motor vehicle 120 goes.

It would also be possible for example - if several alternative goals 130 are available - as part of the parking process and the desired target position 130 can be selected. This can be done by transferring data between the infrastructure and the motor vehicle 120 be implemented, in turn, the number of repeaters 430 can be used to implement an indirect link.

In the foregoing, techniques for automatic parking of a motor vehicle have been summarized. In doing so, light signals are used to determine position data indicative of relative positioning of the motor vehicle with respect to a target. Optionally, the light signals may also be used to implement data transfer between the motor vehicle and the infrastructure. The data transmission can be unidirectional or bidirectional. The data transmission can be implemented by modulating the light signals.

These techniques have several advantages. For example, it may be unnecessary to provide additional antenna radio devices in the motor vehicle. As a result, a high EMC quality can be achieved because radio wave loading or bandwidth limitations are not present. Moreover, light sources are typically present in large numbers in each motor vehicle and can be used to determine the relative positioning of the motor vehicle relative to the target. The transmission by means of light signals can be used in addition to the use for position determination as a data transfer medium. Indirect transmission around corners can be implemented by using repeater-enabled satellite units.

Of course, the features of the previously described embodiments and aspects of the invention may be combined. In particular, the features may be used not only in the described combinations but also in other combinations or per se, without departing from the scope of the invention.

While various embodiments have been discussed above with respect to a scenario in which light sources of the motor vehicle are used for emitting first and second light signals, based on which the position data are determined, it is also possible to implement the reverse situation. For example, light sources of the infrastructure, e.g. the pallet or satellite units emitting first and second light signals. Then it would be possible to determine the position data directly in the motor vehicle.

LIST OF REFERENCE NUMBERS

111

light signal

112

light signal

120

motor vehicle

125

computer unit

129

pallet

130

aim

135

computer unit

139

pallet

411

light signal

415

light signal

430

repeater

450

distance

101, 101-1, 101-2, 101-3, 431

light source

102, 102-1, 432

light source

310-315

imaging parameters

331-333

Geometry reference data

391, 392

position data

401, 402

light source

103, 403, 403-1, 403-2, 403-3, 433

camera

700

corridor

Claims (10)

Method, comprising: - transmitting a first light signal ( 111 ) between a first light source ( 101 . 101-1 . 101-2 . 101-3 . 431 ) and a photodetector ( 103 . 403 . 403-1 . 403-2 . 403-3 ), - transmitting a second light signal ( 112 ) between a second light source ( 102 . 102-1 . 432 ) and the photodetector ( 103 . 403 . 403-1 . 403-2 . 403-3 ), - Based on the transmission of the first light signal ( 111 ) and transmitting the second light signal ( 112 ): Determining position data ( 391 . 392 ) indicative of a positioning of a motor vehicle ( 120 ) in relation to a target ( 130 ), - based on the position data ( 391 . 392 ): Control of the motor vehicle ( 120 ) to approach the destination ( 130 ). Method according to Claim 1, characterized in that the steering of the motor vehicle ( 120 ) to approach the destination ( 130 ) comprises: wireless transmission of position data ( 391 . 392 ). Method according to Claim 2, characterized in that the wireless transmission of the position data ( 391 . 392 ) as a modulated further light signal ( 411 ) between another light source ( 401 . 402 ) and another photodetector ( 403 . 403-1 . 403-2 ) happens. Method according to Claim 3, characterized in that the wireless transmission of the position data ( 391 . 392 ) as the modulated further light signal ( 411 ) along an indirect transmission path between the further light source ( 401 . 402 ) and the further photodetector ( 403 . 403-1 . 403-2 ), wherein the indirect transmission path at least one repeater ( 430 ). Method according to one of the preceding claims, characterized in that the first light signal ( 111 ) and the second light signal ( 112 ) Have frequencies in the visible spectrum, the first light signal ( 111 ) and the second light signal ( 112 ) preferably has a bandwidth of more than 200 nm, particularly preferably a bandwidth of more than 500 nm. Method according to one of the preceding claims, characterized in that the transmission of the first light signal ( 111 ) comprises: activating a first outside light of the Motor vehicle ( 120 ) as the first light source ( 101 . 101-1 . 101-2 . 101-3 . 431 ), and transmitting the second light signal ( 112 ) comprises: activating a second external light of the motor vehicle ( 120 ) as the second light source ( 102 . 102-1 . 432 ). Method according to one of the preceding claims, characterized in that the determination of the position data ( 391 . 392 ) comprises: - obtaining image data ( 301 ) from the photodetector ( 103 . 403 . 403-1 . 403-2 . 403-3 ), which the first light signal ( 111 ) and the second light signal ( 112 ), - determining the position data ( 391 . 392 ) based on a technique selected from the following group: triangulation; Sizing; and left / right coding. Method according to one of the preceding claims, characterized in that the method further comprises: wireless transmission of geometry reference data ( 331 - 333 ), which is a geometry of the motor vehicle ( 120 ) and / or the target ( 130 ), wherein wirelessly transmitting the geometry reference data ( 331 - 333 ) the module wherein determining the positional data ( 391 . 392 ) continue on the geometry reference data ( 331 - 333 ). The method of claim 8, wherein wirelessly transmitting the geometry reference data ( 331 - 333 ) a modulation of the first light signal ( 111 ) and / or the second light signal ( 112 ) for encoding the geometry reference data. Method according to one of the preceding claims, characterized in that the method further comprises: - monitoring whether the transmission of the first light signal ( 111 ) and / or the transmission of the second light signal ( 112 ) - depending on the monitoring: transmitting a further first light signal ( 111 ) between a further first light source ( 101 . 101-1 . 101-2 . 101-3 . 431 ) and another photodetector ( 103 . 403 . 403-1 . 403-2 . 403-3 ), - transmitting a further second light signal ( 112 ) between a further second light source and the further photodetector ( 103 . 403 . 403-1 . 403-2 . 403-3 ), wherein the determination of the position data ( 391 . 392 ) on the transmission of the further first light signal ( 111 ) and transmitting the further second light signal ( 112 ).

Images