DE102018221186A1 - Autonomous parking procedure - Google Patents

Abstract

The invention relates to a method for autonomously parking a motor vehicle (10), which has at least one driving system (30) set up for autonomous driving of the motor vehicle and a control unit (40). In the method according to the invention, a communication link is first established between the motor vehicle and a mobile terminal (70). The driving system also determines at least one autonomous driving maneuver for maneuvering from a current own position of the motor vehicle (10) into a target position of the motor vehicle (10). Furthermore, at least one first image signal recorded by a camera (96) of the mobile terminal (70) and / or a position map of the motor vehicle (10) determined by the mobile terminal on the basis of the at least one first image signal is transmitted by the mobile terminal (70) via the communication link. receive. Finally, the at least one autonomous driving maneuver is adapted on the basis of the received at least one first image signal and / or the received position map.

Description

The invention relates to a method for autonomously parking a motor vehicle, in particular to a method for autonomously parking, parking or relocating a motor vehicle using a mobile terminal that is in communication with the motor vehicle, for example a smartphone. The invention further relates to a motor vehicle with a control unit designed to carry out the method according to the invention.

Today's vehicles already have a variety of assistance systems that support the driver in a variety of driving situations using computer technology. Such assistance systems can use sensors to record a multitude of measurement data, which far exceed the sensory abilities of humans. In addition, the speed of these assistance systems significantly exceeds the human response time. Known driver assistance systems are, for example, lane keeping assistants, brake assistants for pedestrian detection and cruise control, particularly for traffic jams.

By using such assistance systems, the driver's autonomy with regard to his driving decisions is increasingly transferred to the vehicle or control units operating in it. At the end of these developments is an autonomously driving vehicle that can be maneuvered completely without human intervention. As a projection of driver assistance systems, autonomous driving remains limited to fully automated passenger transport. In addition, autonomous driving is used in particular in parking processes in which the exact knowledge of the vehicle environment made possible by sensors and the exact performance of autonomous driving maneuvers are advantageous.

So far, sensors of the vehicle, which enable the detection of distances, have been used primarily for autonomous parking of a vehicle. Based on these recorded distances, both the size of parking positions and the degrees of freedom of the vehicle for maneuvering can be determined. Common parking assistants require, for example, a one-time drive past an empty parking space in order to carry out an autonomous parking process in this parking space. When parking or relocating, however, the exclusive use of distance sensors is less advantageous, since these are mostly shadowed by nearby objects, such as neighboring motor vehicles or walls. This significantly reduces the number of available sensors and the areas that can be detected.

The invention is based on the object of enriching the state of the art and proposing a method for autonomous parking of a vehicle which increases the environmental information available to the vehicle, in order to increase the accuracy of the maneuvers carried out and the safety of the autonomous parking.

The object of the invention is achieved by a method and a motor vehicle according to the independent patent claims. Preferred further developments are the subject of the respective dependent claims.

A first aspect of the invention relates to a method for autonomous parking, in particular for autonomously parking, relocating and parking a motor vehicle, as described in detail below. A motor vehicle and a mobile terminal, such as a smartphone, tablet or smart gear, are used in the method according to the invention. These are each designed to carry out the method according to the invention, as described in detail below. In particular, the motor vehicle has a first communication module, a driving system set up for autonomous driving of the motor vehicle and a first control unit. Furthermore, the mobile terminal also has at least one second communication module and a second control unit and at least one camera designed to capture an image signal, in particular a grayscale image signal or a color image signal.

Using the corresponding components of the vehicle and the mobile terminal, the method according to the invention establishes a communication link between the motor vehicle and the mobile terminal, in particular between the first control unit and the second control unit by means of the first communication module and the second communication module. Furthermore, in the method according to the invention, at least one autonomous driving maneuver, preferably a plurality of autonomous driving maneuvers, is ascertained for maneuvering from a current own position of the motor vehicle into a target position of the motor vehicle. The at least one driving maneuver is ascertained before or after the communication connection is established. The at least one driving maneuver is preferably determined in accordance with the prior art, for example before the communication connection is established.

According to a first embodiment of the method according to the invention, at least one first image signal recorded by means of a camera of the mobile terminal is also received. This is preferably a grayscale image signal or color image signal, which was recorded by the camera, in particular by a photo camera of the smartphone. A plurality of first image signals, in particular a chronological sequence of first image signals, are preferably received. Alternatively, a video signal is received as a sequence of first image signals from the mobile terminal. In an alternative embodiment of the method according to the invention, the mobile terminal receives a location map of the motor vehicle determined on the basis of the at least one first image signal. According to this embodiment, the location map of the motor vehicle is determined in the smartphone. The at least one image signal and / or the location map are preferably received via the previously established communication connection, for example a Bluetooth, WLNA or mobile radio connection between the communication modules of the vehicle and the terminal.

In the method according to the invention, the at least one autonomous driving maneuver, preferably the plurality of autonomous driving maneuvers, is further adapted on the basis of the received at least one first image signal and, if appropriate, on the basis of the received position map. In the method according to the invention, the camera of a mobile terminal is therefore used to capture the surroundings of the motor vehicle and / or the motor vehicle itself. The data recorded in this way are then used in the method according to the invention for improved implementation of the autonomous parking process. According to the invention, a mobile terminal, which may already be used elsewhere as a remote control for autonomous parking functions, is also used to improve the database of autonomous parking. By using at least one smartphone-internal camera for this purpose, high-resolution image data of the vehicle environment recorded in particular from an additional perspective are available. These can be used in a variety of ways to improve autonomous driving, as will be described in detail below, but in particular for protecting the environment of the motor vehicle. Known methods for image processing, image segmentation and / or image recognition are preferably used for this purpose.

The method according to the invention thus increases the database for carrying out an automatic parking process, with particular advantage being taken of the fact that a user intuitively or deliberately points his smartphone at particularly relevant areas of the environment. It can also be exploited that the user sweeps his smartphone over the surroundings of the vehicle. The intelligence of the user of the mobile terminal is thus used in the method according to the invention just as advantageously as the at least one camera present in the mobile terminal. In addition, the method according to the invention enables the detection of areas which are in a blind spot for vehicle-own cameras. This is particularly advantageous when using the method according to the invention for motor vehicles with trailers.

In the context of the present invention, autonomous parking, in particular the autonomous parking, parking or relocating of a vehicle, includes autonomous driving or maneuvering of the vehicle from a current own position to a target position. The target position is preferably a suitable position for coupling a trailer, that is to say a position at which the vehicle is to be parked for the purpose of coupling. In other words, adapting the at least one autonomous driving maneuver preferably includes determining an optimal position for coupling a trailer, that is to say an optimal position for connecting a trailer coupling of the motor vehicle to a coupling system of the trailer (trailer coupling assistant). In this case, use is advantageously made of the fact that with the at least one image signal the area of the trailer coupling, which may not be detectable by the vehicle's own cameras, and the area of the coupling system can be detected with high accuracy by means of the at least one camera of the mobile terminal.

The target position is likewise preferably a suitable position for parking the trailer, that is to say a position at which the vehicle is to park for the purpose of uncoupling the trailer. The target position is furthermore preferably a suitable position for parking the vehicle and the trailer, the vehicle and trailer also remaining connected when parking (trailer maneuvering assistant). In this case, use is advantageously made of the fact that with the at least one image signal, an area behind the trailer, which may not be detectable by the vehicle's own cameras, can be easily detected by the camera of the mobile terminal.
In a further preferred embodiment of the method according to the invention, instruction information is displayed to the user on the mobile terminal, which information indicates which surrounding areas are of interest to the vehicle and a specific parking maneuver. This information is particularly preferably determined by the vehicle on the basis of the at least one determined autonomous driving maneuver for maneuvering from the current own position of the motor vehicle to the target position of the motor vehicle and transmitted to the mobile terminal. The mobile terminal device preferably displays this information in the context of a suitable application. The user is instructed to use the at least one camera to pinpoint the surrounding areas capture that are of particular interest for the determined parking maneuver and are therefore particularly suitable for adapting the parking maneuver. Such areas are, for example, blind spots of the vehicle and / or areas of a trailer coupling and / or areas behind a connected trailer.

In a particularly preferred embodiment of the method according to the invention, the vehicle receives at least a first image signal from the mobile terminal. In this embodiment, the vehicle, in particular a correspondingly designed control unit of the vehicle, uses the at least one received first image signal to determine a position map. The location map is preferably determined on the basis of a plurality of received first image signals. The location map is a representation of the surroundings of the vehicle in a format that can be processed by the control unit of the vehicle. The location map is also preferably determined on the basis of information about the vehicle's own position, the target position of the autonomous parking process, and the at least one driving maneuver. The position map particularly preferably links information about a driving tube of the vehicle from its own position to the target position of the at least one driving maneuver with information about the surroundings of the vehicle, in particular with information about at least one static or dynamic obstacle in the surroundings of the vehicle. According to this embodiment, the at least one driving maneuver is also adapted based on the determined position map, as will be described in detail below. The adjustment affects in particular the interruption of maneuvering and the readjustment of the target position.

According to a particularly preferred embodiment of the method according to the invention, the position map received or ascertained is a static or dynamic three-dimensional representation of an environment of the motor vehicle. In other words, the location map contains three-dimensional information about the vehicle itself and about at least one obstacle in the area surrounding the vehicle. The three-dimensional information preferably includes three Cartesian coordinates of the vehicle and the obstacles. To create a three-dimensional location map, at least two image signals of the surroundings of the vehicle from two different viewing angles are necessary in order to determine the necessary parallax information for creating a three-dimensional location map.

According to a first embodiment, the three-dimensional representation is determined on the basis of a plurality of first image signals recorded from different angles by means of the mono camera of the mobile terminal. For this purpose, the user can be shown, for example, instructions on how to record the plurality of image signals. The first image signals from different points of view are then transmitted to the vehicle or the three-dimensional representation in the mobile terminal is determined therefrom. According to a second embodiment, the mobile terminal already has at least one stereo camera and is therefore itself set up for capturing three-dimensional images. At least a first stereoscopic image signal is then transmitted to the vehicle or the three-dimensional representation in the mobile terminal is determined therefrom. According to a third embodiment, the three-dimensional representation is determined on the basis of at least one first image signal recorded by the camera of the mobile terminal and at least one second image signal recorded by a camera of the motor vehicle. The first image signal and the second image signal are necessarily recorded from different perspectives. The first image signal is then transmitted to the vehicle and the three-dimensional representation is determined there from this and the second image signal.

The third embodiment of the method according to the invention described above is particularly advantageous since it includes the use of all the hardware that is already present. It is also advantageous that the perspectives of the first and second image signals generally differ significantly. A particularly high information content thus results from the combination of the first image signal and the second image signal. However, the question arises as to how the first and second image signals are linked. According to a preferred embodiment, the at least one first image signal and the at least one second image signal are linked for three-dimensional representation using first GPS data of the mobile terminal and second GPS data of the motor vehicle. On the basis of this GPS data and preferably further data on the alignment of the camera in the vehicle and / or on position information of the mobile terminal, the image signals can be related to one another.

According to a further preferred embodiment, the linking of the at least one first image signal and the at least one second image signal for three-dimensional representation takes place on the basis of a part of the motor vehicle identified in the first image signal and spatial position data of the motor vehicle. For example, a license plate or another marker of the motor vehicle is recognized in the first image signal. The first and second image signals can be superimposed on the basis of information on the relative position of the license plate (or other marker) and the camera in the vehicle.

According to a likewise preferred embodiment, the linking of the at least one first image signal and the at least one second image signal for three-dimensional representation takes place on the basis of an area of interest identified in the first image signal and the second image signal for the at least one autonomous driving maneuver. In other words, information contained in the image signals themselves is used to superimpose the image signals. This requires, for example, the application of segmentation and / or image recognition (for example by means of artificial intelligence, KI) to both image signals. The information used for overlaying or linking is particularly preferably an object contained in both image signals, for example a vehicle, a traffic sign or the like. In particular by means of image recognition and / or by using the beam set, the relative positions of the camera of the mobile terminal and the object and the relative position of the camera of the vehicle and the object can be based on size differences and / or perspective distortions of the identified object in both image signals determine. On the basis of these relative positions, the relative position of the cameras of the vehicle and the mobile terminal can then be determined.

The method according to the invention preferably further comprises the step of recognizing at least one static obstacle for the at least one autonomous driving maneuver. Particularly preferably, in the method according to the invention, at least one static obstacle for the driving maneuver or maneuvers from the vehicle's own position to the end position is determined in the static three-dimensional representation. The static obstacle is, for example, a narrow bollard or post, a bump or a deep pothole, an object lying on the floor, a curb or the like. In the method according to the invention, the at least one autonomous driving maneuver is then preferably adjusted, taking into account the at least one static obstacle. For example, a bollard, post, a bump, a pothole or an object lying on the ground is avoided. A recognized curb preferably leads to the adaptation of the destination of the parking process, for example because it is recognized that the height of the curb cannot be driven over.

The method according to the invention also preferably comprises the step of recognizing at least one dynamic obstacle for the at least one autonomous driving maneuver. In the method according to the invention, it is particularly preferably recognized in the dynamic three-dimensional representation of at least one dynamic obstacle for the at least one autonomous driving maneuver. The at least one dynamic obstacle is, for example, a cyclist or a person, for example a child, or an animal that is temporarily in the driving tube mentioned above. In the method according to the invention, the at least one autonomous driving maneuver is then preferably interrupted for the duration of the existence of the at least one dynamic obstacle. The above-described method steps are preferably carried out repeatedly, the dynamic obstacle being recognized based on a plurality, in particular a chronological sequence, of first and optionally second image signals. In this context, it is particularly preferred (but also independently of this) that the at least one first image signal is part of a video signal recorded by means of a camera of the mobile terminal. Such a time series of first image signals advantageously enables the above-described detection of dynamic obstacles in the method.

Likewise, in the method according to the invention, the at least one first image signal recorded by means of a camera of the mobile terminal is preferably stored in order to demonstrate the monitoring of the at least one autonomous driving maneuver. The storage takes place in the mobile device and / or in the vehicle. Alternatively, the location map, in particular the three-dimensional representation, is preferably stored. Evidence of monitoring autonomous driving maneuvers may be mandatory. The first image signals recorded anyway in the method according to the invention can thus be used directly as evidence material for the monitoring carried out.

The method steps of the method according to the invention can be implemented by electrical or electronic components or components (hardware), by firmware (ASIC) or by executing a suitable program (software). The method according to the invention is likewise preferably implemented or implemented by a combination of hardware, firmware and / or software. For example, individual components for performing individual method steps are designed as separately integrated circuits or arranged on a common integrated circuit. Individual components set up to carry out individual method steps are also preferably arranged on a (flexible) printed circuit carrier (FPCB / PCB), a tape carrier package (TCP) or another substrate.

The individual method steps of the method according to the invention are furthermore preferably designed as one or more processes based on one or more processors run in one or more electronic computing devices and are generated when one or more computer programs are executed. The computing devices are preferably designed to work together with other components, for example a communication module, and one or more sensors or cameras in order to implement the functionalities described here. The instructions of the computer programs are preferably stored in a memory, such as a RAM element. However, the computer programs can also be stored in a non-volatile storage medium, such as a CD-ROM, a flash memory or the like.

It is also apparent to the person skilled in the art that the functionalities of a plurality of computers (data processing devices) can be combined or combined in a single device or that the functionality of a specific data processing device can be distributed over a large number of devices in order to carry out the steps of the method according to the invention without to deviate from the method according to the invention.

A further aspect of the invention relates to a motor vehicle, in particular a passenger car with a combustion, electric or hybrid motor, which has at least one first sensor set up to record environmental data, at least one second sensor set up to record vehicle data and a communication module, and one for autonomous driving of the motor vehicle equipped driving system. The communication module preferably has a radio, mobile radio, WLAN, and / or Bluetooth transceiver or alternative wireless communication devices.

The at least one first sensor is designed to detect sensor signals relating to the surroundings of the vehicle. The at least one second sensor is designed to detect sensor signals relating to the vehicle itself. The communication module is designed to receive information potentially relevant to the motor vehicle and / or its surroundings via a communication network. An ambient signal received by means of the at least one first sensor preferably enables the parked motor vehicle to obtain information about its environment and preferably displays a large amount of environmental information. A state signal received by means of the at least one second sensor preferably enables the parked motor vehicle to obtain information about its own state and, for this purpose, displays a large number of state information. A signal received by means of the communication module enables the reception of first image signals from the mobile terminal.

Furthermore, the motor vehicle has a control unit designed to carry out the method according to the invention, as described above. The control unit is in particular set up to establish a communication link between the motor vehicle and a mobile terminal, to determine at least one autonomous driving maneuver for maneuvering from a current own position of the motor vehicle into a target position of the motor vehicle, at least one first image signal and recorded by a camera of the mobile terminal / or to receive a position map of the motor vehicle determined by the mobile terminal based on the at least one first image signal from the mobile terminal, and to adapt the at least one autonomous driving maneuver based on the received at least one first image signal and / or based on the received location map.

Current motor vehicles already have a large number of sensors which are the first sensors to continuously record various environmental conditions, such as outside temperature, (air) humidity, etc. Furthermore, vehicles can also already have second sensors, for example position sensors of an anti-theft alarm system. Modern vehicles are also equipped with powerful communication modules that enable the reception of information via a variety of channels. The method according to the invention leads these already existing sensors to a new advantageous use.

The driving system of the motor vehicle according to the invention is preferably set up to carry out at least one autonomous driving maneuver / autonomous drive from the vehicle's own position to a target position or parking position. The driving system is particularly preferably designed for completely automatic guidance of the motor vehicle and can control the longitudinal guidance and the transverse guidance of the motor vehicle. Furthermore, the driving system can preferably access the at least one first sensor and / or the at least one second sensor for determining status information and / or environmental information of the motor vehicle. These first and second sensors can thus preferably be used by the driving system and by the control unit.

A further aspect of the invention relates to a control unit which is set up with at least one first sensor for recording ambient data of a motor vehicle, with at least one second sensor for recording status data of the motor vehicle and with one Communication module of a motor vehicle and to communicate with a driving system for autonomous driving of the motor vehicle and which is further configured to carry out the method according to the invention. Preferred configurations of the control unit correspond to the embodiments described above with reference to the motor vehicle according to the invention.

A further aspect of the invention relates to a method of a control unit of a motor vehicle, which has at least one first sensor set up for recording environmental data, at least one second sensor set up for recording status data of the motor vehicle and a communication module, a driving system set up for autonomous driving of the motor vehicle, and the Control unit, the method comprising at least the following steps: establishing a communication link between the motor vehicle and a mobile terminal; Determining at least one autonomous driving maneuver for maneuvering from a current own position of the motor vehicle into a target position of the motor vehicle; Receiving from the mobile terminal at least one first image signal recorded by a camera of the mobile terminal and / or a position map of the motor vehicle determined by the mobile terminal on the basis of the at least one first image signal; and adapting the at least one autonomous driving maneuver on the basis of the received at least one first image signal and / or on the basis of the received position map. Preferred embodiments of the method correspond to the embodiments described above with reference to the motor vehicle according to the invention.

A further aspect of the invention relates to a computer program comprising commands which cause the computer to execute the program, such as a control unit of a motor vehicle, to the method according to the invention, comprising the steps: establishing a communication link between the motor vehicle and a mobile terminal ; Determining at least one autonomous driving maneuver for maneuvering from a current own position of the motor vehicle into a target position of the motor vehicle; Receiving from the mobile terminal at least one first image signal recorded by a camera of the mobile terminal and / or a position map of the motor vehicle determined by the mobile terminal on the basis of the at least one first image signal; and adapting the at least one autonomous driving maneuver on the basis of the received at least one first image signal and / or on the basis of the received position map. Preferred configurations of the program correspond to the embodiments described above with reference to the motor vehicle according to the invention.

A further aspect of the invention relates to a computer-readable storage medium, comprising commands that cause it to be executed by a computer, such as a control unit of a motor vehicle, to the method according to the invention, comprising the steps: establishing a communication link between the motor vehicle and a mobile terminal; Determining at least one autonomous driving maneuver for maneuvering from a current own position of the motor vehicle into a target position of the motor vehicle; Receiving from the mobile terminal at least one first image signal recorded by a camera of the mobile terminal and / or a position map of the motor vehicle determined by the mobile terminal on the basis of the at least one first image signal; and adapting the at least one autonomous driving maneuver on the basis of the received at least one first image signal and / or on the basis of the received position map. Preferred configurations of the storage medium correspond to the embodiments described above with reference to the motor vehicle according to the invention.

Unless otherwise stated in the individual case, the various embodiments of the invention mentioned in this application can advantageously be combined with one another.

• 1 eine schematische Darstellung eines erfindungsgemäßen Systems aus einem erfindungsgemäßen Kraftfahrzeugs und einem erfindungsgemäßen mobilen Endgerät gemäß einer Ausführungsform; und
• 2 eine schematische Darstellung eines erfindungsgemäßen Verfahrens gemäß einer Durchführungsform

The invention is explained below in exemplary embodiments with reference to the accompanying drawings. Show it:

• 1 a schematic representation of a system according to the invention from a motor vehicle according to the invention and a mobile terminal according to the invention according to one embodiment; and
• 2nd is a schematic representation of a method according to the invention according to an embodiment

1 shows a schematic representation, in particular a block diagram of an exemplary motor vehicle 10th , in particular a two-lane motor vehicle with a combustion, electric or hybrid engine. The car 10th comprises a large number of first sensors, in particular a first sensor 11 , a second sensor 12 , and a third sensor 13 . The first sensors 11 , 12 , 13 are set up to record environmental information or environmental data of the motor vehicle 10th and include, for example, temperature sensors for detecting an ambient temperature, a camera for recording an image of the motor vehicle 10th immediately surrounding Environment, a microphone for recording noise from the motor vehicle 10th immediately surrounding environment, distance sensors such as ultrasonic sensors for detecting distances to the motor vehicle 10th surrounding objects. The first sensors 11 , 12 , 13 transmit the environmental signals detected by them to a first control unit 40 of the motor vehicle 10th .

The car 10th also has a plurality of second sensors, in particular a fourth sensor 51 , a fifth sensor 52 , and a sixth sensor 53 on. With the second sensors 51 , 52 , 53 are sensors for determining the motor vehicle 10th status data itself, such as current position and movement information of the motor vehicle. The second sensors are consequently, for example, speed sensors, acceleration sensors, inclination sensors, interior motion detectors, pressure sensors in the vehicle seats or the like. The second sensors 51 , 52 , 53 transmit the status signals detected by them to the first control unit 40 of the motor vehicle 10th . In addition, the second sensors transmit 51 , 52 , 53 their measurement results directly to a driving system 30th from the motor vehicle.

The motor vehicle also has a first communication module 20th with a memory 21st and one or more transponders or transceivers 22 on. With the transponders 22 it is a radio, WLAN, GPS or Bluetooth transceiver or the like. The transponder communicates with the internal memory 21st of the first communication module 20th , for example via a suitable data bus. Using the transponder 22 can, for example, the current position of the motor vehicle 10th through communication with a GPS satellite 61 determined and this in the internal memory 21st get saved. Likewise, using the transponder 22 one in memory 21st stored authorization information can be transmitted to an external communication module. The first communication module 20th also communicates with the first control unit 40 .

In addition, the first communication module 20th set up with a mobile device 70 , for example a personal communication device such as a smartphone or a tablet of a driver, owner or holder of the motor vehicle 10th to communicate. Communication takes place in particular with a second communication module 90 of the mobile device 70 . The second communication module 90 has a memory 92 and one or more transponders or transceivers 91 on. With the transponders 91 it is a radio, WLAN, GPS or Bluetooth transceiver or the like. The transponder 91 communicates with the internal memory 92 of the second communication module 90 , for example via a suitable data bus. For example, the first and second communication modules 20th , 90 set up to communicate with each other via a UMTS (Universal Mobile Telecommunication Service) or, LTE (Long Term Evolution) cellular network. The communication between the communication devices 20, 90 is preferably embedded in a corresponding app.

The car 10th also shows the driving system 30th on that for fully autonomous driving, in particular for longitudinal and transverse guidance, of the motor vehicle 10th is set up. The driving system 30th has a navigation module 32 on that for calculating routes between a start and a destination and for determining the route along this route from the motor vehicle 10th maneuvers to be performed is set up. In addition, the driving system includes 30th an internal memory 31 , for example for map materials, with the navigation module 32 communicates, for example via a suitable data bus.

At least part of the second sensors 51 , 52 , 53 , the motor vehicle transmits its measurement results directly to the driving system 30th . These data transmitted directly to the driving system are, in particular, current position and movement information of the motor vehicle. These are preferably detected by speed sensors, acceleration sensors, inclination sensors, etc.

The car 10th also has a first control unit 40 which is set up to carry out the method according to the invention. For this purpose, the first control unit has 40 via an internal memory 41 and a CPU 42 which communicate with each other, for example via a suitable data bus. In addition, the first control unit is in communication with at least the first sensors 11 , 12 , 13 , the second sensors 51 , 52 , 53 , the first communication module 20th and the driving system 30th , for example via one or more respective CAN connections, one or more respective SPI connections, or other suitable data connections.

The mobile terminal has a second control unit 80 which is set up to carry out the respective steps of the method according to the invention. For this purpose, the second control unit has 80 via an internal memory 81 and a CPU 82 which communicate with each other, for example via a suitable data bus. In addition, there is the second control unit 80 in communication with at least one camera 96 the mobile terminal, for example a mono camera or a stereo camera 96 . The second control unit is also located 80 in communication with a GPS sensor 95 of the mobile device. The communication connections are implemented via one or more respective CAN connections, SPI connections, or other suitable data connections.

2nd shows a schematic flow diagram of a motor vehicle according to the invention 10th performed inventive method.

In a first step S100 In the method according to the invention, a communication link is established between the motor vehicle 10th and a mobile device 70 . In a second step S200 at least one autonomous driving maneuver for maneuvering is determined from a current own position of the motor vehicle 10th in a target position of the motor vehicle 10th . The order of the steps S100 and S200 is arbitrary. In a third step S300 In the method according to the invention, at least one is received by means of a camera 96 of the mobile device 70 recorded first image signal and / or a position map of the motor vehicle determined by the mobile terminal on the basis of the at least one first image signal 10th from the mobile device 70 . Finally, in a fourth step S400 of the method according to the invention adapting the at least one autonomous driving maneuver on the basis of the received at least one first image signal and / or on the basis of the received position map.

Reference symbol list

10th

Motor vehicle

11

first sensor

12

second sensor

13

third sensor

20th

Communication module

21st

Storage

22

Transponder

30th

Driving system

31

Storage

32

Navigation module

40

Control unit

41

Storage

42

CPU

51

fourth sensor

52

fifth sensor

53

sixth sensor

61

satellite

70

mobile device

80

Control unit

81

Storage

82

CPU

90

Communication module

91

Transponder

92

Storage

95

GPS sensor

96

camera

Claims (10)

Method for autonomously parking a motor vehicle (10) with a driving system (30) set up for autonomously driving the motor vehicle and a control unit (40), the method comprising: Establishing a communication link between the motor vehicle (10) and a mobile terminal (70); Determining at least one autonomous driving maneuver for maneuvering from a current own position of the motor vehicle (10) into a target position of the motor vehicle (10); Receiving from the mobile terminal (70) at least one first image signal recorded by means of a camera (96) of the mobile terminal (70) and / or a position map of the motor vehicle (10) determined by the mobile terminal based on the at least one first image signal; and Adapting the at least one autonomous driving maneuver on the basis of the received at least one first image signal and / or on the basis of the received position map. Procedure according to Claim 1 , further comprising: determining a position map of the motor vehicle (10) on the basis of the at least one received first image signal, preferably on the basis of a plurality of received first image signals, and adapting the at least one driving maneuver on the basis of the determined position map. Procedure according to Claim 1 or 2nd , wherein the received or determined location map is a static or dynamic three-dimensional representation of an environment of the motor vehicle (10). Procedure according to Claim 3 , wherein the three-dimensional representation is based on: a plurality of first image signals recorded from the different viewing angles by means of the mono camera (96) of the mobile terminal (70), at least one first image signal recorded by the stereo camera (96) of the mobile terminal (70), and / or - at least one first image signal recorded by the camera (96) of the mobile terminal (70) and at least one by means of a camera (11) of the motor vehicle (10) recorded second image signal is determined. Procedure according to Claim 4 , wherein the linking of the at least one first image signal and the at least one second image signal for three-dimensional representation based on: - first GPS data of the mobile terminal (70) and second GPS data of the motor vehicle (10), - a part of the motor vehicle identified in the first image signal (10) and spatial position data of the motor vehicle (10), - an area of interest identified in the first image signal and the second image signal for the at least one autonomous driving maneuver, and / or - at least one object identified in the first image signal and the second image signal. Method according to one of the preceding claims, further comprising: Detecting at least one static obstacle for the at least one autonomous driving maneuver, preferably in the static three-dimensional representation, and adapting the at least one autonomous driving maneuver, taking into account the at least one static obstacle. Method according to one of the preceding claims, further comprising: Recognizing at least one dynamic obstacle for the at least one autonomous driving maneuver, preferably in the dynamic three-dimensional representation, and Interrupting the at least one autonomous driving maneuver for the duration of the existence of the at least one dynamic obstacle. Method according to one of the preceding claims, further comprising: Saving the at least one first image signal recorded by means of a camera (96) of the mobile terminal (70) to demonstrate the monitoring of the at least one autonomous driving maneuver. Method according to one of the preceding claims, wherein the at least one first image signal is part of a video signal recorded by means of a camera (96) of the mobile terminal (70). Motor vehicle comprising at least one first sensor (11, 12, 13) set up for recording environmental data, at least one second sensor (51, 52, 53) set up for recording vehicle data, a communication module (20), a driving system set up for autonomous driving of the motor vehicle (30) and one for carrying out the method according to one of the Claims 1 to 9 established control unit (40).

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