DE102019212842A1 - Control of a motor vehicle using an unmanned aerial vehicle - Google Patents

Abstract

The present invention relates to a method, a computer program with instructions and a device for controlling an at least partially autonomous motor vehicle. The invention further relates to a motor vehicle in which a method according to the invention or a device according to the invention is used. The invention also relates to a method and a computer program with instructions for supporting control of an at least partially autonomous motor vehicle by an unmanned flight device, as well as an unmanned flight device in which a method according to the invention is used. In a first step, an unmanned flying device is assigned to a motor vehicle (10). After the assignment has been made, the motor vehicle receives (13) a highly precise pose of the motor vehicle determined by the unmanned flight device (11). Using the received highly precise pose, a trajectory to be driven by the motor vehicle is then determined (14).

Description

The present invention relates to a method, a computer program with instructions and a device for controlling an at least partially autonomous motor vehicle. The invention further relates to a motor vehicle in which a method according to the invention or a device according to the invention is used. The invention also relates to a method and a computer program with instructions for supporting control of an at least partially autonomous motor vehicle by an unmanned flight device, as well as an unmanned flight device in which a method according to the invention is used.

In the years to come, more and more vehicles will be able to deal with an increasing number of situations automatically and without direct driver intervention. In order to do justice to these situations, the autonomous or semi-autonomous vehicles are equipped with an increasing number of sensors, such as ultrasonic sensors, laser scanners, radar sensors, lidar sensors, cameras, etc. These sensors are used to scan the surroundings of the vehicle and this information is provided by algorithms to make available who are responsible for the safe movement of the autonomous or semi-autonomous vehicle in its environment.

In addition, there are approaches to supplement the sensors of the vehicle with the sensors of an unmanned flight device. A large number of different small, unmanned aerial vehicles are currently available. These are usually referred to as drones in common parlance and can in particular be equipped with cameras.

In this context describes DE 10 2014 226 458 A1 a method for controlling an autonomously movable missile coupled to a vehicle for data purposes, with different driving modes being defined for the vehicle. In the method, control signals for controlling the position of the missile are generated by means of a control unit of the vehicle and transmitted to the missile. In particular, a control signal for the flight altitude of the missile is generated as a function of the current driving mode of the vehicle and transmitted to the missile. The missile records data relating to the surroundings of the vehicle, which can be transmitted to the vehicle.

Most current applications focus on coping with different driving situations and parking scenarios. The management of these scenarios is based on the approach that the autonomous or semi-autonomous vehicles use the sensor information they have collected themselves and decide on the most suitable maneuver for the vehicle. For example, an automated parking service is currently being developed (AVP: Automated Valet Parking), in which a driver can leave his vehicle, e.g. at the entrance of a parking garage, and the vehicle performs a fully automatic parking process in the parking garage. The vehicle searches for a parking space on its own and parks on it. The driver can then initiate the return of the vehicle to a certain location later, e.g. via smartphone. For independent, fully automatic driving of the vehicle, it must be equipped with extensive environmental sensors and intelligence in order to avoid collisions and blockages. This is very complex and associated with high costs.

In an alternative approach, perception of the surroundings and intelligence are provided by the parking garage and not by the vehicle. The multi-storey car park or parking space is equipped with extensive sensors, e.g. cameras or laser scanners, in order to record all vehicles with high precision. In this case, the vehicle needs an interface for remote control of the driving from the outside. An intelligent component in the parking garage then drives using this interface. This approach requires a great deal of effort in equipping the parking spaces, which is also associated with high costs.

In this context describes DE 10 2017 107 701 A1 a method for the remote-controlled maneuvering of a motor vehicle on a parking area by means of an infrastructure device external to the vehicle and on the parking area side. In the method, position data of the motor vehicle on the parking area are determined by the infrastructure device. A communication channel is set up starting from the infrastructure device in the direction of the motor vehicle. The infrastructure device takes over a longitudinal guidance and a transverse guidance of the motor vehicle via the communication channel in order to maneuver the motor vehicle on the parking area as a function of the position data of the motor vehicle.

In an extension of this alternative approach, the sensors of an unmanned flight device are used in addition to the sensors of the parking space. In this way, the sensors required in the parking space can be reduced, since gaps in the parking space monitoring can be compensated for by the sensors of the unmanned flight device.

In this context describes DE 10 2016 202 033 A1 a method for Monitoring of a parking lot for motor vehicles. In the method, the parking lot is monitored by means of a monitoring device of a flying drone. The data recorded by the drone is sent to a motor vehicle located within the parking lot or to a parking space management system for managing the parking space. The drone can take over control of the vehicle.

It is an object of the invention to provide improved solutions for controlling a motor vehicle using an unmanned flight device.

This object is achieved by a method with the features of claim 1 or 2, by a computer program with instructions according to claim 7 and by a device with the features of claim 8. Preferred embodiments of the invention are the subject matter of the dependent claims.

• - Zuordnen zumindest einer unbemannten Flugvorrichtung zu dem Kraftfahrzeug;
• - Empfangen einer von der unbemannten Flugvorrichtung bestimmten hochgenauen Pose des Kraftfahrzeugs; und
• - Bestimmen einer von dem Kraftfahrzeug zu fahrenden Trajektorie unter Verwendung der empfangenen hochgenauen Pose.

According to a first aspect of the invention, a method for controlling an at least partially autonomous motor vehicle comprises the steps:

• - Assigning at least one unmanned flight device to the motor vehicle;
• Receiving a highly precise pose of the motor vehicle determined by the unmanned aerial vehicle; and
• Determination of a trajectory to be driven by the motor vehicle using the received highly precise pose.

• - Zuordnen zumindest einer unbemannten Flugvorrichtung zu dem Kraftfahrzeug;
• - Empfangen einer von der unbemannten Flugvorrichtung bestimmten hochgenauen Pose des Kraftfahrzeugs; und
• - Bestimmen einer von dem Kraftfahrzeug zu fahrenden Trajektorie unter Verwendung der empfangenen hochgenauen Pose.

According to a further aspect of the invention, a computer program contains instructions which, when executed by a computer, cause the computer to carry out the following steps for controlling an at least partially autonomous motor vehicle:

• - Assigning at least one unmanned flight device to the motor vehicle;
• Receiving a highly precise pose of the motor vehicle determined by the unmanned aerial vehicle; and
• Determination of a trajectory to be driven by the motor vehicle using the received highly precise pose.

The term computer is to be understood broadly. In particular, it also includes control devices and other processor-based data processing devices.

The computer program can, for example, be provided for electronic retrieval or can be stored on a computer-readable storage medium.

• - eine Zuordnungseinheit zum Zuordnen zumindest einer unbemannten Flugvorrichtung zu dem Kraftfahrzeug;
• -eine Empfangseinheit zum Empfangen einer von der unbemannten Flugvorrichtung bestimmten hochgenauen Pose des Kraftfahrzeugs; und
• - eine Planungseinheit zum Bestimmen einer von dem Kraftfahrzeug zu fahrenden Trajektorie unter Verwendung der empfangenen hochgenauen Pose.

According to a further aspect of the invention, a device for controlling an at least partially autonomous motor vehicle has:

• an assignment unit for assigning at least one unmanned flight device to the motor vehicle;
• a receiving unit for receiving a highly precise pose of the motor vehicle determined by the unmanned flight device; and
• a planning unit for determining a trajectory to be driven by the motor vehicle using the highly precise pose received.

With regard to a motor vehicle, provision is made for the motor vehicle to be provided with a highly precise pose, i.e. a highly precise position and orientation, as a basis for planning a trajectory to be driven. The pose is determined beforehand by an unmanned flight device and then transmitted to the vehicle. This has the advantage that the vehicle itself does not have to be able to determine its own position with high precision. This means that the vehicle does not have to provide complex sensors and software for high-precision self-location. The trajectory to be driven can in particular be a trajectory to be driven in the context of an automated parking process. This avoids high development and investment costs in the vehicle or in the parking space. The necessary data exchange can take place directly between the vehicle and the unmanned flight device or via an intermediate infrastructure device.

• - Zuordnen der unbemannten Flugvorrichtung zu dem Kraftfahrzeug;
• - Bestimmen einer hochgenauen Pose des Kraftfahrzeugs durch die unbemannte Flugvorrichtung; und
• - Übermitteln der hochgenauen Pose an das Kraftfahrzeug.

According to a further aspect of the invention comprises a method for supporting a control of an at least partially autonomous Motor vehicle by an unmanned flight device the steps:

• - Assigning the unmanned flight device to the motor vehicle;
• - Determination of a highly precise pose of the motor vehicle by the unmanned flight device; and
• - Transmission of the highly precise pose to the motor vehicle.

• - Zuordnen der unbemannten Flugvorrichtung zu dem Kraftfahrzeug;
• - Bestimmen einer hochgenauen Pose des Kraftfahrzeugs durch die unbemannte Flugvorrichtung; und
• - Übermitteln der hochgenauen Pose an das Kraftfahrzeug.

According to a further aspect of the invention, a computer program contains instructions which, when executed by a computer, cause the computer to carry out the following steps to support control of an at least partially autonomous motor vehicle by an unmanned flying device:

• - Assigning the unmanned flight device to the motor vehicle;
• - Determination of a highly precise pose of the motor vehicle by the unmanned flight device; and
• - Transmission of the highly precise pose to the motor vehicle.

The term computer is to be understood broadly. In particular, it also includes control devices, microcontrollers and other processor-based data processing devices.

The computer program can, for example, be provided for electronic retrieval or can be stored on a computer-readable storage medium.

According to a further aspect, an unmanned flight device is set up to carry out a method according to the invention for supporting a control of an at least partially autonomous motor vehicle.

With regard to an unmanned flight device, it is provided that it determines a highly precise pose of a vehicle and transmits this highly precise pose to the vehicle. A direct communication link between the unmanned flight device and the vehicle can be used for this purpose. Alternatively, the communication can also take place via an intermediate infrastructure device. The highly precise pose can then be used by the vehicle for trajectory planning, e.g. for a parking process within a parking space. The solution according to the invention avoids high development and investment costs in the vehicle or in the parking space. In addition, the technology of the unmanned aerial vehicle can be updated flexibly, e.g. because newer generations of sensors are available. It does not have to be developed over several years for a new generation of vehicles or a sensor system in the parking space needs to be replaced. The solution described is potentially applicable in any environment that is suitable for unmanned aerial vehicles.

According to one aspect of the invention, the unmanned flight device detects the motor vehicle by means of a sensor system in order to determine the highly precise pose and carries out a comparison with its own position. In this embodiment, the unmanned flight device determines the highly accurate pose of the vehicle by measuring the position of the vehicle using suitable sensors, e.g. a camera or a laser scanner, comparing it with its own position and calculating the pose of the vehicle from this. The vehicle position can be measured, for example, by the unmanned flying device hovering over a certain corner of the vehicle, e.g. front left. Alternatively, a single unmanned flight device can also use certain typical vehicle features, e.g. the wheels, the license plates or the windows, in order to be able to determine the position very precisely. It is also possible that more than one unmanned flying device is used for the highly precise measurement of the vehicle position, e.g. a first at the front left and a second at the rear right. This makes it possible to use a relatively simple sensor system and image processing, or other sensor system that is kept very simple, to record the physical dimensions of the vehicle and thus to determine its pose.

According to one aspect of the invention, information on the motor vehicle or on the surroundings of the motor vehicle is recorded by the unmanned flight device and transmitted to the motor vehicle. In this embodiment, the unmanned flight device transmits information about the vehicle's surroundings to the vehicle and thus makes a contribution to the vehicle's perception of the environment. During its driverless driving, the vehicle needs to know exactly what obstacles exist around the vehicle. This applies to both the static environment and dynamic objects such as passers-by or animals. The currently available sensor systems all have weaknesses and blind areas, which is why a complete coverage or guarantee of a comprehensive perception of the surroundings is not possible or only possible with great difficulty and time and effort and thus expensive. Support from one or more unmanned aerial vehicles can help here. The sensors are often blind, especially in tight situations with very dense obstacles. An unmanned flying device with a little more distance can nevertheless capture the situation and report information such as criticality, distance values or object information, e.g. the positions, dimensions or classifications of obstacles, to the vehicle. The use of the information from the unmanned flight devices thus makes it possible to have a less complex and expensive set of sensors in the vehicle or to enable complete coverage in the first place.

According to one aspect of the invention, the information transmitted by the unmanned flight device is used to carry out a comparison with information recorded by a sensor system of the motor vehicle or information derived therefrom. In this embodiment, the information from the unmanned flight device enables a redundant safeguarding path, as may be required for safety reasons. The unmanned flying device is more or less an external one Instance that also determines the information determined by the vehicle itself, for example information on localization or on perception of the surroundings, in a completely different way and makes it available to the vehicle. The vehicle can then carry out a comparison on the database available in this way.

According to one aspect of the invention, information is transmitted from the motor vehicle to the unmanned flight device, which information was recorded by a sensor system of the motor vehicle or derived from information recorded by the sensor system. The unmanned flight device then carries out a plausibility check of the information received. In this embodiment, the vehicle provides the unmanned flight device with, for example, the information determined by the vehicle for localization or for perception of the surroundings. The unmanned flight device checks the plausibility of these and, in the event of relevant deviations, can stop the autonomous journey or trigger special treatment, e.g. renewed sensor measurements, reducing the speed of the vehicle or other measures. In this way, the safety of the driving maneuver carried out is increased.

An autonomous or partially autonomous motor vehicle preferably uses a method according to the invention or a device according to the invention for controlling the motor vehicle. In particular, a method according to the invention or a device according to the invention can be used to carry out an automated parking process.

• 1 zeigt schematisch ein Verfahren zur Steuerung eines zumindest teilautonomen Kraftfahrzeugs unter Verwendung einer unbemannten Flugvorrichtung;
• 2 zeigt eine erste Ausführungsform einer Vorrichtung zur Steuerung eines zumindest teilautonomen Kraftfahrzeugs;
• 3 zeigt eine zweite Ausführungsform einer Vorrichtung zur Steuerung eines zumindest teilautonomen Kraftfahrzeugs;
• 4 stellt schematisch ein Kraftfahrzeug dar, in dem eine erfindungsgemäße Lösung realisiert ist;
• 5 zeigt schematisch eine unbemannte Flugvorrichtung, in der eine erfindungsgemäße Lösung realisiert ist; und
• 6 zeigt schematisch ein Systemkonzept der erfindungsgemäßen Lösung am Beispiel eines automatisierten Parkservice.

Further features of the present invention will become apparent from the following description and the appended claims in conjunction with the figures.

• 1 shows schematically a method for controlling an at least partially autonomous motor vehicle using an unmanned flight device;
• 2 shows a first embodiment of a device for controlling an at least partially autonomous motor vehicle;
• 3rd shows a second embodiment of a device for controlling an at least partially autonomous motor vehicle;
• 4th represents schematically a motor vehicle in which a solution according to the invention is implemented;
• 5 shows schematically an unmanned flight device in which a solution according to the invention is implemented; and
• 6th shows schematically a system concept of the solution according to the invention using the example of an automated parking service.

For a better understanding of the principles of the present invention, embodiments of the invention are explained in more detail below with reference to the figures. It goes without saying that the invention is not restricted to these embodiments and that the features described can also be combined or modified without departing from the scope of protection of the invention as defined in the appended claims.

1 shows schematically a method for controlling an at least partially autonomous motor vehicle using an unmanned flight device. For the sake of simplicity, both the steps carried out by the motor vehicle and the steps carried out by the unmanned flying device are shown in the figure. In a first step, a 10 unmanned flying device assigned to a motor vehicle 10 . A highly precise pose of the motor vehicle is then determined by the unmanned flight device 11 . For this purpose, the unmanned flight device can detect the motor vehicle by means of a sensor system and carry out a comparison with its own position. The highly precise pose is transmitted from the unmanned flight device to the motor vehicle 12th and received from this 13th . Using the received highly precise pose, a trajectory to be driven by the motor vehicle is then determined 14th . In addition, the unmanned flight device can record information on the motor vehicle or on the surroundings of the motor vehicle and transmit it to the motor vehicle. The information transmitted by the unmanned flight device can then be used to carry out a comparison with information recorded by a sensor system of the motor vehicle or information derived therefrom 16 . This can take place before the trajectory to be driven is determined or also while the trajectory is being traversed. In addition, the information can be used in determining 14th the trajectory to be driven must be taken into account. Information can also be transmitted from the motor vehicle to the unmanned flight device 17th that were recorded by a sensor system of the motor vehicle or derived from information recorded by the sensor system.

The unmanned flight device can then carry out a plausibility check of the transmitted information 18th . This can also take place before the trajectory to be driven is determined or also while the trajectory is being traversed.

2 shows a simplified schematic representation of a first embodiment of a device 20th for controlling an at least partially autonomous motor vehicle. The device 20th has an entrance 21 for receiving information, for example data, which is transmitted from an unmanned aerial vehicle or from an infrastructure device. An allocation unit 22nd first ensures an assignment of at least one unmanned aerial vehicle to the motor vehicle. After the assignment has been made, a receiving unit receives 23 a highly precise pose of the motor vehicle determined by the unmanned aerial vehicle. To determine the highly precise pose, the unmanned flight device can, for example, detect the motor vehicle by means of a sensor system and then carry out a comparison with an own position. A planning unit 24 finally determines a trajectory to be driven by the motor vehicle using the received highly precise pose. In addition, information on the motor vehicle or on the surroundings of the motor vehicle can be recorded by the unmanned flight device and transmitted to the motor vehicle. The information transmitted by the unmanned flight device can then be used to carry out a comparison with information recorded by a sensor system of the motor vehicle or information derived therefrom. This can take place before the trajectory to be driven is determined or also while the trajectory is being traversed. In addition, the information can be provided by the planning unit 24 be taken into account when determining the trajectory to be driven. Likewise, information can be transmitted from the motor vehicle to the unmanned flight device, which information was recorded by a sensor system of the motor vehicle or derived from information recorded by the sensor system. The unmanned flight device can then carry out a plausibility check of the transmitted information. This can also take place before the trajectory to be driven is determined or also while the trajectory is being traversed.

The allocation unit 22nd , the receiving unit 23 and the planning unit 24 can from a control unit 25th to be controlled. Via a user interface 28 If necessary, settings of the allocation unit can be made 22nd , the receiving unit 23 , the planning unit 24 or the control unit 25th be changed. The one in the device 20th Accruing data can be stored in a memory if required 27 the device 20th be stored, for example for a later evaluation or for use by the components of the device 20th . The allocation unit 22nd , the receiving unit 23 , the planning unit 24 as well as the control unit 25th can be implemented as dedicated hardware, for example as integrated circuits. Of course, they can also be partially or fully combined or implemented as software that runs on a suitable processor, for example on a GPU. The entrance 21 and the exit 26th can be implemented as separate interfaces or as a combined bidirectional interface.

3rd shows a simplified schematic representation of a second embodiment of a device 30th for controlling an at least partially autonomous motor vehicle. The device 30th assigns a processor 32 and a memory 31 on. The device is, for example 30th to a computer or a control device. In the storage room 31 instructions are stored that the device 30th when executed by the processor 32 cause the steps to be carried out in accordance with one of the methods described. The ones in memory 31 Stored instructions are thus embodied by the processor 32 executable program which implements the method according to the invention. The device has an entrance 33 to receive information. From the processor 32 generated data is via an output 34 provided. In addition, they can be in memory 31 be filed. The entrance 33 and the exit 34 can be combined to form a bidirectional interface.

The processor 32 may comprise one or more processor units, for example microprocessors, digital signal processors or combinations thereof.

The memory 27 , 31 of the described embodiments can have volatile and / or non-volatile storage areas and comprise a wide variety of storage devices and storage media, for example hard disks, optical storage media or semiconductor memories.

The two embodiments of the device are preferably integrated into the motor vehicle. But it is also possible that they are part of an infrastructure device connected to the motor vehicle.

4th schematically represents a motor vehicle 40 represents, in which a solution according to the invention is implemented. The car 40 has a sensor system 41 on, with the information about the surroundings of the motor vehicle 40 can be captured. For example, the sensors 41 Include ultrasonic sensors, a laser scanner, radar sensors, lidar sensors, or one or more cameras. Other components of the motor vehicle 40 are a control system 42 for an autonomous or semi-autonomous driving operation, a navigation system 43 and a data transmission unit 44 . By means of the data transmission unit 44 can connect to an unmanned flight device, in particular for receiving a highly precise pose of the motor vehicle determined by the unmanned flight device 40 . Alternatively or additionally, the data transmission unit 44 a connection to an infrastructure device can be established. One device 20th for controlling the motor vehicle 40 determines one of the automobile using the received highly accurate pose 40 trajectory to be driven and provides this to the control system 42 to disposal. When determining the trajectory, the navigation system 43 and from the sensors 41 provided information should be taken into account. A memory is used to store data 45 available. The exchange of data between the various components of the motor vehicle 40 takes place over a network 46 .

5 shows schematically an unmanned aerial vehicle 50 , in which a solution according to the invention is implemented. The unmanned aerial vehicle 50 is in this example a multicopter with four propellers, ie a quadrocopter. Of course, the unmanned aerial vehicle 50 also have a different number of propellers and be designed, for example, as a tricopter, pentacopter, hexacopter or octocopter. Other technologies for generating the necessary lift can also be used. The unmanned aerial vehicle 50 includes a sensor system 51 , for example a camera or a laser scanner, for measuring a position of a motor vehicle. The control of the unmanned aerial vehicle 50 is done by a control system 52 using information from a positioning system 53 , which is an own position of the unmanned aerial vehicle 50 certainly. A data processing unit 54 determines a highly precise pose of the motor vehicle on the basis of a comparison of the position of the motor vehicle with its own position. This is then sent by a data transmission unit 55 transmitted to the motor vehicle or an infrastructure device. Various wireless communication technologies can be used for this purpose. For example, a connection can be established using Bluetooth or WLAN (WLAN: Wireless Local Area Network).

6th shows schematically a system concept of the solution according to the invention using the example of an automated parking service. A parking space 60 with an automated valet has one or more unmanned aerial vehicles 50 . At least one unmanned aerial vehicle 50 takes a motor vehicle given by a customer 40 at any point in reception. It then determines a highly precise pose of the motor vehicle 40 and provides the motor vehicle 40 these are available for trajectory planning. This can be done via a direct communication link between the unmanned aerial vehicle 50 and the motor vehicle 40 or via an intermediate infrastructure device 62 take place, e.g. a central control unit. In addition, the unmanned flight device 50 the car 40 measured so that the parameters of the path planning become known. For example, a wide vehicle must be steered differently than a narrow vehicle so that it can be guided around tight corners.

The unmanned aerial vehicle is preferably hovering 50 above, in front of or behind the vehicle 40 and tracks it to its destination parking space. The unmanned aerial vehicle 50 can permanently monitor the vehicle guidance or the motor vehicle 40 Provide environmental information. The unmanned aerial vehicle 50 is in this case quasi an external instance, which the motor vehicle 40 self-determined information, for example information on localization or perception of the surroundings, is also determined in a completely different way and the motor vehicle 40 provides. It is also possible that the motor vehicle 40 the unmanned aerial vehicle 50 those from the motor vehicle 40 determined information is available for localization or for perception of the surroundings. The unmanned aerial vehicle 50 checks this for plausibility and, in the event of relevant deviations, can stop autonomous driving or trigger special treatment, e.g. renewed sensor measurements, reducing the speed of the vehicle or other measures. The unmanned aerial vehicle 50 either owns the intelligence to control the vehicle itself or obtains the control information from the infrastructure device 62 . To determine the control information, the infrastructure device 62 eg on a sensor system 61 of the parking space 60 access.

The unmanned aerial vehicle 50 have registered a free parking space themselves beforehand. Alternatively, it can receive this information from the infrastructure device 62 receive. When operating several unmanned aerial vehicles at the same time 50 can exchange this information, which enables better parallel driving of motor vehicles 40 enable. An unmanned aerial vehicle can be used while driving 50 At the same time, keep an eye out for free parking spaces and contact the infrastructure device 62 or to other unmanned aerial vehicles 50 Report.

List of reference symbols

10

Associating an unmanned aerial vehicle with a motor vehicle

11

Determination of a highly precise pose of the motor vehicle by the flight device

12th

Transmission of the highly precise pose to the motor vehicle

13th

Receiving the highly accurate pose by the motor vehicle

14th

Determining a trajectory to be driven

15th

Acquisition and transmission of information by the flight device

16

Matching the information transmitted by the motor vehicle

17th

Acquisition and transmission of information by the motor vehicle

18th

Checking the plausibility of the transmitted information by the flight device

20th

contraption

21

entrance

22nd

Allocation unit

23

Receiving unit

24

Planning unit

25th

Control unit

26th

output

27

Storage

28

User interface

30th

contraption

31

Storage

32

processor

33

entrance

34

output

40

Motor vehicle

41

Sensors

42

Control system

43

navigation system

44

Data transmission unit

45

Storage

46

network

50

Unmanned aerial vehicle

51

Sensors

52

Control system

53

Positioning system

54

Data processing unit

55

Data transmission unit

60

Parking space

61

Sensors

62

Infrastructure device

QUOTES INCLUDED IN THE DESCRIPTION

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

Patent literature cited

• DE 102014226458 A1 [0004]
• DE 102017107701 A1 [0007]
• DE 102016202033 A1 [0009]

Claims (10)

A method for controlling an at least partially autonomous motor vehicle (40), comprising the steps: - Assigning (10) at least one unmanned flying device (50) to the motor vehicle (40); - Receiving (13) a (11) high-precision pose of the motor vehicle (40) determined by the unmanned flight device (50); and - Determination (14) of a trajectory to be driven by the motor vehicle (40) using the received highly precise pose. Method for supporting control of an at least partially autonomous motor vehicle (40) by an unmanned flight device (50), comprising the steps: - Assigning (10) the unmanned flight device (50) to the motor vehicle (40); - Determination (11) of a highly precise pose of the motor vehicle (40) by the unmanned flight device (50); and - Transmission (12) of the highly precise pose to the motor vehicle (40). Procedure according to Claim 1 or 2 wherein the unmanned flight device (50) for determining (11) the highly precise pose detects the motor vehicle (40) by means of a sensor system (51) and carries out a comparison with its own position. Method according to one of the preceding claims, wherein information on the motor vehicle (40) or on the surroundings of the motor vehicle (40) is recorded by the unmanned flight device (50) and transmitted (15) to the motor vehicle (40). Procedure according to Claim 4 , wherein the information transmitted by the unmanned flight device (50) is used to carry out a comparison with information recorded by a sensor system (41) of the motor vehicle (40) or information derived therefrom. Method according to one of the preceding claims, wherein information is transmitted (17) from the motor vehicle (40) to the unmanned flight device (50), which is recorded by a sensor system (41) of the motor vehicle (40) or from information recorded by the sensor system (41) were derived, and the received information is checked for plausibility by the unmanned flight device (50) (18). Computer program with instructions which, when executed by a computer, enable the computer to carry out the steps of a method according to one of the Claims 1 to 6th cause. Device for controlling an at least partially autonomous motor vehicle (40), comprising: - An assignment unit (22) for assigning (10) at least one unmanned flight device (50) to the motor vehicle (40); a receiving unit (23) for receiving (13) a (11) high-precision pose of the motor vehicle (40) determined by the unmanned flight device (50); and - A planning unit (24) for determining (14) a trajectory to be driven by the motor vehicle (40) using the received highly precise pose. Motor vehicle (40), characterized in that the motor vehicle (40) has a device (20) according to Claim 8 has or is set up, a method according to Claim 1 for controlling the motor vehicle (40). Unmanned flight device (50), characterized in that the unmanned flight device (50) is set up according to a method Claim 2 to support a control of an at least partially autonomous motor vehicle (40).

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