DE102019215660A1 - Method and processor device for guiding a motor vehicle and / or mobile terminal to a target position - Google Patents

Abstract

The invention relates to a method for guiding a motor vehicle (11) and / or mobile terminal to a target position (12), the target position (12) being selected from a user input (15) on the basis of geographic position data (26) by the processor device (10) Navigation data source (21) is determined, the geoposition data (26) describing predetermined navigation points (27) in a traffic route network. The invention provides that the target position (12) specified in the user input (15) is different from the navigation points (27) from the navigation data source (21) and the target position (12) with a reference (29 ') to at least one of the Describes navigation points (27) and that the processor device (10) determines, depending on at least one predetermined description data source (33), description data (37) which describe a respective spatial environment of the respective navigation point (27) and uses the description data (37) Route description data (16) for the target position (12) can be determined.

Description

The invention relates to a method for guiding a motor vehicle to a navigation destination or a destination position which a user specifies by means of a user input. In the context of what is known as follow-up navigation, the method can be used to drive a motor vehicle and then (e.g. for a final navigation in a building) to guide a mobile device, such as a smartphone. A mobile device can also be used alone (e.g. using navigation instructions). The method is carried out by a processor device, which is also part of the invention.

In today's motor vehicle, a navigation system can be provided into which a user can enter voice and text inputs for navigation destinations. However, these inputs are limited to a predetermined supply of navigation points in a traffic route network. In the navigation database of the navigation system, its geoposition data are stored for each navigation point, which are read out when a navigation point is selected and used to drive the motor vehicle. In this way, the possibility of specifying a target position in a current navigation system is limited to the selection of such a previously known navigation point, i.e. a selectable object, such as a specific address (street, house number and city), a predetermined so-called POI (Point of Interest) , a preset favorite address (for example “home” / “to work”) and / or a contact address, for example from a digital address book.

On the other hand, a user cannot direct the input to a target position that is not stored as a navigation point. The accuracy of an input is thus limited to the grid of the previously known navigation points.

Especially in the event that a user does not exactly know such a navigation point as a reference, but can only describe the target position using incomplete prior knowledge, for example with the information "Drive me to my colleague who lives in the blue house on Gartenstrasse", Nowadays, a user has to limit himself to the next possible navigation point, which in the example mentioned would be Gartenstrasse itself, without being able to name a house number.

In the case of a user-guided motor vehicle, after reaching the navigation point (e.g. the garden road), the user can then drive the remaining distance himself until he visually recognizes the desired target position and drives towards it. This is not possible with a fully autonomous vehicle, which also has to be able to drive the remaining distance between the available navigation point and the target position independently, since a user can no longer navigate using the steering wheel. For example, if a user specifies: "Drive me to the garage entrance of Gartenstrasse number 8", then Gartenstrasse number 8 would be available as a navigation point for a fully autonomous vehicle from a navigation database, but then the actual destination position would be available after reaching this navigation point ( Garage entrance) not available.

So-called follow-up navigation, which a user would like to be able to carry out for example within a building after leaving the motor vehicle, often cannot be carried out with navigation points from a navigation database.

From the US 7,831,433 B1 it is known that a navigation system can output navigation instructions on the basis of local conditions in the vicinity of the target position, for example the indication “turn right behind the bakery”. However, this does not help a user to specify the target position himself with such a reference.

From the US 2018/0066949 A1 it is known that an input device can receive a user input from a user which describes the target position in a colloquial manner. This description is then mapped to known navigation destinations. However, this only enables a user to reach navigation points that are already present in a navigation database.

From the US 2019/0130904 A1 it is known how a distributed processor device can be implemented in order to link an input device, a navigation device and a mobile terminal device with one another.

The invention is based on the object of automatically guiding a motor vehicle to a target position that is outside a grid of navigation points that are stored in a navigation database.

The object is achieved by the subjects of the independent claims. Advantageous embodiments of the invention result from the dependent claims, the following description and the figures.

The invention provides a method for driving a motor vehicle in order to guide the motor vehicle to a target position. The In the manner described at the beginning, leadership can additionally or alternatively also relate to a mobile terminal. For the sake of clarity, reference is made below only to a motor vehicle, but the method can also be designed for a mobile terminal.

A user can specify the target position by means of a user input. The method provides that input data relating to the user input are received by a processor device from an input device. The user input describes the target position to which the user would like to be guided. The target position is determined by the processor device on the basis of geographic position data from a navigation data source. However, the method is based on the assumption that these geopositioning data only describe predetermined navigation points in a traffic route network, that is to say are only given with the accuracy of the grid of the navigation points. Such navigation points can be, for example, addresses in streets of the traffic route network and / or the said POIs and / or navigation favorites (e.g. the address of the home and / or the workplace). The spatial resolution is therefore limited to the navigation points of the navigation data source.

In order to enable a more precise or finer specification of the target position beyond the navigation points, it is provided according to the invention that the target position specified in the user input is different from the navigation points from the navigation data source, i.e. lies between at least two navigation points and / or a spatial resolution greater than that requires the navigation points, and the input data describe the target position with a reference to at least one of the navigation points. In other words, it is assumed or assumed that the user directs his user input to a target position that is not limited to a navigation point, but also specifies at least one of the navigation points as they are available or stored in the navigation data source. In the example described above, the specification: “The blue house on Gartenstrasse” would be permissible because the specification “Gartenstrasse” is included as a navigation point. The processor device now extracts the specification of the at least one navigation point specified therein as the respective anchor point from the user input. For this purpose, the processor device can therefore examine or analyze the input data to determine which part of the input data describes a known navigation point. The words contained in the user input are therefore checked to see whether they fit on one of the navigation points. This can be achieved, for example, by a data comparison (for example text comparison).

For the respective extracted anchor point, the processor device reads the geoposition data of the respective anchor point from the navigation data source. The respective geographic position of the at least one anchor point is thus available or known in the processor device.

In order to determine the target position with a greater spatial resolution than the navigation points and thus the extracted anchor points, the processor device determines description data that describe a respective spatial environment of the at least one anchor point as a function of at least one further predetermined description data source. The processor device thus accesses at least one description data source from which it can receive or receive description data by means of which the respective surroundings of the at least one anchor point are described and thus a description with a greater spatial resolution than the anchor point itself is available. In addition to the navigation data source, at least one description data source that is different from the navigation data source is also used.

Based on the geoposition data of the respective anchor point (in the above example the geoposition data of the Gartenstrasse) and on the basis of the description data (description of the spatial surroundings of the respective anchor point), route description data to the target position are determined by the processor device. In the example mentioned, the processor device accesses a description data source from which description data relating to the color of the houses in Gartenstrasse can be extracted or read. For this purpose, query data can be transmitted to the at least one description data source, which request a characteristic of the respective description data source. The respective description data source can then respond with characterization data that describe which properties the description data source can provide data (e.g. color recognition, plan data). If the description data source is, for example, a camera system with object recognition, the characterization data can indicate that color images of the environment can be examined to determine which object type (e.g. the object types vehicle, house, barrier, garage) and which color individual objects are in the environment. Such a description data source can then be used by the processor device in the above example, because a blue house can be recognized with it as soon as the anchor point, i.e. Gartenstrasse, is reached.

The route description data ultimately determined describe the route to the destination position and / or contain control instructions for steering the motor vehicle to the destination position. The motor vehicle is then guided to the target position by the processor device on the basis of the route description data. If the motor vehicle is a user-steered motor vehicle, the “driving” of the motor vehicle can consist in the output of navigation instructions. If the motor vehicle is an autonomous vehicle with an autopilot, which automatically performs the longitudinal guidance (acceleration and braking) and the lateral guidance (steering) of the motor vehicle without any action on the part of the user, then the guidance of the motor vehicle can consist in that the processor device Issues control commands for driving the autonomous vehicle.

The invention has the advantage that the processor device not only guides the motor vehicle to a target position on the basis of a navigation data source, which corresponds to a previously known navigation point, but also draws on or uses at least one description data source in order to also lead to a target position by means of it that is different from the navigation items of the navigation data source.

The invention also encompasses embodiments which result in additional advantages.

In one embodiment, the input data that the user enters as user input describe the target position as a relative position to an object arranged at the at least one anchor point and a property of the object that can be detected by sensors. The above-mentioned example of the “blue house in Gartenstrasse” is such a target position, as the relative position (“to the blue house”, i.e. in front of the blue house) to an object located at the at least one anchor point (“Gartenstrasse”) is described . In this example, the color (“blue”) of the object is specified as a property of the object that can be detected by sensors. The at least one description data source that is used by the processor device to reach this target position has at least one environment sensor which detects (i.e. senses) the respective environment of the at least one anchor point and generates sensor data as description data. The processor device therefore uses sensor data from at least one environment sensor as description data in order to identify the target position based on the at least one anchor point. If Gartenstrasse is reached in the example mentioned, the actual target position (“blue house”) is then searched for or determined using sensors. The motor vehicle is then guided by the processor device depending on the sensor data until the property of the object is detected in the sensor data (e.g. the blue house is recognized) and the relative position (in the example the blue house in Gartenstrasse) is then controlled . For this purpose, the at least one environment sensor can have, for example, a camera and / or a radar and / or a lidar as the respective environment sensor. Using a radar, for example, the position of a metallic object can be detected, for example to allow user input such as the following: “Park in Gartenstrasse at a street lamp”, for example to ensure that the motor vehicle is illuminated at night. If the at least one anchor point is reached, then with this embodiment the remaining distance to the target position can be determined on the basis of the at least one environmental sensor and the corresponding route description data can be generated in order to determine the target position based on the sensor-detectable properties of the object.

In one embodiment, the input data of the user describe, as the target position, a relative position to a mobile target arranged at the anchor point. Such a mobile destination can be another motor vehicle, for example. The processor device queries a current geoposition of the mobile target from a detection data source as description data. The detection data source thus recognizes the current geoposition of the mobile target. For example, a user input can be used to define a target position that describes the end of a traffic jam (“Leave the highway at the last exit before the end of the traffic jam on the A8”). The indication “Autobahn A8” can be used here as an anchor point. For example, a data server for traffic data can be used as a detection data source.

In one embodiment, a mobile terminal with a receiver for a position signal from a GNSS (Global Navigation Satellite System) is specified as the mobile target. In other words, the mobile target can locate itself in the form of a mobile terminal, i.e. determine its geoposition data itself by using the position signal of a GNSS, for example the GPS (Global Positioning System) in a manner known per se. As a detection data source, the processor device can use a radio module which queries the mobile terminal's geolocation data. Such a mobile terminal can be arranged in another motor vehicle, so that the position relative to this other motor vehicle can be used. Thus, for example, the following user input can be made possible: "Park here in the parking lot behind Klaus' motor vehicle", using as an anchor point the location information "here in the parking lot" can be used and the geoposition data from the vehicle of the person "Klaus" can be queried. For this purpose, for example, a radio identifier of the person's motor vehicle can be determined in a contact database and the geolocation data of the mobile terminal in the motor vehicle can be queried via the radio module by means of the radio identifier. The mobile terminal and the radio module can communicate, for example, on the 5G standard (cellular radio) and / or a WLAN standard (wireless local area network). Another name for a mobile radio standard for local communication is Car-2-X.

In one embodiment, the input data of the user give the target position as a location in a terrain that is not open to the traffic route network. In other words, the streets of the traffic route network and, for example, house numbers do not extend to the location on the site. The at least one description data source comprises a plan data source for plan data of a campus plan of the site. Such plan data therefore describe the local conditions and / or objects on the site. For example, the premises of a hospital can be provided as the site and the campus map can describe individual wards of the hospital (for example trauma surgery and / or emergency room). The processor device can use the plan data to localize the location in the area. If the motor vehicle reaches the address of the site as an anchor point, the motor vehicle can now be guided onto the site and guided to a target position of a location on the site using the plan data of the campus map. In the example of the hospital, the following user input can be made possible: “Drive to the hospital emergency room”.

The plan data source can be, for example, an Internet server that provides the plan data. In one embodiment, the plan data source comprises a control system of the site itself, that is to say a computer or processor which coordinates the traffic on the site on the basis of sensors and / or transmitters. Additionally or alternatively, the plan data source in one embodiment comprises at least one stationary signal transmitter provided on the site. The stationary signal transmitter can be designed, for example, as a QR tag, radio beacon, light signal transmitter and / or acoustic signal transmitter. A QR tag is a whistleblower or information sign with a QR code (QR - Quick Response). Such a QR tag can provide a description of the location of the location identified by the QR tag. The processor device can thus guide the motor vehicle to a location that is identified by the QR tag. The processor device can thus use the QR tag to check whether the target position has been reached, namely if the location information in the QR tag matches the target position (for example the information “emergency room” on the premises of a hospital). Additionally or alternatively, in one embodiment the plan data source comprises at least one radio beacon. Such a radio beacon can also include at least one location and / or a description of the terrain. This enables a radio-based determination of the plan data, which leads to independence from optical conditions. A light signal transmitter can, for example, emit a light with a modulated light intensity and / or light color by means of at least one light emitting diode, for example from a ceiling light. A light sensor can then generate an electrical data signal as a function of the modulated light.

In one embodiment, a receiver for a position signal of a GNSS is also provided as a navigation data source in addition or as an alternative to a navigation database itself. The receiver is arranged in the motor vehicle itself, so that the current geoposition of the motor vehicle itself is determined. The current geoposition of the motor vehicle is thus determined from this navigation data source as the anchor point. The geoposition of the motor vehicle itself can thus be used as an anchor point or starting point.

In one embodiment, the input device via which the user makes his / her user input also has a gesture recognizer and / or a line of sight recognizer and, on the other hand, it has a voice input device. The gesture recognizer can recognize and describe a shape or posture of a hand and / or an arm of the user in a manner known per se. A viewing direction detector can determine a viewing direction vector of a viewing direction of the user in a manner known per se. The voice input device can provide text input of language and / or input of spoken language in a manner known per se. The user input accordingly comprises a combination of, on the one hand, a gesture and / or gaze direction and, on the other hand, a trigger phrase recorded by the voice input device. The trigger phrase identifies the current gesture and / or viewing direction as a location. The user can therefore perform a gesture and / or align his line of sight and enter a trigger phrase by means of the voice input device. For example, if the user points to an environmental object in the vicinity of the motor vehicle by means of a gesture and gives the word “there” or “there” as the trigger phrase, this gesture is interpreted as a location. As a navigation point from the navigation data source, the processor device determines the current geoposition of the motor vehicle in the manner described and, as input data, the input device uses the recognized gesture and / or viewing direction on the one hand and the trigger phrase on the other hand to provide a relative position of an intersection of a beam defined by the gesture and / or viewing direction with the said surrounding object determined. The input data therefore indicate the course of the ray and / or its point of contact with the surrounding object. Since the current geoposition of the vehicle itself is determined as the navigation point or anchor point, the surrounding object can therefore be identified as the target position based on the motor vehicle and the relative position of this intersection with respect to the motor vehicle. Thus, as a valid user input, it can be made possible that the user makes the user input: “Drive me there”, where “there” is a trigger phrase that the user can accompany with a gesture and / or line of sight, whereupon the target position based on the current geoposition of the motor vehicle, said intersection point of a beam defined by the gesture and / or viewing direction with an object in the surroundings is determined. The motor vehicle is thus guided to the surrounding object.

As already stated, the method is particularly advantageous when the motor vehicle is an autonomous vehicle. In this context, one embodiment provides that the processor device of the motor vehicle is guided to the target position by means of driving commands generated by an autonomous driving function, which the processor device outputs to a driving processor of the motor vehicle. This driving processor can be a microprocessor of an autopilot of the motor vehicle.

As already stated, the at least one navigation data source can be a navigation database which can be implemented as a memory in the motor vehicle and / or additionally or alternatively to this by a server on the Internet. In addition or as an alternative to this, a receiver arranged in the motor vehicle for a position signal from a GNSS can be provided as the navigation data source, for example a GPS receiver. With such a receiver, the current geoposition of the motor vehicle can be used as an anchor point.

In order to be able to carry out the method according to the invention for a motor vehicle, the invention also provides the described processor device for guiding a motor vehicle to a target position. The processor device is set up to carry out an embodiment of the method according to the invention. For this purpose, the processor device can have at least one microprocessor and / or at least one microcontroller. The processor device can be designed as a device of the motor vehicle itself or it can be implemented as a distributed device partly in the motor vehicle and partly in a server on the Internet. A computer or a network of several computers can be provided as the server. The processor device can also be designed entirely as a server for the Internet. Communication between the motor vehicle and such a server can be implemented, for example, on the basis of a radio connection (cellular radio and / or WLAN). An Internet connection between the motor vehicle and the server can also be provided. The processor device can have a data memory in which program instructions can be stored which, when executed by the processor device, cause the processor device to carry out the embodiment of the method according to the invention.

If the processor device is provided in a motor vehicle, the result is a motor vehicle which is also part of the invention. The motor vehicle according to the invention is preferably designed as a motor vehicle, in particular as a passenger vehicle or truck, or as a passenger bus or motorcycle.

The invention also includes the combinations of the features of the described embodiments.

• Fig. eine schematische Darstellung einer Ausführungsform der erfindungsgemäßen Prozessoreinrichtung, die eine Ausführungsform des erfindungsgemäßen Verfahrens durchführt.

Exemplary embodiments of the invention are described below. The only figure shows:

• 1 shows a schematic representation of an embodiment of the processor device according to the invention which carries out an embodiment of the method according to the invention.

The exemplary embodiments explained below are preferred embodiments of the invention. In the exemplary embodiments, the described components of the embodiments each represent individual features of the invention which are to be considered independently of one another and which also further develop the invention in each case independently of one another. Therefore, the disclosure is also intended to include combinations of the features of the embodiments other than those illustrated. Furthermore, the described embodiments can also be supplemented by further features of the invention already described.

In the figures, the same reference symbols denote functionally identical elements.

The single figure shows a processor device 10 for example in a motor vehicle 11 can be arranged. In the motor vehicle 11 it can be a motor vehicle, in particular a passenger car or truck. By the processor device 10 can the motor vehicle 11 to a target position 12th are performed by a user (not shown) of the processor device 10 via an input device 13th can pretend. The processor facility 10 can also be used outside the vehicle 11 be provided and with the motor vehicle 11 be coupled via a radio link. Since the same functionality as with the illustrated processor device 10 inside the motor vehicle 11 can be realized, the following description is limited to the case shown in the figure in the motor vehicle 11 arranged processor device 10 .

From the input device 13th can the processor device 10 Input data 14th that receive user input 15th describe the user at the input device 13th has made. The user input can be based on spoken language, an entered text and / or a gesture. Based on the input data 14th can the processor device 10 Route description data 16 determine which one distance 17th from a current geoposition 18th of the motor vehicle 11 towards the target position 12th describe. Using the route description data 16 can the processor device 10 then move commands 19th generate that from a control unit 20th of the motor vehicle 11 implemented or realized. Such a control unit 20th can for example be an autopilot for an autonomous driving function of the motor vehicle 11 be, so a driving processor 20 ' so that based on user input 15th the car 11 autonomously or automatically to the target position 12th is guided or driven. Alternatively, the control unit 20th be a navigation device, which based on the driving commands 19th navigation instructions to the user for driving the motor vehicle 11 towards the target position 12th issues.

To the directions data 16 can be generated by the processor device 10 a traditional navigation data source 21 take advantage of a navigation database 22nd and a receiver 23 for a position signal 24 of a GNSS 25th , for example the GPS, may include. Based on the position signal 24 The recipient can do this in a manner known per se 23 the current geoposition 18th determine and through geolocation data 26th describe. In the navigation database 22nd can get more geolocation data 26th for given navigation points 27 be given, for example geolocation data 26th for streets, individual properties (house numbers) and / or POIs.

At the processor facility 10 however, it allows user input 15th a target position 12th describes not having one in the navigation database 22nd or generally with one through the navigation data source 21 identifiable or writable navigation point 27 coincides.

Rather, the user input can describe the target position with reference to at least one navigation point and additional information. The input data 14th on the one hand, an indication 28 concerning at least one navigation point 27 and on the other hand an additional description 29 with regard to the at least one navigation point 27 from the specification 28 . For example, a user can indicate in the manner already described that he is in Gartenstrasse (navigation point 27 ) to the blue house (no defined navigation point 27 , but an additional target description as an additional description 29 ) wants to be driven.

The processor facility 10 can input data 14th initially by means of an analysis function 30th semantically analyze, that is, the individual words or components of the input data 14th disassemble or divide. This results in the input data 14th the information 28 to the at least one known navigation point 27 and on the other hand the additional description 29 recognized. The processor facility 10 can then through a data access 31 from the navigation data source 21 to the indication 28 read out the geolocation data. This forms the in the specification 28 specified at least one navigation point 27 a respective known anchor point 32 . The additional description 29 can be analyzed or examined as to which properties of the target position 12th be described so that there is a reference or a relation 29 ' in relation to the specified specified anchor point 32 results. For example, an assignment table (look-up table) can be used for this purpose. For example, comes in the additional description 29 the word "blue" in front of it, you have to find the target position 12th there is a color recognition. Comes in the additional description 29 the word "emergency room" in front of it, it must be used to find the target position 12th information about a specific location (for example the emergency room) is available on a site.

The control device 10 can by means of a comparison A to at least one additional description data source 33 access, i.e. request data to the at least one description data source 33 put. For a description data source 33 it can, for example, be an Internet server or a control device for a sensor, to name just a few examples. On the basis of the comparison A, the processor device 10 can be recognized which description data source 33 is suitable to the relation 29 ' in route description data 16 to convert. A description data source 33 can generally be a spatial Relation to the navigation points 27 Describe (examples of spatial relation: in front of, behind, between), components of the surroundings of a navigation point 27 describe, for example plan data 34 of a terrain of a navigation point 27 and / or it can be sensor data 35 generate which characteristics of objects at a navigation point 27 describe (for example the color of a house). It can be a detection data source 36 that can query geolocation data from a mobile target, such as a smartphone or other motor vehicle, or a processor that can use navigation points 27 can combine, for example a target position 12th in the middle between two specified navigation points ("lead me to a parking lot in the middle between the city park and the church").

On the basis of the comparison A, the processor device 10 from the at least one description data source 33 Description data 37 receive, for example, the said plan data 34 for a terrain at a navigation point 27 could be. Another possibility can be that through a description data source 33 at least one environmental sensor 38 is provided, which said sensor data 35 can generate, for example, images of the surroundings of the surroundings of the motor vehicle 11 .

The processor facility 10 can now based on the at least one determined anchor point 32 and the relation specified for this at least one anchor point 29 ' on the one hand a rough navigation 40 provide which of the current geoposition 18th towards the target position 12th can lead and here the geolocation data 26th from the navigation data source 21 can use. Then the motor vehicle approaches 10 at least one anchor point 32 , i.e. a known navigation point 27 so can refer to the description data 37 can be used, i.e. the at least one description data source 33 , with the plan data in the figure here as an example 34 and the sensor data 35 be used. This can then be used for detailed navigation 41 are used on the route description data 16 based. The detailed navigation 41 can then go to a target position 12th that do not match the geolocation data of a navigation point 27 matches, but in relation 29 ' to these is written, for example, "behind the red car in the parking lot", with the parking lot as a navigation point 27 is used and then in relation 29 ' to this end, a car is sought, behind which the motor vehicle 11 is parked.

This means that voice and text input of navigation destinations (inside and outside the vehicle) is no longer limited to objects that can be selected from lists with clearly stored geoposition data (including addresses, points of interest, home / to work, navigation to contact addresses).

The description of navigation destinations does not need to be comprehensive or limited in accuracy or does not need to require knowledge of the stored data and instead corresponds to the human understanding of the space. Especially with regard to incomplete previous knowledge ("my colleague lives in the blue house on Gartenstrasse") or fully autonomous vehicles, where the last few meters after reaching the destination (e.g. to the garage entrance) cannot be completed by steering wheel the target information if it describes a relation (e.g. relative position) or an object property (e.g. color) in the area of a recorded anchor point. The (connection) navigation, e.g. within buildings, also requires new semantics.

1. a) in räumlicher Relation und/oder
2. b) als Detaillierung/Bestandteil und/oder
3. c) als Kombination zu/von einem oder mehreren
   • 1) hinterlegten Geopositionsdaten im oben genannten Sinne
   • 2) hinterlegten Daten erweiterter Referenzsysteme (Campuspläne etc.)
   • 3) mobilen Zielen (z.B. sich ändernder Handy-Standort, „Stauende“ usw.)
   • 4) ausgesprochenen/angezeigten Punkten („hier“, „dort“ per Fingerzeig) definiert.

According to human language and understanding of space, navigation targets (target positions) are:

1. a) in spatial relation and / or
2. b) as detailing / component and / or
3. c) as a combination of one or more
   • 1) stored geoposition data in the above sense
   • 2) stored data of extended reference systems (campus plans etc.)
   • 3) mobile destinations (e.g. changing cell phone location, "end of traffic jams", etc.)
   • 4) defined / indicated points ("here", "there" by pointing a finger).

• • Navigationskarten oder Gebäude-/Anlagenpläne im engeren Sinn
• • Mit zusätzlichen Detaillierungsmerkmalen angereicherte Karten (z.B. Satellitenbilder, HD-Maps)
• • Mobile Sensorik (Fahrzeug, Smart-Device)
• • Lokale Ortungs- oder Führungsinfrastruktur (Beacons, QR-Tags, Leitsysteme)
• • Von einem Zielumfeld z.B. über Internet zur Verfügung gestellte Detailinformationen:
  • Folgende Beispiele dienen zur Veranschaulichung der Möglichkeiten: Haustür, Eingang, Ausfahrt, Parkplatz, Garage, Drive-In, Süd (Nord-/Ost-)seite, Innenhof, Kreuzung x-Straße mit y-Straße, Bushaltestelle, Parkbucht, Lobby/Hintereingang, nächstmögliche Parkgelegenheit, „An der großen Eiche/Bismarcksäule“, „zweites Haus hinter/vor/neben der Tankstelle“, Schrebergarten-Parzelle M65, relativ zu anderen Fahrzeugen: „Wo kann ich parken?“ - „Stell dich hinter das rote Auto dort.“, Geoposition von einem anderen mobilen Endgerät.

To translate the semantically expressed goal into a position that can be approached / entered, the following sources, among others, can be used individually or in combination:

• • Navigation maps or building / system plans in the narrower sense
• • Maps enriched with additional detailing features (e.g. satellite images, HD maps)
• • Mobile sensors (vehicle, smart device)
• • Local location or management infrastructure (beacons, QR tags, control systems)
• • Detailed information provided by a target environment, e.g. via the Internet:
  • The following examples serve to illustrate the possibilities: front door, entrance, exit, parking lot, garage, drive-in, south (north / east) side, inner courtyard, intersection of x-street with y-street, bus stop, parking bay, Lobby / back entrance, next possible parking space, “At the large oak / Bismarck column”, “Second house behind / in front of / next to the gas station”, allotment parcel M65, relative to other vehicles: “Where can I park?” - “Stand behind the red car there. ”, geolocation from another mobile device.

A more targeted implementation of the user's navigation request is obtained. One possible scheme of the process is shown below. The navigation request expressed by the user is differentiated into “anchor point” and “relational part”. The anchor point is looked up in a directory (e.g. classic map). The relation is then checked depending on the anchor point with regard to availability / resolvability and corresponding additional input sources (detailed directory, sensors) are used. Finally, the recognized relation is interpreted and translated into a fine navigation system on a conventional (e.g. GPS position, HD map) or purpose-specific (e.g. indoor, altitude level) room description or path-finding system.

Overall, the examples show how the invention can provide a method for the semantic definition of navigation destinations (destination positions).

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

• US 7831433 B1 [0007]
• US 2018/0066949 A1 [0008]
• US 2019/0130904 A1 [0009]

Claims (10)

A method for guiding a motor vehicle (11) and / or a mobile terminal device to a target position (12), wherein - by a processor device (10) from an input device (13) input data (14) of a user input (15) which define the target position (12 ) describes, are received and - the target position (12) is determined by the processor device (10) on the basis of geographic position data (26) from a navigation data source (21), the geographic position data (26) predetermined navigation points (27) in a traffic route network and / or describe a current geoposition (18) of the motor vehicle (11) and / or mobile terminal, characterized in that the target position (12) specified in the user input is different from the navigation points (27) from the navigation data source (21) and the input data ( 14) describe the target position (12) with a reference (29 ') to at least one of the navigation points (27), and by the processor device (10): - from the user input (15) an indication (28) of the at least one navigation point (27) specified therein is extracted as the respective anchor point (32) and - for the respective extracted anchor point (32) whose geographic position data (26) are read from the navigation data source (21) and - Depending on at least one predetermined description data source (33), description data (37) which describe a respective spatial environment of the at least one anchor point (27) are determined and - based on the geoposition data (26) of the respective anchor point (32) and based on the Description data (37), route description data (16) for the target position (12) are determined and - the motor vehicle (11) and / or the mobile terminal is guided to the target position (12) on the basis of the route description data (16). Procedure according to Claim 1 , the input data (14) describing the target position (12) as a relative position to an object arranged at the at least one anchor point (32) and specifying a sensor-detectable property of the object and the at least one description data source (33) at least one environment sensor (38) which detects the respective surroundings of the at least one anchor point (32) and generates sensor data (35) as description data (37) and the motor vehicle (11) and / or the mobile terminal through the processor device (10) depending on the sensor data (35 ) is performed until the property of the object is detected in the sensor data (35) and the relative position is then controlled. Method according to one of the preceding claims, wherein the input data (14) describe as the target position (12) a relative position to a mobile target arranged at the anchor point (32) and the processor device (10) from a detection data source (36) as description data (37) queries the current geolocation of the mobile target. Procedure according to Claim 3 , wherein a mobile terminal with a receiver for a position signal of a GNSS, Global Navigation Satellite System, is specified as the mobile target and a radio module is provided as the detection data source (36) which queries the geolocation data of the mobile terminal having the receiver. Method according to one of the preceding claims, wherein the input data (14) specify the target position (12) as a location in a terrain that is undeveloped by the traffic network, and the at least one description data source (33) comprises a plan data source for plan data (34) of a campus map of the site and the The processor device (10) uses the plan data (34) to localize the location in the site. Procedure according to Claim 5 , wherein the plan data source comprises a control system of the site and / or at least one stationary signal transmitter provided on the site. Method according to one of the preceding claims, wherein the input device (13) has on the one hand a gesture recognizer and / or a viewing direction recognizer and on the other hand a speech input device and the user input (15) has a combination of a gesture and / or a viewing direction on the one hand and one of the on the other hand Voice input device recorded trigger phrase, which identifies the current gesture and / or viewing direction as location information, and the current geoposition (18) of the motor vehicle (11) and / or mobile terminal is determined as an anchor point (32) from the navigation data source (21) and as input data (14) a relative position of a point of intersection of a beam defined by the gesture and / or viewing direction with an object surrounding the surroundings of the motor vehicle (11) and / or mobile terminal is determined. Method according to one of the preceding claims, wherein the motor vehicle (11) is an autonomous vehicle and the motor vehicle (11) by means of driving commands (19) generated by an autonomous driving function, which the processor device (10) transmits to a driving processor (20 ') of the motor vehicle (11) outputs, is guided to the target position. Method according to one of the preceding claims, wherein the navigation data source (21) a navigation database (22) and / or a receiver (23) arranged in the motor vehicle (11) and / or the mobile terminal device for a position signal (24) of a GNSS (25) is provided. Processor device (10) for guiding a motor vehicle (11) and / or mobile terminal to a target position (12), the processor device (10) being set up to carry out a method according to one of the preceding claims.

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