DE102021133416A1 - PARK ASSISTANCE SYSTEM, MOTORCYCLE AND PROCEDURE - Google Patents

Abstract

A parking assistance system (130) for a motorized two-wheeler (100) is proposed. The parking assistance system (130) is set up for autonomous control of the two-wheeler (100) and comprises: a receiving unit (132) for receiving an environment sensor signal indicative of an environment (200) of the two-wheeler (100) and for receiving a driving state of the two-wheeler (100 ) indicative driving condition sensor signal, a localization unit (134) for determining a current position (P0) of the two-wheeler (100) as a function of the received environment sensor signal and/or the received driving condition sensor signal, a provision unit (136) for providing a predetermined trajectory (TR) which has a Connects the starting position (P1) to a target position (P2), and a control unit (138) for carrying out an autonomous parking process with the two-wheeler (100) depending on the received environment sensor signal, the received driving condition sensor signal, the determined current position (P0) and the predetermined trajectory ( TR), wherein the autonomous parking process comprises an autonomous journey of the two-wheeler (100) from the determined current position (P0) of the two-wheeler (100) to the target position (P2) along the predetermined trajectory (TR).

Description

The present invention relates to a parking assistance system for a motorized two-wheeler, a motorized two-wheeler with such a parking assistance system and a method for operating a parking assistance system for a motorized two-wheeler.

Motorized two-wheelers are known, such as motorcycles, scooters or motorized bicycles, such as e-bikes, and scooters, such as e-scooters. Two-wheelers are particularly suitable means of transport in regions with high traffic volumes, as they take up significantly less space and are easier to maneuver compared to cars. Bicycles in particular are also relatively light and require less power to be driven, which makes bicycles particularly special as an environmentally friendly means of transport.

Users of motorized two-wheelers have an interest in making parking the two-wheeler more convenient. So far, users have had to manually move the two-wheeler to a suitable parking position and ensure that the two-wheeler is secured. In particular, users can be prevented from using their two-wheelers if they cannot be parked safely or only with great effort. Two-wheelers are easier to steal than cars, which is why the user has to be particularly careful when parking two-wheelers. However, it often depends on the infrastructure available at a location whether a two-wheeler can be parked in a theft-proof manner. If the next available secure parking facility is too far from the user's intended destination, this may discourage the user from using the two-wheeler.

In the article "Towards artificial general intelligence with hybrid Tianjic chip architecture" by Pei, J., Deng, L., Song, S. et al; Nature 572, 106-111 (2019), https://doi.org/10.1038/s41586-019-1424-8 describes an autonomous bicycle that stabilizes itself and can avoid objects.

Against this background, an object of the present invention is to improve the operation of a motorized two-wheeler.

• eine Empfangseinheit zum Empfangen eines für eine Umgebung des Zweirads indikativen Umgebungssensorsignals und zum Empfangen eines für einen Fahrzustand des Zweirads indikativen Fahrzustandssensorsignals,
• eine Lokalisierungseinheit zum Ermitteln einer aktuellen Position des Zweirads in Abhängigkeit des empfangenen Umgebungssensorsignals und/oder des empfangenen Fahrzustandssensorsignals,
• eine Bereitstellungseinheit zum Bereitstellen einer vorbestimmten Trajektorie, welche eine Startposition mit einer Zielposition verbindet, und
• eine Steuerungseinheit zum Durchführen eines autonomen Parkvorgangs mit dem Zweirad in Abhängigkeit des empfangenen Umgebungssensorsignals, des empfangenen Fahrzustandssensorsignals, der ermittelten aktuellen Position und der vorbestimmten Trajektorie. Der autonome Parkvorgang umfasst eine autonome Fahrt des Zweirads von ermittelten aktuellen Position des Zweirads zu der Zielposition entlang der vorbestimmten Trajektorie.

According to a first aspect, a parking assistance system for a motorized two-wheeler is proposed. The parking assistance system is set up to control the two-wheeler autonomously. The parking assistance system includes:

• a receiving unit for receiving an environment sensor signal indicative of an area surrounding the two-wheeler and for receiving a driving state sensor signal indicative of a driving state of the two-wheeler,
• a localization unit for determining a current position of the two-wheeler depending on the received environment sensor signal and/or the received driving condition sensor signal,
• a providing unit for providing a predetermined trajectory connecting a starting position with a target position, and
• a control unit for carrying out an autonomous parking process with the two-wheeler depending on the received environment sensor signal, the received driving condition sensor signal, the determined current position and the predetermined trajectory. The autonomous parking process includes autonomous driving of the two-wheeler from the determined current position of the two-wheeler to the target position along the predetermined trajectory.

This parking assistance system has the advantage that it offers the user of the motorized two-wheeler the opportunity to carry out a parking process autonomously. The two-wheeler is driven autonomously to the target position and parked there. The autonomous parking process preferably takes place without supervision by the user. This allows the user to simply park the two-wheeler in a specific position, such as directly in front of the entrance to their house, office or the like, and start the autonomous parking process without having to worry about parking the two-wheeler themselves.

The fact that the parking assistance system is set up for autonomous control of the two-wheeler means that the parking assistance system is set up for controlling the respective systems of the two-wheeler, so that the two-wheeler balances and accelerates, steers and brakes itself. The autonomous control takes place on the one hand on the basis of the recorded environmental data and driving status data, but on the other hand also on the basis of predetermined data, such as the predetermined trajectory and predetermined rules and/or parameter values. You can also say that it is an autonomous two-wheeler that steers itself.

The respective unit of the parking assistance system can be implemented in terms of hardware and/or software. In the case of a hardware implementation, the respective unit can be embodied, for example, as a computer or as a microprocessor. In the case of a software technical implementation, the respective unit can be used as a computer program product, as a function, be embodied as a routine, as an algorithm, as part of a program code or as an executable object. Furthermore, each of the units mentioned here can also be designed as part of a higher-level control system of the two-wheeler, such as a central electronic control device and/or a control unit (ECU: Electronic Control Unit).

The environmental sensor signal includes, for example, sensor signals that are output to the parking assistance system by an ultrasonic sensor, a camera, a lidar, a radar and/or a position sensor. The environment sensor signal is recorded in particular by a sensor arranged on the two-wheeler and output to the parking assistance system.

The driving condition sensor signal includes, for example, sensor signals that are detected by a wheel speed sensor, a steering angle sensor and/or an inclination angle sensor of the two-wheeler and are output to the parking assistance system. The driving state thus includes, in particular, information about a speed, an inclination angle, a steering angle and/or a position of the two-wheeler.

The localization unit is set up to determine a current position of the two-wheeler. Waypoints such as a parking position and/or the current position of the two-wheeler can be determined both relative to the positions of other objects in the vicinity of the two-wheeler and also be determined absolutely, for example in the form of coordinates in a fixed world coordinate system. An example of this is a coordinate system of a satellite navigation system, such as NAVSTAR GPS, GLONASS, Galileo or Beidou.

For example, the environment sensor signal includes a position sensor signal, on the basis of which an absolute position of the two-wheeler is determined. Furthermore, the environment sensor signal can include an ultrasonic sensor signal, on the basis of which an object in the area surrounding the two-wheeler is determined, this including determining the relative position between the two-wheeler and the object. Furthermore, the surroundings sensor signal can include a camera image of the surroundings, on the basis of which an object in the surroundings of the two-wheeler is determined, this including the determination of the relative position between the two-wheeler and the object.

On the basis of the driving condition sensor signal, which includes a wheel speed sensor signal and a steering angle sensor signal, for example, the localization unit can track the position of the two-wheeler odometrically when it is moving. Here, in particular, a relative position of the two-wheeler relating to a starting point and/or destination is determined. If an absolute position of the starting point and/or destination is known, for example on the basis of a corresponding position sensor signal, the absolute position can be inferred on the basis of the relative position.

The provision unit includes, for example, a storage unit for storing the predetermined trajectory. The memory device is preferably set up to store at least one, two, three, four, five or more, particularly preferably at least ten, trajectories. The provision unit can also be set up to provide a predetermined trajectory, which is transmitted from a unit external to the two-wheeler and received by the parking assistance system. The parking assistance system is preferably set up to exchange data with an external server. For example, an “over the air” software update is carried out as a result.

The predetermined trajectory connects the starting position with the target position. The starting position and/or the target position is either defined by an absolute position in a world coordinate system, or by a relative position in relation to objects in the respective environment in relation to the starting position or the target position. In particular, the objects used to determine the relative position are static objects whose position does not change, such as buildings. The predetermined trajectory includes in particular a number of positions, the arrangement of which is determined relative to one another. For example, a respective connection vector is determined from a respective position to the previous and/or the following position.

The predetermined trajectory has, for example, a length of up to 50 m, preferably a length of up to 100 m, preferably a length of up to 200 m, even more preferably a length of up to 500 m.

The fact that the control unit is set up to carry out the autonomous parking process means that the control unit controls the two-wheeler in such a way that it travels along the predetermined trajectory to the target position. "Along the predetermined trajectory" does not mean that the entire trajectory is necessarily traversed autonomously, rather it is sufficient if a section of the trajectory is traversed autonomously. After or before, an avoidance trajectory can be driven, e.g. to avoid a collision with an object.

For example, the current position corresponds to the start position of the trajectory. The control unit then controls the two-wheeler from the starting position to the target position, with the current position of the two-wheeler being continuously compared to the trajectory. This ensures that the two-wheeler does not leave the trajectory.

If the current position at the start of the autonomous parking process does not correspond to the starting position, but is within a predetermined maximum distance from the predetermined trajectory, the control unit can initially steer the two-wheeler to the predetermined trajectory and then continue the parking process along the predetermined trajectory. The predetermined maximum distance can be dependent on the environment in which the parking process is carried out. For example, the predetermined maximum distance is three meters, preferably five meters, preferably up to ten meters. The distance is determined between the current position and the respective closest point of the trajectory.

If no point of the trajectory has an absolute position, which means that the parking assistance system has no a priori knowledge that the two-wheeler is in the vicinity of the trajectory, the implementation of the parking process can depend on whether the control unit has an environment of the trajectory, for example based on a specific arrangement of objects in the vicinity of the two-wheeler. Recognition in this sense can take place in particular using VSLAM technology on the basis of a captured camera image.

It should be noted that a parking process is understood to mean both parking and leaving a parking space. Parking, for example, refers to parking the two-wheeler after the user has used it. For example, the two-wheeler is driven from a driveway into a garage. For example, leaving a parking space involves making the two-wheeler available when it is parked and the user wants to use it. For example, the two-wheeler is driven from a garage to the driveway, where the user takes it over.

According to one specific embodiment of the parking assistance system, the provision unit is set up to provide a trajectory trained by a user of the two-wheeler in a training mode as the predetermined trajectory.

This can also be referred to as "trained parking". This has the advantage that the user can create his own trajectories by manually following the desired trajectory with the two-wheeler. The parking assistance system records the trajectory driven, with the environment sensor signals and the driving state sensor signals being recorded, for example, during the manual training drive. Based on the recorded sensor signals or measurement data derived from them, the parking assistance system can orientate itself when following the trained trajectory later. In this context, “training” means in particular that the user follows a trajectory manually with the two-wheeler so that the predetermined trajectory can be recorded. The two-wheeler is preferably set up to recognize that the target position is in a no-parking zone. Furthermore, the two-wheeler is preferably set up not to store the trained trajectory or to output a message to the user if the target position is in the no-parking zone. Alternatively or additionally, the two-wheeler is set up, for example, to plan an auxiliary trajectory to a new target position and to travel this when the two-wheeler detects during the autonomous parking process that the target position is in a no-parking zone. The detection takes place, for example, with the aid of an analysis of camera data. You can search for no parking signs, for example.

According to a further specific embodiment of the parking assistance system, the predetermined trajectory includes a number of absolute positions and/or a number of positions determined relative to one another.

An absolute position is determined by coordinates in a world coordinate system, for example. For example, the starting position and/or the target position is absolutely determined.

A respective relative position is determined by its position in relation to other positions. The position includes, for example, a direction and a distance. For example, the trajectory is defined by a path in a two-dimensional coordinate system.

According to a further embodiment of the parking assistance system, the received surroundings sensor signal includes a camera image of the surroundings of the two-wheeler, the localization unit being set up to localize the two-wheeler depending on a comparison of an arrangement of optical features determined in the camera image with a stored arrangement of optical features.

This can also be referred to as VSLAM (visual simultaneous localization and mapping) because localization is based on optical or visual features present in the environment. VSLAM is a technology which allows in particular a relative localization of the bicycle in relation to a previous position of the bicycle. This can be advantageously used in particular for trained parking. For example, in the case of the manual training drive, a camera image of the surroundings is recorded after a certain distance has been covered, such as one meter, which is analyzed in order to determine the optical characteristics. The determined optical features and their distribution in the camera image are stored and assigned to the respective position in the trajectory. Based on the optical features and their distribution, it can be determined for later received camera images whether these were taken from the same location as during the training drive. It can also be said that the localization unit "recognizes" the environment based on the optical features and their distribution. This is also possible when the current position is shifted relative to the original recording position, for example by one meter, by two meters or by up to three meters. In this case, the offset from the original recording position can also be determined, which means that the location of the current position relative to the respective position of the trajectory is known. For example, the two-wheeler includes a camera that is oriented to the front and is set up to record the camera images. In addition, echo-based distance sensors can optionally be provided, which have at least one detection area that lies in front of the bicycle. As an alternative or in addition, the two-wheeler optionally includes a further camera which is oriented towards the rear and is set up to record the camera images.

According to a further embodiment of the parking assistance system, the control unit is set up to determine an object in a predetermined area around the two-wheeler depending on the received signal from the surroundings sensor, and is also set up to determine an avoidance trajectory so that a collision with the determined object is avoided.

According to a further embodiment of the parking assistance system, this has a user interface for receiving a user input, the user input including a selection of a predetermined trajectory from a number of predetermined trajectories and/or a selection of a target position from a number of target positions.

This gives the user the opportunity to select the respective predetermined trajectory himself. The parking assistance system is advantageously set up to make a preselection of the predetermined trajectories, for example based on the current position of the two-wheeler and the respective start and/or target position of the respective predetermined trajectory.

According to a further embodiment of the parking assistance system, it has a communication unit which is set up to send and/or receive data to and/or from a device external to the two-wheeler.

The communication unit is set up in particular to establish a data connection via a wireless communication network such as WLAN or a mobile network such as 3G, 4G or 5G.

The external device is, for example, a server that can be reached via the Internet or the like, or the user's mobile phone, in particular a smartphone, on which a respective application is running.

For example, a predetermined trajectory can be received via the communication unit, which was trained by another user with another two-wheeler and/or which is provided by an operator of a public parking facility for two-wheelers. In this way, a predetermined trajectory for the autonomous parking process can be provided to the parking assistance system, for example at new locations where the user has not yet been with the two-wheeler and has not yet trained a trajectory with the two-wheeler.

The parking assistance system can also transmit further status data to the user via the communication unit, such as a current status when carrying out the autonomous parking process. Furthermore, the user can summon the two-wheeler via the communication unit, so that the parking assistance system carries out an autonomous journey with the two-wheeler from a parking position to a ready position where the user takes over the two-wheeler.

Furthermore, the parking assistance system is able to communicate with other units in the infrastructure, such as an automatic barrier or an automatic garage door, by means of the communication unit. The predetermined trajectory can thus also extend into an area with restricted access. For example, a necessary electronic key for opening a garage door is coupled to the predetermined trajectory, with the parking assistance system transmitting this using the communication unit in order to cause the garage door to open.

It should be noted that the target position can also be defined as a target area. That means, that the target position includes, for example, a number of possible parking spaces for the two-wheeler. When the parking assistance system executes the autonomous parking process, it is additionally set up, for example, to select a specific parking space that is in the target area. The parking assistance system is therefore flexible and can carry out the autonomous parking process even if the parking spaces are used differently by other users. This is particularly advantageous for parking lots that are open to the public.

• eine Umgebungssensoreinheit zum Erfassen einer Umgebung des Zweirads und zum Ausgeben eines Umgebungssensorsignals,
• eine Fahrzustandserfassungseinheit zum Erfassen eines Fahrzustands des Zweirads und zum Ausgeben eines Fahrzustandssensorsignals, und
• ein Parkassistenzsystem gemäß dem ersten Aspekt.

According to a second aspect, a motorized two-wheeler is proposed. The motorized two-wheeler includes:

• an environment sensor unit for detecting an environment of the two-wheeler and for outputting an environment sensor signal,
• a driving condition detection unit for detecting a driving condition of the two-wheeler and for outputting a driving condition sensor signal, and
• a parking assistance system according to the first aspect.

This motorized two-wheeler has the same advantages that have been explained for the parking assistance system according to the first aspect. The embodiments and features described for the proposed parking assistance system apply accordingly to the proposed motorized two-wheeler and vice versa.

According to one embodiment of the motorized two-wheeler, the environment sensor unit includes an ultrasonic sensor, a camera, a lidar, a radar and/or a position sensor.

"A" is not necessarily to be understood as being limited to exactly one element. Rather, a plurality of elements, such as two, three or more, can also be provided. Any other count word used here should also not be understood to mean that there is a restriction to precisely the stated number of elements. Rather, numerical deviations upwards and downwards are possible, unless otherwise stated.

According to a further embodiment of the motorized two-wheeler, the driving state detection unit comprises a wheel speed sensor, a steering angle sensor and/or an inclination angle sensor.

According to a further embodiment of the motorized two-wheeler, it has a balance unit which is set up to support and/or balance the two-wheeler.

According to a further embodiment of the motorized two-wheeler, the balance unit comprises a support wheel, a side stand, a main stand, a displaceable weight element and/or a tiltable gyro element.

The side stand and/or main stand are folded out or extended in particular when the two-wheeler falls below a predetermined speed or only when it comes to a standstill.

The support wheel can in particular be folded up, for example being folded out only during the autonomous parking process, or being folded out as required by the parking assistance system.

The weight element can be displaced in particular parallel to a wheel axle of the two-wheeler. The shifting can result in a torque on the two-wheeler, which contributes to the stabilization of the two-wheeler. This can also be used for stabilization, in particular when the two-wheeler is cornering.

The gyroscope element can be tilted in particular against its respective figure axis, so that the two-wheeler is stabilized by the correspondingly acting circular forces.

According to a further embodiment of the motorized two-wheeler, the two-wheeler is electrically driven.

This means that the two-wheeler includes an electric motor as a drive.

It is preferably an electric two-wheeler that includes an electrical energy store, such as an accumulator or a battery, which provides electrical energy for driving an electric motor.

In embodiments, the electric motor is provided exclusively for the autonomous driving function.

In embodiments, the two-wheeler has a charging port which is set up to charge the electric energy store of the two-wheeler, the parking assistance system being set up to park the two-wheeler in a parking position in which the charging port can be coupled to a charging cable of a charging station.

According to a further embodiment of the motorized two-wheeler, this is designed as a motorcycle, a motor scooter, a bicycle or a scooter.

In preferred embodiments, the two-wheeler is in the form of an e-motorcycle, an e-motor scooter, an e-bike or an e-scooter. This means that the two-wheeler is designed as a motorcycle, motor scooter, bicycle or scooter and has an electric motor as a drive and an electrical energy store. “Two-wheeler” is also to be understood, for example, as a three-wheeled cargo bike.

In further embodiments, the motorized two-wheeler is equipped with an internal combustion engine or another engine.

• Empfangen eines für eine Umgebung des Zweirads indikativen Umgebungssensorsignals,
• Empfangen eines für einen Fahrzustand des Zweirads indikativen Fahrzustandssensorsignals,
• Ermitteln einer aktuellen Position des Zweirads in Abhängigkeit des empfangenen Umgebungssensorsignals und/oder des empfangenen Fahrzustandssensorsignals,
• Bereitstellen einer vorbestimmten Trajektorie, welche eine Startposition mit einer Zielposition verbindet, und
• Durchführen eines autonomen Parkvorgangs mit dem Zweirad in Abhängigkeit des empfangenen Umgebungssensorsignals, des empfangenen Fahrzustandssensorsignals, der ermittelten aktuellen Position und der vorbestimmten Trajektorie, wobei der autonome Parkvorgang eine autonome Fahrt des Zweirads von der ermittelten aktuellen Position des Zweirads zu der Zielposition entlang der vorbestimmten Trajektorie umfasst.

According to a third aspect, a method for operating a parking assistance system for a motorized two-wheeler is proposed. The parking assistance system is set up to control the two-wheeler autonomously. The procedure includes the steps:

• Receiving an environment sensor signal indicative of an environment of the two-wheeler,
• receiving a driving condition sensor signal indicative of a driving condition of the two-wheeler,
• Determining a current position of the two-wheeler depending on the received environment sensor signal and/or the received driving condition sensor signal,
• providing a predetermined trajectory connecting a starting position to a target position, and
• Carrying out an autonomous parking process with the two-wheeler as a function of the received environment sensor signal, the received driving condition sensor signal, the determined current position and the predetermined trajectory, the autonomous parking process including autonomous driving of the two-wheeler from the determined current position of the two-wheeler to the target position along the predetermined trajectory .

This method is carried out in particular with the parking assistance system according to the first aspect and with a motorized two-wheeler according to the second aspect. For example, the method steps are interchangeable. Preferably, the method is performed in the exact order listed.

A trained autonomous parking process is preferably carried out along the predetermined trajectory to a bicycle parking infrastructure. In particular, the bicycle parking infrastructure is set up to automatically accept the bicycle at a collection point. A method step is preferably provided in which the bicycle is transported from the bicycle parking infrastructure to a bicycle parking spot. For example, the bicycle parking infrastructure is set up to transport the bicycle automatically from the acceptance point of the parking infrastructure to a bicycle parking spot. In particular, the bicycle parking infrastructure includes a gripper arm and/or a lifting platform to move the bicycle within the parking infrastructure. Furthermore, a method step is preferably provided in which the user communicates with the bicycle and/or the parking infrastructure using a mobile terminal device in order to cause the bicycle to leave the parking infrastructure. For example, the bicycle is then transported to a drop-off point of the parking infrastructure in order to then carry out a further trained autonomous driving process along a further predetermined trajectory to the user or to be picked up directly by the user.

The embodiments and features described for the proposed parking assistance system apply accordingly to the proposed method.

Furthermore, a computer program product is proposed which comprises instructions which, when the program is executed by a computer, cause the latter to execute the method described above. The computer is designed, for example, as a parking assistance system for a two-wheeler.

A computer program product, such as a computer program means, can be made available or supplied by a server in a network, for example, as a storage medium such as a memory card, USB stick, CD-ROM, DVD, or in the form of a downloadable file. This can be done, for example, in a wireless communication network by transferring a corresponding file with the computer program product or the computer program means.

Further possible implementations of the invention also include combinations of features or embodiments described above or below with regard to the exemplary embodiments that are not explicitly mentioned. The person skilled in the art will also add individual aspects as improvements or additions to the respective basic form of the invention.

• 1 zeigt eine schematische Ansicht eines Ausführungsbeispiels für ein motorisiertes Zweirad mit einem Parkassistenzsystem;
• 2 zeigt eine schematische Ansicht einer vorbestimmten Trajektorie;
• 3 zeigt eine schematische Ansicht einer weiteren vorbestimmten Trajektorie;
• 4 zeigt eine schematische Ansicht einer Kommunikation;
• 5 zeigt ein schematisches Blockschaltbild eines Ausführungsbeispiels für ein Parkassistenzsystem; und
• 6 zeigt ein schematisches Blockschaltbild eines Ausführungsbeispiels für ein Verfahren zum Betreiben eines Parkassistenzsystems.

Further advantageous refinements and aspects of the invention are the subject matter of the dependent claims and of the exemplary embodiments of the invention described below. The invention is explained in more detail below on the basis of preferred embodiments with reference to the enclosed figures.

• 1 shows a schematic view of an embodiment of a motorized two-wheeler with a parking assistance system;
• 2 shows a schematic view of a predetermined trajectory;
• 3 shows a schematic view of another predetermined trajectory;
• 4 shows a schematic view of a communication;
• 5 shows a schematic block diagram of an exemplary embodiment of a parking assistance system; and
• 6 shows a schematic block diagram of an exemplary embodiment of a method for operating a parking assistance system.

Elements that are the same or have the same function have been provided with the same reference symbols in the figures, unless otherwise stated.

1 shows a schematic view of an embodiment of a motorized two-wheeler 100 with a parking assistance system 130. The two-wheeler 100 is, for example, a bicycle with an electric drive. The bicycle 100 has a parking assistance system 130, which is embodied as a control device, for example. In addition, the bicycle 100 has an environment sensor unit 110 and a plurality of driving state detection units 120 . Surroundings sensor unit 110 is embodied, for example, as a front camera 110 that is used to capture an image of surroundings 200 (see FIG 2 ) and configured to output the captured image as an environment sensor signal. It should be noted that the bicycle 100 may include additional and/or different environmental sensor units 110, such as a lidar, a radar, ultrasonic sensors, and a position sensor unit (not shown). The driving status detection units 120 include, for example, a wheel speed sensor for each wheel and a steering angle sensor arranged on a handlebar of the bicycle 100 . The respective sensor 110, 120 outputs the respectively detected sensor signal in particular to the parking assistance system 130, which is able to drive the bicycle 100 autonomously on the basis of these sensor signals. That is, the parking assist system 130 can move the bicycle 100 without user intervention. To ride bicycle 100, parking assistance system 130 controls, in particular, a drive unit and a steering unit of bicycle 100, so that bicycle 100 moves along a specific trajectory TR (see FIG 2 or 3 ) moves. The bicycle 100 includes, for example, a member (not shown) configured to balance the bicycle. This element preferably comprises at least one electric motor and a weight which is moved by the electric motor in order to generate a force which counteracts tilting of the bicycle. Alternatively or additionally, it is provided that the balance is carried out with the aid of an actuation of the steering. This is done in such a way that tipping of the bicycle is counteracted.

It should be noted that other components of the bicycle 100, such as a drive unit, an energy storage device and the like in FIG 1 are not shown for reasons of clarity.

The parking assist system 130 preferably includes a user interface (not shown) for receiving user input. The user interface can be addressed, for example, via operating elements (not shown) in a cockpit of the bicycle 100 . Furthermore, the parking assistance system 130 preferably has a communication interface (not shown), which is used to send and/or receive data to and/or from a device 300, 305 external to the two-wheeler 100 (see 4 ) is set up. The user input can also be received via the communication interface.

The parking assistance system 130 is, for example, as shown in FIG 5 shown and is designed in particular for performing the basis of 6 procedure explained in more detail.

Alternatively, the motorized two-wheeler 100 can also be in the form of a motorcycle, a motor scooter or a motorized scooter. The respective drive technology is preferably electric, but combustion engines or other motors can also be used. The motorized two-wheeler 100 can also be set up to transport one or more people, for example up to two, three or four people, and/or loads. Alternatively, the two-wheeler 100 can also be set up as a tricycle and/or cargo bike.

2 FIG. 12 shows a schematic view of a predetermined trajectory TR running in an environment 200. FIG. The predetermined trajectory TR leads from a starting position P1 to a target position P2. The starting position P1 is arranged in front of an entrance 204 to a building 202, for example. The target position P2 is located in a garage 203, for example. Furthermore, the motorized two-wheeler 100 is shown at its current position P0. It is, for example, the motorized two-wheeler 100 of 1 .

The predetermined trajectory TR is in particular for carrying out an autonomous parking process with the autonomous motorized two-wheeler 100 planned. The predetermined trajectory TR was trained once, for example, by the user of the two-wheeler 100, with the parking assistance system 130 (see 1 or 5 ) has recorded the driven trajectory TR on the basis of the environmental sensor signals and driving condition sensor signals received during the training drive and has stored it as the predetermined trajectory TR. The parking assistance system 130 is now able to drive along the predetermined trajectory TR autonomously. To do this, the user only has to bring the two-wheeler 100 close to the starting position P1 and start the autonomous driving mode. If the predetermined trajectory TR includes at least one absolutely specific position whose coordinates are defined in a world coordinate system, parking assistance system 130 can determine, for example based on its current position P0, which is also present as an absolute position in the world coordinate system, for example, that the two-wheeler 100 is close to the predetermined trajectory TR and can then start the autonomous parking process accordingly or offer it to the user. If the predetermined trajectory TR and/or the current position P0 of the two-wheeler 100 are not absolutely known, the user can, for example, make a selection of the predetermined trajectory TR, in particular via a corresponding user input.

During the autonomous journey along the predetermined trajectory TR, the two-wheeler 100 orients itself in particular using the received environment sensor signals and driving state sensor signals. For example, the parking assistance system 130 can follow the current position P0 of the two-wheeler 100 on the basis of the driving state sensor signals using odometry. In principle, odometry enables the two-wheeler 100 to follow the predetermined trajectory TR completely and exactly. However, there may be deviations due to measurement errors and environmental influences, such as slippage on one of the wheels. Therefore, the orientation can additionally and/or alternatively be based on the environment 200 . VSLAM technology (visual simultaneous localization and mapping) is preferably used for this, in which the parking assistance system 130 calculates the current position P0 of the two-wheeler 100 in relation to a known, previously stored position, such as a position of the predetermined trajectory TR, based on a comparison determined from optical features determined in captured camera images of the environment 200 . For this, the two-wheeler 100 needs at least one camera to capture a camera image of the surroundings 100.

The predetermined trajectory TR includes, for example, a plurality of positions that are fixed relative to one another. The starting position P1 and the target position P2 are two distinguished positions of the trajectory TR. The positions can also be called waypoints. During autonomous driving, the parking assistance system 130 controls the two-wheeler in such a way that it travels one way point after the other until it arrives at the target position P2.

In this example, the target position P2 is in a garage 203. The garage 203 has, for example, a motorized, lockable garage door. If the two-wheeler has arrived in front of the garage 203 during the autonomous parking process, the parking assistance system 130 can be set up to cause the garage door to open by means of a corresponding opening signal. This can be done using HomeLink®, for example.

The predetermined trajectory TR can also be traversed by the parking assistance system 130 with the two-wheeler 100 in the opposite direction, so that the starting and target positions P1, P2 are interchanged. The two-wheeler 100 then drives autonomously, for example, from the garage 203 in front of the entrance 204 of the building 202. This process can also be referred to as “calling” or “summoning”. A turning maneuver is preferably carried out when driving between the starting and target positions in order to make the two-wheeler 100 available at the starting position in the direction of travel if desired.

3 shows a schematic view of a further predetermined trajectory TR, which connects a starting position P1 with a target position P2. In addition, the current position P0 of the two-wheeler 100 is shown. The current position P0 is offset from the trajectory TR by a distance ΔP. For example, the user has not parked the two-wheeler 100 exactly at the starting position P1, but would still like to start the autonomous parking process. The parking assistance system 130 (see 1 or 5 ) determines the current position P0 of the two-wheeler 100 based on the received environmental sensor signals, and determines, for example, the offset ΔP to the predetermined trajectory TR. This can be done using VSLAM technology provided a sufficient number of matching optical features are found in the received image and the stored image. After the parking assistance system 130 has determined the current position P0 and its position relative to the predetermined trajectory TR, it determines, for example, an auxiliary trajectory TR*, which guides the two-wheeler 100 to the predetermined trajectory TR. The parking assistance system 130 is thus able to carry out the autonomous parking process even if the two-wheeler 100 is not initially positioned on the predetermined trajectory TR.

In addition, the parking assistance system 130 can also determine an avoidance trajectory (not shown) in this way if, for example, an object blocks travel along the predetermined trajectory TR. With the avoidance trajectory, the parking assistance system 130 can steer the two-wheeler 100 around the respective object and then continue driving along the predetermined trajectory TR to the target position P2.

The starting and target positions P1, P2 can each also be specified as ranges in order to make the method more robust in relation to changing environments. For example, the target position P2 is a parking space in a publicly accessible multi-storey car park, which is why the exact parking position can differ for each use. The target position P2 can then include the parking garage as a whole, with the parking assistance system 130 switching to a search mode when it reaches the parking garage, for example, in which it searches for a free parking space. Alternatively, the parking assistance system 130 can be assigned a specific parking space by the parking garage, with the parking garage determining a trajectory from the entrance to the parking garage to the assigned parking space and transmitting this as a predetermined trajectory to the parking assistance system 130, so that the parking assistance system 130 can carry out the autonomous parking process along the received trajectory.

4 shows a schematic view of a communication between a motorized two-wheeler 100 or a parking assistance system 130 (see FIG 1 or 5 ) of the motorized two-wheeler 100, a mobile device 300 of a user and a server 305, which can be reached, for example, via the Internet. The two-wheeler 100 is, for example, in the 1 illustrated motorized two-wheeler 100. The communication is wireless in particular. The user can use his mobile device 300, which is a smartphone, for example, to set up a communication link COM to the two-wheeler 100. The communication connection COM can be established directly, or can be mediated via the server 305. The two-wheeler 100 is also able to establish a communication connection COM with the server 305, for example in order to follow a predetermined trajectory TR (see FIG 2 or 3 ), map data, a firmware update or other data. In addition, the two-wheeler 100 status data, such as a current position P0 (see 2 or 3 ), a current operating status, a charge status of a battery and the like are transmitted to the server 305 and/or to the user's mobile device 300 .

In particular, the user can transmit a user input to the two-wheeler 100 by means of the communication link COM. The user input can include, for example, the command to summon (“summon”) the two-wheeler 100 so that the two-wheeler 100 drives autonomously from a specific parking position under autonomous control by the parking assistance system 130 along a predetermined trajectory TR to the user.

5 shows a schematic block diagram of an exemplary embodiment of a parking assistance system 130. The parking assistance system 130 is for autonomously controlling a motorized two-wheeler 100, for example the one in FIG 1 illustrated two-wheeler, set up. The parking assistance system 130 includes a receiving unit 132 for receiving an environment 200 (see 2 ) of the two-wheeler 100 indicative environment sensor signal and for receiving a driving state sensor signal indicative of a driving state of the two-wheeler 100, a localization unit 134 for determining a current position P0 (see 2 or 3 ) of two-wheeler 100 as a function of the received environment sensor signal and/or the received driving condition sensor signal, a provision unit 136 for providing a predetermined trajectory TR (see 2 or 3 ), which has a starting position P1 (see 2 or 3 ) with a target position P2 (see 2 or 3 ) connects, and a control unit 138 for carrying out an autonomous parking process with the two-wheeler 100 depending on the received environment sensor signal, the received driving condition sensor signal, the determined current position P0 and the predetermined trajectory TR, the autonomous parking process an autonomous driving of the two-wheeler 100 of determined current Position P0 of the two-wheeler 100 to the target position P2 along the predetermined trajectory TR includes.

The parking assistance system 130 is in particular for performing the basis of 6 procedure explained set up.

6 shows a schematic block diagram of an embodiment of a method for operating a parking assistance system 130 (see 1 or 5 ) for a motorized two-wheeler 100 (see 1 - 3 ), wherein the parking assistance system 130 is set up to control the two-wheeler 100 autonomously. In a first step S1, an environment 200 (see 2 ) of the two-wheeler 100 received indicative environment sensor signal. In a second step S2, a driving condition sensor signal indicative of a driving condition of the two-wheeler 100 is received. In a third step S3, a current position P0 (see 2 or 3 ) of the two-wheeler 100 as a function of the received environment sensor signal and/or the received driving condition sensor signal determined. In a fourth step S4, a predetermined trajectory TR (see 2 or 3 ), which has a starting position P1 (see 2 or 3 ) with a target position P2 (see 2 or 3 ) connects provided. For example, the predetermined trajectory TR is loaded from a storage unit for storing a number of predetermined trajectories after a user selection and/or based on the current position P0. In a fifth step S5, an autonomous parking process is carried out with the two-wheeler 100 depending on the received surroundings sensor signal, the received driving condition sensor signal, the determined current position P0 and the predetermined trajectory TR. The autonomous parking process includes autonomous driving of the two-wheeler 100 from the determined current position P0 of the two-wheeler 100 to the target position P2 along the predetermined trajectory TR.

Although the present invention has been described using exemplary embodiments, it can be modified in many ways.

Reference List

100

bicycle

110

environmental sensor unit

120

driving status detection unit

130

parking assistance system

132

receiving unit

134

localization unit

136

deployment unit

138

control unit

200

Vicinity

202

Building

203

garage

204

Entry

300

external device

305

external device

ΔP

offset

COM

data signal

P0

actual position

P1

starting position

p2

target position

S1

process step

S2

process step

S3

process step

S4

process step

S5

process step

TR

trajectory

TR*

auxiliary trajectory

Claims (15)

Parking assistance system (130) for a motorized two-wheeler (100), the parking assistance system (130) being set up for autonomous control of the two-wheeler (100), with: a receiving unit (132) for receiving an environment sensor signal indicative of an area (200) of the two-wheeler (100) and for receiving a driving state sensor signal indicative of a driving state of the two-wheeler (100), a localization unit (134) for determining a current position (P0) of the two-wheeler (100) as a function of the received environment sensor signal and/or the received driving condition sensor signal, a provision unit (136) for providing a predetermined trajectory (TR) which connects a starting position (P1) with a target position (P2), and a control unit (138) for carrying out an autonomous parking process with the two-wheeler (100) depending on the received environment sensor signal, the received driving condition sensor signal, the determined current position (P0) and the predetermined trajectory (TR), the autonomous parking process being an autonomous drive of the two-wheeler (100) from the determined current position (P0) of the two-wheeler (100) to the target position (P2) along the predetermined trajectory (TR). parking assistance system claim 1 , characterized in that the provision unit (136) is set up to provide a user of the bicycle (100) in a training mode trained trajectory as the predetermined trajectory (TR). parking assistance system claim 1 or 2 , characterized in that the predetermined trajectory (TR) comprises a number of absolute positions and/or a number of positions determined relative to one another. Parking assistance system according to one of the preceding claims, characterized in that the received environment sensor signal comprises a camera image of the environment (200) of the two-wheeler (100), the localization unit (134) for localizing the two-wheeler (100) depending on a comparison of an arrangement in the Camera image determined optical features is set up with a stored arrangement of optical features. Parking assistance system according to one of the preceding claims, characterized in that the control unit (138) is set up to determine an object in a predetermined area around the two-wheeler (100) as a function of the received environment sensor signal, and is also set up to determine an avoidance trajectory, so that a Collision with the detected object is avoided. Parking assistance system according to one of the preceding claims, characterized by a user interface for receiving a user input, the user input being a selection of a predetermined trajectory (TR) from a number of predetermined trajectories (TR) and/or a selection of a target position (P2) from a number of Target positions (P2) includes. Parking assistance system according to one of the preceding claims, characterized by a communication interface which is set up for sending and/or receiving data to and/or from a device (300, 305) external to the two-wheeler (100). Motorized two-wheeler (100), with: an environment sensor unit (110) for detecting an environment (200) of the two-wheeler (100) and for outputting an environment sensor signal, a driving condition detection unit (120) for detecting a driving condition of the two-wheeler (100) and for outputting a driving condition sensor signal , And a parking assistance system (130) according to one of Claims 1 until 7 . Motorized two-wheeler claim 8 , characterized in that the environmental sensor unit (110) comprises an ultrasonic sensor, a camera, a lidar, a radar and/or a position sensor. Motorized two-wheeler claim 8 or 9 , characterized in that the driving condition detection unit (120) comprises a wheel speed sensor, a steering angle sensor and / or an inclination angle sensor. Motorized two-wheeler according to one of the Claims 8 until 10 , characterized in that the two-wheeler (100) has a balance unit which is set up to support and/or balance the two-wheeler (100). Motorized two-wheeler claim 11 , characterized in that the balance unit comprises a support wheel, a side stand, a main stand, a displaceable weight element and/or a tiltable gyroscope element. Motorized two-wheeler according to one of the Claims 8 until 12 , characterized in that the two-wheeler (100) is electrically driven. Motorized two-wheeler according to one of the Claims 8 until 11 , characterized in that the two-wheeler (100) is designed as a motorcycle, a motor scooter, a bicycle or a scooter. Method for operating a parking assistance system (130) for a motorized two-wheeler (100), the parking assistance system (130) being set up for autonomous control of the two-wheeler (100), the method comprising the steps: Receiving (S1) an environment sensor signal indicative of an environment (200) of the two-wheeler (100), receiving (S2) a driving condition sensor signal indicative of a driving condition of the two-wheeler (100), Determining (S3) a current position (P0) of the two-wheeler (100) as a function of the received environment sensor signal and/or the received driving condition sensor signal, Providing (S4) a predetermined trajectory (TR) which connects a starting position (P1) with a target position (P2), and Carrying out (S5) an autonomous parking process with the two-wheeler (100) depending on the received environment sensor signal, the received driving condition sensor signal, the determined current position (P0) and the predetermined trajectory (TR), the autonomous parking process being an autonomous driving of the two-wheeler (100) from the determined current position (P0) of the two-wheeler (100) to the target position (P2) along the predetermined trajectory (TR).

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