DE102022114119A1 - Method for operating an automated motor vehicle in an environment of an operating terminal, computer program, data processing device and motor vehicle - Google Patents

Abstract

A method (100) is provided for operating a motor vehicle (200) in an environment (210) of an operating terminal (220), the method (100) having the steps to be carried out on the vehicle side: identifying (110) the operating terminal (220); Determining (115) an operating position (225) for the motor vehicle (200) on the operating terminal (220) for the user to operate the operating terminal (220); Determining (116) a vehicle position (205) relating to the motor vehicle (200); Determining (120) an assistance function based on the operating information, the operating position (225) and the vehicle position (205); and carrying out (130) the assistance function.

Description

The present invention relates to a method for operating an automated motor vehicle in an operating terminal environment, and to a data processing device that is designed to at least partially carry out the method. Furthermore, a motor vehicle with the data processing device is provided. Additionally or alternatively, a computer program is provided which includes commands which, when the program is executed by a computer, cause it to at least partially carry out the method. Additionally or alternatively, a computer-readable medium is provided which includes instructions which, when the instructions are executed by a computer, cause it to at least partially carry out the method.

According to the prior art, a driver of a motor vehicle must reach an operating terminal in a drive-through situation or a drive-in situation such as at a toll station, at a fast food restaurant, at a bank, at an ATM, at a gas station or the like , position the vehicle yourself to stop at the control terminal. The driver does not receive sufficient support from the motor vehicle to position the motor vehicle to operate the operating terminal.

DE 10 2017 207 130 A1 discloses a method for automated travel through a service corridor. In the method, wherein a vehicle has a control device and a communication device, wherein the service corridor has a control system, a communication device, and at least one service station, the vehicle approaches the service corridor, the service corridor recognizing the vehicle by means of its control system. A communication link is established between the communication device of the vehicle and the communication device of the service corridor. The control system uses the communication device of the service corridor to control the control device using the communication device of the vehicle. The vehicle is controlled by the control system using its control device, so that the service corridor is driven through the service corridor by the vehicle automatically.

The known solution requires communication between the motor vehicle and the control system of the service corridor, which is technologically complex due to the interface between the motor vehicle and the control system. The driver is supported externally to the vehicle.

Against the background of this prior art, the task of the present disclosure is to provide a method which is suitable for enriching the prior art and improving at least the above-mentioned aspects of the prior art.

The task is solved by the features of the independent claim. The subclaims contain preferred developments of the invention.

The task is then solved by a method for operating a motor vehicle in an operating terminal environment. The method has the steps to be carried out on the vehicle: identifying the control terminal; Determining an operating position for the motor vehicle on the operating terminal for the user to operate the operating terminal; Determining a vehicle position relating to the motor vehicle; Determining an assistance function based on the operating position and the vehicle position; and performing the assistance function.

The operating terminal can also be a switch and is assigned, for example, to a drive-in situation or drive-through situation. The driver then drives the motor vehicle to the operating terminal in order to be able to operate the operating terminal. Identifying the operating terminal on the vehicle side includes recognizing the drive-in situation or drive-through situation and the associated need to operate the operating terminal. By identifying the operating terminal, the presence of the operating terminal is recorded on the vehicle side in order to be able to carry out automated steps on the vehicle side based on the identification of the operating terminal.

The operating position is the position in which the motor vehicle should typically stop so that the operating terminal can be operated reliably and in a user-friendly manner. Typically, the operating terminal has an input device, wherein the input device can be operated in the operating position by the user of the motor vehicle from the motor vehicle, and optionally without the driver having to leave the motor vehicle. The operation can also include, for example, making a payment and/or accepting or accepting goods at a goods issue point. The operating position is determined on the vehicle side.

The vehicle position is the current position of the motor vehicle. The motor vehicle is located on a road in the vicinity of the operating terminal at the vehicle position. The vehicle position is determined on the vehicle side.

The assistance function to be carried out is determined based on the operating position and the vehicle position. It was recognized that the assistance function to be carried out on the vehicle depends on the operating position and the vehicle position. The operating position and the vehicle position are evaluated in combination with each other through data processing to determine the assistance function. The assistance function is carried out to reliably support the driver, especially when approaching the operating terminal.

The identification of the operating terminal can take place taking into account a user input. By detecting the user input on the vehicle side using a vehicle-side detection device, the operating terminal and thus the drive-through situation can be identified in order to be able to reliably carry out the automated steps on the vehicle side. The user input can plausibility and/or verify another vehicle-side identification of the operating terminal.

Alternatively or additionally, the identification of the operating terminal can take place taking into account environmental information detected by a vehicle-side sensor device. For this purpose, the vehicle-side sensor device can record the environmental information as radar, lidar, ultrasound and/or camera data relating to the environment. The operating terminal can be identified with the recorded environmental information through vehicle-side data processing based on an input device of the operating terminal, peripheral buildings, barriers, signs and/or through an analysis of the traffic behavior of other road users.

Alternatively or additionally, the identification of the operating terminal can take place taking into account traffic and/or infrastructure information received through a vehicle-side communication interface. The vehicle-side communication interface can receive identification information from the operating terminal and/or from another motor vehicle that has already passed through the operating terminal and has already identified the operating terminal by the vehicle-side sensor device via a mobile radio network and/or a local network via, for example, a V2X connection. The motor vehicle can recognize the operating terminal using the identification information received.

Alternatively or additionally, the operator terminal can be identified taking card information into account. A map that can be accessed from the vehicle can include information about a coordinate of the operating terminal. This allows the motor vehicle to identify the operating terminal based on the map information.

Carrying out the assistance function can include an output depending on the vehicle position and the operating position. The vehicle position can be evaluated relative to the operating position or vice versa to generate the output. The output depending on the vehicle position and the operating position can therefore represent the relative position of the motor vehicle to the operating terminal in order to be able to give the driver of the motor vehicle reliable and clear orientation when approaching the operating terminal. The output can relate to an area in the area that the motor vehicle can drive over. The output and/or representation of the drivable area can reliably inform the driver about the area driven by the motor vehicle in the vicinity of the operating position.

The output may include a visual output with assistance information for operating the motor vehicle. In other words, the driver can be supported by issuing information about operating the motor vehicle. The visual output occurs via a vehicle-side display. For example, the assistance information can include information or representation about a distance between the motor vehicle and the operating device in the transverse direction when continuing the current trajectory and / or information or representation about the longitudinal distance between the motor vehicle and the operating device ahead of the operating device

The assistance information can include an actuation suggestion for the user to actuate the motor vehicle and a forecast of a future vehicle position corresponding to the actuation suggestion. The assistance information can include a representation of a steering movement to be carried out as an actuation suggestion. When the motor vehicle is actuated accordingly, the steering movement leads to a reliable approach to the operating terminal, which can be predicted on the vehicle side based on the vehicle position and the steering movement according to the actuation suggestion. When approaching the operating terminal, the motor vehicle moves from the vehicle position via the predicted future motor vehicle position to the operating position. Optionally, a trajectory corresponding to the actuation suggestion can be output. The Assistance information can therefore be output as an augmented reality representation.

Carrying out the assistance function can include actuating a vehicle mirror and/or a vehicle side window. This means that the operating terminal can be operated conveniently and manual operation of the vehicle mirror and/or the vehicle side window is unnecessary.

Carrying out the assistance function can include activating a collision avoidance device in order to avoid driving too close to the operating terminal and/or damage to the motor vehicle if necessary. The collision avoidance device can be set up to output a warning signal that can be perceived by the driver and/or to intervene in the control of the motor vehicle in order to avoid a collision of the motor vehicle with the operating terminal.

The assistance function can be set up to support the removal of the motor vehicle from the operating terminal. The assistance function for removing the motor vehicle from the operating terminal can be carried out analogously to the approach to the operating terminal described above, in order to provide the driver with comprehensive support when leaving the drive-through situation.

What has been described above can be summarized in other words and based on a specific embodiment, which is described as not limiting the present disclosure, as follows: According to the basic principle, the vehicle detects by evaluating the sensors installed in the vehicle (radar, lidar, ultrasound, Computer vision via camera) based on peripheral buildings, barriers, signs, by analyzing the traffic behavior of other road users, or by detecting other vehicles using on-board sensors, using information from navigation systems, using V2Infrastracture communication and/or using point based activation. Situation. Alternatively, targeted activation of an automated functionality by the driver is also possible. Through automatic detection or activation by the driver, the vehicle provides support in the drive-through situation: display of the ideal route for positioning/guiding in the longitudinal and transverse directions to easily reach the switch, display of the drivable area in the MMI vehicle, folding the rearview mirror, lowering the driver's window and/or activating the collision protection systems to prevent damage. For example, a driver drives a large motor vehicle to a toll station to pay the highway toll. The large vehicle is so confusing that the driver is afraid of causing a collision. This means the driver may be too far away from the switch to operate the switch.

The process recognizes this situation in advance and helps the driver by displaying the necessary steering movement in an augmented reality display. At the same time, the driver's exterior mirror is retracted. The security systems activated in the background protect the vehicle through timely intervention if the customer drives too close to the wall next to the vehicle. As soon as the vehicle has reached its final position, the driver's window automatically lowers and the driver can easily pay the toll. The driver is guided back into the lane with the same instructions, the mirror folds out and the window goes up.

Furthermore, a computer program is provided, comprising commands which, when the program is executed by a computer, cause it to at least partially execute or carry out the method described above.

A program code of the computer program can be in any code, in particular in a code that is suitable for motor vehicle controls.

What was described above with reference to the process also applies to the computer program and vice versa.

Furthermore, a data processing device, for example a control device, is provided for an automated motor vehicle, the data processing device being set up to at least partially implement or carry out the method described above. The procedure is therefore a computer-implemented procedure.

The data processing device can be part of or represent a driving assistance system. The data processing device can be, for example, an electronic control unit (ECU = electronic control unit). The electronic control unit can be an intelligent processor-controlled unit that can communicate with other modules, for example via a central gateway (CGW) and, if necessary, via field buses such as the CAN bus, LIN bus, MOST bus and FlexRay or via Automotive Ethernet, for example together with telematics control devices, can form the vehicle on-board network. It is conceivable that the control unit has functions relevant to the driving behavior of the motor vehicle, such as engine control, power transmission, the braking system and/or the tires pressure control system, controls. In addition, driver assistance systems, such as a parking assistant, an adapted cruise control (ACC), a lane keeping assistant, a lane change assistant, traffic sign recognition, light signal recognition, a starting assistant, a night vision assistant and/or an intersection assistant, can be controlled by the control unit .

What has been described above with reference to the method and the computer program also applies analogously to the data processing device and vice versa.

Furthermore, a motor vehicle comprising the data processing device described above is provided.

The motor vehicle can be a passenger car, in particular an automobile. The motor vehicle can be an automated motor vehicle. The automated motor vehicle can be designed to at least partially and/or at least temporarily take over longitudinal guidance and/or transverse guidance during automated driving of the motor vehicle. Automated driving can be carried out in such a way that the movement of the motor vehicle is (largely) autonomous. The automated driving can be controlled at least partially and/or temporarily by the data processing device. The motor vehicle can be a motor vehicle with autonomy levels 0 to 5.

The motor vehicle can be a motor vehicle with autonomy level 0, i.e. the driver takes over the dynamic driving task, even if supporting systems (e.g. ABS or ESP) are present.

The motor vehicle can be a motor vehicle with autonomy level 1, i.e. have certain driver assistance systems that support the driver in operating the vehicle, such as adaptive cruise control (ACC).

The motor vehicle can be a motor vehicle of autonomy level 2, i.e. be partially automated so that functions such as automatic parking, lane keeping or lateral guidance, general longitudinal guidance, acceleration and/or braking are taken over by driver assistance systems.

The motor vehicle can be a motor vehicle of autonomy level 3, i.e. conditionally automated so that the driver does not have to continuously monitor the vehicle system. The motor vehicle independently carries out functions such as triggering the turn signal, changing lanes and/or keeping in lane. The driver can turn his attention to other things, but if necessary the system will ask him to take over within a warning period.

The motor vehicle can be a motor vehicle with autonomy level 4, i.e. so highly automated that control of the vehicle is permanently taken over by the vehicle system. If the system can no longer handle the driving tasks, the driver can be asked to take over the lead.

The motor vehicle can be a motor vehicle with autonomy level 5, i.e. so fully automated that the driver is not required to fulfill the driving task. No human intervention is required other than setting the target and starting the system. The motor vehicle can do without a steering wheel and pedals.

What has been described above with reference to the method, the data processing device and the computer program also applies analogously to the motor vehicle and vice versa.

Furthermore, a computer-readable medium, in particular a computer-readable storage medium, is provided. The computer-readable medium includes instructions that, when the program is executed by a computer, cause it to at least partially carry out the method described above.

That is, a computer-readable medium may be provided that includes a computer program as defined above. The computer-readable medium can be any digital data storage device, such as a USB flash drive, hard drive, CD-ROM, SD card, or SSD card. The computer program does not necessarily have to be stored on such a computer-readable storage medium in order to be made available to the motor vehicle, but can also be obtained externally via the Internet or otherwise.

What has been described above with reference to the method, the data processing device, the computer program and the motor vehicle also applies analogously to the computer-readable medium and vice versa.

• 1 zeigt schematisch einen Ablauf eines Verfahrens gemäß einem Aspekt der Erfindung; und
• 2 zeigt schematisch ein Kraftfahrzeug gemäß einem Aspekt der Erfindung in einer Umgebung eines Bedienterminals.

An embodiment is described below with reference to 1 and 2 described.

• 1 shows schematically a sequence of a method according to one aspect of the invention; and
• 2 schematically shows a motor vehicle according to one aspect of the invention in an environment of an operating terminal.

1 shows schematically a sequence of a method 100 according to one aspect of the invention. The method 100 is for operating a motor vehicle 200 in an environment 210 of an operating terminal 220. The motor vehicle 200 in the environment 210 of the operating terminal 220 is shown schematically in 2 shown.

According to the in 1 In the method 100 shown, the control terminal 220 is identified 110.

The identification 110 of the operating terminal 220 takes place taking into account a user input. For this purpose, the user input can be recorded by an input device on the vehicle. The driver or user can carry out the user input when the operating terminal 220 is in the driver's field of vision and/or the driver requests an assisted approach to the operating terminal 220.

The identification 110 takes place taking into account environmental information detected by a vehicle-side sensor device. For this purpose, the environmental information can be recorded by the vehicle-side sensor device, for example a radar, lidar, ultrasound and/or camera device. The environmental information includes data relating to the environment 210 and can therefore include data relating to the operating terminal 220. The environmental information can be evaluated by a vehicle-side data processing device 240 in order to identify the operating terminal 220.

The identification 110 takes place taking into account traffic and/or infrastructure information received through a vehicle-side communication interface. For this purpose, a data connection to another motor vehicle in the environment 210 and/or to an infrastructure element can be established using the vehicle-side communication interface. The motor vehicle 200 can receive the traffic and/or infrastructure information via the data connection. The other motor vehicle can transmit information that directly identifies the operating terminal to the motor vehicle 200. Alternatively or additionally, the further motor vehicle can transmit speed data and/or a speed profile to the motor vehicle 200 in order to provide information about the driving behavior of the further motor vehicle and thus be able to draw conclusions about operation at an operating terminal 220. The infrastructure element can be the operating terminal 220, which identifies itself to the motor vehicle 200 via the infrastructure information.

The identification 110 takes place taking into account map information. The map information can be accessed on the vehicle side, for example to support navigation of the motor vehicle 200 and/or the driver. The map information can include, for example, “points of interest”, where a “point of interest” is the control terminal 220.

An operating position 225 for the motor vehicle 200 is determined 115 at the operating terminal 220 for the user to operate the operating terminal 220. For this purpose, after the operating terminal 220 has been identified 110, the exact position of the operating terminal 220 is identified. The position of the operating terminal 220 can be based on the map information, the traffic and/or infrastructure information and/or the environmental information. When approaching the operating terminal 220, the accuracy of the position of the operating terminal 220 can be increased, in particular by continuing to record environmental information. The determination 115 of the operating position 225 takes place taking into account the position of the operating terminal 220 and motor vehicle information relating to the motor vehicle 220, the motor vehicle information comprising, for example, geometric information that is relevant for operating the operating terminal 220. The operating position 225 can take into account a road marking 216 sensed on the vehicle in the area 210 of the operating terminal 220.

A vehicle position 205 relating to the motor vehicle 200 is determined 116. The vehicle position 205 can be determined, for example, using a GPS system. The vehicle position 205 can be determined absolutely and/or relative to the operating terminal 220. When determining 116 the vehicle position 205 relative to the operating terminal 220, the environmental information can be taken into account.

An assistance function is determined 120 based on the operating position 225 and the vehicle position 205. The assistance function is determined by the vehicle-side data processing device 240. In particular, an output is generated. The output relates to an area 215 that can be driven by the motor vehicle 200 in the area 210 of the operating terminal 220. For this purpose, the operating position 225, the vehicle position 205 and the surrounding information are brought together. The assistance function is set up to support driving to the operating terminal 220 and removing the motor vehicle 200 from the operating terminal 220.

This is followed by carrying out 130 the assistance function. Carrying out 130 the assistance function includes the output depending on the vehicle position 205 and the operating position 225. For output, the motor vehicle 200 has an output device (not shown). The output can be acoustic. The output includes a visual output with assistance information for operating the motor vehicle 200. The assistance information includes an actuation suggestion for the user to operate the motor vehicle 200 and a prediction of a future vehicle position 206 corresponding to the actuation suggestion and/or a trajectory from the vehicle position 205 via the future vehicle position 206 to the operating position 225. The future vehicle position 206 and/or the trajectory are output together with the actuation suggestion as an augmented reality representation.

Carrying out 130 the assistance function includes actuating a vehicle mirror, actuating a side window on the vehicle and/or activating a collision avoidance device on the vehicle. For example, the vehicle mirror can be folded in order to avoid a collision between the vehicle mirror and the operating terminal 220. The vehicle mirror can be adjusted in order to be able to see the drivable area 215 near the operating terminal 220. A driver's side window can be lowered so that the driver can operate the control terminal 220.

The person skilled in the art will recognize that steps of method 100 are different than those in 1 can be carried out in the order shown and/or simultaneously. For example, determining 116 the vehicle position 205 can be carried out permanently. The operating position 225 can be determined at any time and optionally permanently after the operating terminal 220 has been identified 110.

2 schematically shows a motor vehicle 200 according to an aspect of the invention in an environment 210 of an operating terminal 220. The motor vehicle 200 is set up to do this with reference to 1 to carry out the procedure 100 described. The motor vehicle has 200 as in 2 a data processing device 240 is shown schematically.

When approaching the operating terminal 220, the motor vehicle 200 travels over a drivable area 215. The drivable area 215 can be marked by road markings 216 shown schematically. The operating terminal 220 and the road markings 216 can be sensed using sensors on the vehicle.

The motor vehicle 200 is arranged at a vehicle position 205 in the vicinity of the operating terminal 220. In order for the operating terminal 220 to be operable by the driver of the motor vehicle 200, this is referred to 1 described method 100 carried out. This supports the driver of the motor vehicle 200 in 2 to reach the operating position 225 shown schematically. The operating position 225 is in the environment 210 of the operating terminal 220 arranged. The operating position 225 is arranged such that the driver of the motor vehicle 200 can operate the operating terminal 200 in the operating position 225 without having to leave the motor vehicle 200.

In order to get from the vehicle position 205 to the operating position 225, the driver of the motor vehicle 200 can use the reference to 1 Request and/or perform the assistance function described. An actuation suggestion for the user to actuate the motor vehicle 200 that can be perceived by the driver is output. If the driver follows the actuation suggestion, the driver drives the motor vehicle 200 towards the operating terminal 220 or into the operating position 225 via the future vehicle position 206 shown schematically in a box with a dashed line.

Reference symbol list

100

Proceedings

110

Identify

115

Determining an operating position

116

Determining a vehicle position

120

Determine an assistance function

130

Carrying out the assistance function

200

motor vehicle

205

Vehicle position

206

future vehicle position

210

Vicinity

215

drivable area

216

Road marking

220

Control terminal, switch

225

Operating position

240

Data processing device

QUOTES INCLUDED IN THE DESCRIPTION

This list of 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.

Cited patent literature

• DE 102017207130 A1 [0003]

Claims (10)

Method (100) for operating a motor vehicle (200) in an environment (210) of an operating terminal (220), the method (100) having the steps to be carried out on the vehicle side: - Identifying (110) the control terminal (220); - Determining (115) an operating position (225) for the motor vehicle (200) on the operating terminal (220) for the user to operate the operating terminal (220); - Determining (116) a vehicle position (205) relating to the motor vehicle (200); - Determining (120) an assistance function based on the operating position (225) and the vehicle position (205); and - Carrying out (130) the assistance function. Procedure according to Claim 1 , wherein the identification (110) of the operating terminal (220) takes place taking into account a user input, environmental information detected by a vehicle-side sensor device, traffic and / or infrastructure information received through a vehicle-side communication interface and / or map information. Procedure according to Claim 1 or 2 , wherein carrying out (130) the assistance function includes an output depending on the vehicle position (205) and the operating position (225). Procedure according to Claim 3 , wherein the output includes a visual output with assistance information for operating the motor vehicle (200). Procedure according to one of the Claims 4 , wherein the assistance information includes an actuation suggestion for the user to actuate the motor vehicle (200) and a prediction of a future vehicle position (206) corresponding to the actuation suggestion. Method according to one of the preceding claims, wherein carrying out (130) the assistance function includes actuating a vehicle mirror, actuating a vehicle-side window and/or activating a collision avoidance device. Method according to one of the preceding claims, wherein the assistance function is set up to support removal of the motor vehicle (200) from the operating terminal (220). Computer program and/or computer-readable medium, comprising instructions which, when the program or instructions are executed by a computer, cause the computer to carry out the method (100) and/or the steps of the method (100) according to one of the preceding claims Data processing device (240) for a motor vehicle (200), wherein the data processing device (240) is set up to carry out the method (100) according to one of Claims 1 until 7 to carry out. Motor vehicle (200), comprising the data processing device (240). Claim 9 .

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