DE102022125227A1 - Method and system for comparing vehicle models between computing devices during access control to a zone into which a vehicle is trying to enter, as well as corresponding computing devices - Google Patents

Abstract

The invention relates to a method for comparing a vehicle model (25) describing external dimensions (13) of a vehicle (11) between a first computing device (27) assigned to the vehicle (11) and a second computing device (20) which monitors access to a predetermined zone (12) into which the vehicle (11) is attempting to enter. The method comprises the steps: determining at least one model variant (30) of the vehicle model (25) determined on the zone side by the second computing device (20) by means of a zone-side sensor device (22); and determining a vehicle-side model variant (31) of the vehicle model (25) by the first computing device (27) by means of a detection device assigned to the vehicle (11); and comparing the vehicle-side model variant (31) with the at least one model variant (30) determined on the zone side and selecting the model variant (30) determined on the zone side which has the smallest deviation from the vehicle-side model variant (31), which is also smaller than a predetermined threshold value; and controlling an access procedure for controlling the access of the vehicle (11) to the zone (12) according to the selected model variant.

Description

The invention relates to a method and a system for checking access to a given zone, for example a parking garage, whether a zone-side computing device, for example a monitoring computer of the parking garage, has the correct external dimensions of the vehicle in a vehicle model for a vehicle requesting access, in order to be able to remotely control the vehicle without collision, for example. The invention also relates to computing devices, one of which can be provided on the vehicle side and one on the zone side.

For a given, demarcated environment or zone, for example a parking environment, remote-controlled guidance of a vehicle located therein can be provided. In connection with the automated guidance or remote control of a motor vehicle, this is referred to as a type 2 parking environment (“valet parking”). A driver can get out at an entrance or in a handover area and hand the vehicle over to the control of a zone-side computing device in the zone, for example the parking environment, from where control commands can then be sent to the vehicle by the zone-side computing device, through which the vehicle is automatically guided or controlled, for example, to a parking space or generally within the zone. In order to be able to calculate a correct, collision-free driving trajectory for the vehicle, the external dimensions of the vehicle must be known to the zone-side computing device.

These external dimensions are stored in a digital vehicle model that is used to plan the driving trajectory. However, the external dimensions of a vehicle can temporarily change or be varied, particularly due to subsequently mounted add-on parts such as a roof rack, so that a static vehicle model is undesirable.

It is therefore necessary for a vehicle seeking access to a given zone to have a correct current vehicle model in the zone's computer system, which describes the current external dimensions of the vehicle including possible add-on parts or a possible add-on part. However, detecting the external dimensions using sensors can be complex in that a corresponding sensor circuit can only detect a limited spatial resolution of scanning points or measuring points on an external shell or external contour of the vehicle. If a protruding element, such as a bar or handle, is not detected by sensors, its description is missing from the computer system's vehicle model, i.e. a protruding element may not be included in the calculation of the travel trajectory, which can then lead to contact or a scratch on another object in the zone when the vehicle is driven through the zone, such as another parked vehicle or a building pillar.

Measuring a vehicle with an attached attachment using a smartphone camera is, for example, possible from the EN 10 2020 112 549 A1 The camera-based measurement is also known in the WO 2013/059599 A1 described.

The invention is based on the object of providing a vehicle model of the vehicle for a computing device of a predetermined zone, for example a parking area into which the vehicle is trying to enter, which describes the external dimensions of the vehicle.

The task is solved by the subject matter of the independent patent claims. Advantageous further developments of the invention are described in the dependent claims, the following description and the figures.

As a solution, the invention comprises a method for comparing a vehicle model between, on the one hand, a first computing device assigned to a vehicle, for example a control unit or a backend server of the vehicle, and, on the other hand, a second computing device which provides access to a predetermined zone into which the vehicle is attempting to enter. The vehicle model is a geometric model, i.e. the vehicle model describes the external dimensions of the vehicle, e.g. as an arrangement of bounding boxes or an arrangement of polygon surfaces. The solution therefore does not involve the automatic determination of the vehicle model by the zone-side or second computing device (the computing device of the zone), but rather a comparison of the vehicle model takes place between the computing device of the zone on the one hand and a computing device assigned to the vehicle on the other. The first computing device is assigned to the vehicle in such a way that it can be, for example, a computing device of the vehicle itself (i.e. an on-board computing device) or a backend server assigned to the vehicle, i.e. a stationary Internet server provided for vehicle functions of the vehicle. The second computing device, as provided in the specified zone, can be implemented, for example, by a monitoring computer of an access device or of an access to the zone. Alternatively, it can be a backend server for the zone, i.e. a stationary Internet server that can control the access device, for example via an Internet connection. The first and second computing devices are different elements, i.e. they communicate by exchanging data when the vehicle attempts to access the zone, for example because the user of the vehicle triggers this and/or a sensor device has detected the vehicle in front of the zone.

In order to compare the vehicle model between the two computing devices, the following steps are provided by the procedure.

In one step, at least one model variant of the vehicle model determined on the zone side is determined by the second computing device using a zone-side sensor device. Such a sensor device can be installed, for example, at the entrance to the zone through which the vehicle has to drive. In the manner described, however, the scanning points, which are described by sensor data from the sensor device and which can describe an outer contour of the vehicle, can be incomplete in the sense that, for example, a protruding element of the vehicle remains undetected.

According to the method, a further step is therefore to determine a vehicle-side model variant of the vehicle model by the first computing device using a detection device assigned to the vehicle. In other words, the computing device determines the vehicle itself, a model variant of the vehicle model. This model variant is therefore referred to as “vehicle-side” or “vehicle-side determined”, that is, it is a model variant that is determined independently of the zone and/or the second computing device. What is meant here by “model variant” is that the vehicle model contains specific values for external dimensions and/or corresponding information, for example information about which attachment is currently mounted on the vehicle. It's about the same model, namely that of the vehicle, but different values result in different model variants.

According to a further step, the vehicle-side model variant is compared with the at least one zone-side model variant. Accordingly, a selection is then made of the model variant determined on the zone side which has the smallest deviation from the vehicle-side model variant. If a single model variant is determined by the zone-side computing device (i.e. the second computing device), the model variant determined on the vehicle side must be at least smaller than the predetermined threshold value in relation to a deviation determined during the comparison, so that there is a valid model variant at all. Otherwise, a detection error may occur, i.e. matching the vehicle model is impossible and an error procedure must be started. If several model variants have been determined by the sensor device of the zone-side computing device (i.e. the second computing device), for example a noisy model variant or at least two hypothetical model variants that resulted from an uncertainty in the detection by the sensor device, then the vehicle-side model variant and One of the model variants is confirmed or selected using the comparison.

The model variant of the vehicle model selected or confirmed in this way is then used to control an access procedure for controlling the vehicle's access to the zone according to the selected model variant. Such an access procedure can, for example, deny access if the vehicle's external dimensions do not allow access to the zone (because the vehicle is too wide and/or too high, for example), and/or the access procedure can also provide for the described automated guidance of the vehicle by the zone-side second computing device. In general, the access procedure can provide for enabling access and/or blocking access and/or warning a user of the vehicle.

The invention has the advantage that information about current external dimensions of the vehicle is determined both on the zone side by a sensor device of the zone and on the vehicle side by the detection device to which the vehicle-side computing device (first computing device) has access or to which it is coupled so that a plausibility-checked vehicle model is available.

The invention also covers further developments which result in additional advantages.

As already stated, different external dimensions of the vehicle can result over time due to the fact that reversibly mountable attachments are provided for the vehicle, for example a bicycle rack and/or a roof rack and/or an entry aid, which can be mounted or not. Also can be through overste Existing load that a user can accommodate in the vehicle for transport also results in a change in the external dimensions. A further development provides that the first computing device registers a quantity or number of attachments intended for the vehicle (in particular in advance), i.e. describes them by registration data. It is assumed that the respective add-on part can be reversibly connected to the vehicle and that its assembled state results in different external dimensions of the vehicle. Here, too, a load intended by the user is also considered an “attachment” if it is a protruding load if the user was able to register it. The further development requires the user to register or register every possible attachment or every intended attachment. The respective assembly state of the respective attachment results in a corresponding, registered model variant, which results from the resulting external dimensions of the vehicle including the attached attachment. The “vehicle” therefore represents the entirety of the “body” of the vehicle (chassis, car) and at least one attached attachment.

If the vehicle is now to gain access to the zone, the further development provides that each registered model variant is signaled to the second computing device on the zone side. In other words, a respective model data set describing the respective registered model variant can be transmitted to or made available to the second computing device. The second computing device then determines the at least one model variant determined on the zone side by selecting from the registered model variants. In other words, it is not necessary for the second computing device in the zone to fully record the external dimensions by measuring using its sensor device. It is sufficient if so many sampling points or measuring points are recorded that a selection from the registered model variants can be controlled. In other words, a sampling grid of measuring points or sampling points is only necessary to enable selection from the registered model variants. If one or more model variants are then selected, additional details on the dimensions are available based on the model data set of the respective registered model variant, which do not have to have been measured by the sensor device. If, for example, a protruding element of an attachment is not measured by the sensor device, but the correct registered model variant can be selected or determined based on the scanning points or measuring points of the sensor device, then this model variant can then be used to recognize or describe the existence of the protruding element using the model data set. The model data set can therefore contain more information on the external dimensions than the sensor device of the zone records.

In order to enable selection from the registered model variants, a further development provides that at least one model variant determined as the respective zone-side is selected from the registered model variants by comparing the external dimensions, as given by the respective registered model variant, with the sensor data of the zone-side Sensor device can be compared. The sensor data may describe the described point cloud of sampling points or measurement points that are compared using a matching algorithm that performs the fitting of a geometric model into a point cloud. Through such a matching algorithm, a geometric model is fitted into a point cloud in terms of position and/or rotation in such a way that a sum of the distances or the squared distances of the measuring points or scanning points of the point cloud to surfaces of the geometric model, i.e. the respective model variant, is minimized. The sampling points can each be detected, for example, by means of a radar or LiDAR and/or a camera of the sensor device. You can specify coordinates of a respective surface point of the vehicle. These sampling points can then be “matched” in the manner described using the registered model variants, i.e. a so-called “geometric registration” can take place in order to fit the respective registered model variant into the point cloud using the matching algorithm. All registered model variants can then be selected for which the value of the remaining residual deviation (i.e. sum of the distances or the squared distances of the sampling points to the respective matched model variant) is smaller than a predetermined threshold value. This means that one model variant or several model variants can be selected. To ensure that exactly a single registered model variant is selected, the smallest residual deviation can be specified as a selection criterion.

In order to make registered model variants variable or subsequently expandable, a further development provides that at least one of the registered model variants is registered from user data of a user input. In other words, a user of the vehicle can subsequently register a new model variant by entering the corresponding external dimensions as user data. This can be done, for example, on a control device of the Vehicle, for example an infotainment system (information entertainment system) and/or via an internet portal of a backend server. The options described at the beginning for determining the dimensions using a smartphone or a camera in general can also be used here. In addition to this or instead of this, a respective model variant for registration can be generated from a description data set of the respective attachment. So if a user buys such an attachment, the description data set can be supplied with it and the user can use the description data set to generate another model variant.

In order to determine on the side of the first computing device of the vehicle which model variant is currently available, i.e. which current external dimensions are currently available for the vehicle (including any add-on part), a further development provides that the (vehicle-side) first computing device is equipped with a receiver circuit of the detection device is coupled, by means of which an identification signal from an identification transmitter of an attachment is received. Such an identification transmitter can be implemented, for example, based on RFID (Radio Frequency Identification) and/or Bluetooth (BT). The vehicle-side model variant can be determined using such an identification signal because, in addition to the external dimensions of the fuselage, the identification signal also knows which attachment is mounted on it. If the identification signal is received, the identification transmitter of the attachment must be located correspondingly close to the receiver circuit of the detection device. If the detection device is mounted or provided in the vehicle, it can be ensured by setting a reception strength that the identification signal is only received or measurable at an identification transmitter mounted on an attachment when the attachment is on the vehicle. The identification signal can be designed as a radio signal or as a wired signal. A wired identification signal can be provided, for example, for a trailer or a carrier that is electrically connected to the vehicle electrical system via a plug connection. This can also be used to transmit an identification signal to a receiver circuit of a detection device.

However, in some versions one and the same attachment part can be intended for different attachment positions. For example, a roof rack can be provided along the longitudinal axis of the vehicle at different longitudinal positions, for example further forward or further back. A corresponding number of different model variants of the vehicle model can result, or one and the same model variant can be equipped with a parameter that describes the mounting position, for example the displacement in the longitudinal direction of the vehicle. In order to record this automatically and therefore more reliably than a user-side measurement, a further development provides that triangulation and/or trilateration is carried out for the identification signal using the receiver circuit. This is particularly useful or advantageous for a radio-based identification signal. An attachment position of the attachment can then be carried out with respect to the vehicle based on this measurement. Accordingly, the parameter of a model variant or one of the several possible model variants, which relates to the mounting position of one and the same attachment, can then be selected.

A further development provides that the determination of the vehicle-side model variant, i.e. the determination of the model variant by the first vehicle-side computing device, is carried out or repeated once or several times during a journey that led to the zone in order to use this as an indication. that a user of the vehicle cannot have made any changes to the attachment variant. It can only be determined during the journey or, if a determination of the vehicle model variant has already been carried out before the start of the journey or at the start of the journey, the determination can be repeated during the journey. This ensures that the determination of the vehicle-side model variant describes the current dimensions, whereby it is assumed that a user cannot have made any further structural changes to the vehicle while driving.

According to a further development, determining the vehicle-side model variant can also include a user of the vehicle querying via a user interface of the detection device which model variant is currently available or planned when the zone is reached. For example, a list of registered model variants can be displayed to the user via the user interface, and the user can use the user interface to select or specify which model variant is currently available. The user interface can be implemented, for example, via an infotainment system of the vehicle or using application software (app) for a mobile device, for example a user's smartphone.

A further development addresses the risk that the correct attachment is identified, but that it may still be in a condition that deviates from the external dimensions according to the registered model variant because, for example, a lid of a roof transport box or a flap of a trailer was left open and this is not taken into account in the assigned registered model variant. If, therefore, the described comparison determines a model variant of the vehicle model that is confirmed by both the first and the second computing device, the access procedure triggered or initiated thereby can include checking the actual external dimensions, i.e. the point cloud of sampling points already described, using the sensor data from the sensor device of the zone to determine whether these measured external dimensions lie completely within the external dimensions specified by the selected model variant. For example, it is checked whether at least one sampling point of the point cloud lies outside the external dimensions according to the selected model variant. If the actually determined or measured external dimensions are excessive, i.e. at least one sampling point lies outside the model variant or a predetermined number of sampling points, a predetermined blocking measure can be triggered by the second computing device. This blocking measure provides for access to the vehicle to be blocked. This prevents a vehicle from driving into the zone with an open hatch or an open lid of a roof transport box or an open hatch of a trailer, for example. The blocking measure can block access, for example, by keeping a barrier closed and/or issuing a warning to a user of the vehicle and/or refraining from automatically guiding the vehicle through the second computing device in the manner described.

According to a further development, the blocking measure in particular provides that a correction instruction to adapt the vehicle is issued to the user of the vehicle. Adaptation means that the vehicle should be brought into the vehicle state as intended according to the selected model variant, i.e. that, for example, a lid is closed or a flap is closed. This prevents access from being denied simply due to a forgotten operator action on the attachment. The driver or user of the vehicle can carry out this forgotten operation. You can then go through the access procedure again to check the actual external dimensions again. Alternatively, in the event that the attachment variant is not permitted in the zone due to principle or design (for example, a vehicle with a trailer is not permitted or a vehicle with a roof rack), the user of the vehicle can be asked by the correction instructions to remove the attachment that determines the selected model variant. For example, the user may be asked to use the zone without a roof rack or trailer. This gives the user access to information on how to get into the zone for another attempt.

As already explained, such a zone can be a parking environment, i.e. a parking garage or a parking lot in which parking spaces for vehicles are provided. The method can be carried out in the described handover area, in which the vehicle is handed over by a user to an automated driving function, in particular the second computing device, for parking, where the automated driving function then automatically guides the vehicle into the zone if the access procedure allows access. Alternatively, the zone can also be, for example, a bridge crossing or a tunnel entrance. The method is then carried out upstream in a section of the route leading to the zone. A distance between this section of the route and the zone can be selected by the expert in such a way that if access is to be blocked, the user of the vehicle has enough time to bring the vehicle to a standstill before reaching the zone. A distance can, for example, be in a range of ten meters to one kilometer, depending on the availability of stopping options, turning options and/or the intended driving speed of the vehicle.

As already explained, the selected model variant is, according to a further development, particularly intended to establish a reference point for the vehicle in relation to cornering. Such a reference point can be, for example, the center of the rear axle. From this, the yaw and the space required for cornering can then be determined. The vehicle can be remotely controlled by the second computing device within the said zone using control commands, whereby the collision-free trajectory to be covered by the vehicle within the zone is calculated from the selected model variant depending on the reference point and the external dimensions and implemented using the control commands.

For use cases or application situations that may arise from the method and which are not explicitly described here, provision can be made for an error message and/or a request to enter user feedback to be issued in accordance with the method and/or which sets a standard setting and/or a predetermined initial state.

The invention provides as further solutions the computing device for the vehicle and the computing device for monitoring the access to the zone.

According to various further developments, the computing device for the vehicle provides that the computing device is designed as a vehicle control unit or as a backend server for the vehicle. The computing device has a processor circuit that has program instructions that, when executed by the processor circuit, cause it to receive the described at least one model variant of the vehicle model determined on the zone side with regard to the external dimensions from an external (zone-side) computing device, as can be provided at the entrance to the zone, and to select a model variant from this using a detection device assigned to the vehicle, in that a model variant determined on the vehicle side is first determined using the detection device and this is compared or compared with the at least one received vehicle variant determined on the zone side. The selected model variant is then signaled to the external computing device as a model variant determined on the vehicle side. By using a limited number of model variants, a "rasterization" takes place with regard to the selection options or the determination of the external dimensions.

The vehicle according to the invention is preferably designed as a motor vehicle, in particular as a passenger car or truck, or as a passenger bus or motorcycle.

The computing device for monitoring the vehicle's access to a predetermined zone has a processor circuit which has program instructions which, when executed by this processor circuit, cause it to determine at least one zone-side model variant of a vehicle model relating to external dimensions of a vehicle requiring access to the zone. The selected vehicle-side model variant is then received from the external (vehicle-side) computing device and an access procedure for controlling the vehicle's access to the zone is controlled according to the selected model variant.

The respective processor circuit can have at least one microprocessor and/or at least one microcontroller and/or at least one FPGA (Field Programmable Gate Array) and/or at least one DSP (Digital Signal Processor). Furthermore, the processor circuit can have program code that is set up to carry out the embodiment of the method according to the invention when executed by the processor circuit. The program code can be stored in a data memory of the processor circuit. The processor circuit of the processor circuit can have, for example, at least one circuit board and/or at least one SoC (System on Chip).

The program instructions can be provided on a storage medium of the respective processor circuit. The storage medium can, for example, be provided at least partially as a non-volatile data storage (e.g. as a flash memory and/or as an SSD - solid state drive) and/or at least partially as a volatile data storage (e.g. as a RAM - random access memory). . The storage medium can be arranged in the processor circuit in its data memory. The storage medium can also be operated on the Internet as a so-called app store server, for example. The computer or computer network can provide a processor circuit with at least one microprocessor. The program code can be provided as binary code or assembler and/or as source code of a programming language (e.g. C) and/or as a program script (e.g. Python).

The combination of the two computing devices, in particular of a computing device for the zone and one or more computing devices for different vehicles, is also provided as a system, which is also considered to be part of the invention.

The invention also includes combinations of the features of the described embodiments. The invention therefore also includes implementations that each have a combination of the features of several of the described embodiments, provided that the embodiments have not been described as mutually exclusive.

• 1 eine schematische Darstellung einer Ausführungsform des erfindungsgemäßen Systems;
• 2 eine schematische Darstellung einer weiteren Ausführungsform des erfindungsgemäßen Systems;
• 3 eine Skizze zur Veranschaulichung einer automatisierten Ermittlung einer Anbauposition eines Anbauteils;
• 4 eine Ausführungsform der fahrzeugseitigen Recheneinrichtung;
• 5 eine weitere Ausführungsform der fahrzeugseitigen Recheneinrichtung.

Examples of embodiments of the invention are described below. This shows:

• 1 a schematic representation of an embodiment of the system according to the invention;
• 2 a schematic representation of a further embodiment of the system according to the invention;
• 3 a sketch to illustrate an automated determination of an attachment position of an attachment;
• 4 an embodiment of the vehicle-side computing device;
• 5 a further embodiment of the vehicle-side computing device.

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

In the figures, identical reference symbols designate functionally identical elements.

1 shows a system 10, by means of which a vehicle 11 can be checked when entering or entering a zone 12, which overall external dimensions 13 the vehicle 11 has. The external dimensions 13 can change temporarily or temporarily in the vehicle 11 if a user 14 attaches an attachment or at least an attachment 16 to the actual fuselage 15 or the chassis of the vehicle 11. If the chassis is, for example, a passenger car, a roof rack or a trailer can be attached as an attachment 16. In the case of the roof rack as an attachment 16, the external dimensions 13 can increase in relation to the height; in the case of a trailer as an attachment 16, the length can increase as the external dimension 13. The zone 12 can, for example, be a parking environment in which automated driving of the vehicle 11 within the zone 12 can be provided by a control circuit or coordination circuit 17. For this purpose, the coordination circuit 17 can plan a travel trajectory 18 for the zone 12 in order to influence or control the vehicle 11 by sending control commands 19 with regard to the lateral guidance (steering) and/or longitudinal guidance (acceleration and/or braking), so that the Vehicle 11 is guided or drives along the calculated travel trajectory 18. In order to be able to plan the travel trajectory 18 with regard to freedom from collision with other objects in the zone 12, the external dimensions 13 must be known for calculating the travel trajectory 18 of a zone-side computing device 20. The zone-side computing device 20 represents a “second computing device”. For the following example, it can be assumed that the vehicle 11 was brought into a handover area 21 by the user 14. In the transfer area 21 or generally at an entrance or entrance to the zone 12, a sensor device 22 of the zone 12 can detect the vehicle 11 with at least one sensor 23 and thus determine the external dimensions 13 as sensor data 24. These can be provided to the computing device 20 so that a vehicle model 25 relating to the external dimensions 13 of the vehicle 11 is available in the computing device 20, for example for calculating the travel trajectory 18. The vehicle model 25 describes the external dimensions 13, so that different values for the external dimensions 13 result in different variants of the vehicle model 25.

In order to reliably determine the correct model variant 26 of the vehicle model 25, the following method can be provided in the system 10.

In a step S10, a computing device 27, which is responsible for the vehicle 11, for example by being designed as a control unit of the vehicle 11 or as a backend server of the vehicle 11, can signal model data sets of different previously known or registered model variants 28 for the vehicle 11 or the hull 15 to the computing device 20.

The registered model variants 28 are in particular all those model variants of the vehicle model 25 that can result from different, registered add-on parts 16. The number of possible recognizable model variants 26 and thus the possible values for the external dimensions 13 is therefore limited to the registered model variants 28.

The computing device 20 can select at least one of the registered model variants 28 in a step S11 on the basis of the sensor data 24, and in a step S12 the at least one model variant 30 determined on the zone side can be signaled to the computing device 27. The computing device 27 can select a model variant 31 determined on the vehicle side from the at least one model variant 30 determined on the zone side in a step S13 and signal it to the computing device 20 in a step S14. The selection can be made depending on which currently mounted add-on part 16 was determined in a step S15. The determination of the vehicle-side model variant is described below in connection with the following exemplary embodiments and can also be carried out in the exemplary embodiment of 1 be used as a basis.

The respective registered model variant 28 can contain more information or more precise or detailed information on the external dimensions 13 than can be determined by the computing device 20 using the sensor data 24 by means of the sensor device 22. By selecting at least one registered model variant 28 by the computing device 20 using the sensor data 24 and signaling it to the computing device 27 as a zone-determined model variant 30, the computing device 27 knows or can recognize which model variants could actually be detected by the computing device 20 using the sensor device 22. If one of these matches the vehicle-side model variant 31 determined in step S15, this model variant 31 can be selected as the vehicle-side model variant and signaled back to the computing device 20. A matched model variant 26 is thus available in the computing device 20 as a vehicle model 25, which has been confirmed or verified by both the sensor device 22 and the computing device 27. On the basis of this model variant 26, the travel trajectory 18 can then be calculated in the manner described and the vehicle 11 can be guided remotely in the zone 12 by means of the control commands 19.

The selected model variant 31 can be output to the user 14 in a notification output A via a user interface 32, for example an application software for a mobile device, for example a smartphone, and/or via an infotainment system of the vehicle 11. In addition or instead of this, the user interface 32 can be used to query the user 14 as to which of the model variants 30 determined on the zone side currently applies, i.e. which at least one add-on part 16 is currently mounted on the vehicle 11.

2 illustrates how an identification signal 35 of the attachment can be received by a detection device 33 for determining the model variant 31 determined on the vehicle side by means of a receiver circuit 34 and the identification signal 35 can be signaled to the computing device 27. In 2 It is stated by way of example that the identification signal 35 can be received as an RFID by the receiver circuit 34.

3 illustrates how the determination device 33, by means of a receiver circuit 34 with two receivers 37, can use a transit time difference 38 when the identification signal 35 arrives to determine a current one of several possible mounting positions A, B for one and the same attachment part 16.

3 shows that the attachment 16 can be arranged at different attachment positions A, B on the fuselage 15 along a possible displacement direction 39, for example along a longitudinal direction. By means of trilateration based on the transit time difference 38 (ΔT) and/or by means of triangulation, it can be determined in which current attachment position A, B the attachment part 16 is currently located on the fuselage 15. This can also be signaled in the model variant 31 determined on the vehicle side.

4 illustrates how, for example, the vehicle-side model variant 31 can be determined in step S13. It is shown how the user 14 mounts the add-on part 16 on the fuselage 15 in an assembly step 40 and determines the identification signal 35 by means of the receiver circuit 34 of the determination device 33 and can signal the identification signal 35 itself or a corresponding data set relating to the type of add-on part 16 or its type to the computing device 27. In this case, however, it may be the case that the attachment position is not determined because, for example, the receiver circuit 34 only has a single receiver 37 and/or the identification signal is transmitted by cable, for example. It can therefore be provided that a user input 41 is received from the user 14 via the user interface 32 of a mobile terminal or via a user interface 32 of the vehicle 11, which contains information as to which assembly position 42, i.e. in the example of 3 the mounting position A or B, was set or mounted by the user 14 for the add-on part 16. This mounting position 42 can also be signaled to the computing device 27 so that it can determine or construct the model variant 31 determined on the vehicle side from the identification signal 35 and the mounting position 42.

5 illustrates how after the assembly step 40 by the user 14 the attachment 16 can be attached to the fuselage 15 of the vehicle 11 and then by means of the identification signal 35 based on, for example, the triangulation and / or trilateration described 3 Both the type of attachment and its attachment position can be determined automatically by the determination device 33 and thus the model variant 31 determined on the vehicle side can be provided or signaled to the computing device 27 in a completely automated manner.

6 illustrates how, for example, the user 14 can create a list 50 of the registered model variants 28 for the vehicle 11 or for the fuselage 15. Here, the user 14 can also independently create a user input 41 of a new model variant After the assembly step 40 of an attachment 16 desired by the user 14, for example after loading a ladder or a surfboard on a roof rack, the user 14 can, for example, by means of a camera 51 of a mobile terminal and/or by means of another sensor and/or manually , the external dimensions 13 with the attachment 16 mounted and entered or provided as the user input 41, so that a model variant 31 determined on the vehicle side to be registered results. For one or more attachments 16, the user 14 can have the list 50 of the model variants 31 registered by the computing device 27, whereby the possible, registered model variants 28 can be produced or created, for example, in a data memory of the computing device 27. These registered model variants 28 can be registered or stored with an identifier of the fuselage 15, for example a VIN (Vehicle Identification Number), so that by means of the computing device 27, for example in connection with the in 1 In step S10 shown, the registered model variants 28 are sent to a computing device 20, which monitors or controls, transmits or provides access to a zone 12.

Overall, the examples show how a validation system for model variants can be provided in a parking environment.

QUOTES INCLUDED IN THE DESCRIPTION

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

Cited patent literature

• DE 102020112549 A1 [0005]
• WO 2013059599 A1 [0005]

Claims (15)

Method for comparing a vehicle model (25) describing the external dimensions (13) of a vehicle (11) between a vehicle-side first computing device (27) assigned to the vehicle (11) and a zone-side second computing device (20), which provides access to a predetermined zone (12 ) monitors into which the vehicle (11) tries to enter, comprising the steps: • Determining at least one model variant (30) of the vehicle model (25) determined on the zone side by the zone side computing device (20) using a zone side sensor device (22); • Determining a vehicle-side model variant (31) of the vehicle model (25) by the vehicle-side computing device (27) using a detection device assigned to the vehicle (11); • Comparing the vehicle-side model variant (31) with the at least one zone-side determined model variant (30) and selecting the zone-side determined model variant (30) which has the smallest deviation from the vehicle-side model variant (31), which is also smaller than a predetermined threshold value; • Controlling an access procedure for controlling access of the vehicle (11) into the zone (12) according to the selected model variant. Procedure according to Claim 1 , whereby the vehicle-side computing device (27) provides a set of attachments (16) provided for the vehicle (11), which can be reversibly connected to the vehicle (11) and, due to their assembly state, each have different external dimensions (13) of the vehicle (11 ). ) is determined by a selection from the registered model variants (28). Procedure according to Claim 2 , wherein from the registered model variants (28) by comparing the external dimensions (13) described by them with sensor data (24) of the zone-side sensor device (22), at least one registered model variant (28) is used as the respective model variant (30) determined on the zone side. Procedure according to Claim 2 or 3 , wherein at least one of the registered model variants (28) is generated from user data of a user input (41) and/or from a description data set of the respective attachment (16). Method according to one of the preceding claims, wherein determining the vehicle-side model variant (31) includes receiving an identification signal (35) of an identification transmitter of an attachment (16) by means of a receiver circuit (34) of the detection device and the vehicle-side one by means of the identification signal (35). Model variant (31) is determined. Procedure according to Claim 5 , wherein by means of the receiver circuit (34) a triangulation and / or trilateration is carried out for the identification signal (35) and an attachment position of the attachment (16) with respect to the vehicle (11) is determined and as a parameter of the vehicle-side model variant (31) or for Selecting the model variant is used. Method according to one of the preceding claims, wherein the determination of the vehicle-side model variant (31) is carried out or repeated at least once during a journey which led to the zone (12). Method according to one of the preceding claims, wherein determining the vehicle-side model variant (31) includes querying a user (14) of the vehicle (11) via a user interface (32) of the detection device as to which model variant is currently or planned when the zone is reached (12) exists. Method according to one of the preceding claims, wherein the access procedure comprises checking actual external dimensions (13) described by the sensor data (24) to see whether they lie completely within the external dimensions (13) specified by the selected model variant, and otherwise a predetermined blocking measure , which blocks access to the vehicle (11), is triggered. Procedure according to Claim 9 , wherein the blocking measure comprises issuing a correction instruction to a user (14) of the vehicle (11) for adapting the vehicle (11) to a vehicle condition described by the selected model variant or for removing the attachment (16) that determines the selected model variant. Method according to one of the preceding claims, wherein the zone (12) is designed as a parking environment (parking garage or parking lot) and the method is carried out in a transfer area (21) in which the vehicle (11) will be handed over by a user (14) to an automated driving function for parking if the access procedure allows access, or wherein the zone (12) is designed as a bridge passage or tunnel entrance and the method is carried out upstream in a section of the route leading to the zone (12). Method according to one of the preceding claims, wherein a reference point for cornering of the vehicle (11) is determined by the selected model variant and the vehicle (11) is remotely controlled by the zone-side computing device (20) within the zone (12) using control commands (19). , wherein a collision-free trajectory to be covered by the vehicle (11) within the zone (12) is calculated depending on the reference point and the external dimensions (13) of the selected model variant and implemented by means of the control commands (19). Computing device which is designed as a vehicle control unit or as a backend server for a vehicle (11) and which has a processor circuit which has program instructions which, when executed by the processor circuit, cause it to receive from an external computing device of a zone (12) provided for a stay of the vehicle (11) at least one model variant (30) of a vehicle model (25) which describes external dimensions (13) of the vehicle (11) and which is determined on the zone side, and to select a model variant therefrom by means of a detection device assigned to the vehicle (11) and to signal the selected model variant to the external computing device as a model variant (26) determined on the vehicle side. Computing device for monitoring access of a vehicle (11) to a predetermined zone (12) provided for the vehicle (11), comprising a processor circuit which has program instructions which, when executed by the processor circuit, cause it to produce at least one zone-side model variant of a vehicle model ( 25) to be determined by means of a zone-side sensor device (22) and to be sent to an external vehicle-side computing device assigned to the vehicle (11) and to receive from the vehicle-side computing device a vehicle-side model variant (31) selected therefrom and an access procedure for controlling access to the vehicle ( 11) to control the zone (12) according to the selected model variant. System (10) comprising a zone (12) provided for a stay of a vehicle (11) and a computing device controlling access to the zone (12) according to Claim 14 and at least one computing device assigned to a respective vehicle (11) according to Claim 13 .

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