EP3224822A1

EP3224822A1 - Server for operating a car park

Info

Publication number: EP3224822A1
Application number: EP15784653.6A
Authority: EP
Inventors: Stefan Nordbruch
Original assignee: Robert Bosch GmbH
Current assignee: Robert Bosch GmbH
Priority date: 2014-11-26
Filing date: 2015-10-22
Publication date: 2017-10-04
Also published as: DE102014224073A1; JP6381805B2; JP2017537406A; CN107003134B; CN107003134A; US20170313307A1; WO2016083028A1; US10793142B2

Abstract

The invention relates to a server for operating a car park, comprising: – a database in which a digital map of a car park is stored, – a processor which is designed to determine at least one target position for a vehicle in the car park and to determine at least one excerpt from the digital map which corresponds to a part of the car park through which the vehicle is to travel autonomously on its journey to the target position, and – a communication interface which is designed to transmit the excerpt of the digital map and the target position to the vehicle via a communication network. The invention also relates to a method for operating a car park, to a device and method for operating a vehicle, to a vehicle and to a parking system as well as to a computer program.

Description

description

Server for operating a parking lot

The invention relates to a server for operating a parking space. The invention further relates to a method for operating a parking lot. The invention further relates to an apparatus and a method for operating a vehicle. The invention relates to a vehicle and a computer program.

State of the art

In a fully automated (autonomous) so-called valet parking a vehicle is parked by his driver at a delivery point, for example in front of a parking garage and from there the vehicle drives itself in a parking position / parking bay and back to the delivery point.

Known navigation systems usually do not include digital maps of parking spaces, so that an autonomous vehicle navigation within a parking lot is difficult or impossible.

Digital maps of a parking lot usually require a considerable amount of memory. Thus, transmission of such a digital map over a communications network takes a significant amount of time, depending on available bandwidth.

The published patent application JP 002007233771 A discloses a parking robot as a pilot, who navigates a vehicle to a parking lot. The vehicle follows the Parkrobert independently.

The published patent application DE 10 2012 222 562 A1 shows a system for managed parking areas for transferring a vehicle from a start position to a destination position.

Disclosure of the invention The object underlying the invention can be seen to provide a concept by means of which a navigation of the vehicle in the parking lot can be made possible, wherein a memory necessary for this purpose and / or an existing data transmission bandwidth can be efficiently used via a communication network.

This object is achieved by means of the subject matter of the independent claims. Advantageous embodiments of the invention are the subject of each dependent subclaims.

In one aspect, there is provided a server for operating a parking lot, comprising:

a database in which a digital map of a parking space is stored,

a processor adapted to determine at least one target position for a vehicle in the parking lot and at least a portion of the digital map corresponding to a partial area of the parking space which is to be traversed autonomously by the vehicle on its way to the target position, and

a communication interface configured to send the cutout of the digital map and the destination position to the vehicle via a communication network.

In yet another aspect, there is provided a method of operating a parking lot, wherein

- Based on a digital map of a parking lot at least one

Target position for a vehicle in the parking lot and at least a portion of the digital map are determined, which corresponds to a portion of the parking lot, which is to be traversed autonomously by the vehicle on its journey to the target position, wherein

- The section of the digital map and the destination position are sent via a communication network to the vehicle. According to a further aspect, a parking system for vehicles is provided, the parking system comprising a parking space and the server for operating a parking space.

In another aspect, there is provided an apparatus for operating a vehicle, comprising:

- A communication interface, which is formed, at least one target position for the vehicle in the parking lot and at least a section of a digital map of the parking lot, which corresponds to a portion of the parking lot, which is to be traversed autonomously by the vehicle on its journey to the target position on to receive a communication network, and

a guide device configured to autonomously guide the vehicle in the parking lot through the subarea to the target position.

In yet another aspect, a vehicle is provided that includes the device for operating a vehicle.

In yet another aspect, there is provided a computer program comprising program codes for performing the method of the invention when the computer program is executed on a computer.

The invention thus encompasses, in particular, the idea of transmitting to the vehicle at least a section of a digital map of the parking space via a communication network, the section corresponding to a partial area of the parking space which is to be traversed autonomously by the vehicle on its way or on its journey to the destination position. This means that not the entire digital map is sent to the vehicle. Because the vehicle usually does not need the entire digital map to drive to its destination or navigate. For example, if the target location is on the first floor of a parking garage, third-floor map details are not relevant to travel of the vehicle to the destination location on the first floor and are not needed by the vehicle. Thus, in particular the technical advantage is effected that a data volume to be transmitted to the vehicle can be reduced. In particular, the vehicle does not need more storage space for the Reserve or provide the entire digital map of the vehicle. The memory in the vehicle for map data can thus be reduced.

A parking space in the sense of the present invention may also be referred to as a parking area and serves as a parking area for vehicles. In particular, the car park forms a continuous area that has several parking spaces (in the case of a car park on private land) or parking stands (in the case of a car park on public land). The parking space may be included in one embodiment of a parking garage. In particular, the parking is covered by a garage.

Autonomous in the sense of the present invention means, in particular, that the vehicle navigates autonomously, that is without the intervention of a driver. The vehicle thus runs autonomously in the parking lot without a driver having to control the vehicle or be in the vehicle. That means, in particular, that the guide device for navigation and / or guidance guides the vehicle autonomously. A guide comprises in particular a transverse and / or a longitudinal guide of the vehicle. When driving autonomously or navigate the driver must therefore not be in the vehicle itself. Such an autonomously driving vehicle that can automatically switch on and off is referred to, for example, as an AVP vehicle. AVP stands for "automatic valet parking" and can be translated as "automatic parking". For example, vehicles that do not have this AVP functionality are referred to as normal vehicles.

A delivery position in the sense of the present invention is a position at which a driver of the vehicle can park his vehicle for an autonomous parking operation and can pick up his vehicle from there at a later time.

A parking position in the sense of the present invention is a position at which the vehicle is to park autonomously. A pick-up position in the sense of the present invention is a position at which a vehicle can pick up after an end of an autonomous parking operation. In one embodiment, the dispensing position is the same as the pickup position.

In one embodiment, it is provided that the vehicle navigates or drives autonomously from the delivery position to the parking position. In a further embodiment it is provided that the vehicle parked autonomously in the parking position.

In another embodiment, it is provided that the vehicle parked autonomously from the parking position.

According to a further embodiment, it is provided that the vehicle autonomously navigates or drives from the parking position to the pick-up position.

According to one embodiment, it is provided that the subarea is contiguous as extending from a starting position to the target position

Area is formed. As a result, in particular, the technical advantage is achieved that the vehicle even more information is available, based on soft he can drive autonomously to the target position. As a result, in particular a more efficient navigation or autonomous driving of the vehicle to the destination position is effected.

According to one embodiment, the subarea comprises the target position.

In accordance with a further embodiment, it is provided that the processor is designed to subdivide the section into subsections corresponding in each case to a subsection area of the subsection, wherein the communication interface is formed, at least some of the subsections only during the autonomous travel of the vehicle to the destination position via the communication network with at least some subsections subdivision rich, which must still be passed by the vehicle during its autonomous journey to the target position.

As a result, in particular, the technical advantage is achieved that the vehicle does not have to hold or reserve a corresponding storage space for the entire subarea at once. Because at least some of the sub-areas that the vehicle will still pass through during its autonomous journey are transmitted to the vehicle only during its journey. This means that the vehicle has already passed through some of the subregions. The subsections corresponding to these partial areas can therefore delete the vehicle from an electronic memory, which is also provided according to the embodiment.

According to another embodiment, it is provided that the processor is designed to determine the sub-sections with a different accuracy as a function of a distance of the vehicle during its autonomous travel to a respective sub-area.

As a result, in particular, the technical advantage can be achieved that a memory requirement for storing the transmitted sub-sections can be reduced. Because subsections with reduced accuracy compared to other subsections require less memory relative thereto. The closer the vehicle is to a specific subarea, the more accurate the corresponding subsection should be, so that the vehicle can safely drive or navigate autonomously through the corresponding subarea. The further away the vehicle is from a corresponding subarea, the less accurate can be a corresponding subsection. After all, the vehicle must first drive through other subareas before it reaches this subarea. As a rule, coarse information about such remote subareas is sufficient to plan and carry out the autonomous journey.

For example, a subsection comprises the information that in a region next to the subsection, that is, for example, another subsection, there is still a track on which vehicles can travel. Thus, the vehicle knows that it still has space next to the lower sections for maneuvers if necessary. The vehicle does not necessarily know if this track is 2.87 m wide, so in general how wide the track is. It is sufficient for navigation and planning that the lane is known and that there may possibly be vehicles.

According to one embodiment, it is provided that the subsection, which corresponds to a subarea directly following that subarea that the vehicle is traversing after that subarea, is transmitted to the vehicle with high accuracy.

Differences in accuracy are for example as follows:

For example, with low accuracy, only objects will be specified (for example, a trace exists).

At low accuracy, for example, only standard widths (for example, for a roadway) are specified and / or used, which are already permanently stored in the vehicle and / or known to the vehicle, for example.

With high accuracy, for example, additional tolerances will be specified.

For example, with low accuracy, only the width and / or height of objects seen by the vehicle will be indicated (ie, a 2D view).

In the case of high accuracy, for example, in addition to the width and / or height, the depth information will also be transmitted (ie an SD view).

In another embodiment, it is provided that the processor is designed to determine at least one further section of the digital map, which corresponds to a further subarea of the parking space at which the vehicle is to pass on its autonomous drive to the destination position, wherein the communication interface is adapted to send the further section via the communication network to the vehicle.

As a result, in particular, the technical advantage is achieved that the vehicle additional information for its autonomous driving or navigation to the target position are available. This additional information corresponds to the further section. The vehicle will pass this section. It is not passed through this further section. However, there may be situations where it is necessary to have knowledge of this wider subarea for improved and efficient navigation or autonomous vehicle travel to the target location.

For example, it is helpful in planning whether the vehicle (for example right) drives past parking spaces / parking positions or on a wall. From the parking positions vehicles can drive out. Not on the wall.

This means that the vehicle does not have to "pay attention" to the wall, which means that environmental sensors do not have to record this area so precisely, which means that environment data from environment sensors in this area need not be analyzed so precisely.

For example, there may be a situation when there is a door in the wall from which pedestrians can come out. Here, it is then meaningful and provided that the knowledge includes the information that there is a door in the wall, so that driver assistance systems of the vehicle can correspondingly take into account the wall with the door when carrying out its driver assistance functionality.

In another embodiment, it is provided that the processor is designed to determine the further cutout compared to the cutout with a reduced accuracy.

Analogous to the statements in connection with the subsections with different accuracy, this also allows a storage requirement to be reduced. In particular, a data volume to be transmitted is reduced. Examples of differences in accuracy are analogous to the examples mentioned above. In another embodiment, it is provided that the communication interface is designed to transmit the further section to the vehicle via the communication network as a function of a distance of the vehicle during its autonomous travel for further cutting.

The statements made in connection with the subsections with different accuracy depending on a distance of the vehicle to the subsections also apply to this embodiment.

According to a further embodiment, it is provided that the processor is designed to determine a route lying within the parking space and leading through the subarea to the destination position based on the digital map, wherein the communication interface is designed to route the determined route via the communication network to send the vehicle.

As a result, in particular the technical advantage is caused that the vehicle itself no longer has to determine a route. It is freed, so to speak, from this task. Accordingly, the vehicle can save computing capacity.

In another embodiment, it is provided that the at least one target position comprises a delivery position at which a driver of the vehicle can park his vehicle for an autonomous parking operation and / or a parking position at which the vehicle is to park autonomously and / or a pick-up position at which a driver of the vehicle is to pick up his vehicle after a parking end.

This means that an entire automatic valet parking process, ie an autonomous parking operation, can be carried out: the vehicle drives autonomously from a delivery position to a parking position, parks there autonomously, autonomously parks and drives out of this parking position after the end of a parking duration autonomous to a pick-up position, which according to one embodiment corresponds to the dispensing position. For this autonomous drive to the individual positions, according to one embodiment, it is provided that sections of the digital map of the parking space are sent to the vehicle via the communication network or be transmitted, these sections correspond to areas of the parking lot, which is to pass through the vehicle during its autonomous journey to the individual positions.

In accordance with a further embodiment of the device for operating a vehicle, it is provided that the communication interface is designed to receive the subdivisions which subdivide the detail, which correspond in each case to a subpart area of the subarea, via the communications network, the communications interface being formed, at least some of the subdivisions only during the autonomous drive of the vehicle to receive the target position via the communication network, wherein the at least some sub-sections correspond to sub-areas, which must still be traversed by the vehicle during its autonomous travel to the target position.

According to a further embodiment of the device for operating a vehicle, it is provided that the communication interface is designed to receive at least one further section of the digital map via the communication network, which corresponds to a further subarea of the parking space to which the vehicle is traveling on its autonomous way Target position is to pass, wherein the guide means is adapted to pass the vehicle to the further cutout.

According to yet another embodiment of the device for operating the vehicle, it is provided that the at least one target position comprises a delivery position at which a driver of the vehicle can park his vehicle for an autonomous parking operation and / or a parking position at which the vehicle is to park autonomously , and / or a pick-up position at which a driver of the vehicle is to pick up his vehicle after a parking end, wherein the guide device is adapted to park the vehicle at the corresponding positions or to park respectively park.

According to one embodiment, it is provided that the vehicle is set up or designed to execute or execute the method for operating a vehicle. According to one embodiment, the device for operating a vehicle is designed or set up to execute or carry out the method for operating a vehicle.

In another embodiment, it is provided that the server is designed or set up to operate a parking space, to carry out or carry out the method for operating a parking space.

According to one embodiment, it is provided that the at least one target position comprises a delivery position at which a driver of the vehicle can park his vehicle for an autonomous parking operation and / or a parking position at which the vehicle is to park autonomously, and / or one Pickup position includes, at which a driver of the vehicle to pick up his vehicle after a parking end.

As a result, the technical advantage in particular that an autonomous parking process (valet parking) can be performed in the parking lot. This means, in particular, that the vehicle advantageously autonomously, ie autonomously, drives from the delivery position to the parking position, parks there, parks again at the end of a parking period and drives to the pick-up position, which can be, for example, the dispensing position.

In one embodiment, multiple destination locations are received by the vehicle via the communications network. The vehicle selects from the received target positions the one to which it navigates.

According to one embodiment, it is provided that the vehicle receives at least one destination position, in particular several, via the communication network, wherein the vehicle departs the destination position or the destination positions depending on respective priorities assigned to the one or more destination positions. This means that the destination positions each have a priority, in particular different priorities, wherein the priorities specify an order in which the vehicle is to depart the destination positions, wherein it is provided in particular that the vehicle departs the destination positions in accordance with the sequence. In another embodiment, it is provided that a route lying within the parking space is determined to the destination position based on the digital map, wherein the navigation or the guiding comprises a departure of the route.

As a result, the technical advantage, in particular, is achieved that the navigation can be carried out particularly efficiently insofar as the route to be traveled is already established. So the vehicle only has to drive off to get to the target position. This advantageously accelerates navigation of the vehicle in the parking lot. In particular, it is thus advantageously made possible that the vehicle can reach its target position more quickly.

In another embodiment, it is provided that the route is determined outside the vehicle and transmitted to the vehicle via the communication network or that the route is determined in-vehicle.

The vehicle-external determination can be carried out, for example, according to one embodiment by means of the server, more precisely by means of its processor. For carrying out the in-vehicle determination of the route, according to one embodiment, the guiding device comprises a processor which is designed to determine the route. In the case of a vehicle-external determination, the technical advantage in particular is given that the vehicle itself does not have to reserve any resources for this purpose. In general, an external system, here for example the server, knows better about a traffic in the parking lot than the vehicle itself. Thus, the server can advantageously calculate a route that leads as quickly and efficiently through the existing traffic, so that a stagnant traffic or a traffic jam can be avoided. An in-vehicle determination of the route has in particular the technical advantage that there is no need to connect to the server via the communication network for this purpose. Thus, the route can be determined, even if there is no connection via the communication network to the server. The vehicle is therefore independent of an external system, here for example the server, with regard to the determination of the route. In one embodiment, a route to the destination position is determined both outside the vehicle and inside the vehicle, with the route determined outside the vehicle then being transmitted to the vehicle via the communications network. The vehicle compares the two routes and decides which one will leave.

A route in the sense of the present invention comprises a start position and the destination position. The vehicle preferably navigates to the starting position and from there drives the route to the destination position. In particular, the starting position corresponds to the dispensing position at which a driver can park and leave his vehicle so that the vehicle is then to travel autonomously to the parking position.

In another embodiment, it is provided that during navigation, ie during its autonomous driving, the vehicle senses at least one landmark covered by the parking space, wherein a current position of the vehicle in the digital map is determined based on the detected landmark, the navigation being additionally based is performed on the determined current position.

This means, in particular, that the parking space comprises a landmark on which the vehicle is oriented during navigation or during its journey. As a result, the technical advantage in particular that navigation can be carried out even more efficiently is achieved. In particular, it is thus advantageously possible to check a determined route for correctness. Preferably, several landmarks are provided. A landmark is, for example, a visual landmark, for example a barcode. A landmark is, for example, an RFID sensor.

In another embodiment, it is provided that the vehicle detects its environment during navigation sensory, wherein the navigation is carried out additionally based on the detected environment.

As a result, the technical advantage in particular that a navigation of the vehicle in the parking lot can be carried out particularly efficiently. In particular, the vehicle can advantageously detect obstacles so that it can drive around these obstacles.

An environment sensor system is provided for sensory detection. A

Environment sensors include, for example, one or more environment sensors such as: ultrasonic sensor, Lidarsensor, laser sensor, video sensor or radar sensor.

By means of such environmental sensors detects a vehicle its environment, the navigation is carried out in particular based on the detected environment. So, for example, the vehicle can detect obstacles and drive around them. Thus, for example, the vehicle by means of

Environment sensors detect where it is in relation to the cutout or the further section of the digital map in the parking lot. One or more detected landmarks are preferably used for this recognition.

In one embodiment, the parking lot includes a WLAN based on which the vehicle performs the navigation, in particular a location where the vehicle is relative to the digital map.

According to one embodiment, the communication network comprises a mobile radio network and / or a WLAN network.

In one embodiment, communication over the communications network is encrypted, respectively.

According to a further embodiment, it is provided that the processor of the server is designed to determine a route lying within the parking space to the destination position based on the digital map, wherein the communication interface is designed to transmit the determined route to the vehicle via the communication network.

The communication via the communication network, in particular between the vehicle and the server, is preferably encrypted. In one embodiment, an off-board monitoring system is provided that is configured to monitor the vehicle while driving in the parking lot. The server includes, for example, the monitoring system. Depending on the monitoring, it is provided, for example, that the subsections and / or the further cutouts are sent to the vehicle. Because of the monitoring system can be determined or determined according to an embodiment, a distance of the vehicle while driving to one or more subsections and / or to one or more further cutouts. Thus, one or more times can be determined or determined in an advantageous manner, to which the sub-sections and / or the other sections are sent to the vehicle.

The monitoring system according to one embodiment comprises one or more video cameras and / or a plurality of radar sensors and / or one or more ultrasonic sensors and / or one or more lidar sensors and / or one or more laser sensors and / or one or more light barriers and / or one or more door opening sensors.

Functionalities of the method result analogously from corresponding functionalities of the device or server and vice versa. This means that process features result analogously from corresponding device features or server features and vice versa. This means, in particular, that if a feature is described in connection with the method or the device or the server, this feature can be provided analogously in embodiments of the method and vice versa.

The invention will be explained in more detail below with reference to preferred embodiments. Show here

1 a server for operating a parking lot,

2 shows a method for operating a parking lot,

3 shows an apparatus for operating a vehicle, 4 shows a method for operating a vehicle,

5 a vehicle,

6 a parking system,

7 shows a parking space with a marked partial area, FIG. 8 shows the parking space according to FIG. 7 with further partial areas and

9 shows the parking space according to FIG. 7, wherein the partial area is divided into lower part areas.

1 shows a server 101 for operating a parking lot, comprising:

a database 103 in which a digital map of a parking space is stored,

a processor 105, which is designed to determine at least one destination position for a vehicle in the parking lot and at least one section of the digital map that corresponds to a partial area of the parking space which is to be traversed autonomously by the vehicle on its journey to the destination position, and

a communication interface 107 configured to send the cutout of the digital map and the destination position to the vehicle via a communication network.

, 2 shows a method of operating a parking lot, wherein:

based on a digital map of a parking space, at least one destination position for a vehicle in the parking lot and at least one section of the digital map are determined, which corresponds to a partial area of the parking space which is to be traversed autonomously by the vehicle on its journey to the destination position, in which the section of the digital map and the destination position are sent to the vehicle via a communication network.

3 shows a device 301 for operating a parking lot, comprising:

a communication interface 303 which is designed to display at least one destination position for the vehicle in the parking space and at least one section of a digital map of the parking area which corresponds to a partial area of the parking space which is to be traversed autonomously by the vehicle on its journey to the destination position, to receive over a communication network, and

a guide device 305 configured to autonomously guide the vehicle in the parking lot through the subarea to the target position.

4 shows a method for operating a vehicle,

wherein a portion of a digital map of a parking lot and at least one destination position in the parking lot are received 401 from the vehicle via a communication network, the section corresponding to a portion of the parking space to be traversed by the vehicle,

- the vehicle autonomously 403 drives in the parking lot through the subarea to the target position.

FIG. 5 shows a vehicle 501 comprising the device 301 of FIG. 3.

FIG. 6 shows a parking system 601 for vehicles, the parking system 601 comprising a parking space 603 and the server 101 of FIG.

Fig. 7 shows a parking lot 701. The parking lot 701 includes a delivery position 703 at which a vehicle 705 has been parked. The vehicle 705 is intended to autonomously drive or navigate to a destination location 707. The target position 707 is represented symbolically with a star.

The target position 707 here corresponds to a parking position on a parking area 709. The parking space 701 has a multiplicity of such parking areas 709. Plotted is a portion 71 1 of the parking lot. This subarea 71 1 thus does not correspond to the entire parking space 701. A portion of a digital map of the parking space 709 corresponding to this subarea 71 1 is transmitted to the vehicle 705 via a communications network. The vehicle thus has the necessary information that is usually necessary for that

Vehicle autonomously, so independently, can drive to the target position 707 from the discharge position 703.

FIG. 8 shows the parking space 701 of FIG. 7, with further additional subareas 801 being additionally drawn in, which adjoin the subarea 71 1. The vehicle 705 will therefore pass this further subarea 801.

Fig. 9 shows the parking lot 701 of Fig. 7, wherein the portion 71 1 is divided into lower part areas. These sub-areas are numbered 1, 2, 3, 4, 5 and 6. It is provided in one embodiment that the sub-areas are the vehicle 705 is transmitted only during its autonomous driving in the parking lot 701.

In the following, several possible embodiments of the invention will be described with reference to FIGS.

According to Fig. 7, the basic idea according to the invention is shown that only those information of the digital map of the parking space 701 are transmitted to the vehicle, which are necessary for the autonomous driving of the vehicle to its destination position 707. Here, the digital map of the parking space 701 corresponds to the entire image according to FIG. 7. According to the invention, it is provided that only a partial area, the partial area with the reference numeral 71 1, is transmitted to the vehicle, ie the corresponding data. Thus, only the information of the digital map is transferred to the vehicle 705 which is necessary for the actions (autonomous driving, parking, parking) which the vehicle 705 will perform.

FIG. 8 shows a further idea according to the invention, inasmuch as according to one embodiment, in particular, if necessary, adjacent areas, In particular, if desired, so in particular to a request from the vehicle 705 or by a driver to be additionally transmitted.

According to another embodiment, these areas 801 are determined with a reduced accuracy and, to that extent, further partial areas 801 are transmitted to the vehicle with a reduced accuracy. This means that the subregion 71 1 has a high accuracy. The further partial regions 801 have a reduced accuracy for this purpose. In another embodiment, it is provided that the subregion 71 1 in FIG

Lower sections 1, 2, 3, 4, 5, 6 are divided. This is shown by way of example in FIG. 9. This advantageously makes it possible to reduce a necessary memory in the vehicle for the current task / position of the entire sequence, that is to say generally the autonomous drive of the vehicle to the destination position. The reduction consists in particular in that only subsections 1, 2,

3, 4, 5, 6 are transmitted one after the other.

This means, for example, that at the beginning of the autonomous journey only the sub-sections are transmitted to the vehicle, which correspond to the sub-areas 1 and 2. When the vehicle is in the lower part region 2, it is provided that the lower cutout, which corresponds to the lower part region 3, recharged by the vehicle or is transmitted to this, so that the vehicle can then delete the lower section corresponding to the lower portion 1 from its memory, which according to one embodiment is also provided. This then continues correspondingly for the lower part regions 4, 5 and 6. Thus, according to one embodiment, an iterative transmission of the lower cut-outs is generally provided. Iterative means in particular successively and during the journey, in particular on request of the vehicle, preferably depending on a current position of the vehicle in the parking lot.

When returning from the target position 707 back to the dispensing position 703 then the individual sub-sections of the digital map in reverse order, that is starting with 6, 5, 4, 3, 2, 1 transmitted to the vehicle. In another embodiment, the ideas according to FIGS. 8 and 9 can be combined with each other. This means that the corresponding embodiments can be combined with each other. This means, for example, that the further subregions 801 are not transmitted from the dispensing position 703 to the target position 707 until the vehicle is in motion, with the subsections corresponding to the subareas 1, 2, 3, 4, 5, 6 only becoming active at the same time during the drive of the vehicle, as described above, are transmitted to the vehicle. In another embodiment, it is provided, for example, that the subregions not yet required or further subareas are transmitted with reduced accuracy. In other words, if the partial areas 1 and 2 are required, they are transmitted with a high degree of accuracy, with the partial area 3 being additionally transmitted with reduced accuracy. Only when the vehicle is in the lower part region 2, then the lower part region 3, so the corresponding lower section, transmitted with high accuracy.

Non-illustrated embodiments include one or more of the following example features:

- The vehicle is parked at the delivery point or delivery position (also called dropping zone).

- A parking management sends the vehicle a section of a high-precision parking card / parking card (digital map) (for example, even in advance, so before parking the vehicle at the delivery point).

- A parking management sends the vehicle a reserved destination position for parking (for example, even in advance, so before parking the vehicle at the delivery point).

The vehicle calculates or determines a route to the target parking space (destination position) and / or the parking management calculates or determines the route to the destination parking lot and transmits it to the vehicle.

- The vehicle travels the route (route) to the destination position.

- On the way (during navigation) the vehicle locates over

- a part of a digital card preferably combined with

For example, landmarks (see above), which are detected by their own sensors (environment sensors of the vehicle) and evaluated and / or

preferably WLAN and / or

preferably on-board sensors (video, radar, lidar, etc.).

- On the way to be detected by the on-board sensors, in particular the environment sensors, any obstacles and avoided if necessary or stopped before them.

- The vehicle parks in the parking position, for example by means of a parking assistant.

- The way back from the parking lot to the delivery point is carried out analogously.

In one embodiment, the parking garage / parking lot for the fully automatic or autonomous valet parking includes its own reserved area. Thus, possible problems by a mixed traffic or by pedestrians, etc. can be bypassed.

In a first expansion stage (ie in one embodiment), the parking garage / parking lot for the fully automatic valet parking can reserve a separate area. Thus, possible problems by a mixed traffic or by pedestrians, etc. are bypassed.

In another embodiment, the parking space management, that is to say in particular the server, monitors the entire time the vehicle is being driven by means of parking space monitoring (for example via video cameras). In case of problems, according to one embodiment the parking management may interrupt the drive by a "stop signal".

The transfer of the information is carried out according to an embodiment with C2X systems (for example via WLAN), preferably encrypted.

Claims

claims

1 . A server (101) for operating a parking lot (603), comprising:

a database (103) in which a digital map of a parking space (603) is stored,

a processor (105) configured to determine at least one target position for a vehicle in the parking lot (603) and at least a portion of the digital map corresponding to a portion of the parking space (603) that is accessible from the vehicle Drive to the target position to be driven through autonomously, and

- A communication interface (107), which is configured to send the cutout of the digital map and the destination position via a communication network to the vehicle (501).

The server (101) of claim 1, wherein the subregion is formed as a contiguous region extending from a start position to the target position.

3. Server (101) according to claim 1 or 2, wherein the processor (105) is adapted to subdivide the section into sub-sections, each corresponding to a lower portion of the sub-area, wherein the communication interface (107) is formed, at least some of the sub-sections first during the autonomous driving of the vehicle to send to the target position via the communication network, wherein the at least some sub-sections correspond to sub-areas, which must still be traversed by the vehicle during its autonomous travel to the target position.

The server (101) of claim 3, wherein the processor (105) is configured to determine the sub-sections with a different accuracy depending on a distance of the vehicle during its autonomous travel to a respective sub-area.

5. server (101) according to any one of the preceding claims, wherein the processor (105) is adapted to determine at least one further section of the digital map, the further part of the parking area (603) speaks, on which the vehicle is to pass on its autonomous journey to the target position, wherein the communication interface (107) is adapted to send the further section via the communication network to the vehicle.

Server (101) according to claim 5, wherein the processor (105) is adapted to determine the further cutout compared to the cutout with a reduced accuracy.

Server (101) according to claim 5 or 6, wherein the communication interface (107) is adapted to send the further section depending on a distance of the vehicle during its autonomous driving to further excerpt to the vehicle via the communication network.

A server (101) according to any one of the preceding claims, wherein the processor (105) (105) is adapted to determine a route within the parking space (603) and through the sub-area to the destination location based on the digital map, the communications interface (107) is adapted to send the determined route via the communication network to the vehicle.

Server (101) according to one of the preceding claims, wherein the at least one destination position a dispensing position at which a driver of the vehicle (501) can park his vehicle (501) for an autonomous parking operation, and / or a parking position at which the vehicle ( 501) is to park autonomously, and / or comprises a pick-up position at which a driver of the vehicle is to pick up his vehicle after a parking end.

10. A method for operating a parking lot (603), wherein

- Based on a digital map of a parking lot (603) at least one destination position for a vehicle in the parking lot (603) and at least a portion of the digital map determined (201) corresponding to a portion of the parking lot (603), which of the Vehicle is to be traversed autonomously on its journey to the target position, wherein - The cutout of the digital map and the destination position via a communication network to the vehicle (501) are sent (203).

1 1. Apparatus (301) for operating a vehicle, comprising:

- A communication interface (303), which is formed, at least one target position for the vehicle in the parking lot (603) and at least a section of a digital map of the parking lot (603) corresponding to a portion of the parking lot (603), which of the Vehicle is to be traversed autonomously on its journey to the target position, via a communication network, and

a guide device (305) configured to guide the vehicle autonomously in the parking lot (603) through the subarea to the target position.

The apparatus (301) of claim 1 1, wherein the portion is formed as a contiguous area extending from a start position to the target position.

The apparatus (301) according to claim 11 or 12, wherein the communication interface parts (303) are configured to receive the subdivisions subdividing the clipping, each corresponding to a subsection area of the subregion, via the communication network, the communication interface (303) being formed is to receive at least some of the subsections only during the autonomous driving of the vehicle to the target position via the communication network, wherein the at least some subsections correspond to sub-areas, which must still be traversed by the vehicle during its autonomous trip to the target position.

H. Device (301) according to any one of claims 1 1 to 13, wherein the communication kationsschnittstelle (303) is adapted to receive at least one further section of the digital map via the communication network, which corresponds to another portion of the parking lot (603) at which the vehicle is to pass on its autonomous journey to the target position, wherein the guide device (305) is designed to guide the vehicle (501) past the further cutout.

15. Device (301) according to claim 1, wherein the at least one destination position comprises a delivery position at which a driver of the vehicle (501) can park his vehicle (501) for an autonomous parking operation and / or a parking position at which the vehicle (501) is to park autonomously, and / or comprises a pickup position at which a driver of the vehicle is to pick up his vehicle after a parking end, wherein the guide means (305) is adapted to park the vehicle at the respective positions respectively to park respectively to park.

16. A method for operating a vehicle (501),

- wherein a portion of a digital map of a parking lot (603) and at least one destination position in the parking lot (603) from the vehicle (501) via a communication network receive (401), said section corresponds to a portion of the parking lot (603), of the Vehicle to be driven through,

- wherein the vehicle (501) autonomously in the parking lot (603) through the partial area to the destination position moves (403).

17. vehicle (501), comprising the device (201) according to any one of claims 1 1 to 15.

A parking system (601) for vehicles, comprising a parking lot (603) and the server (101) according to any one of claims 1 to 9.

19. Computer program comprising program code for carrying out the method according to one of claims 10 and / or 16, when the computer program is executed on a computer.