Method for training a trajectory for a vehicle, and electronic vehicle guidance system
One aspect relates to a method for training a trajectory ( 12 ) for a vehicle ( 3 ), along which the vehicle ( 3 ) drives into a parking area (P), wherein, during a training drive, the environment ( 11 ) of the vehicle ( 3 ) is captured using a first capture device ( 7, 8, 9 ) of the vehicle ( 3 ), which first capture device constitutes a first type of function with respect to the type of capture and/or a capture state and/or the position on the vehicle and/or the orientation on the vehicle ( 3 ), and the trajectory ( 12 ) is determined on the basis thereof, wherein, during a subsequent drive which follows the training drive and in which the vehicle ( 3 ) drives to the parking area (P) at least in certain regions, the environment ( 11 ) is captured using a second capture device ( 7, 8, 9 ) of the vehicle ( 3 ), which second capture device constitutes a second type of function differing from the first type of function with respect to the type of capture and/or a capture state and/or the position on the vehicle ( 3 ) and/or the orientation on the vehicle ( 3 ), wherein the trajectory ( 12 ) is updated on the basis of the information captured by the second capture device ( 7, 8, 9 ). A further aspect relates to an electronic vehicle guidance system ( 5 ).
1. A method for training a trajectory for a vehicle, along which the vehicle drives into a parking area, the method comprising:
during a training drive at a first speed carried out manually by a driver, capturing a first set of information related to an environment of the vehicle using a first capture device of an electronic vehicle guidance system installed at a first position on the vehicle for capturing a first orientation of a first capture region relative to the vehicle,
wherein the first capture device is one of an ultrasonic sensor, a radar sensor, or an optical sensor; and
determining a first trajectory for the vehicle on the basis of the first set of information; and
during one or more subsequent drives carried out in an at least semi-autonomous manner at a lower speed than the first speed which follows the training drive and in which the vehicle drives to at least certain regions of the parking area, capturing an additional set of information related to the environment using a second capture device of the electronic vehicle guidance system installed at a second position on the vehicle for capturing a second orientation of a second capture region relative to the vehicle that is different from the first orientation,
wherein the second capture device is one of an ultrasonic sensor, a radar sensor, or an optical sensor;
determining an updated trajectory that is more accurate than the first trajectory on the basis of the additional set of information;
causing the vehicle to drive the updated trajectory; and
confirming a quality of the updated trajectory being driven, such that only trajectories confirmed are used to train the trajectory for the vehicle.
2. The method according to claim 1 , wherein the first speed is adapted to a detection property of the first capture device and the lower speed is adapted to a detection property of the second capture device.
3. The method according to claim 1 , wherein the first speed is greater than or equal to 30 km/h.
4. The method according to claim 1 , wherein the lower speed is less than 30 km/h.
5. The method according to claim 4 , wherein the additional set of information is generated by an ultrasonic sensor or a camera arranged on a longitudinal side of the vehicle.
6. The method according to claim 1 , wherein the first set of information is generated by an optical sensor or a radar sensor.
7. The method according to claim 1 , wherein a vehicle user provides a confirmation by an input to an input unit of the electronic vehicle guidance system of the vehicle.