GB2625049A

GB2625049A - Vehicle, control device, and method for controlling a vehicle

Info

Publication number: GB2625049A
Application number: GB2217968.3A
Authority: GB
Inventors: Mamoru Igarashi; Koji Tsubaki
Original assignee: Continental Autonomous Mobility Germany GmbH
Current assignee: Continental Autonomous Mobility Germany GmbH
Priority date: 2022-11-30
Filing date: 2022-11-30
Publication date: 2024-06-12
Also published as: GB202217968D0; WO2024114958A1

Abstract

A control device for a vehicle, the control device including one or more processors (102) configured to: receive sensor data (304) representing a surrounding laterally next to a parked vehicle at a driver’s side and co-driver’s side; and in the case that it is determined, using the sensor data that there is an object located at the driver’s side next to a driver’s door of the parked vehicle in a distance equal to or less than a first predefined threshold value and that there is no further object located at the co-driver’s side laterally next to the parked vehicle in a distance equal to or less than a second predefined threshold value, provide control instructions (318) to control the parked vehicle to repark to increase the distance between the object and the driver’s door of the parked vehicle. The system may detect other obstacles in the path of the vehicle and utilise risk values associated with other entities in the area of the vehicle.

Description

VEHICLE, CONTROL DEVICE, AND METHOD FOR CONTROLLING A VEHICLE

TECHNICAL FIELD

Various aspects of this disclosure relate to a vehicle and a method and control device for controlling the vehicle. For example, a parked vehicle may be controlled to autonomously repark to make it easier to enter the reparked vehicle via its driver's door.

to BACKGROUND

The following discussion of the background art is intended to facilitate an understanding of the present disclosure only. It should be appreciated that the discussion is not an acknowledgment or admission that any of the material referred to was published, known, or is part of the common general knowledge of the person skilled in the art in any jurisdiction as of the priority date of the disclosure.

An on-board control system of a vehicle may provide various driving assistance functions, such as an (e.g., in level 3 or level 4) automated parking system. The automated parked system may allow various assistance functions related to parking the vehicle in a parking lot. However, even if an automated parking procedure would provide sufficient space to neighboring vehicles allowing the driver to safely get out of the vehicle, the surrounding of the vehicle may change while the vehicle is parked. For example, a further vehicle may park close to the driver's door of the parked vehicle. In the case that the driver of the parked vehicle enters the parked vehicle via its driver's door, there is risk that the driver's door hits the closely parked further vehicle. Hence, it may be desirable to reduce the risk of collisions with neighboring vehicles when leaving a parking lot. Some vehicles may have a "call function" as a driving assistance function which allows a driver to instruct the vehicle to automatically drive from the parking lot to a predefined pick-up lot, thereby reducing the risk of a collision with neighboring parked vehicles when entering the vehicle.

However, if such a predefined pick-up lot is not available, the driver still has to enter the vehicle in the parking lot which does not reduce the risk of collision with the neighboring parked vehicles.

SUMMARY

Various aspects relate to a vehicle, a control device, and a method for controlling a vehicle. According to various aspects, the control device and the method are capable to control a parked vehicle (e.g., responsive to being instructed by a user, such as a driver of the parked vehicle) to check, whether there is enough space to easily and/or safely enter the parked vehicle, and, in the case that there is not enough space, to automatically repark such that there is enough space after reparking.

lo Hence, a comfortable offset to a neighboring object (e.g., a neighboring vehicle) can be created which reduces a risk of collision with the neighboring object when the driver opens the driver's door of the reparked vehicle. This allows to reduce the risk of collision in manual parking facilities (i.e., facilities in which the driver parks the vehicle by himself/herself), (e.g., in the case that there is no pick-up lot) in automated parking facilities (i.e., facilities in which the vehicle is parked automatically using an automatic parking system), and also in mixed parking facilities (i.e., facilities including both, manual parking and automatic parking).

BRIEF DESCRIPTION OF THE DRAWINGS

The present disclosure will be better understood with reference to the detailed description when considered in conjunction with the non-limiting examples and the accompanying drawings, in which: FIG.1A and FIG.1B each show a vehicle according to various aspects; FIG.2A to FIG.2D show various parking scenarios prior to reparking a parked vehicle; FIG.3A and FIG.3B each show a flow chart for controlling a parked vehicle according to various aspects; FIG.4A and FIG.4B each show a parking scenario after reparking the parked vehicle; FIG.5 shows a respective reparking procedure for two different parking scenarios according to various aspects; and FIG.6 shows a flow diagram of a method for controlling a parked vehicle according to various aspects.

DETAILED DESCRIPTION

The following detailed description refers to the accompanying drawings that show, by way of illustration, specific details and embodiments in which the disclosure may be practiced. These embodiments are described in sufficient detail to enable those skilled in the art to practice the disclosure. Other embodiments may be utilized and structural, and logical changes may be made without departing from the scope of the disclosure. The various embodiments are not necessarily mutually exclusive, as io some embodiments can be combined with one or more other embodiments to form new embodiments.

The embodiments described in the context of a vehicle, one of the devices (e.g., the control device), or methods are analogously valid for the other vehicles, devices, systems, or methods. Similarly, the embodiments described in the context of a device are analogously valid for a system (e.g., a vehicle) and/or a method, and vice-versa.

Features that are described in the context of an embodiment may correspondingly be applicable to the same or similar features in the other embodiments. Features that are described in the context of an embodiment may correspondingly be applicable to the other embodiments, even if not explicitly described in these other embodiments. Furthermore, additions and/or combinations and/or alternatives as described for a feature in the context of an embodiment may correspondingly be applicable to the same or similar feature in the other embodiments.

In the context of the various embodiments, the articles "a", "an", and "the" as used with regard to a feature or element include a reference to one or more of the features or elements.

As used herein, the term "and/or includes any and all combinations of one or more of the associated listed items.

While terms such as "first", "second" etc., may be used to describe various devices, such cameras, are not limited by the above terms. The above terms are used only to distinguish one device from another, and do not define an order and/or significance of the devices.

The term "data" as used herein may be understood to include information in any suitable analog or digital form, e.g., provided as a file, a portion of a file, a set of files, a signal or stream, a portion of a signal or stream, a set of signals or streams, and the like. Further, the term "data" may also be used to mean a reference to information, e.g., in form of a pointer. The term "data", however, is not limited to the aforementioned examples and may take various forms and represent any information as understood in the art. Any type of information, as described herein, may be handled for example via one or more processors in a suitable way, e.g. as data.

lo The terms "processor" or "controller" as, for example, used herein may be understood as any kind of entity that allows handling data. The data may be handled according to one or more specific functions executed by the processor or controller. Further, a processor or controller as used herein may be understood as any kind of circuit, e.g., any kind of analog or digital circuit. A processor or a controller may thus be or include an analog circuit, digital circuit, mixed-signal circuit, logic circuit, processor, microprocessor, Central Processing Unit (CPU), Graphics Processing Unit (GPU), Digital Signal Processor (DSP), Field Programmable Gate Array (FPGA), integrated circuit, Application Specific Integrated Circuit (ASIC), etc., or any combination thereof. Any other kind of implementation of the respective functions, which will be described below in further detail, may also be understood as a processor, controller, or logic circuit. It is understood that any two (or more) of the processors, controllers, or logic circuits detailed herein may be realized as a single entity with equivalent functionality or the like, and conversely that any single processor, controller, or logic circuit detailed herein may be realized as two (or more) separate entities with equivalent functionality or the like.

The term "memory" detailed herein may be understood to include any suitable type of memory or memory device, e.g., a hard disk drive (HDD), a solid-state drive (SSD), a flash memory, etc. Various aspects relate to a control device for use in a vehicle. The control device may be configured to control an autonomous reparking of a vehicle to allow a driver to enter the vehicle easily and/or safely via its driver's door. For example, one or more sensors may acquire sensor data which represent a surrounding of a vehicle which is parked in a parking lot and the control device may determine based on these sensor data whether there is enough space (i.e., a distance equal to or greater than a predefined threshold value) between the driver's door of the parked vehicle and a neighboring object (e.g., a neighboring vehicle) and, in the case that there is not enough space available, control the vehicle to autonomously repark within the parking lot into a position having enough space to the neighboring object. Thus, the control device may be part of a driving assistance system (e.g., part of a parking/reparking assistance system). Although various aspects refer to using the control device in the vehicle itself, it is understood that (at least a part of) the processing described herein may also be carried out external to the vehicle (e.g., in lo a cloud computing device).

FIG.1A shows a vehicle 100 according to various aspects. The vehicle 100 may include one or more processors 102. For example, the vehicle 100 may include a control device and the control device may include the one or more processors 102. The vehicle 100 may include one or more sensors 104. The one or more sensor 104 may be configured to detect a surrounding of the vehicle 100. The one or more sensors 104 may be configured to acquire sensor data representing at least a part of the (e.g., complete) surrounding of the vehicle 100. FIG.1 B shows an exemplary surrounding 106 of the vehicle 100. Thus, the sensor data may indicate whether there are objects within the surrounding 106 and also a distance of such objects to the vehicle 100. The one or more processors 100 may be configured to receive the sensor data (e.g., sensor data 304) from the one or more sensors 104. For example, the one or more sensors 104 may include a plurality of sensors and each sensor of the plurality of sensors may be configured to acquire respective sensor data representing at least a part of the surrounding 106 of the vehicle 100. In this case, the one or more processors 102 may be configured to receive the respective sensor data from each of the plurality of sensors and use them for further processing. A sensor of the one or more sensors 104 may be any kind of sensor suitable to detect information representing at least a part of the surrounding 106 of the vehicle 100. For example, a sensor of the one or more sensors 104 may be an image sensor (e.g., a camera), a radio detection and ranging (radar) sensor, a light detection and ranging (lidar) sensor, an ultrasonic sensor, etc. It is understood that, in the case that the one or more sensors include more than one sensor, these sensors may be of the same type (e.g., a respective camera sensor) or may include at least one sensor having a different type of sensor. The respective sensor data as received from a sensor of the one or more sensors 104 may be unprocessed data or a pre-processed data. A "vehicle" may be a ground vehicle (e.g., a vehicle configured to drive on ground (e.g., on a road, a track, a street, etc.)), an aerial vehicle (e.g., a vehicle configured to being maneuvered above the ground), or an aquatic vehicle (e.g., a vehicle capable of being maneuvered on or below the surface of liquid (e.g., water)). It is understood that the vehicle 100 may include various further components common for the respective type of vehicle (e.g., an engine, a steering system, etc.). The vehicle 100 may be capable to drive in a forward direction 12 and a backward io direction 14. The part of the surrounding in forward driving direction 12 may be referred to as surrounding in front of the vehicle 100 and the part of the surrounding in backward driving direction 14 may be referred to as surrounding behind the vehicle 100. With respect to the forward driving direction 12, there may be a left-lateral direction 16 and a right-lateral direction.

Various aspects refer to a scenario in which the vehicle 100 is parked On this case also referred to as parked vehicle 100) and to reparking this parked vehicle 100. It is understood that a driver's seat (i.e., the seat where the driver of the vehicle 100 sits to manually control (e.g., drive) the vehicle 100) of the vehicle 100 may (e.g., depending on the country of use) either be on the left side (e.g., in most European countries) or on the right side (e.g., in Great Britain or Japan). Thus, in the case that the driver's seat is on the left side, the driver may enter the vehicle 100 via a door (referred to as driver's door) on the left-lateral side of the vehicle 100, and, in the case that the driver's seat is on the right side, the driver may enter the vehicle 100 via a door (referred to as driver's door) on the right-lateral side of the vehicle 100.

Therefore, various aspects refer to a driver's side (e.g., the left-lateral side or right-lateral side), a driver's seat, a driver's door (being on the door for entering the vehicle 100 to the driver's seat), etc., and various aspects refer to a co-driver's side, a co-driver's door,etc. It is understood that (depending on the configuration of the vehicle 100) the driver's side may be either left or right and that the co-driver's side may be the other side.

Further, depending on the parking scenario, the parked vehicle 100 may be parked forward or backward such that, in order to pull out of the parking lot, the vehicle 100 may (e.g., have to) drive forward or backward. Hence, in the case that, when parking the vehicle 100, the driver drives forward into the parking lot, the driving direction when pulling out of the parking lot may be the backward driving direction 14 and vice versa. The parking and reparking scenarios shown in the figures illustrate scenarios in which the vehicle 100 is parked to pull out by driving in forward driving direction 12. It is understood that the principles described herein apply analogously for pulling out of the parking lot by driving in backward driving direction.

The vehicle 100 may be an autonomous vehicle, a non-autonomous, or a semi-autonomous vehicle. Although various aspects refer to providing space for a driver to enter the vehicle 100 easily and/or safely, it is understood that the same to principles can be used analogously to allow passengers to enter the vehicle 100 easily and/or safely (e.g., passengers of an autonomous vehicle).

A parked vehicle, as described herein, is understood to mean that the vehicle is not driving, hence, that its velocity is substantially equal to zero. A parked vehicle may be parked in a parking lot. A parking lot, as described herein, may be a parking space for one vehicle. A parking area, as described herein, may include a plurality of parking lots. In some cases, there may be parking lot markings to indicate respective parking lots. However, it is understood that the principles described herein refer to neighboring parked vehicles in general and that the term "parking lot" is therefore not limited to any parking lot markings. Hence, a parking lot may be, for example, defined by a position a parked vehicle is parked at and a neighboring space may then define a neighboring parking lot.

FIG.2A to FIG.2D show various parking scenarios 200 (prior to reparking the parked vehicle 100) in which the parked vehicle 100 may be according to various aspects. In these exemplary scenarios, the vehicle 100 is configured to have its driver's seat in the left side. According to some aspects, the parked vehicle 100 may be parked between two neighboring objects. Illustratively, the parked vehicle 100 may be sandwiched between two neighboring objects. In some cases, the parked vehicle 100 may be parked between two other vehicles (see, for example, FIG.2A). In other cases, the parked vehicle 100 may be parked between a static object (e.g., a wall, a fence, a building, a tree, etc.) and another vehicle (see, for example, FIG.2B).

According to other aspects, the parked vehicle 100 may be parked next to another vehicle at driver's side but there may be free space on co-driver's side (see, for example, FIG.2C).

B

With reference to FIG.2A, the parked vehicle 100 may park (e.g., sandwiched) between a first further vehicle 202 and a second further vehicle 204. As mentioned above, in this scenario the driver's door may be on the left side of the parked vehicle 100. The first further vehicle 202 may park in a first distance 206 to the driver's door of the parked vehicle 100. The second further vehicle 204 may park in a second distance 208 to the parked vehicle 100.

With reference to FIG.2B, the parked vehicle 100 may park (e.g., sandwiched) between a wall 210 and the second further vehicle 204. In this case, the first distance 206 may be the distance between the wall 210 and the driver's door of the to parked vehicle 100.

With reference to FIG.2C, the parked vehicle 100 may park next to the first further vehicle 202 but there may be no object in the right-lateral direction 18 next to the parked vehicle 100 within a range defined by a predefined (vehicle-tilting) distance threshold value 212.

FIG.3A shows a flow chart 300A for controlling the parked vehicle 100 according to various aspects. The one or more processors 102 may be configured to receive the sensor data 304 representing at least part of the surrounding 106 of the parked vehicle 100. According to various aspects, the sensor data 304 may represent at least a surrounding laterally next to the parked vehicle 100 at both, the driver's side and at the co-driver's side. The one or more processors 102 may be configured to receive a trigger 302. The trigger 302 may indicate (e.g., instruct) to initiate the reparking procedure. The reparking procedure may also be referred to as easy ride-on procedure. According to various aspects, the one or more processors 102 may be configured to receive the trigger 302 from a user device. For example, the user device may be configured to transmit user instructions (as trigger 302) to the one or more processors 102 to instruct the one or more processors 102 to carry out the reparking procedure. In some aspects, the user (e.g., the driver of the vehicle 100) may control the user device to transmit the user instructions. For example, the driver may be on its way to the parked vehicle 100 and may control the user device to transmit the user instructions to initiate the reparking procedure such that enough space for entering the parked vehicle 100 via its driver's door is provided. In other aspects, the user device may automatically (i.e., without user interaction) transmit the user instructions to the one or more processors 102. For example, the user device may determine (e.g., based on location data) that the driver is on its way to the parked vehicle 100 and may therefore transmit the user instructions as trigger 302. The user device may be any suitable device, such as a smartphone, a tablet, a smart key, etc. The communication connection between the user device and the parked vehicle 100 may be any suitable wireless communication connection, such as a wireless local area network, a cellular network connection (e.g., via 3G, 4G (e.g., long-term evolution, LIE), 5G, etc.), etc. The one or more processors 102 may be configured to (e.g., responsive to receiving the trigger 302) to determine (using the sensor data 304)" whether there is an object iu located at the driver's side laterally next to the driver's door of the parked vehicle 100 in a distance equal to or less than a first predefined (vehicle-entering) threshold value, dthi. Illustratively, the one or more processors 102 may determine whether there is an object which obstructs or restricts entry to the parked vehicle 100 via the driver's door. Thus, the one or more processors 102 may be configured to determine (in 306), whether the first distance 206 between the driver's door and a neighboring object on driver's side is greater than the first predefined (vehicle-entering) threshold value, dthi. This first predefined (vehicle-entering) threshold value, dthi, may indicate, whether there is enough space next to the parked vehicle 100 to enter the parked vehicle 100 easily and/or safely via its driver's door. For example, the first predefined (vehicle-entering) threshold value, dthi, may indicate that the driver's door can be opened completely without hitting the neighboring object. The one or more processors 102 may be configured to determine, in the case that there is no object next to the driver's door of the parked vehicle 100 or that the distance to a neighboring object the greater than the first predefined (vehicle-entering) threshold value, dthi, that there is enough space for entering the parked vehicle 100 via its driver's door and may, therefore, stop the reparking procedure.

For example, in the parking scenarios 200 shown in FIG.2A, FIG.2C, and FIG.2D, the one or more processors 102 may determine that the first distance 206 to the first further vehicle 202 is equal to or less than the first predefined (vehicle-entering) threshold value, dthi. In the parking scenario 200 shown in FIG.2B, the one or more processors 102 may determine that the first distance 206 to the wall 210 is equal to or less than the first predefined (vehicle-entering) threshold value, dthi The one or more processors 102 may be configured to determine (in 308), in the case that there is an object located at the driver's side laterally next to the driver's door of the parked vehicle 100 in the first distance 206 equal to or less than the first predefined (vehicle-entering) threshold value, dthi ("No" in 306), whether there is a further object located at the co-driver's side laterally next to the parked vehicle 100 within the range defined by the predefined (vehicle-tilting) distance threshold value 212.

According to various aspects, the one or more processors 102 may be configured to determine (e.g., in 308), whether the second distance 208 to the second further vehicle 204 is greater than a predefined (vehicle-reparking) threshold value. The one or more processors 102 may be configured to determine, in the case that it is determined that the second distance 208 to the second further vehicle 204 is equal to or less than the predefined (vehicle-reparking) threshold value, that there is not enough space to repark the parked vehicle 100. Illustratively, if the second further vehicle 204 is too close to the parked vehicle 100, there is not enough space to move further in direction of the second further vehicle 204. In this case, the one or more processors 102 may determine to stop the reparking procedure and/or to inform (e.g., warn) the user (e.g., driver) via the user device that there is not enough space to repark.

The one or more processors 102 may be configured to determine (using the sensor data 304), in the case that it is determined that there is no further object located at the co-driver's side laterally next to the parked vehicle 100 within the range defined by the predefined (vehicle-tilting) distance threshold value 212 ("No" in 308), that the parked vehicle 100 can be tilted in co-driver's direction to increase the distance between the object (e.g., the wall 210 or the first further vehicle 202) at driver's side and the driver's door of the parked vehicle 100.

The one or more processors 102 may be configured to determine (using the sensor data 304), in the case that it is determined that there is a further object located at the co-driver's side laterally next to the parked vehicle 100 within the range defined by the predefined (vehicle-tilting) distance threshold value 212 ("Yes" in 308), that the parked vehicle 100 can be shifted (i.e., moved laterally) in co-driver's direction to increase the distance between the object (e.g., the wall 210 or the first further vehicle 202) at driver's side and the driver's door of the parked vehicle 100.

According to various aspects, the one or more processors 102 may be configured to provide control instructions 318 to control the parked vehicle 100 to (e.g., autonomously) repark (e.g., within the parking lot) to increase the first distance 206 between the object and the driver's door of the parked vehicle 100. For example, depending on the result of the determination 308, the control instructions 318 may include instructions to either repark such that, after reparking, the position of the parked vehicle 100 changed laterally within the parking lot to increase the first distance, or such that the parked vehicle 100 is, after reparking, tilted in co-driver's side direction.

lo As an example, in the case of the parking scenario 200 shown in FIG.2A or FIG.2B, the one or more processors 102 may determine (in 308) that the second distance 208 to the second further vehicle 204 is less than the predefined (vehicle-tilting) distance threshold value 212 and the control instructions 318 may control the parked vehicle 100 to repark such that its position is, after reparking, changed laterally in co-driver's direction. Hence, the parked vehicle 100 may be, for example, controlled to drive in a forward-right direction slightly out of the parking lot and then substantially straight in backward driving direction back into the parking lot to change its final parking position laterally. FIG.4A shows a parking scenario 400 after reparking the parked vehicle 100 in the parking scenario shown in FIG.2A. As shown, after reparking, a distance 216 between the driver's door of the vehicle 100 and the first further vehicle 202 may be greater than the first distance 206 prior to reparking and a distance 218 between the parked vehicle 100 and the second further vehicle 204 may be less than the second distance 208.

As another example, in the case of the parking scenario 200 shown in FIG.2C, the one or more processors 102 may determine (in 308) that no object in a distance equal to or less than the predefined (vehicle-tilting) distance threshold value 212 and the control instructions 318 may control the parked vehicle 100 to repark such that, after reparking, the parked vehicle 100 is tilted in co-driver's direction. Hence, the parked vehicle 100 may be, for example, controlled to drive and steer in a forward-right direction. FIG.4B shows a parking scenario 400 after reparking the parked vehicle 100 in the parking scenario shown in FIG.2C. As shown, after reparking by tilting, the distance 216 between the driver's door of the vehicle 100 and the first further vehicle 202 may be greater than the first distance 206 prior to reparking.

In either case, the increased distance 216 may allow the driver to easily enter the parked vehicle 100. Further, there may be a reduced risk that the driver's door hits the first further vehicle 202 when the driver opens this door.

According to various aspects, the one or more processors 102 may be configured to consider risk when providing the control instructions 318. Illustratively, there may be risks when autonomously reparking the parked vehicle 100 and the one or more processors 102 may be configured to determine this risk and provide control instructions 318 in accordance with the determined risk.

FIG.3B shows a flow chart 300B for controlling the parked vehicle 100 including risk-y) consideration according to various aspects. As described with reference to FIG.3A, the one or more processors 102 may be configured to determine, whether the parked vehicle 100 can be tilted or shifted in order to increase the distance to the neighboring object at driver's side (see 310 in FIG.3B).

The one or more processors 102 may be configured to (e.g., using the sensor data 304) determine (in 312), whether there are one or more critical objects (e.g., obstacles) in driving direction (e.g., forward driving direction 12 or backward driving direction 14 depending on the orientation of the parked vehicle 100 within the parking lot) of the parked vehicle 100. This driving direction may be the direction the vehicle 100 would drive in the case that the vehicle 100 would be tilted or shifted. A critical object may be, for example, a moving object (e.g., a moving person, a moving animal (e.g., pet), a moving vehicle, a cyclist, etc.) or a static object (e.g., a person standing in driving direction, a vehicle in driving direction, etc.).

An example of a moving object, in particular a moving object as a critical object, in driving direction (in this case forward driving direction 12) of the parked vehicle 100 is shown in FIG.2D. FIG.2D shows a person 214 moving (in driving direction) in front of the parked vehicle 100. In this exemplary case, the one or more processors 102 may (e.g., using the sensor data 304) determine On 312) that there is a critical object (in this example the moving person 214) in the driving direction of the parked vehicle 100.

The one or more processors 102 may be configured to determine (in 314), in the case that there are no critical objects in driving direction of the parked vehicle 100 ("No" in 312), a risk value R associated with reparking (e.g., tilting or shifting) the parked vehicle 100. The risk value R may represent a collision risk when reparking the parked vehicle 100.

The one or more processors 102 may be configured to, when determining the risk value R (in 314), consider moving objects approaching the parked vehicle 100. For example, the one or more processors 102 may be configured to determine, using the sensor data 304, whether there is an object (e.g., a person, a vehicle, etc.) approaching the parked vehicle 100 and the risk value R may include a risk that, in the case that there is an object approaching the parked vehicle 100, the object walks or drives in a region in driving direction of the vehicle 100 (e.g., a risk of colliding with 1.0 the object).

The one or more processors 102 may be configured to, when determining the risk value R (in 314), consider persons in the first further vehicle 202 and/or the second further vehicle 204. For example, the sensor data may include an image of the first further vehicle 202 and the one or more processors 102 may be configured to determine from the image (e.g., using semantic image segmentation) whether there is a person sitting on co-driver's seat of the first further vehicle 202. The one or more processors 102 may be configured to determine the risk value R to include a risk that, in the case that it is determined that a person is sitting on the co-driver's seat of the first further vehicle 202, the person leaves the first further vehicle 202. The one or more processors 102 may be configured to determine (e.g., using semantic image segmentation) based on the image whether there is a person sitting on driver's seat of the first further vehicle 202. The one or more processors 102 may be configured to determine the risk value R to include a risk that, in the case that it is determined that a person is sitting on the driver's seat of the first further vehicle 202, the person moves (e.g., drives) the first further vehicle 202. The sensor data may include an image of the second further vehicle 204 and the one or more processors 102 may be configured to determine from the image (e.g., using semantic image segmentation) whether there is a person sitting on driver's seat of the second further vehicle 204. Analogously, the one or more processors 102 may be configured to determine using the image of the respective first or second further vehicle, whether a passenger is sitting in the vehicle which may get out of the vehicle in direction of the parked vehicle 100.

The one or more processors 102 may be configured to determine the risk value R to include a risk that, in the case that it is determined that a person is sitting on the driver's seat of the second further vehicle 204, the person leaves the second further vehicle 204 and/or that the person moves the second further vehicle 204.

The one or more processors 102 may be configured to determine (in 316), whether the risk value R is equal to or less than a predefined risk threshold value, Rth. The one or more processors 102 may be configured to provide the control instructions 318 for reparking the parked vehicle 100 in the case that the risk value R is equal to or less than the predefined risk threshold value, Rth ("Yes" in 316).

io Illustratively, the reparking procedure may only be carried out in the case that the collision risk is below the threshold.

According to various aspects, the one or more processors 102 may be configured to, in the case that there are critical objects in driving direction (12 or 14) of the parked vehicle 100 ("Yes" in 312), inform (e.g., warn) the user (e.g., driver) via the user device about the critical objects and/or that the reparking procedure cannot be carried out. According to various aspects, the one or more processors 102 may be configured to, in the case that the risk value R is greater than the predefined risk threshold value, Rth, inform (e.g., warn) the user (e.g., driver) via the user device about the collision risk and/or that the reparking procedure cannot be carried out.

Various aspects relate to informing the user (e.g., driver) via the user device. This may warn the driver about the risk and, therefore, to take care when opening the driver's door.

FIG.5 shows two similar reparking scenarios 500 for the case that the driver's seat is on the right side of the parked vehicle 100. The left column shows the reparking scenario in which the parked vehicle 100 is sandwiched between the first further vehicle 202 on driver's side and the second further vehicle 204 on co-driver's side. The right column shows the reparking scenario in which no object is located on co-driver's side of the parked vehicle 100.

In an exemplary use-case, a driver 502 of the parked vehicle 100 may be on his/her way to the parked vehicle 100 (i.e., walking in direction of the parked vehicle 100 in order to enter the parked vehicle 100). The driver 502 may have a user device 504 which is communicatively coupled to the parked vehicle 100. The user device 504 may (automatically or responsive to an input from the driver 502) wirelessly transmit the trigger 302 (may also be referred to as trigger signal) to the parked vehicle 100 to initiate the reparking (e.g., easy ride-on) procedure. The one or more processors 102 may determine whether to stop the reparking procedure, to inform the driver 502, to control the parked vehicle 100 to tilt, or to control the parked vehicle 100 to shift as described with reference to the flow chart 300A and/or the flow chart 300B. As shown in the left column in FIG.5, in the sandwiched case the parked vehicle 100 may be controlled to repark to move laterally closer to the second further vehicle 204 such that the distance to the first further vehicle 202 is increased. As shown in the right column in FIGS, in the case of free space the parked vehicle 100 may be io controlled to repark to tilt in co-driver's direction such that the distance to the first further vehicle 202 is increased. Once the driver 502 arrives the (re-)parked vehicle 100, there may be enough space to enter the re-(parked) vehicle 100 via its driver's door without or at least reduced risk of hitting the first further vehicle 202 with the driver's door when opening.

FIG.6 shows a flow diagram of a method 600 for controlling a parked vehicle according to various aspect. The method 600 may include receiving sensor data representing at least a surrounding laterally next to a parked vehicle at a driver's side and at a co-drivers side of the parked vehicle (in 602). The method 600 may include determining, using the sensor data, whether there is an object located at the driver's side laterally next to a driver's door of the parked vehicle in a distance equal to or less than a first predefined (vehicle-entering) threshold value (e.g., which obstructs or restricts entry to the parked vehicle via the driver's door), and whether there is a further object located at the co-driver's side laterally next to the parked vehicle in a distance equal to or less than a second predefined (vehicle-reparking) threshold value (in 604). The method 600 may include in the case that it is determined that there is the object located at the drivers side laterally next to the driver's door of the parked vehicle in the distance equal to or less than the first predefined (vehicle-entering) threshold value and that there is no further object located at the co-driver's side laterally next to the parked vehicle in the distance equal to or less than the second predefined (vehicle-reparking) threshold value, providing control instructions to control the parked vehicle to repark to increase the distance between the object and the driver's door of the parking vehicle (in 606). The method 600 may include any kind of determination the one or more processors 102 are configured to.

According to various aspects, as described herein, the distance between the driver's door and a neighboring object may be increased to reduce the collision risk when opening the driver's door. This collision risk is independent of any collision risk when parking a vehicle since a parking scenario and, thus, a surrounding of the parked vehicle may change during parking (e.g., other vehicles may leave a parking lot next to the parked vehicle and/or may park next to the parked vehicle).

In the following, various aspects of this disclosure will be illustrated. It is noted that aspects described with reference to control device or a vehicle may be accordingly implemented in a method, and vice versa.

lo Example 1 is a control device for controlling a vehicle, the control device including: one or more processors configured to: receive sensor data representing at least a surrounding laterally next to a parked vehicle (e.g., which is parked in a parking lot) at a driver's side and at a co-driver's side of the parked vehicle; determine, using the sensor data, whether there is an object located at the driver's side laterally next to a driver's door of the parked vehicle in a distance equal to or less than a first predefined (vehicle-entering) threshold value (e.g., which obstructs or restricts entry to the parked vehicle via the driver's door), and whether there is a further object located at the co-drivers side laterally next to the parked vehicle in a distance equal to or less than a second predefined (vehicle-reparking) threshold value; in the case that it is determined that there is the object located at the driver's side laterally next to the driver's door of the parked vehicle in the distance equal to or less than the first predefined (vehicle-entering) threshold value and that there is no further object located at the co-driver's side laterally next to the parked vehicle in the distance equal to or less than the second predefined (vehicle-reparking) threshold value, provide control instructions to control the parked vehicle to (e.g., autonomously) repark (e.g., within the parking lot) to increase the distance between the object and the driver's door of the parked vehicle.

This allows that the vehicle (in the case that there is not enough space to easily and/or safely enter the parked vehicle) to automatically repark such that there is enough space after reparking. Hence, a comfortable offset to a neighboring object (e.g., a neighboring vehicle) can be created which reduces a risk of collision with the neighboring object when the driver opens the driver's door of the reparked vehicle.

In Example 2, the subject matter of Example 1 can optionally include that the object is a further vehicle parking at the driver's side laterally next to the parked vehicle; or wherein the object is an obstacle (e.g., a wall, a fence, a tree, etc.) located at the driver's side laterally next to the parked vehicle.

In Example 3, the subject matter of Example 1 or 2 can optionally include that the further object is a yet further vehicle parking at the co-driver's side laterally next to the parked vehicle; or wherein the further object is an obstacle (e.g., a wall, a fence, a tree, etc.) located at the co-driver's side laterally next to the parked vehicle. In Example 4, the subject matter of any one of Examples 1 to 3 can optionally to include that the one or more processors are configured to receive the sensor data from one or more sensors of the parked vehicle, the one or more sensors including at least one sensor of the following list of sensors: an image sensor (e.g., a camera), a radio detection and ranging (radar) sensor, a light detection and ranging (lidar) sensor, and/or an ultrasonic sensor.

In Example 5, the subject matter of any one of Examples 1 to 4 can optionally include that the one or more processors are configured to, in the case that it is determined that there is no further object located at the co-driver's side laterally next to the parked vehicle in the distance equal to or less than the second predefined (vehicle-reparking) threshold value, determine, using the sensor data, whether there is a yet further object located at the co-driver's side laterally next to the parked vehicle in a distance greater than the second predefined (vehicle-reparking) threshold value and equal to or less than a third predefined (vehicle-tilting) threshold value (wherein the third predefined (vehicle-tilting) threshold value is greater than the second predefined (vehicle-reparking) threshold value).

This allows to determine a reparking scenario based on how much space is available on co-driver's side.

In Example 6, the subject matter of Example 5 can optionally include that, in the case that it is determined that there is the yet further object located at the co-driver's side laterally next to the parked vehicle in the distance greater than the second predefined (vehicle-reparking) threshold value and equal to or less than the third predefined (vehicle-tilting) threshold value, the control instructions include instructions to control the parked vehicle to repark (e.g., within the parking lot) such that, after reparking, the parked vehicle changed its position laterally (e.g., within the parking lot) (and optionally substantially not longitudinally) to increase the distance between the object and the driver's door of the parked vehicle.

This allows to, in the case that there is limited space on co-driver's side (e.g., in the case that there is another vehicle in a neighboring parking lot), to carry out a reparking within a parking lot the vehicle is in, thereby providing more space for the driver to enter the (re-)parked vehicle on the driver's side.

In Example 7, the subject matter of Example 5 or 6 can optionally include that, in the case that it is determined that there is no yet further object located at the co-driver's side laterally next to the parked vehicle in the distance greater than the second lo predefined (vehicle-reparking) threshold value and equal to or less than the third predefined (vehicle-tilting) threshold value, the control instructions include instructions to control the parked vehicle to repark such that the parked vehicle tilts (in direction of the co-driver's side) to increase the distance between the object and the driver's door of the parked vehicle.

This allows to, in the case that there is enough space on co-driver's side (e.g., in the case that there is no other vehicle in a neighboring parking lot), to carry out a less complex reparking (e.g., by moving the vehicle to tilt in co-driver's direction), to provide more space for the driver to enter the (re-)parked vehicle on the driver's side. In Example 8, the subject matter of any one of Examples 1 to 7 can optionally include that the sensor data further represent a surrounding in a driving direction (e.g., in front) of the parked vehicle; wherein the one or more processors are configured to: determine, using the sensor data, whether there is an (e.g., moving) obstacle in the driving direction of the parked vehicle in a distance equal to or less than a fourth predefined threshold value, and provide the control instructions only in the case that it is determined that there is no (e.g., moving) obstacle in the driving direction of the parked vehicle in the distance equal to or less than the fourth predefined threshold value.

This allows to check, whether there are critical (e.g., moving) objects (such as a person, a vehicle, etc.) in driving direction of the vehicle prior to reparking. To carry out the reparking only in case that there is no critical object allows to reduce the collision risk when reparking.

In Example 9, the subject matter of any one of Examples 1 to 8 can optionally include that the sensor data further represent a complete surrounding around the parked vehicle; wherein the one or more processors are configured to: determine, using the sensor data, whether there is a moving obstacle (e.g., a person or a vehicle) in the surrounding of the parked vehicle, and provide the control instructions only in the case that it is determined that there is no moving obstacle in the surrounding of the parked vehicle.

In Example 10, the subject matter of any one of Examples 1 to 9 can optionally include that the one or more processors are configured to: determine, using the sensor data, a risk value representing a collision risk when reparking the parked vehicle; determine, whether the risk value is equal to or less than a predefined risk lo threshold value; and provide the control instructions only in the case that it is determined that the risk value is equal to or less than the predefined risk threshold value.

This allows to reduce the collision risk when reparking (e.g., by considering various sources of risk).

In Example 11, the subject matter of Example 10 can optionally include that the one or more processors are configured to: determine, using the sensor data, whether a moving object is approaching the parked vehicle (e.g., a person moving or a vehicle driving in direction of the parked vehicle); in the case that it is determined that a moving object is approaching the parked vehicle, determine the risk value to include a risk of colliding with the moving object when reparking.

This allows to consider the risk that a person, a vehicle, an animal, etc. may move into the driving path of the vehicle in case of reparking, thereby reducing the collision risk when reparking.

In Example 12, the subject matter of Example 10 or 11 can optionally include that the sensor data represent at least one driver's side image showing the object located at the driver's side laterally next to the driver's door of the parked vehicle, wherein the object is a further parked vehicle; and wherein the one or more processors are configured to: determine (e.g., via semantic image segmentation), using the at least one driver's side image, whether a person is sitting in the further parked vehicle at co-driver's side; in the case that it is determined that the person is sitting in the further parked vehicle at co-driver's side, determine the risk value to include a risk of the person getting out of the further parked vehicle.

This allows to consider the risk that a person in a neighboring vehicle leaves the vehicle and gets hit when reparking, thereby reducing the collision risk when reparking.

In Example 13, the subject matter of Example 12 can optionally include that the one or more processors are further configured to: determine, (e.g., via semantic image segmentation), using the at least one driver's side image, whether a further person is sitting in the further parked vehicle at drivers seat; and in the case that it is determined that the further person is sitting in the further parked vehicle at driver's seat, determine the risk value to include a risk that the further person moves the lo further parked vehicle.

This allows to consider the risk that the neighboring vehicle also starts to move when the neighboring vehicle starts the reparking scenario, thereby reducing the collision risk when reparking.

In Example 14, the subject matter of any one of Examples 10 to 13 can optionally include that the sensor data represent at least one co-drivers side image showing a surrounding at the co-driver's side laterally next to the driver's door of the parked vehicle; wherein the one or more processors are configured to: determine, using the sensor data, whether there is a yet further parked vehicle located at the co-driver's side laterally next to the parked vehicle in a distance equal to or less than a fifth predefined threshold value; in the case that it is determined that there is the yet further parked vehicle located at the co-driver's side laterally next to the parked vehicle in the distance equal to or less than the fifth predefined threshold value, determine (e.g., via semantic image segmentation), using the at least one co-driver's side image, whether a person is sitting in the yet further parked vehicle at driver's side; in the case that it is determined that the person is sitting in the yet further parked vehicle at driver's side, determine the risk value to include a risk that the person gets out of the yet further parked vehicle and/or that the person (e.g., in the case that it is determined that the person is sitting on the driver's seat) moves the yet further parked vehicle.

This allows to consider the risk that a person in a neighboring vehicle at co-driver's side leaves the vehicle and gets hit when reparking and/or also starts to move when the neighboring vehicle starts the reparking scenario, thereby reducing the collision risk when reparking.

In Example 15, the subject matter of any one of Examples 1 to 14 can optionally include that the one or more processors are configured to: receive, from a user device (e.g., a smartphone, a tablet, a smart key, etc.), user instructions instructing to provide space for entering the parked vehicle via the driver's door; and determine responsive to receiving the user instructions, whether there is the object located at the driver's side laterally next to the driver's door of the parked vehicle in the distance equal to or less than the first predefined (vehicle-entering) threshold value and whether there is the further object located at the co-driver's side laterally next to the parked vehicle in the distance equal to or less than the second predefined io (vehicle-reparking) threshold value.

This allows to carry out the reparking when requested and/or required, such as in the case that the user (e.g., driver) is on his/her way to the parked vehicle.

In Example 16, the subject matter of Example 15 can optionally include that the one or more processors are configured to, in the case that it is determined that there is the object located at the driver's side laterally next to the driver's door of the parked vehicle in the distance equal to or less than the first predefined (vehicle-entering) threshold value and that it is determined that there is the further object located at the co-driver's side laterally next to the parked vehicle in the distance equal to or less than the second predefined (vehicle-reparking) threshold value, provide information to the user device to inform (e.g., warn) the user that there is not enough space to repark the parked vehicle.

This allows to inform the user (e.g., driver) about the sources of risk such that the user may consider the risk when opening a door of the parked vehicle. Hence,this may reduce the risk of collision even in the case that there is not enough space for reparking and/or an obstacle hindering the reparking.

In Example 17, the subject matter of Example 8 in combination with Example 15 or 16 can optionally include that the one or more processors are configured to, in the case that it is determined that there is the (e.g., moving) obstacle the driving direction (e.g., in front) of the parked vehicle in the distance equal to or less than the fourth predefined threshold value, provide information to the user device to inform (e.g., warn) the user about the obstacle.

In Example 18, the subject matter of Example 9 in combination with any one of Examples 15 to 17 can optionally include that the one or more processors are configured to, in the case that it is determined that there is the moving obstacle in the surrounding of the parked vehicle, provide information to the user device to inform (e.g., warn) the user about the moving obstacle.

In Example 19, the subject matter of any one of Examples 10 to 14 in combination with any one of Examples 15 to 18 can optionally include that the one or more processors are configured to, in the case that it is determined that the risk value is greater than the predefined risk threshold value, provide information to the user device to inform (e.g., warn) the user about the risk.

This also allows to inform the user (e.g., driver) about the sources of risk such that lo the user may consider the risk when opening a door of the parked vehicle.

Hence,this may reduce the risk of collision even in the case that there is not enough space for reparking and/or an obstacle hindering the reparking.

Example 20 is a vehicle including the control device according to any one of Examples 1 to 19.

Example 21 is a method for controlling a vehicle, the method including: receiving sensor data representing at least a surrounding laterally next to a parked vehicle at a driver's side and at a co-driver's side of the parked vehicle; determining, using the sensor data, whether there is an object located at the driver's side laterally next to a driver's door of the parked vehicle in a distance equal to or less than a first predefined (vehicle-entering) threshold value (e.g., which obstructs or restricts entry to the parked vehicle via the driver's door), and whether there is a further object located at the co-driver's side laterally next to the parked vehicle in a distance equal to or less than a second predefined (vehicle-reparking) threshold value; in the case that it is determined that there is the object located at the driver's side laterally next to the driver's door of the parked vehicle in the distance equal to or less than the first predefined (vehicle-entering) threshold value and that there is no further object located at the co-driver's side laterally next to the parked vehicle in the distance equal to or less than the second predefined (vehicle-reparking) threshold value, providing control instructions to control the parked vehicle to repark to increase the distance between the object and the driver's door of the parked vehicle.

In Example 22, the subject matter of Example 21 can optionally include that the object is a further vehicle parking at the driver's side laterally next to the parked vehicle; or wherein the object is an obstacle (e.g., a wall, a fence, a tree, etc.) located at the driver's side laterally next to the parked vehicle.

In Example 23, the subject matter of Example 21 or 22 can optionally include that the further object is a yet further vehicle parking at the co-driver's side laterally next to the parked vehicle; or wherein the further object is an obstacle (e.g., a wall, a fence, a tree, etc.) located at the co-driver's side laterally next to the parked vehicle.

In Example 24, the subject matter of any one of Examples 21 to 23 can optionally include that receiving the sensor data includes receiving the sensor data from one or more sensors of the parked vehicle, the one or more sensors including at least one to sensor of the following list of sensors: an image sensor (e.g., a camera), a radio detection and ranging (radar) sensor, a light detection and ranging (lidar) sensor, and/or an ultrasonic sensor.

In Example 25, the method of any one of Examples 21 to 24 can optionally further include: in the case that it is determined that there is no further object located at the co-driver's side laterally next to the parked vehicle in the distance equal to or less than the second predefined (vehicle-reparking) threshold value, determining, using the sensor data, whether there is a yet further object located at the co-driver's side laterally next to the parked vehicle in a distance greater than the second predefined (vehicle-reparking) threshold value and equal to or less than a third predefined (vehicle-tilting) threshold value (wherein the third predefined (vehicle-tilting) threshold value is greater than the second predefined (vehicle-reparking) threshold value).

In Example 26, the subject matter of Example 25 can optionally include that, in the case that it is determined that there is the yet further object located at the co-driver's side laterally next to the parked vehicle in the distance greater than the second predefined (vehicle-reparking) threshold value and equal to or less than the third predefined (vehicle-tilting) threshold value, the control instructions include instructions to control the parked vehicle to repark (e.g., within the parking lot) such that, after reparking, the parked vehicle changed its position laterally (e.g., within the parking lot) (and optionally substantially not longitudinally) to increase the distance between the object and the driver's door of the parked vehicle.

In Example 27, the subject matter of Example 25 or 26 can optionally include that, in the case that it is determined that there is no yet further object located at the co-driver's side laterally next to the parked vehicle in the distance greater than the second predefined (vehicle-reparking) threshold value and equal to or less than the third predefined (vehicle-tilting) threshold value, the control instructions include instructions to control the parked vehicle to repark such that the parked vehicle tilts (in direction of the co-driver's side) to increase the distance between the object and the driver's door of the parked vehicle.

In Example 28, the subject matter of any one of Examples 21 to 27 can optionally include that the sensor data further represent a surrounding a driving direction (e.g., in front) of the parked vehicle; wherein the method further includes: determining, io using the sensor data, whether there is an (e.g., moving) obstacle in the driving direction of the parked vehicle in a distance equal to or less than a fourth predefined threshold value, and providing the control instructions only in the case that it is determined that there is no (e.g., moving) obstacle in the driving direction of the parked vehicle in the distance equal to or less than the fourth predefined threshold value.

In Example 29, the subject matter of any one of Examples 21 to 28 can optionally include that the sensor data further represent a complete surrounding around the parked vehicle; wherein the method further includes: determining, using the sensor data, whether there is a moving obstacle (e.g., a person or a vehicle) in the surrounding of the parked vehicle, and providing the control instructions only in the case that it is determined that there is no moving obstacle in the surrounding of the parked vehicle.

In Example 30, the method of any one of Examples 21 to 29 can optionally further include: determining, using the sensor data, a risk value representing a collision risk when reparking the parked vehicle; determining, whether the risk value is equal to or less than a predefined risk threshold value; and providing the control instructions only in the case that it is determined that the risk value is equal to or less than the predefined risk threshold value.

In Example 31, the method of Example 30 can optionally further include: determining, using the sensor data, whether a moving object is approaching the parked vehicle (e.g., a person moving or a vehicle driving in direction of the parked vehicle); in the case that it is determined that a moving object is approaching the parked vehicle, determining the risk value to include a risk of colliding with the moving object when reparking.

In Example 32, the subject matter of Example 30 or 31 can optionally include that the sensor data represent at least one driver's side image showing the object located at the driver's side laterally next to the parked vehicle, wherein the object is a further parked vehicle; and wherein the method further includes: determining (e.g., via semantic image segmentation), using the at least one driver's side image, whether a person is sitting in the further parked vehicle at co-driver's side; in the case that it is determined that the person is sitting in the further parked vehicle at co-driver's side, to determining the risk value to include a risk of the person getting out of the further parked vehicle.

In Example 33, the method of Example 32 can optionally further include: determining, (e.g., via semantic image segmentation), using the at least one driver's side image, whether a further person is sitting in the further parked vehicle at driver's seat; and in the case that it is determined that the further person is sitting in the further parked vehicle at driver's seat, determining the risk value to include a risk that the further person moves the further parked vehicle.

In Example 34, the subject matter of any one of Examples 30 to 33 can optionally include that the sensor data represent at least one co-driver's side image showing a surrounding at the co-driver's side laterally next to the parked vehicle; wherein the method further includes: determining, using the sensor data, whether there is a yet further parked vehicle located at the co-driver's side laterally next to the parked vehicle in a distance equal to or less than a fifth predefined threshold value; in the case that it is determined that there is the yet further parked vehicle located at the co-driver's side laterally next to the parked vehicle in the distance equal to or less than the fifth predefined threshold value, determining (e.g., via semantic image segmentation), using the at least one co-driver's side image, whether a person is sitting in the yet further parked vehicle at driver's side; in the case that it is determined that the person is sitting in the yet further parked vehicle at driver's side, determining the risk value to include a risk that the person gets out of the yet further parked vehicle and/or that the person (e.g., in the case that it is determined that the person is sitting on the driver's seat) moves the yet further parked vehicle.

In Example 35, the method of any one of Examples 21 to 34 can optionally further include: receiving, from a user device (e.g., a smartphone, a tablet, a smart key, etc.), user instructions instructing to provide space for entering the parked vehicle via the driver's door; and wherein determining, using the sensor data, whether there is an object located at the driver's side laterally next to the driver's door of the parked vehicle in a distance equal to or less than a first predefined (vehicle-entering) threshold value (e.g., which obstructs or restricts entry to the parked vehicle via the driver's door), and whether there is a further object located at the co-driver's side laterally next to the parked vehicle in a distance equal to or less than a second to predefined threshold value includes: determining responsive to receiving the user instructions, using the sensor data, whether there is an object located at the driver's side laterally next to the driver's door of the parked vehicle in a distance equal to or less than a first predefined (vehicle-entering) threshold value (e.g., which obstructs or restricts entry to the parked vehicle via a driver's door), and whether there is a further object located at the co-driver's side laterally next to the parked vehicle in a distance equal to or less than a second predefined (vehicle-reparking) threshold value.

In Example 36, the method of Example 35 can optionally further include: in the case that it is determined that there is the object located at the driver's side laterally next to the driver's door of the parked vehicle in the distance equal to or less than the first predefined (vehicle-entering) threshold value and that it is determined that there is the further object located at the co-driver's side laterally next to the parked vehicle in the distance equal to or less than the second predefined (vehicle-reparking) threshold value, providing information to the user device to inform (e.g., warn) the user that there is not enough space to repark the parked vehicle.

In Example 37, the method of Example 28 in combination with Example 35 or 36 can optionally further include: in the case that it is determined that there is the (e.g., moving) obstacle in the driving direction of the parked vehicle in the distance equal to or less than the fourth predefined threshold value, providing information to the user device to inform (e.g., warn) the user about the obstacle.

In Example 38, the method of Example 29 in combination with any one of Examples 35 to 37 can optionally further include: in the case that it is determined that there is the moving obstacle in the surrounding of the parked vehicle, providing information to the user device to inform (e.g., warn) the user about the moving obstacle.

In Example 39, the method of any one of Examples 30 to 34 in combination with any one of Examples 35 to 38 can optionally further include: in the case that it is determined that the risk value is greater than the predefined risk threshold value, providing information to the user device to inform (e.g., warn) the user about the risk. Example 40 is a non-transitory computer-readable medium having instructions recorded thereon which, when executed by a processor of a vehicle, cause the processor to carry out the method according to any one of Examples 21 to 39.

REFERENCE SIGNS

12: Forward driving direction 14: Backward driving direction 16: Left-lateral direction 18: Right-lateral direction 20: Top-view direction 100: Vehicle 102: One or more processors io 104: One or more sensors 106: Surrounding of vehicle 100 200: Parking scenarios prior to reparking 202: First further vehicle 204: Second further vehicle 206: First distance prior to reparking 208: Second distance prior to reparking 210: Wall 212: Predefined distance threshold value 212 214: Moving person 216: First distance after reparking 218: Second distance after reparking 300A, 300B: flow charts 302: Trigger 304: Sensor data 306-316: respective determinations 318: Control instructions 400: Parking scenarios after reparking 500: Reparking procedures 502: Driver 504: User device 600: Method 602-606: Method features

Claims

CLAIMSA control device for controlling a vehicle (100), the control device comprising: one or more processors (102) configured to: * receive sensor data (304) representing at least a surrounding laterally next to a parked vehicle (100) at a driver's side and at a co-driver's side of the parked vehicle (100); * determine, using the sensor data (304), whether there is an object located at the driver's side laterally next to a driver's door of the parked vehicle (100) in a distance (206) equal to or less than a first predefined threshold value (dthi), and whether there is a further object located at the co-driver's side laterally next to the parked vehicle (100) in a distance equal to or less than a second predefined threshold value; * in the case that it is determined that there is the object located at the driver's side laterally next to the driver's door of the parked vehicle (100) in the distance (206) equal to or less than the first predefined threshold value (dthi) and that there is no further object located at the co-driver's side laterally next to the parked vehicle (100) in the distance equal to or less than the second predefined threshold value, provide control instructions (318) to control the parked vehicle (100) to repark to increase the distance (206) between the object and the driver's door of the parked vehicle (100).
The control device according to claim 1, wherein the one or more processors (102) are configured to, in the case that it is determined that there is no further object located at the co-driver's side laterally next to the parked vehicle (100) in the distance equal to or less than the second predefined threshold value, determine, using the sensor data (304), whether there is a yet further object located at the co-driver's side laterally next to the parked vehicle (100) in a distance greater than the second predefined threshold value and equal to or less than a third predefined threshold value (212).
3. The control device according to claim 2, wherein, in the case that it is determined that there is the yet further object located at the co-driver's side laterally next to the parked vehicle (100) in the distance greater than the second predefined threshold value and equal to or less than the third predefined threshold value (212), the control instructions (318) comprise instructions to control the parked vehicle (100) to repark such that, after reparking, the parked vehicle (100) changed its position laterally to increase the distance (206) between the object and the driver's door of the parked vehicle (100)
4. The control device according to claim 2 or 3, wherein, in the case that it is determined that there is no yet further object located at the co-driver's side laterally next to the parked vehicle (100) in the distance greater than the second predefined threshold value and equal to or less than the third predefined threshold value (212), the control instructions (318) comprise instructions to control the parked vehicle (100) to repark such that the parked vehicle (100) tilts to increase the distance (206) between the object and the driver's door of the parked vehicle (100).
5. The control device according to any one of claims 1 to 4, wherein the sensor data (304) further represent a surrounding in driving direction of the parked vehicle (100); wherein the one or more processors (102) are configured to: * determine, using the sensor data (304), whether there is an obstacle (214) in driving direction of the parked vehicle (100) in a distance equal to or less than a fourth predefined threshold value, and * provide the control instructions (318) only in the case that it is determined that there is no obstacle in driving direction of the parked vehicle (100) in the distance equal to or less than the fourth predefined threshold value.
6. The control device according to any one of claims 1 to 5, wherein the one or more processors (102) are configured to: * determine, using the sensor data (304), a risk value (R) representing a collision risk when reparking the parked vehicle (100); * determine, whether the risk value (R) is equal to or less than a predefined risk threshold value (Rth); and * provide the control instructions (318) only in the case that it is determined that the risk value (R) is equal to or less than the predefined risk threshold value (Rth).to
7 The control device according to claim 6, wherein the one or more processors (102) are configured to: * determine, using the sensor data (304), whether a moving object is approaching the parked vehicle (100); * in the case that it is determined that a moving object is approaching the parked vehicle (100), determine the risk value (R) to comprise a risk of colliding with the moving object when reparking.
8. The control device according to claim 6 or 7, wherein the sensor data (304) represent at least one driver's side image showing the object located at the driver's side laterally next to the driver's door of the parked vehicle (100), wherein the object is a further parked vehicle (202); and wherein the one or more processors (102) are configured to: * determine, using the at least one driver's side image, whether a person is sitting in the further parked vehicle (202) at co-driver's side; * in the case that it is determined that the person is sitting in the further parked vehicle (202) at co-driver's side, determine the risk value (R) to comprise a risk of the person getting out of the further parked vehicle (202).
9. The control device according to claim 8, wherein the one or more processors (102) are further configured to: * determine, using the at least one driver's side image, whether a further person is sitting in the further parked vehicle (202) at driver's seat; and * in the case that it is determined that the further person is sitting in the further parked vehicle (202) at driver's seat, determine the risk value (R) to comprise a risk that the further person moves the further parked vehicle (202).
10. The control device according to any one of claims 6 to 9, wherein the sensor data (304) represent at least one co-driver's side image showing a surrounding at the co-driver's side laterally next to the driver's door of the parked vehicle (100); wherein the one or more processors (102) are configured to: * determine, using the sensor data (304), whether there is a yet further parked vehicle (204) located at the co-driver's side laterally next to the parked vehicle (100) in a distance equal to or less than a fifth predefined threshold value; * in the case that it is determined that there is the yet further parked vehicle (204) located at the co-driver's side laterally next to the parked vehicle (100) in the distance equal to or less than the fifth predefined threshold value, determine, using the at least one co-driver's side image, whether a person is sitting in the yet further parked vehicle (204) at driver's side; * in the case that it is determined that the person is sitting in the yet further parked vehicle (204) at driver's side, determine the risk value (R) to comprise a risk that the person gets out of the yet further parked vehicle (204) and/or that the person moves the yet further parked vehicle (204).
11. The control device according to any one of claims 1 to 10, wherein the one or more processors (102) are configured to: * receive, from a user device (504), user instructions instructing to provide space for entering the parked vehicle (100) via the driver's door; and * determine responsive to receiving the user instructions, whether there is the object located at the driver's side laterally next to the driver's door of the parked vehicle (100) in the distance equal to or less than the first predefined threshold value and whether there is the further object located at the co-driver's side laterally next to the parked vehicle (100) in the distance equal to or less than the second predefined threshold value.
12. The control device according to claim 11, wherein the one or more processors (102) are configured to: * in the case that it is determined that there is the object located at the driver's side laterally next to the driver's door of the parked vehicle (100) in the distance equal to or less than the first predefined threshold value and that it is determined that there is the further object located at the co-driver's side laterally next to the parked vehicle (100) in the distance equal to or less than the second predefined threshold value, provide information to the user device (504) to inform a user (502) of the user device (504) that there is not enough space to repark the parked vehicle (100); and/or * provided that in combination with claim 5, in the case that it is determined that there is the obstacle in driving direction of the parked vehicle (100) in the distance equal to or less than the fourth predefined threshold value, provide information to the user device (504) to inform the user (502) about the obstacle.
13. The control device according to any one of claims 6 to 10 in combination with claim 11 or 12, wherein the one or more processors (102) are configured to, in the case that it is determined that the risk value (R) is greater than the predefined risk threshold value (Rth), provide information to the user device (504) to inform the user (504) about the risk.
14. A vehicle (100) comprising the control device according to any one of claims 1 to 13.
15. A method (600) for controlling a vehicle, the method (600) comprising: * receiving sensor data representing at least a surrounding laterally next to a parked vehicle at a driver's side and at a co-driver's side of the parked vehicle (602); * determining, using the sensor data, whether there is an object located at the driver's side laterally next to a driver's door of the parked vehicle in a distance equal to or less than a first predefined threshold value, and whether there is a further object located at the co-driver's side laterally next to the parked vehicle in a distance equal to or less than a second predefined threshold value (604); * in the case that it is determined that there is the object located at the driver's side laterally next to the driver's door of the parked vehicle in the distance equal to or less than the first predefined threshold value and that there is no further object located at the co-driver's side laterally next to the parked vehicle in the distance equal to or less than the second predefined threshold value, providing control instructions to control the parked vehicle to repark to increase the distance between the object and the driver's door of the parked vehicle (606).