DE102019212842B4 - Control of a motor vehicle using an unmanned aerial vehicle - Google Patents

Abstract

Method for controlling at least a partially autonomous motor vehicle (40), comprising the steps:
- Assigning (10) at least one unmanned aerial device (50) to the motor vehicle (40);
- Receiving (13) a highly accurate pose of the motor vehicle (40) determined (11) by the unmanned aerial device (50); and
- Determine (14) a trajectory to be followed by the motor vehicle (40) using the received high-precision pose.

Description

The present invention relates to a method, a computer program with instructions, and a device for controlling an at least partially autonomous motor vehicle. The invention further relates to a motor vehicle in which a method or a device according to the invention is used. The invention also relates to a method and a computer program with instructions for supporting the control of an at least partially autonomous motor vehicle by an unmanned aerial vehicle, as well as an unmanned aerial vehicle in which a method according to the invention is used.

In the coming years, more and more vehicles will be able to handle an increasing number of situations automatically and without direct driver intervention. To cope with these situations, autonomous or semi-autonomous vehicles will be equipped with an ever-growing number of sensors, such as ultrasonic sensors, laser scanners, radar sensors, lidar sensors, cameras, etc. These sensors are used to scan the vehicle's surroundings and provide this information to algorithms responsible for the safe movement of the autonomous or semi-autonomous vehicle within its environment.

Additionally, there are approaches to supplement the vehicle's sensors with those of an unmanned aerial vehicle (UAV). Currently, a wide variety of small, unmanned aerial vehicles are available. These are commonly referred to as drones and can be equipped with cameras.

In this context, it describes DE 10 2014 226 458 A1 A method for controlling an autonomously moving, data-linked missile connected to a vehicle, wherein various driving modes are defined for the vehicle. In this method, control signals for controlling the missile's position are generated by a control unit in the vehicle and transmitted to the missile. In particular, a control signal for the missile's altitude is generated and transmitted to the missile, depending on the current driving mode of the vehicle. The missile acquires data about the vehicle's surroundings, which can then be transmitted to the vehicle.

US 2015/0102154 A1 This describes a system comprising a motor vehicle with a landing area for an aircraft and an actively propelled unmanned aerial vehicle. The aircraft is configured to be deployed at the landing area. The motor vehicle and the aircraft are configured so that the motor vehicle can supply the aircraft with fuel and/or electrical power while the aircraft is deployed at the landing area.

CN 105702033 A This describes a traffic control system. A drone uses aerial imagery to determine whether a road is blocked by a traffic jam. This involves analyzing the movement of vehicles. This information is sent to a backend system, which then transmits updated route information to vehicles whose planned route is likely to be affected by the traffic jam.

CN 110143200 A This describes a method for acquiring vehicle status data. The method involves communication between a drone and at least one of the vehicle's control units. The drone acquires the vehicle's position data and receives information about its speed and engine RPM. The vehicle's status is then derived from an analysis of this data.

Most current applications focus on managing various driving situations and parking scenarios. These scenarios are handled by autonomous or semi-autonomous vehicles using the sensor information they themselves gather to decide on the most appropriate maneuver. For example, an automated valet parking service (AVP) is currently being developed, where a driver can leave their vehicle at the entrance of a parking garage, and the vehicle will perform a fully automated parking maneuver. The vehicle will independently find a parking space and park itself. The driver can then later initiate the vehicle's return to a specific location, for example, via smartphone. For the vehicle to drive autonomously and fully automatically, it must be equipped with comprehensive environmental sensors and intelligent systems to avoid collisions and obstructions. This is very complex and expensive.

An alternative approach involves providing environmental perception and intelligence through the parking garage itself, rather than the vehicle. The parking garage or parking area is equipped with comprehensive sensors, such as cameras or laser scanners, to detect all vehicles with high accuracy. In this case, the vehicle requires an interface for remote control of its driving from outside. An intelligent component within the parking garage then guides the vehicle's movement using this information. This interface is used. This approach requires a significant investment in equipping the parking areas, which is also associated with high costs.

In this context, it describes DE 10 2017 107 701 A1 A method for remotely maneuvering a motor vehicle in a parking area using an external, parking-area infrastructure device. In this method, the infrastructure device determines the vehicle's position data within the parking area. A communication channel is established from the infrastructure device towards the vehicle. Via this communication channel, the infrastructure device provides longitudinal and lateral guidance to the vehicle, enabling it to maneuver within the parking area based on the vehicle's position data.

Extending this alternative approach, the sensors of an unmanned aerial vehicle (UAV) are used in addition to the sensors in the parking area. This reduces the number of sensors required in the parking area, as gaps in parking area monitoring can be compensated for by the UAV's sensors.

In this context, it describes DE 10 2016 202 033 A1 A method for monitoring a parking lot for motor vehicles. In this method, the parking lot is monitored by means of a surveillance device on a flying drone. The data collected by the drone is sent to a vehicle located within the parking lot or to a parking management system for managing the parking lot. The drone can also take over the control of the vehicle.

One object of the invention is to provide improved solutions for controlling a motor vehicle using an unmanned aerial vehicle.

This problem is solved by a method having the features of claim 1 or 2, by a computer program with instructions according to claim 7, and by a device having the features of claim 8. Preferred embodiments of the invention are the subject of the dependent claims.

• - Zuordnen zumindest einer unbemannten Flugvorrichtung zu dem Kraftfahrzeug;
• - Empfangen einer von der unbemannten Flugvorrichtung bestimmten hochgenauen Pose des Kraftfahrzeugs; und
• - Bestimmen einer von dem Kraftfahrzeug zu fahrenden Trajektorie unter Verwendung der empfangenen hochgenauen Pose.

According to a first aspect of the invention, a method for controlling an at least partially autonomous motor vehicle comprises the following steps:

• - Assigning at least one unmanned aerial vehicle to the motor vehicle;
• - Receiving a highly accurate pose of the motor vehicle determined by the unmanned aerial vehicle; and
• - Determining a trajectory to be followed by the motor vehicle using the received high-precision pose.

• - Zuordnen zumindest einer unbemannten Flugvorrichtung zu dem Kraftfahrzeug;
• - Empfangen einer von der unbemannten Flugvorrichtung bestimmten hochgenauen Pose des Kraftfahrzeugs; und
• - Bestimmen einer von dem Kraftfahrzeug zu fahrenden Trajektorie unter Verwendung der empfangenen hochgenauen Pose.

According to another aspect of the invention, a computer program contains instructions which, when executed by a computer, cause the computer to perform the following steps for controlling an at least partially autonomous motor vehicle:

• - Assigning at least one unmanned aerial vehicle to the motor vehicle;
• - Receiving a highly accurate pose of the motor vehicle determined by the unmanned aerial vehicle; and
• - Determining a trajectory to be followed by the motor vehicle using the received high-precision pose.

The term "computer" is to be understood broadly. In particular, it also includes control units and other processor-based data processing devices.

The computer program can, for example, be made available for electronic retrieval or be stored on a computer-readable storage medium.

• - eine Zuordnungseinheit zum Zuordnen zumindest einer unbemannten Flugvorrichtung zu dem Kraftfahrzeug;
• -eine Empfangseinheit zum Empfangen einer von der unbemannten Flugvorrichtung bestimmten hochgenauen Pose des Kraftfahrzeugs; und
• - eine Planungseinheit zum Bestimmen einer von dem Kraftfahrzeug zu fahrenden Trajektorie unter Verwendung der empfangenen hochgenauen Pose.

According to another aspect of the invention, a device for controlling an at least partially autonomous motor vehicle comprises:

• - an allocation unit for assigning at least one unmanned aerial vehicle to the motor vehicle;
• -a receiving unit for receiving a highly accurate pose of the motor vehicle determined by the unmanned aerial vehicle; and
• - a planning unit for determining a trajectory to be followed by the motor vehicle using the received high-precision pose.

With regard to a motor vehicle, the system envisages providing the vehicle with a highly accurate pose—that is, a highly precise position and orientation—as the basis for planning its trajectory. This pose is determined beforehand by an unmanned aerial vehicle and then transmitted to the vehicle. This has the advantage that the vehicle itself does not need to determine its own position with high accuracy. This means that the vehicle does not require complex sensors and software for highly accurate positioning. The system must provide self-location capabilities. The trajectory to be driven can, in particular, be one driven as part of an automated parking maneuver. This avoids high development and investment costs for the vehicle or the parking area. The necessary data exchange can take place directly between the vehicle and the unmanned aerial vehicle or via an intermediate infrastructure device.

• - Zuordnen der unbemannten Flugvorrichtung zu dem Kraftfahrzeug;
• - Bestimmen einer hochgenauen Pose des Kraftfahrzeugs durch die unbemannte Flugvorrichtung; und
• - Übermitteln der hochgenauen Pose an das Kraftfahrzeug.

According to another aspect of the invention, a method for supporting the control of an at least partially autonomous motor vehicle by an unmanned aerial device comprises the following steps:

• - Assigning the unmanned aerial vehicle to the motor vehicle;
• - Determining a highly accurate pose of the motor vehicle by the unmanned aerial vehicle; and
• - Transmitting the highly accurate pose to the motor vehicle.

• - Zuordnen der unbemannten Flugvorrichtung zu dem Kraftfahrzeug;
• - Bestimmen einer hochgenauen Pose des Kraftfahrzeugs durch die unbemannte Flugvorrichtung; und
• - Übermitteln der hochgenauen Pose an das Kraftfahrzeug.

According to another aspect of the invention, a computer program contains instructions which, when executed by a computer, cause the computer to perform the following steps to support the control of an at least partially autonomous motor vehicle by an unmanned aerial device:

• - Assigning the unmanned aerial vehicle to the motor vehicle;
• - Determining a highly accurate pose of the motor vehicle by the unmanned aerial vehicle; and
• - Transmitting the highly accurate pose to the motor vehicle.

The term "computer" is to be understood broadly. In particular, it also includes control units, microcontrollers, and other processor-based data processing devices.

The computer program can, for example, be made available for electronic retrieval or be stored on a computer-readable storage medium.

According to another aspect, an unmanned flying device is set up to carry out a method according to the invention for supporting the control of an at least partially autonomous motor vehicle.

With regard to an unmanned aerial vehicle (UAV), it is provided that the UAV determines a highly accurate pose of a vehicle and transmits this pose to the vehicle. A direct communication link between the UAV and the vehicle can be used for this purpose. Alternatively, communication can also take place via an intermediary infrastructure device. The highly accurate pose can then be used by the vehicle for trajectory planning, e.g., for parking maneuvers within a parking space. The solution according to the invention avoids high development and investment costs in the vehicle or the parking space. Furthermore, the UAV technology can be flexibly updated, e.g., because newer sensor generations are available. It is not necessary to develop for a new vehicle generation over several years or to replace the sensors in the parking space. The described solution is potentially applicable in any environment suitable for UAVs.

According to one aspect of the invention, the unmanned aerial vehicle (UAV) determines the vehicle's highly accurate pose using sensors and compares this measurement with its own position. In this embodiment, the UAV determines the vehicle's highly accurate pose by measuring its position using suitable sensors, such as a camera or laser scanner, comparing it with its own position, and calculating the vehicle's pose. Measuring the vehicle's position can be achieved, for example, by having the UAV hover over a specific corner of the vehicle, such as the front left. Alternatively, a single UAV can also utilize certain typical vehicle features, such as the wheels, license plates, or windows, to determine the position very precisely. It is also possible to use more than one UAV for highly accurate vehicle position measurement, for example, one at the front left and a second at the rear right. This makes it possible to capture the physical dimensions of the vehicle and thus determine its pose using relatively simple sensors and image processing, or other very simple sensors.

According to one aspect of the invention, the unmanned aerial device (UAD) acquires information about the motor vehicle or its surroundings and transmits it to the motor vehicle. In this embodiment, the UAD transmits information about the vehicle's environment to the vehicle, thus contributing to the vehicle's environmental awareness. During its driverless operation, the vehicle must know very precisely which obstacles are present. There are hazards around the vehicle. This applies to both the static environment and dynamic objects, such as pedestrians or animals. All currently available sensors have weaknesses and blind spots, which is why complete coverage or ensuring comprehensive environmental perception is either impossible or extremely difficult, complex, and therefore expensive. Here, support from one or more unmanned aerial vehicles (UAVs) can help. Especially in confined spaces with very dense obstacles, the sensors are often ineffective. An UAV operating at a greater distance can still assess the situation and report information such as criticality, distance values, or object information, e.g., the positions, dimensions, or classifications of obstacles, to the vehicle. Utilizing the information from UAVs thus allows for a less complex and expensive sensor set in the vehicle or even makes complete coverage possible in the first place.

According to one aspect of the invention, the information transmitted by the unmanned aerial vehicle (UAV) is used to compare it with information acquired by or derived from the vehicle's sensors. In this embodiment, the information from the UAV enables a redundant backup path, as may be required for safety reasons. The UAV essentially acts as an external instance that also acquires the information obtained by the vehicle itself, such as localization or environmental perception data, in a completely different way and makes it available to the vehicle. The vehicle can then perform a comparison based on this available data.

According to one aspect of the invention, information is transmitted from the motor vehicle to the unmanned aerial vehicle (UAV). This information is either captured by the vehicle's sensors or derived from information captured by the sensors. The UAV then performs a plausibility check of the received information. In this embodiment, the vehicle provides the UAV with, for example, information it has gathered for localization or environmental perception. The UAV verifies this information and, in the event of relevant deviations, can stop the autonomous driving process or trigger special handling, such as re-measurements by the sensors, a reduction in the vehicle's speed, or other measures. This increases the safety of the driving maneuver.

Preferably, an autonomous or semi-autonomous motor vehicle uses a method or device according to the invention for controlling the motor vehicle. In particular, a method or device according to the invention can be used to perform an automated parking operation.

• 1 zeigt schematisch ein Verfahren zur Steuerung eines zumindest teilautonomen Kraftfahrzeugs unter Verwendung einer unbemannten Flugvorrichtung;
• 2 zeigt eine erste Ausführungsform einer Vorrichtung zur Steuerung eines zumindest teilautonomen Kraftfahrzeugs;
• 3 zeigt eine zweite Ausführungsform einer Vorrichtung zur Steuerung eines zumindest teilautonomen Kraftfahrzeugs;
• 4 stellt schematisch ein Kraftfahrzeug dar, in dem eine erfindungsgemäße Lösung realisiert ist;
• 5 zeigt schematisch eine unbemannte Flugvorrichtung, in der eine erfindungsgemäße Lösung realisiert ist; und
• 6 zeigt schematisch ein Systemkonzept der erfindungsgemäßen Lösung am Beispiel eines automatisierten Parkservice.

Further features of the present invention will become apparent from the following description and the attached claims in conjunction with the figures.

• 1 schematically shows a method for controlling at least a partially autonomous motor vehicle using an unmanned aerial vehicle;
• 2 shows a first embodiment of a device for controlling at least a partially autonomous motor vehicle;
• 3 shows a second embodiment of a device for controlling at least a partially autonomous motor vehicle;
• 4 schematically represents a motor vehicle in which a solution according to the invention is implemented;
• 5 schematically shows an unmanned aerial vehicle in which a solution according to the invention is implemented; and
• 6 schematically shows a system concept of the solution according to the invention using the example of an automated parking service.

To better understand the principles of the present invention, embodiments of the invention are explained in more detail below with reference to the figures. It is understood that the invention is not limited to these embodiments and that the described features can also be combined or modified without leaving the scope of protection of the invention as defined in the appended claims.

1 Figure 1 schematically shows a method for controlling a semi-autonomous motor vehicle using an unmanned aerial vehicle (UAV). For simplicity, the figure depicts both the steps performed by the motor vehicle and those performed by the UAV. In a first step, an UAV is assigned to a motor vehicle. The UAV then determines a highly accurate pose of the motor vehicle. For this purpose, the UAV can detect the motor vehicle using sensors and compare it with its own position. The high-precision pose is transmitted by the unmanned aerial vehicle (UAV) to the motor vehicle 12 and received by the motor vehicle 13. Using the received high-precision pose, a trajectory to be driven by the motor vehicle is then determined 14. In addition, the UAV can acquire information about the motor vehicle or its surroundings and transmit it to the motor vehicle. The information transmitted by the UAV can then be used to compare it with information acquired by or derived from the motor vehicle's sensors 16. This can be done before the trajectory to be driven is determined or while the trajectory is being driven. Furthermore, the information can be taken into account when determining 14 the trajectory to be driven. Likewise, information acquired by or derived from the motor vehicle's sensors can be transmitted from the motor vehicle to the UAV 17. The unmanned aerial vehicle can then be used to verify the plausibility of the transmitted information. 18 This can also be done before the trajectory to be driven is determined or while driving the trajectory.

2 Figure 1 shows a simplified schematic representation of a first embodiment of a device 20 for controlling an at least partially autonomous motor vehicle. The device 20 has an input 21 for receiving information, e.g., data transmitted by an unmanned aerial vehicle (UAV) or an infrastructure device. An assignment unit 22 first assigns at least one UAV to the motor vehicle. After assignment, a receiving unit 23 receives a highly accurate pose of the motor vehicle determined by the UAV. To determine the highly accurate pose, the UAV can, for example, detect the motor vehicle using sensors and then compare it with its own position. Finally, a planning unit 24 uses the received highly accurate pose to determine a trajectory for the motor vehicle. Additionally, the UAV can acquire information about the motor vehicle or its surroundings and transmit it to the motor vehicle. The information transmitted by the unmanned aerial vehicle (UAV) can then be used to compare it with information acquired by the vehicle's sensors or information derived from them. This can occur before the trajectory is determined or while the vehicle is traversing the route. Furthermore, the planning unit (24) can consider this information when determining the trajectory. Similarly, the vehicle can transmit information to the UAV that is acquired by its sensors or derived from sensor data. The UAV can then perform a plausibility check of the transmitted information. This, too, can occur before the trajectory is determined or while the vehicle is traversing the route.

The allocation unit 22, the receiving unit 23, and the planning unit 24 can be controlled by a control unit 25. Settings of the allocation unit 22, the receiving unit 23, the planning unit 24, or the control unit 25 can be changed via a user interface 28. The data generated in the device 20 can be stored in a memory 27 of the device 20 as needed, for example, for later evaluation or for use by the components of the device 20. The allocation unit 22, the receiving unit 23, the planning unit 24, and the control unit 25 can be implemented as dedicated hardware, for example, as integrated circuits. Of course, they can also be partially or fully combined or implemented as software running on a suitable processor, for example, a GPU. The input 21 and the output 26 can be implemented as separate interfaces or as a combined bidirectional interface.

3 Figure 3 shows a simplified schematic representation of a second embodiment of a device 30 for controlling an at least partially autonomous motor vehicle. The device 30 comprises a processor 32 and a memory 31. For example, the device 30 is a computer or a control unit. Instructions are stored in the memory 31 which, when executed by the processor 32, cause the device 30 to perform the steps according to one of the described methods. The instructions stored in the memory 31 thus embody a program executable by the processor 32, which implements the method according to the invention. The device has an input 33 for receiving information. Data generated by the processor 32 is provided via an output 34. Furthermore, it can be stored in the memory 31. The input 33 and the output 34 can be combined into a bidirectional interface.

The processor 32 can comprise one or more processor units, such as microprocessors, digital signal processors, or combinations thereof.

The memory elements 27, 31 of the described embodiments can have volatile and/or non-volatile memory areas and can include a wide variety of storage devices and storage media, for example hard disks, optical storage media or semiconductor memory.

The two embodiments of the device are preferably integrated into the motor vehicle. However, it is equally possible that they are part of an infrastructure device connected to the motor vehicle.

4 Figure 40 schematically depicts a motor vehicle 40 in which a solution according to the invention is implemented. The motor vehicle 40 has sensors 41 with which information about the environment of the motor vehicle 40 can be acquired. For example, the sensors 41 can include ultrasonic sensors, a laser scanner, radar sensors, lidar sensors, or one or more cameras. Further components of the motor vehicle 40 are a control system 42 for autonomous or semi-autonomous driving operation, a navigation system 43, and a data transmission unit 44. A connection to an unmanned aerial vehicle (UAV) can be established by means of the data transmission unit 44, in particular for receiving a highly accurate pose of the motor vehicle 40 determined by the UAV. Alternatively or additionally, a connection to an infrastructure device can be established by means of the data transmission unit 44. A device 20 for controlling the motor vehicle 40 determines a trajectory to be followed by the motor vehicle 40 using the received highly accurate pose and makes this available to the control system 42. The information provided by the navigation system 43 and the sensors 41 can be taken into account when determining the trajectory. A memory 45 is available for storing data. Data exchange between the various components of the motor vehicle 40 takes place via a network 46.

5 Figure 1 schematically shows an unmanned aerial vehicle 50 in which a solution according to the invention is implemented. In this example, the unmanned aerial vehicle 50 is a multicopter with four propellers, i.e., a quadcopter. Of course, the unmanned aerial vehicle 50 can also have a different number of propellers and be configured, for example, as a tricopter, pentacopter, hexacopter, or octocopter. Other technologies for generating the required lift can also be used. The unmanned aerial vehicle 50 includes a sensor 51, e.g., a camera or a laser scanner, for measuring the position of a motor vehicle. The unmanned aerial vehicle 50 is controlled by a control system 52 using information from a position determination system 53, which determines the self-position of the unmanned aerial vehicle 50. A data processing unit 54 determines a highly accurate pose of the motor vehicle by comparing its position with the self-position. This data is then transmitted by a data transmission unit 55 to the vehicle or an infrastructure device. Various wireless communication technologies can be used for this purpose. For example, a connection can be established via Bluetooth or WLAN (Wireless Local Area Network).

6 Figure 5 schematically illustrates a system concept of the solution according to the invention using the example of an automated parking service. A parking area 60 with an automated parking service has one or more unmanned aerial vehicles (UAVs) 50. At least one UAV 50 receives a motor vehicle 40 dropped off by a customer at any desired location. It then determines a highly accurate pose of the motor vehicle 40 and makes this available to the motor vehicle 40 for trajectory planning. This can be done via a direct communication link between the UAV 50 and the motor vehicle 40 or via an intermediate infrastructure device 62, e.g., a central control unit. Furthermore, the UAV 50 can measure the motor vehicle 40 so that the parameters for trajectory planning are known. For example, a wide vehicle must be steered differently than a narrow vehicle so that it can navigate tight curves.

Preferably, the unmanned aerial vehicle 50 hovers above, in front of, or behind the motor vehicle 40 and follows it to its destination parking space. The unmanned aerial vehicle 50 can continuously monitor the vehicle's operation or provide the motor vehicle 40 with environmental information. In this case, the unmanned aerial vehicle 50 is essentially an external instance that also acquires the information gathered by the motor vehicle 40 itself, e.g., information on location or environmental perception, in a completely different way and makes it available to the motor vehicle 40. It is also possible for the motor vehicle 40 to provide the unmanned aerial vehicle 50 with the information it has gathered regarding location or environmental perception. The unmanned aerial vehicle 50 provides environmental perception. It validates this perception and, in the event of relevant deviations, can stop the autonomous journey or trigger special treatment, such as renewed sensor measurements, a reduction in the vehicle's speed, or other measures. The unmanned aerial vehicle 50 either possesses the intelligence to control the vehicle itself or obtains the control information from the infrastructure device 62. To determine the control information, the infrastructure device 62 can, for example, access sensors 61 in the parking area 60.

The unmanned aerial vehicle 50 can have previously detected an available parking space as its target parking location. Alternatively, it can receive this information from the infrastructure device 62. When several unmanned aerial vehicles 50 are operating simultaneously, they can exchange information, enabling better parallel guidance of motor vehicles 40. While guiding the vehicles, an unmanned aerial vehicle 50 can simultaneously search for available parking spaces and report them to the infrastructure device 62 or to other unmanned aerial vehicles 50.

Reference symbol list

10

Assigning an unmanned aerial vehicle to a motor vehicle

11

Determining a highly accurate pose of the vehicle using the flying device

12

Transmitting the highly accurate pose to the vehicle

13

Receiving the highly accurate pose by the motor vehicle

14

Determining a trajectory to be driven

15

Information capture and transmission by the aircraft

16

Comparison of the transmitted information by the motor vehicle

17

Capturing and transmitting information by the motor vehicle

18

Plausibility check of the transmitted information by the aircraft

20

device

21

Entrance

22

Assignment unit

23

Receiving unit

24

Planning unit

25

Control unit

26

Exit

27

memory

28

User interface

30

device

31

memory

32

processor

33

Entrance

34

Exit

40

motor vehicle

41

Sensors

42

Control system

43

Navigation system

44

Data transmission unit

45

memory

46

network

50

Unmanned aerial vehicle

51

Sensors

52

Control system

53

Positioning system

54

Data processing unit

55

Data transmission unit

60

Parking

61

Sensors

62

Infrastructure device

Claims (10)

Method for controlling at least a partially autonomous motor vehicle (40), comprising the steps of: - Assigning (10) at least one unmanned aerial vehicle (50) to the motor vehicle (40); - Receiving (13) a highly accurate pose (11) of the motor vehicle (40) determined by the unmanned aerial vehicle (50); and - Determining (14) a trajectory to be followed by the motor vehicle (40) using the received highly accurate pose. Method for supporting the control of at least semi-autonomous motor vehicles (40) by an unmanned aerial vehicle (50), comprising the steps of: - Assigning (10) the unmanned aerial vehicle (50) to the motor vehicle (40); - Determining (11) a highly accurate pose of the motor vehicle (40) by the unmanned aerial vehicle (50); and - Transmitting (12) the highly accurate pose to the motor vehicle (40). Procedure according to Claim 1 or 2 , wherein the unmanned flying device (50) determines (11) the highly accurate pose of the motor vehicle (40) by means of a sensor system (51) and performs a comparison with its own position. Method according to one of the preceding claims, wherein the unmanned flying device (50) receives information about the motor vehicle (40) or about the environment of the motor vehicle (40) and transmits it to the motor vehicle (40) (15). Procedure according to Claim 4 , wherein the information transmitted by the unmanned aircraft device (50) is used to perform a comparison with information acquired by a sensor system (41) of the motor vehicle (40) or information derived therefrom (16). Method according to one of the preceding claims, wherein information is transmitted from the motor vehicle (40) to the unmanned aircraft (50) (17), which was detected by a sensor (41) of the motor vehicle (40) or derived from information detected by the sensor (41), and wherein the received information is validated by the unmanned aircraft (50) (18). A computer program containing instructions which, when executed by a computer, instruct the computer to perform the steps of a procedure according to one of the Claims 1 until 6 initiate. Device for controlling at least a semi-autonomous motor vehicle (40), comprising: - an assignment unit (22) for assigning (10) at least one unmanned aerial vehicle (50) to the motor vehicle (40); - a receiving unit (23) for receiving (13) a high-precision pose (11) of the motor vehicle (40) determined by the unmanned aerial vehicle (50); and - a planning unit (24) for determining (14) a trajectory to be followed by the motor vehicle (40) using the received high-precision pose. motor vehicle (40), characterized in that the motor vehicle (40) has a device (20) according to Claim 8 exhibits or is established to implement a procedure in accordance with Claim 1 to control the motor vehicle (40). Unmanned aircraft (50), characterized in that the unmanned aircraft (50) is configured to perform a method according to Claim 2 to support the control of at least a partially autonomous motor vehicle (40).