DE102011077173A1 - Method for determining a parking trajectory - Google Patents

Abstract

A method is proposed for determining a parking trajectory (36a, 36b, 37) of a vehicle (10) in a perpendicular parking space (14), comprising steps for acquiring data on the surroundings of the vehicle (10) and acquiring at least one, at least one longitudinal side the object (12, 16, 18) delimiting the perpendicular parking space (14) and determining a target parking position for the vehicle (10) in the perpendicular parking space (14) taking into account at least one defined safety distance (30) for opening a driver's door (28) of the vehicle (10) ), wherein the determination of a parking trajectory (36a, 36b, 37) for reaching the determined target parking position and output for converting the parking trajectory (36) to the driver or to a higher-level system are included.

Description

State of the art

The invention relates to a method for determining a parking trajectory of a vehicle in a transverse parking space, taking into account the safety distance defined for the door opening at least the driver's door and a driving assistance device.

There are known parking assistance systems that support the parking process of vehicles in parking spaces, being distinguished between largely parallel to the road, the curb or the roadside aligned longitudinal parking spaces and so-called Querparklücken in which the vehicle is oriented transversely or substantially perpendicular to the road. Are known Einparkassistenzsysteme, which measure a parking space when driving past by a suitable sensor, calculate a corresponding parking trajectory in a considered suitable parking space and guide the driver in the parking space in a parking position, with a conversion can be passive or active. In a passive implementation, the driver is transmitted via a user interface steering angle specifications, as well as Losfahr- and stop commands to achieve the most ideal parking position. In an active implementation of the driver starts the parking process, the system takes over all actions fully autonomous. Furthermore, embodiments are known, wherein the driver only takes over the driving and braking process, while the steering operation is taken over by the system.

When parking in a transverse parking space, the detection of the environmental situation of the parking space is of particular importance. Out DE 10 2008 058 652 A1 a method for calculating a parking trajectory of a motor vehicle in a transverse parking space is known, which is based on acquired by ultrasonic sensors measurement data, which are prepared based on expected measurement data. The expected measurement data include characteristic widths and / or lengths of motor vehicles, exterior mirror dimensions and shape symmetry, as well as characteristic dimensions of gaps. The determination of the parking trajectory takes place in such a way that the vehicle assumes an ideal parking position in the middle of the parking space.

Out DE 60 2004 006 797 T2 For example, a parking assist system is known that allows the user to specify a destination parking space in a parking space captured by the system. Here, the target parking frame can be chosen arbitrarily, so that for example the vehicle is not parked in the middle, but is closer to one side of the current parking frame or placed obliquely with respect to the center line, avoiding an obstacle or a vehicle door can be opened or closed without hindrance.

Furthermore, it is off DE 10 2006 046 827 A1 a method for parking assistance known, wherein in a not yet completed positioning of the vehicle in a parking space, the actual dimensions of the parking space are determined. Based on the determined actual data, a trajectory is determined, which also takes into account a target position which takes into account a person occupancy of the vehicle. Accordingly, the target position can not be centered in the parking space but laterally offset, so that a required safety distance is maintained to the adjacent vehicles.

Advantages of the invention

The method according to the invention for determining a parking trajectory of a vehicle in a transverse parking space comprises acquiring data of an environment of the vehicle and at least one object delimiting at least one longitudinal side of the transverse parking space, whereby a target parking position in the transverse parking space is determined, which takes into account a defined safety distance for opening the driver's door , In addition, it is possible to determine a parking trajectory and to transmit corresponding instructions to the driver or to a driver assistance system for tracing the parking trajectory. A corresponding driver assistance system can perform a parking process autonomously or semi-automatically.

The defined safety distance is the distance that allows opening at least the driver's door without endangering or damaging the driver's door and / or an obstacle located in the swivel range of the driver's door so far that a comfortable getting in and out is possible.

It is advantageous that the determined parking trajectory for positioning the vehicle in a target parking position in the transverse parking space takes into account the surroundings of the parking space, so that a sufficient defined safety distance for opening at least the driver's door is maintained in the target parking position. Thus, the vehicle is actively or passively directed to an ideal parking position, which advantageously also the approach direction and the vehicle orientation in the transverse parking space is determined by the method in order to achieve an ideal target parking position, especially in narrow transverse parking spaces. In an ideal target parking position, in particular a sufficient defined safety distance is maintained on the driver side of the vehicle to be parked, which is sufficient to open the driver's door without danger. Also becomes a necessary distance considered, which is to be followed to open a driver's door adjacent parked vehicles.

The method for determining a parking trajectory of a vehicle in a transverse parking space, ie the Einparkweg from the current position of the vehicle to a desired parking position, are based on data collected in driving past the vehicle. Under Querparklücken be understood as those which are arranged transversely or at least obliquely to the direction of travel, which are at least partially or completely bounded by lines, such as parking bays in parking lots or parking spaces in garages, garage entrances or the like. The data provide information about the parking frame available to the vehicle, which can be surrounded by limiting and / or non-limiting objects. Limiting objects, in particular on at least one longitudinal side of the transverse parking space, may be, for example, parked vehicles, walls or hedges or marking lines of a parking bay which is more or less closed. Non-limiting objects can be beverage cans or puddles, which theoretically can be overrun and thus are not necessarily to be considered.

The acquisition of the data can be done via at least one detection unit, for example, a non-contact sensor, e.g. an ultrasonic sensor, PMD sensor, Lidar sensor or radar sensor or a camera or a combination of different non-contact sensors is used. The acquired data can be further processed, for example, to obtain an environmental model of the parking space. In this case, the acquired data can convey a three-dimensional image of the surrounding area of the parking space, wherein the objects detected in the environment can be further classified into flat objects which could be run over and non-flat objects which represent a non-drivable boundary.

A determination of a parking trajectory for the vehicle in a transverse parking space is based on the acquired data, taking into account, for example, if an object bounding the transverse parking space is detected on at least one longitudinal side of the transverse parking space. The parking trajectory can provide that the vehicle is guided starting from its current position with a straight entry into the transverse parking space in a target parking position or with a curved entrance, a so-called cross drive. A distinction is made between several parking situations which lead the vehicle along an appropriately adapted parking trajectory into a correspondingly adapted target parking position of the vehicle.

If the transverse parking space on parallel longitudinal sides is not surrounded by delimiting objects but is marked, for example, by a parking frame applied to the floor, the parking trajectory can be determined such that the vehicle reaches an ideal target parking position in the center of the marked transverse parking space.

However, if the transverse parking space is bounded on at least one longitudinal side by at least one object, for example a neighboring parked vehicle or a wall or a hedge, the parking trajectory is determined taking into account the detected objects. Thus, the driver can be given a parking trajectory in which the vehicle is placed in the target parking position such that the driver has sufficient space to open his driver's door. In particular, the vehicle may not be parked centrally in the limited transverse parking space, but the target parking position may be laterally offset from the center. When determining the parking trajectory, it is taken into account on which longitudinal side the at least one delimiting object is present, as well as orientation and orientation of the object. For example, the orientation of an adjacent parked vehicle and in particular the position of the driver's door of this parked vehicle is detected. Furthermore, the driver and / or the system can be proposed by the parking trajectory a direction of approach into the parking space, in particular whether the retraction into the transverse parking space in the forward direction or in the backward direction, so that the vehicle is parked oriented in the forward or reverse direction. This takes into account that sufficient space is available for the driver of the vehicle to be parked in the reached target parking position to open his own driver's door.

Furthermore, it is considered in particular, if the at least one limiting object is a parked vehicle, that this vehicle is likewise ready to open its driver's door a corresponding space.

The method according to the invention is of particular importance in the case of small transverse parking spaces with parking frames surrounded by two parallel longitudinal sides of delimiting objects, in particular adjacent vehicles. The target parking position occupied by the vehicle in the limited transverse parking space is determined by the method according to the invention such that the limiting objects, their position and possibly their orientation in the surroundings are taken into account. If the limiting objects are vehicles, in one embodiment of the method according to the invention the parking orientation of these parked vehicles is either by the driver or by a corresponding driver Capture unit detected. Thus, there is the possibility of determining the adapted parking trajectory of the vehicle to be parked, not only taking into account the space required to open the driver's door, but also the space required, which, in the event of opening of at least the driver's doors next to the parked vehicles, is respected for safety reasons shall be. Thus, the driver not only a laterally offset from the center of the limited parking frame target parking position can be transmitted, but it can also the driver the cheapest parking direction, ie in the forward or backward direction, are displayed.

If the transverse parking space determined by the system is limited only on one longitudinal side of a vehicle positioned there, then the adapted parking trajectory determined according to the method provides an ideal target parking position, wherein in particular the orientation of the vehicle to be parked in the parking direction of the already parked, is adapted to adjacent vehicle. Opens in the parked adjacent vehicle, the driver's door in the direction of the targeted Querparklücke, the target parking position from the middle of the Querparklücke is laterally offset such that increases the distance between the adjacent positioned vehicles. Furthermore, an orientation of the vehicle to be parked is determined, which provides an opposite direction with respect to the already parked vehicle. On the other hand, if the driver's door of the adjacent parked vehicle does not open in the direction of the targeted transverse parking space, the target parking position is offset from the center in the direction of the parked vehicle when the vehicle to be parked enters the transverse parking space in an opposite direction. Thus, the driver of the vehicle to be parked is at a distance to comfortably leave his vehicle ready. However, if, for example, it results that the approach of the transverse parking space is more favorable in a direction corresponding to the adjacent parked vehicle, then the adapted parking trajectory provides that the vehicle to be parked reaches a target parking position in which the distance between the adjacent vehicles is increased.

If the targeted transverse parking space is located between two parking bays already occupied by vehicles, then according to the invention an adapted parking trajectory is determined, which determines both the direction, i. in forward or backward orientation, of the vehicle to be parked, as well as any target parking position displaced from the centerline of the targeted transverse parking space. In this case, it is particularly considered that if a certain approach direction in the targeted transverse parking space is preferred by the ambient conditions, the particular parking trajectory is adapted such that between adjacent positioned vehicles there is a sufficient distance, which allows easy opening of the respective driver's door. It is preferred that the driver doors of adjacent vehicles are not opposite one another in the same plane but are offset from one another and therefore open parallel to one another.

Brief description of the drawings

Embodiments of the invention are illustrated in the drawings and explained in more detail in the following description. Show it

1 a vehicle in a parking situation in a transverse parking space according to the prior art;

2 a vehicle in a parking situation in a transverse parking space in accordance with the method according to the invention;

3 a vehicle in a parking situation in a garage;

4a and 4b a vehicle in a parking situation in a transverse parking space in accordance with the method according to the invention with two adjacent parked vehicles.

Embodiments of the invention

In 1 is a vehicle 10 shown in one of lines 12 delimited transverse parking space 14 is parked, with a centerline of the transverse parking space 14 with reference number 15 is designated. In neighboring parking bays are vehicles 16 . 18 switched off. A width 20 , which for parking in the transverse parking space 14 is available, by means of suitable sensors, which on the vehicle 10 is intended to be measured. By means of the sensor system, the environment of the vehicle is detected, wherein, for example, ultrasonic sensors can be used on all sides of the vehicle for distance measurements to limiting objects. With a video system markers can also be determined and evaluated. For example, infrared sensors, PMD sensors, radar sensors, lidar sensors or video distance measurement can also be used. Due to the determined width 20 the transverse parking space 14 the determination of a parking trajectory takes place 22 for the parking process. In the in 1 illustrated example of the prior art runs the parking trajectory 22 along a path which is divided into several sections. In particular, straight and / or curved sections are provided, along which the vehicle 10 in forward drive or reverse drive in his Target parking position is conducted. In the in 1 As shown, the target parking position is centered in the transverse parking space 14 ie a major axis 24 of the vehicle 10 has to the limiting lines 12 the transverse parking space 14 the same distance, or the main axis 24 each has a distance 26 to the edge of the parking space, which is half the width 20 equivalent. The midline 15 the transverse parking space 14 falls with the main axis 24 together.

That in the transverse parking space 14 positioned vehicle 10 is for example in forward travel along the parking trajectory 22 retracted. To open a driver's door 28 becomes a defined safety distance 30 which should be enough that the driver the vehicle 10 can leave comfortably. A possible front passenger could get out before the actual parking process, so that especially in narrow transverse parking spaces 14 the defined safety distance 30 on the driver's side of the vehicle 10 is important. Accordingly, results for the vehicle 10 a necessary width 20 the transverse parking space 14 from the sum of a vehicle width 32 and the defined safety distance 30 for safe opening of the driver's door 28 , In the target parking position, it should be ensured that the defined safety distance 30 to open the driver's door 28 is provided. In the in 1 illustrated example, in which according to the prior art, the vehicle 10 in the middle of the transverse parking space 14 is positioned, is a remaining gap distance 34 on the driver side less than the defined safety distance 30 that would be necessary, the driver's door 28 Enough to open to comfortably the vehicle 10 to be able to leave.

In the in 2 illustrated embodiment of a parking situation according to the method according to the invention are the same elements with the in 1 used reference numerals. The vehicle 10 , parked in the transverse parking space 14 with the width 20 , is from the vehicles parked in adjacent parking bays 16 . 18 surround. As 2 is to be seen is with 22 the parking trajectory that would lead to a central target parking position according to the prior art, wherein the main axis 24 of the vehicle 10 at the midline 15 the transverse parking space 14 lies. In contrast, referred to 36 an adapted parking trajectory, which leads to a laterally shifted to the right target parking position, where the main axis 24 of the vehicle 10 not in the middle of the transverse parking space 14 lies, but offset to the center line 15 is. The width between main axis 24 of the vehicle 10 to a limit of parking, here the parked next to the vehicle 18 . 16 , is called distance 38 specified, which the defined safety distance 30 for safe opening of the driver's door 28 includes. To open the vehicle door 28 therefore remains on the driver's side of the main axis 24 related distance 38 with the driver a defined safety distance 30 is available, which allows the driver to comfortably the vehicle 10 to leave.

In 3 is shown a Einparkituation in which the vehicle 10 in one of walls 40 limited transverse parking space 14 is positioned, for example in a garage. Furthermore, can 3 be taken that an adaptive parking under consideration of the defined safety distance 30 to open at least the driver's door 28 along the adapted parking trajectory 36a . 36b by means of a transverse entry, ie from the left 36a or from the right 36b the transverse parking space 14 approaching or by means of a straight driveway 37 is possible. Depending on which includes the adapted parking trajectory 36a . 36b . 37 corresponding curve sections and / or straight line sections. In the illustrated embodiment, the vehicle 10 in the forward direction along the adjusted parking trajectory 36a . 36b . 37 directed into its target parking position, so that these are opposite the midline 15 the transverse parking space 14 is shifted laterally to the right. This results in the distance 38 relative to the main axis 24 on the left side of the vehicle, with the defined safety distance 30 ready to open the driver's door. Likewise it is possible that the vehicle 10 in reverse driving along the adapted parking trajectory 36a . 36b . 37 is directed, with the appropriate distance 38 adhered to on the vehicle side. In the case of a right-hand drive vehicle, the distance becomes 38 comprising the defined safety distance 30 , taken into account on the right side of the vehicle and accordingly the parking trajectory 36a . 36b . 37 determined.

In the 4a and 4b are parking situations of a vehicle 10 shown, which in the transverse parking space 14 is positioned. The transverse parking space 14 lies between further parking bays in which the vehicles 16 and 18 are turned off. In one embodiment of the method according to the invention, the orientation of the adjacent parked vehicles 16 and 18 determined, for example via a video-based system and / or by the driver.

In the in 4a Parking situation shown are the vehicles 16 and 18 positioned forward in their parking bays. It is also possible that both vehicles 16 . 18 are positioned in a reverse direction. In the forward direction opens a driver of the vehicle 16 in a left-hand drive vehicle, a driver's door 42 to the left towards the in the transverse parking space 14 vehicle to be parked 10 , On the vehicle 18 opens a door 44 on the driver's side also to the left and thus not in the direction of the in the transverse parking space 14 vehicle to be parked 10 , Erfndungsgemäß is an adapted parking trajectory 36 suggested, the vehicle 10 in the 4a illustrated embodiment preferably occupies a reverse direction in the target parking position, ie the adapted parking trajectory 36 is driven along a reverse drive. In an opposite orientation of the vehicles 16 . 18 a forward drive would be proposed.

Furthermore, the adapted parking trajectory looks 36 one opposite the midline 15 the transverse parking space 14 moved to the left target parking position. So will the driver of the vehicle 10 one for the opening of his driver's door 28 sufficient distance 38 Provided while avoiding opening the driver's door 42 of the vehicle 16 pointing in the direction of the vehicle to be parked 10 takes place, a defined safety distance 30 is fallen short of.

In 4b is shown a parking situations in which the vehicle 16 oriented in one direction and the vehicle 18 in an opposite direction in the transverse parking space 14 parked adjacent parking bays are parked. According to the invention, the driver of the vehicle 10 an adapted parking trajectory 36 transmitted, which is one opposite the center line 15 the transverse parking space 14 indicates laterally offset target parking position. The page of the shift of the adapted parking trajectory 36 is determined such that driver doors of adjacent vehicles 10 . 16 . 18 not in a plane opposite, but are offset from each other and open parallel to each other. To which side the shift of the target parking position with respect to the center line 15 the transverse parking space 14 depends on the direction in which the vehicle 10 in the transverse parking space 14 retracts, ie in the forward or reverse direction. If forward entry proves to be preferred, the target parking position is shifted to the right. If a reverse entry is preferred, the target parking position is shifted to the left.

QUOTES INCLUDE IN THE DESCRIPTION

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

Cited patent literature

• DE 102008058652 A1 [0003]
• DE 602004006797 T2 [0004]
• DE 102006046827 A1 [0005]

Claims (12)

Method for determining a parking trajectory ( 36a . 36b . 37 ) of a vehicle ( 10 ) in a transverse parking space ( 14 ), comprising the following steps: a) acquisition of data of an environment of the vehicle ( 10 ) and detection of at least one, at least one longitudinal side of the transverse parking space ( 14 ) limiting object ( 12 . 16 . 18 ); b) determination of a target parking position for the vehicle ( 10 ) in the transverse parking space ( 14 ) including at least one defined safety distance ( 30 ) for opening a driver's door ( 28 ) of the vehicle ( 10 ); c) Determination of a parking trajectory ( 36a . 36b . 37 ) to reach the target parking position determined in step b); d) output for implementing the parking trajectory ( 36a . 36b . 37 ) to the driver or to a driver assistance system for implementing the method. Method according to claim 1, characterized in that the target parking position of the vehicle ( 10 ) with respect to a center line ( 15 ) the transverse parking space ( 14 ) is offset laterally. Method according to claim 1 or 2, characterized in that in the target parking position of the vehicle ( 10 ) at least on the driver's side of opening the driver's door ( 28 ) defined safety distance ( 30 ) to the limiting objects ( 12 . 16 . 18 ) is ready. Method according to one of claims 1 to 3, characterized in that the vehicle ( 10 ) the parking trajectory ( 36a . 36b . 37 ) departs in a forward motion. Method according to one of claims 1 to 3, characterized in that the vehicle ( 10 ) the parking trajectory ( 36a . 36b . 37 ) departs in a backward motion. Method according to one of claims 1 to 5, characterized in that the parking trajectory ( 36a . 36b . 37 ) is traveled with a straight entrance or a cross entrance. Method according to one of claims 1 to 6, characterized in that the at least one, at least one longitudinal side of the transverse parking space ( 14 ) limiting object ( 12 . 16 . 18 ) a vehicle ( 16 . 18 ), whose parking direction and the direction to open a driver's door ( 42 . 44 ) of the vehicles ( 16 . 18 ) is determined. Method according to claim 7, characterized in that the parking direction of the at least one vehicle ( 16 . 18 ) by the driver of the vehicle ( 10 ) is determined. Method according to claim 7, characterized in that the parking direction of the at least one vehicle ( 16 . 18 ) is determined by a detection unit. Method according to claim 7 to 9, characterized in that the parking direction of the at least one vehicle ( 16 . 18 ) in determining the target parking position of the vehicle ( 10 ) is taken into account. Method according to claim 10, characterized in that the parking direction of the at least one vehicle ( 16 . 18 ) in the determination of the parking trajectory ( 36a . 36b . 37 ), whereby the defined safety distance ( 30 ) for the door opening of the vehicle ( 10 ) in the determination of the parking trajectory ( 36a . 36b . 37 ) is taken into account. Driving assistance device for assisting a parking operation of a vehicle ( 10 ) in a transverse parking space ( 14 ) with at least one detection unit for acquiring data of an environment of the vehicle ( 10 ), with a unit for determining a parking trajectory ( 36a . 36b . 37 ) to a target parking position according to a method according to any one of claims 1 to 11 and an output unit for outputting information on the target parking position and driving instructions for parking or automatic control of parking.

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