DE102012016867A1 - Park assistance system for automatic parking of car at fixed park position in e.g. garage, has stationary verification and monitoring device connectable with controllers over communication link and for monitoring automatic parking process - Google Patents
Park assistance system for automatic parking of car at fixed park position in e.g. garage, has stationary verification and monitoring device connectable with controllers over communication link and for monitoring automatic parking process Download PDFInfo
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- DE102012016867A1 DE102012016867A1 DE201210016867 DE102012016867A DE102012016867A1 DE 102012016867 A1 DE102012016867 A1 DE 102012016867A1 DE 201210016867 DE201210016867 DE 201210016867 DE 102012016867 A DE102012016867 A DE 102012016867A DE 102012016867 A1 DE102012016867 A1 DE 102012016867A1
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- 238000012806 monitoring device Methods 0.000 title claims abstract description 27
- 238000012795 verification Methods 0.000 title claims abstract description 26
- 238000004891 communication Methods 0.000 title claims abstract description 7
- 238000012544 monitoring process Methods 0.000 title claims description 6
- 238000000034 method Methods 0.000 title abstract description 9
- 230000003287 optical effect Effects 0.000 claims abstract description 3
- 230000007704 transition Effects 0.000 claims description 5
- 230000007257 malfunction Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- BUHVIAUBTBOHAG-FOYDDCNASA-N (2r,3r,4s,5r)-2-[6-[[2-(3,5-dimethoxyphenyl)-2-(2-methylphenyl)ethyl]amino]purin-9-yl]-5-(hydroxymethyl)oxolane-3,4-diol Chemical compound COC1=CC(OC)=CC(C(CNC=2C=3N=CN(C=3N=CN=2)[C@H]2[C@@H]([C@H](O)[C@@H](CO)O2)O)C=2C(=CC=CC=2)C)=C1 BUHVIAUBTBOHAG-FOYDDCNASA-N 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000010191 image analysis Methods 0.000 description 1
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
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Abstract
Description
Die Erfindung betrifft ein Parkassistenzsystem zum automatischen Parken eines Fahrzeugs an einer festgelegten Parkposition, umfassend wenigstens einen im oder am Fahrzeug angeordneten Umfeldsensor zum Erfassen der Umgebung des Fahrzeugs und einen im Fahrzeug angeordneten Controller zur autonomen Steuerung des Fahrzeugs durch Längsführung und/oder Querführung.The invention relates to a parking assistance system for automatic parking of a vehicle at a predetermined parking position, comprising at least one arranged in or on the vehicle environment sensor for detecting the environment of the vehicle and an in-vehicle controller for autonomous control of the vehicle by longitudinal guide and / or transverse guidance.
Parkassistenzsysteme zählen zu den Fahrerassistenzsystemen, die dazu dienen, den Fahrer von bestimmten Aufgaben bei der Nutzung eines Fahrzeugs zu entlasten. Durch die fortschreitende Automatisierung von Parkassistenzsystemen werden dem Fahrer mehr und mehr Aufgaben abgenommen.Parking assistance systems are among the driver assistance systems that serve to relieve the driver of certain tasks when using a vehicle. Due to the progressive automation of parking assistance systems, more and more tasks are taken on the driver.
Es ist bereits ein sogenannter Parklenkassistent (PLA) entwickelt worden, der dem Fahrer beim Einparken das Lenken (Querführung) abnimmt. Der Fahrer muss nur noch die Längsführung durch Betätigung des Bremspedals vornehmen. Eine Weiterentwickung des Parklenkassistenten sieht vor, dass neben der Querführung auch die Längsführung automatisiert ist. Der Fahrer muss den Parkvorgang nur noch überwachen, indem er eine Art Totmannschalter betätigt. Dazu ist es erforderlich, dass der Fahrer sich im Fahrzeug befindet, um im Notfall, z. B. bei einer drohenden Kollision, mittels Lenkrad oder Bremspedal eingreifen zu können.A so-called Parklenkassistent (PLA) has already been developed, which reduces the driver when parking the steering (transverse guidance). The driver only has to perform the longitudinal guidance by pressing the brake pedal. A further development of the Parklenkassistents provides that in addition to the transverse guide and the longitudinal guide is automated. The driver only has to monitor the parking process by pressing a deadman switch. For this purpose, it is necessary that the driver is in the vehicle, in an emergency, for. B. in an imminent collision to intervene by means of steering wheel or brake pedal.
Aus der
In der
Bei herkömmlichen Parkassistenzsystemen, bei denen der Einparkvorgang wenigstens teilweise automatisiert ist, ist eine Überwachung durch den Fahrer erforderlich. Falls der Fahrer eine gefährliche Situation erkennt, z. B. eine bevorstehende Kollision des Fahrzeugs mit einem Objekt, kann der Fahrer den automatisch ablaufenden Parkvorgang unterbrechen, um einen sicheren Zustand zu einzuleiten.In conventional parking assistance systems in which the parking process is at least partially automated, monitoring by the driver is required. If the driver detects a dangerous situation, eg. As an imminent collision of the vehicle with an object, the driver can interrupt the automatic parking process to initiate a safe state.
Der Erfindung liegt daher die Aufgabe zugrunde, ein Parkassistenzsystem anzugeben, das ein automatisches Parken ermöglicht, ohne dass eine Überwachung durch den Fahrer erforderlich ist.The invention is therefore based on the object to provide a parking assistance system that allows automatic parking, without a monitoring by the driver is required.
Zur Lösung dieser Aufgabe ist bei einem Parkassistenzsystem der eingangs genannten Art erfindungsgemäß vorgesehen, dass an der festgelegten Parkposition eine über eine drahtlose Kommunikationsverbindung mit dem im Fahrzeug angeordneten Controller verbindbare stationäre Verifikations- und Überwachungseinrichtung angeordnet ist, die zum Überwachen des automatischen Parkens ausgebildet ist.To achieve this object, the invention provides, in a parking assistance system of the type mentioned at the outset, that a stationary verification and monitoring device, which is designed to monitor automatic parking, is arranged at the fixed parking position via a wireless communication link with the controller arranged in the vehicle.
Die Erfindung beruht auf der Erkenntnis, dass ein sicheres Parken mit dem Parkassistenzsystem ermöglicht werden kann, indem der Parkvorgang durch eine externe Sensorik überwacht wird. Diese externe Sensorik ist vollkommen unabhängig von dem im Fahrzeug angeordneten Controller und kann diesen somit überwachen und im Falle einer Fehlfunktion oder einer drohenden Kollisionsgefahr in den Parkvorgang eingreifen. Bei einem erkannten Fehlverhalten kann die stationäre Verifikations- und Überwachungseinrichtung einen sicheren Zustand herbeiführen, indem in die Steuerung des Fahrzeugs eingegriffen wird. Beispielsweise kann das Fahrzeug abgebremst werden, gegebenenfalls bis zum Stillstand, gegebenenfalls kann auch die Längsführung und/oder Querführung von der stationären Verifikations- und Überwachungseinrichtung übernommen werden. Primär wird die stationäre Verifikations- und Überwachungseinrichtung beim Auftreten eines Fehlers das Fahrzeug jedoch abbremsen beziehungsweise stoppen.The invention is based on the recognition that a secure parking with the parking assistance system can be made possible by the parking operation is monitored by an external sensor. This external sensor system is completely independent of the controller arranged in the vehicle and can thus monitor it and intervene in the event of a malfunction or an imminent risk of collision in the parking operation. In case of a detected malfunction, the stationary verification and monitoring device can bring about a safe state by intervening in the control of the vehicle. For example, the vehicle can be braked, possibly to a standstill, optionally also the longitudinal guidance and / or transverse guidance can be taken over by the stationary verification and monitoring device. Primarily, however, the stationary verification and monitoring device will brake or stop the vehicle when an error occurs.
Der in dieser Anmeldung verwendete Begriff „Parkposition” umfasst sowohl eine Parkposition in einer Garage als auch in einem Carport oder einem Parkhaus. Das erfindungsgemäße Parkassistenzsystem eignet sich besonders gut für solche Fälle, bei denen ein Fahrzeug regelmäßig auf derselben Parkposition geparkt wird.The term "parking position" used in this application includes both a parking position in a garage and in a carport or a parking garage. The parking assistance system according to the invention is particularly well suited for those cases in which a vehicle is regularly parked in the same parking position.
Bei dem erfindungsgemäßen Parkassistenzsystem wird es bevorzugt, dass die stationäre Verifikations- und Überwachungseinrichtung wenigstens einen Umfeldsensor zur Überwachung der Parkposition beziehungsweise des Fahrzeugumfelds aufweist. Wesentlich ist dabei, dass mittels des Umfeldsensors eine unabhängige und damit redundante Überwachung des Parkvorgangs und der Parkposition möglich ist.In the parking assistance system according to the invention, it is preferred that the stationary verification and monitoring device has at least one environment sensor for monitoring the parking position or the vehicle surroundings. It is essential that an independent and thus redundant monitoring of the parking operation and the parking position is possible by means of the environment sensor.
Der Umfeldsensor des erfindungsgemäßen Parkassistenzsystems kann einen optischen Sensor umfassen, insbesondere einen Laserscanner oder eine Weitwinkelkamera. Alternativ oder zusätzlich kann das Umfeld auch mit einem Radarsensor oder einem Ultraschallsensor überwacht werden. Bevorzugt wird jedoch eine Weitwinkelkamera, die ein Bild des Umfelds erzeugt, eingesetzt, wobei das Bild anschließend einer Bildauswertung unterzogen wird.The environment sensor of the parking assistance system according to the invention may comprise an optical sensor, in particular a laser scanner or a wide-angle camera. Alternatively or additionally, the environment can also be monitored with a radar sensor or an ultrasound sensor. However, preferred is a wide-angle camera, which is an image of the Created environment, the image is then subjected to an image analysis.
Eine besonders hohe Sicherheit ergibt sich, wenn die stationäre Verifikations- und Überwachungseinrichtung dazu ausgebildet ist, bei einem erkannten Gefahrenzustand einen Übergang des Fahrzeugs in einen sicheren Zustand auszulösen. Der Übergang in den sicheren Zustand kann das Abbremsen des Fahrzeugs umfassen, gegebenenfalls auch die Alarmierung des Fahrers. Grundsätzlich ist das erfindungsgemäße Fahrerassistenzsystem jedoch für einen fahrerlosen Betrieb ausgelegt, das heißt, der Fahrer kann das Fahrzeug vor der Parkposition, z. B. vor der Garage, verlassen, anschließend erfolgt ein automatischer, autonomer Einparkvorgang.A particularly high level of safety results if the stationary verification and monitoring device is designed to trigger a transition of the vehicle to a safe state in the event of a recognized dangerous condition. The transition to the safe state may include the deceleration of the vehicle, possibly also the alerting of the driver. Basically, however, the driver assistance system according to the invention is designed for driverless operation, that is, the driver can the vehicle in front of the parking position, for. B. in front of the garage, leave, followed by an automatic, autonomous parking.
Zur Dokumentation der Funktion des erfindungsgemäßen Parkassistenzsystems kann es vorgesehen sein, dass die stationäre Verifikations- und Überwachungseinrichtung einen Speicher zum Aufzeichnen von Parkvorgängen aufweist. Auf diese Weise kann der Betrieb des Parkassistenzsystems dokumentiert werden, indem Sensorsignale des Umfeldsensors der stationären Verifikations- und Überwachungseinrichtung aufgezeichnet werden.To document the function of the parking assistance system according to the invention, provision may be made for the stationary verification and monitoring device to have a memory for recording parking processes. In this way, the operation of the parking assistance system can be documented by recording sensor signals of the environmental sensor of the stationary verification and monitoring device.
Gemäß einer Weiterbildung des erfindungsgemäßen Parkassistenzsystems kann es vorgesehen sein, dass die stationäre Verifikations- und Überwachungseinrichtung über ein Kommunikationsnetzwerk mit einem zentralen Server verbindbar oder verbunden ist, auf dem Informationen über durchgeführte Parkvorgänge aufgezeichnet werden können. Bei dieser Variante ist auch eine Fernwartung oder Fernsteuerung der stationären Verifikations- und Überwachungseinrichtung durch einen Betreiber möglich.According to one development of the parking assistance system according to the invention, it can be provided that the stationary verification and monitoring device can be connected or connected via a communication network to a central server, on which information about parking operations performed can be recorded. In this variant, a remote maintenance or remote control of the stationary verification and monitoring device by an operator is possible.
Das erfindungsgemäße Parkassistenzsystem ermöglicht einen autonomen Einparkvorgang, der mittels der stationären Verifikations- und Überwachungseinrichtung unabhängig von Sensoren des Fahrzeugs durchgeführt werden kann, wodurch sich eine höhere Störsicherheit ergibt.The parking assistance system according to the invention enables an autonomous parking operation, which can be performed by means of the stationary verification and monitoring device independently of sensors of the vehicle, resulting in a higher noise immunity.
Weitere Vorteile und Einzelheiten der Erfindung werden nachfolgend anhand eines Ausführungsbeispiels unter Bezugnahme auf die Zeichnung erläutert. Die Zeichnung ist eine schematische Darstellung und zeigt ein Ausführungsbeispiel eines erfindungsgemäßen Parkassistenzsystems.Further advantages and details of the invention will be explained below with reference to an embodiment with reference to the drawing. The drawing is a schematic representation and shows an embodiment of a parking assistance system according to the invention.
Das in der Figur gezeigte Parkassistenzsystem
Um zu verhindern, dass bei einer Fehlfunktion des fahrzeugseitigen Parklenkassistenten eine Beschädigung des Fahrzeugs
Die Steuerungseinrichtung
ZITATE ENTHALTEN IN DER BESCHREIBUNG QUOTES INCLUDE IN THE DESCRIPTION
Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.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.
Zitierte PatentliteraturCited patent literature
- DE 102009057837 A1 [0004] DE 102009057837 A1 [0004]
- DE 102008033925 A1 [0005] DE 102008033925 A1 [0005]
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DE201210016867 DE102012016867A1 (en) | 2012-08-25 | 2012-08-25 | Park assistance system for automatic parking of car at fixed park position in e.g. garage, has stationary verification and monitoring device connectable with controllers over communication link and for monitoring automatic parking process |
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DE201210016867 DE102012016867A1 (en) | 2012-08-25 | 2012-08-25 | Park assistance system for automatic parking of car at fixed park position in e.g. garage, has stationary verification and monitoring device connectable with controllers over communication link and for monitoring automatic parking process |
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Cited By (15)
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CN104808624A (en) * | 2015-04-19 | 2015-07-29 | 梁崇彦 | Portable intelligent management system for lifting and transferring parking equipment |
WO2015151055A1 (en) * | 2014-04-04 | 2015-10-08 | Koninklijke Philips N.V. | System and methods to support autonomous vehicles via environmental perception and sensor calibration and verification |
DE102014213699A1 (en) | 2014-07-15 | 2016-01-21 | Robert Bosch Gmbh | Device for detecting objects projecting into a road boundary |
DE102014218429A1 (en) * | 2014-09-15 | 2016-03-17 | Bayerische Motoren Werke Aktiengesellschaft | Method for carrying out an at least partially automated movement of a vehicle within a spatially limited area |
WO2016046271A1 (en) * | 2014-09-25 | 2016-03-31 | Continental Teves Ag & Co. Ohg | Sensor calibration in a car park |
WO2016128654A1 (en) | 2015-02-10 | 2016-08-18 | Renault S.A.S | Device and method for automatically parking a motor vehicle |
WO2017041941A1 (en) * | 2015-09-11 | 2017-03-16 | Robert Bosch Gmbh | Method and device for operating a motor vehicle traveling driverlessing within a parking area |
US9679485B2 (en) | 2015-09-11 | 2017-06-13 | International Business Machines Corporation | Determining a parking position based on visual and non-visual factors |
DE102016213961A1 (en) * | 2016-07-28 | 2018-02-01 | Robert Bosch Gmbh | Concept for the remote control of a motor vehicle within a parking lot |
DE102019000629A1 (en) | 2019-01-29 | 2019-06-13 | Daimler Ag | Method for operating a parking assistance system of a vehicle |
CN109931939A (en) * | 2019-02-27 | 2019-06-25 | 杭州飞步科技有限公司 | Localization method, device, equipment and the computer readable storage medium of vehicle |
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CN111502368A (en) * | 2019-01-30 | 2020-08-07 | 北京优位智停科技有限公司 | Method and equipment for realizing automatic parking by using autonomous mobile device |
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CN104808624A (en) * | 2015-04-19 | 2015-07-29 | 梁崇彦 | Portable intelligent management system for lifting and transferring parking equipment |
US9679485B2 (en) | 2015-09-11 | 2017-06-13 | International Business Machines Corporation | Determining a parking position based on visual and non-visual factors |
US10741080B2 (en) | 2015-09-11 | 2020-08-11 | Robert Bosch Gmbh | Method and device for operating a motor vehicle traveling driverlessly within a parking area |
US10255808B2 (en) | 2015-09-11 | 2019-04-09 | International Business Machines Corporation | Determining a parking position based on visual and non-visual factors |
US9953531B2 (en) | 2015-09-11 | 2018-04-24 | International Business Machines Corporation | Determining a parking position based on visual and non-visual factors |
WO2017041941A1 (en) * | 2015-09-11 | 2017-03-16 | Robert Bosch Gmbh | Method and device for operating a motor vehicle traveling driverlessing within a parking area |
US10466703B2 (en) | 2016-05-18 | 2019-11-05 | Audi Ag | Method for controlling at least one vehicle, which moves at least partially autonomously within an operating environment, and structure |
CN107666507B (en) * | 2016-07-28 | 2022-05-24 | 罗伯特·博世有限公司 | Solution for remotely controlling a motor vehicle inside a parking lot |
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DE102016213961A1 (en) * | 2016-07-28 | 2018-02-01 | Robert Bosch Gmbh | Concept for the remote control of a motor vehicle within a parking lot |
FR3087730A1 (en) * | 2018-10-31 | 2020-05-01 | Robert Bosch Gmbh | Method for reacting to a collision and device for implementing the method |
DE102019000629A1 (en) | 2019-01-29 | 2019-06-13 | Daimler Ag | Method for operating a parking assistance system of a vehicle |
CN111502368A (en) * | 2019-01-30 | 2020-08-07 | 北京优位智停科技有限公司 | Method and equipment for realizing automatic parking by using autonomous mobile device |
CN109931939A (en) * | 2019-02-27 | 2019-06-25 | 杭州飞步科技有限公司 | Localization method, device, equipment and the computer readable storage medium of vehicle |
CN112172792A (en) * | 2020-09-15 | 2021-01-05 | 华人运通(上海)自动驾驶科技有限公司 | Fixed parking space parking method and device, vehicle and storage medium |
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