CN112537289A

CN112537289A - Dynamic automatic vehicle discharging

Info

Publication number: CN112537289A
Application number: CN202010974577.8A
Authority: CN
Inventors: 蒂莫西·C·贝特格; 托马斯·格里茨; 道格拉斯·布卢; 阿赫麦德·本米蒙; 纳贾·怀西茨基; 拉尔斯·库纳特; 埃里克·迈克尔·拉瓦伊
Original assignee: Ford Global Technologies LLC
Current assignee: Ford Global Technologies LLC
Priority date: 2019-09-18
Filing date: 2020-09-16
Publication date: 2021-03-23
Also published as: DE102019125066A1

Abstract

The invention provides a method for automatic departure of a motor vehicle, with which a parking trajectory is determined on the basis of directly collected data about the surroundings of the motor vehicle and furthermore on the basis of data relating to the surroundings of the motor vehicle and data obtained during the movement of the motor vehicle to a parking position and data stored in a storage device of the motor vehicle. The invention will also provide a motor vehicle and a system for performing the method.

Description

Dynamic automatic vehicle discharging

Technical Field

The invention relates to a method for automatic departure of a motor vehicle, to a motor vehicle and to a system for carrying out the method.

Background

In modern motor vehicles, in simple parking assist systems, systems are often used to support parking and departure. Parking assistance systems exist that can automatically perform the entire parking process. With the advent of autonomously driven vehicles, automated parking assist systems will also become more prevalent. The parking assist system may assist a parking process by taking over steering (semi-assisted parking, SAP), or may fully perform a parking process by taking over steering, accelerating, braking, and shifting (full assisted parking, FAP). The driver has a monitoring function in the motor vehicle and, for example, has a button associated with parking which remains pressed and can be released to immediately stop the parking process.

Another option is for parking with remote control, which corresponds to the FAP, but is controlled by the driver from outside the vehicle, for example by means of a smartphone in which a corresponding application (app) is installed. In so doing, for example, a button associated with parking or an area on the touch screen is also pressed, by which the driver can immediately stop the parking process by releasing the button or the area on the touch screen. The most common use of parking with remote control is to park or exit in too narrow parking spaces that do not allow convenient opening of the doors of the motor vehicle. In this way, it is possible to get on and off at another more convenient location. Parking with remote control is disclosed, for example, in documents US 2016/240080 a1, US 7,053,795B 2 and US 8,558,690B 2. Documents US 2016/152258 a1 and EP 2687410 a1 also disclose methods by which it is possible to react to obstacles occurring in the planned trajectory, in particular when driving out of the vehicle with remote control. The object is to improve the prior art method.

Disclosure of Invention

This object is achieved by a method having the features of claim 1 and a motor vehicle according to claim 12 and a system according to claim 13. Further advantageous embodiments and embodiments of the invention result from the sub-and dependent claims, the figures and the exemplary embodiments. Embodiments of the invention can be combined with one another in an advantageous manner;

a first aspect of the invention relates to a method for automatic departure, having the following steps:

-issuing a first control command to move the motor vehicle from the current parking position to the target position,

-recording the surroundings of the motor vehicle in connection with the movement of said motor vehicle from the parking position,

-issuing a second control command to select a direction of movement and an angle of movement from the parking position,

-identifying at least a first trajectory of the departure movement from the parking position to the target position,

-starting the departure movement.

The method is characterized in that the first trajectory is also determined on the basis of data relating to information about the surroundings of the motor vehicle, data determined during the movement of the motor vehicle to the parking position and data stored in a storage device of the motor vehicle. In other words, the calculation of the first trajectory contains directly obtained information, i.e. the currently obtained information and, if possible, stored information.

The method according to the invention is advantageous in that it allows to prospectively plan the trajectory of an automatic departure of a motor vehicle for remote control. This information is recorded by, but not limited to, radar, ultrasound, lidar, and/or a camera. Furthermore, the method allows a dynamic adaptation of obstacles present in the trajectory that has been driven. The method is preferably started, monitored and terminated by means of a smart control device, e.g. a smartphone, in which the respective application is installed.

Preferably, the first track is divided into a plurality of sub-tracks. This is particularly advantageous near intersection areas, where several back and forth manoeuvre procedures have to be performed to counteract the risk of collision with other road users. However, this is also advantageous in other obstacle areas or on narrow roads. The planned sub-trajectory can be displayed to the driver (user of the method) on a display, wherein he can determine the maximum number of moves and the departure time. Preferably, the number of sub-tracks and the time of the departure movement are limited. Advantageously, potential traffic is therefore not unnecessarily obstructed. Furthermore, the driver may be given several positions to let him choose the position at which to stop the motor vehicle.

Preferably, the information about the surroundings of the motor vehicle relates to the width of the road on which the motor vehicle is to travel. Advantageously, this information is already included, since the road width may vary along the length of the road, i.e. may for example be of a greater extent in the instant vision zone than in the target zone where the motor vehicle stops at the end of the departure procedure. More advantageously, this information is already stored before departure from the method.

Preferably, the information about the surroundings of the motor vehicle relates to the distance of an intersection of roads on which the motor vehicle is going to travel. Advantageously, the trajectory can be planned to exit without entering or being too close to the intersection area. As described above, a vehicle trajectory may be planned out of a plurality of sub-trajectories with a plurality of direction changes, for example to avoid intersection areas.

Preferably, a ring memory is used as the storage means in the method. This information is stored over a certain period of time and/or over a certain distance of travel. Particularly preferably, when the motor vehicle is switched off, the data relating to the ring memory are transcribed onto the non-volatile memory device. Thus, this information can be advantageously accessed if the motor vehicle is in the parking position for more than a specified time. The nonvolatile storage device is, for example, a hard disk drive in a motor vehicle or a hard disk drive of a control unit or a cloud.

Preferably, information is included in the method about the entry of other motor vehicles into the area of the first trajectory. The movement of a motor vehicle that has moved in a particular direction in a planned trajectory can be detected. Furthermore, information about the planned movement of another motor vehicle in a specific direction can be detected, for example, by means of an activated indicator and/or a vehicle-to-vehicle communication. This information may come directly from the user, and in some cases the user may be more informed of the traffic situation than is available using the device of the user's motor vehicle. Advantageously, in this case, blocking of the travel path of another motor vehicle or a potential collision is advantageously prevented.

Preferably, in addition to the first trajectory, at least a second trajectory is determined and one of the above trajectories is selected by the user. In this case, the direction from the parking space, the angle of movement, and the desired lane and/or target position and direction may be selected according to the preference of the user, with respect to the boundary of the parking space (e.g., other vehicles, walls, or curbs). The above description of the first trajectory applies correspondingly to the other selected trajectories.

A second aspect of the invention relates to a motor vehicle having at least one detection device for detecting the surroundings of the motor vehicle, a memory device and a control device; the detection means is selected from the group of radar, ultrasound, lidar and camera. The control device is configured to control the method according to the invention. The advantages of the motor vehicle correspond to the advantages of the method according to the invention.

A third aspect of the invention relates to a system comprising a motor vehicle according to the invention and a smart device with an application allowing remote control to start and execute the method according to the invention.

Drawings

The invention is explained in more detail on the basis of the drawings. In the attached drawings

Fig. 1 shows a schematic view of an embodiment of a motor vehicle according to the invention;

FIG. 2 shows a flow chart of an embodiment of a method according to the invention;

FIG. 3 shows a schematic view of a parking maneuver;

FIG. 4 shows a schematic view of another parking maneuver;

FIG. 5 shows a schematic view of another parking maneuver;

fig. 6 shows a schematic view of another parking maneuver.

Detailed Description

Fig. 1 shows a first motor vehicle 1. The motor vehicle 1 has a motor vehicle front 11, a motor vehicle rear 12 and two side faces 13. At least one detection device 20 for obstacle detection and distance measurement is provided in the region of the motor vehicle front 11, the motor vehicle rear 12 and/or the side 13, respectively, the detection device 20 being, for example, a radar, an ultrasound, a camera 21 or a lidar, but not limited thereto.

The first motor vehicle 1 also has a memory device 22, which memory device 22 is designed to receive and store information from the detection device 20. The storage means 22 are designed as a ring memory. The first motor vehicle 1 also has a control device 23, which control device 23 is designed to receive information from the detection device 20, to process this information and to send control commands to the steering system of the wheels 11, to the brakes of the motor vehicle, to the gearbox or to the engine. In addition, the control device 23 can also call up information from the storage device 22 and process it accordingly. The control device may also call information from an external memory such as the cloud.

Furthermore, the first motor vehicle 1 has a receiving device 24, which receiving device 24 is designed to receive control commands of a remote control 25. The remote control 25 may be a smartphone 25, on which smartphone 25 an application is installed, on which smartphone 25 the driver (or other user) of the first motor vehicle 1 may issue commands to perform parking manoeuvres and to intervene if necessary.

In the method according to fig. 2 for automatically discharging the first motor vehicle 1, a first control command for moving the first motor vehicle 1 from the current parking position P to the target position Z is issued in a first step S1 a. In a second step S2, the detection device 20 detects the surroundings of the first motor vehicle 1, which surroundings are related to the movement of the motor vehicle in the selected direction from the parking position. This information is transmitted to the control device 23. Step S2 also incorporates information acquired during driving out to the parking space, so that an image of the parking environment beyond the area immediately visible to the equipment of the first motor vehicle 1 can be generated.

In a third step S3, the driver of the first motor vehicle 1 issues a second control command via the application on the smartphone 25. The driver selects which direction the vehicle should be driven in. In fig. 3-6, the first motor vehicle is located in a parking space between second motor vehicle 2 and third motor vehicle 3, which may be too narrow to get on and from which first motor vehicle 1 is to be automatically removed. In the stepwise selection, it is determined in three substeps, for example by selecting an alternative from the list, whether the motor vehicle 1 is a forward departure (at the top in fig. 3, 4 and 5) or a backward departure (at the bottom in fig. 3, 4 and 5) (substep 1), and the direction of departure of the motor vehicle 1 from the parking space (fig. 3) directly to the left (fig. 4) or to the right (fig. 5) (substep 2), and at which angle the motor vehicle 1 is departing (substep 3). Alternatively, the selection of the direction may also be made in one step, by a swipe or tap among alternative selections displayed in a graphical representation on the touch screen of the smartphone 25. Only directions that can be reached are provided.

The control device 23 determines the first trajectory T1 for the departure movement in the fourth step S4 based on the instruction received in S1 and the information received in step S2. The first trajectory T1 corresponds to a projected route from the parking position P to the target position Z. The control device 23 transmits control commands to the steering, brakes, gearbox and transmission of the first motor vehicle 1 according to the trajectory T1. A plurality of trajectories can also be identified, from which the driver of the first motor vehicle 1 can select one. In addition, for example, also obstacles are detected and a single feasible trajectory is proposed accordingly, for example if the movement is limited by a wall 30 (or a house wall or the like) (above fig. 5). Near the intersection area, if the first trajectory T1 contacts the intersection area, the first trajectory T1 may be divided into a plurality of sub-trajectories. The driver can select the number and direction of sub-trajectories on the display on the screen of the smartphone 25.

When driving out on a road 31 with multiple lanes 32 (fig. 6), the target position Z may be at different distances from the parking position, depending on the trajectory selected. The driver may select the lane on which the driver is to park and thus select the second trajectory T2 or the third trajectory T3, for example, by touching the touch screen of the smartphone 25. Further, automatic selection may be performed based on map information on a specified route according to an optimal road direction.

In a fifth step S5, the departure movement is started and executed along the selected trajectory (e.g., the first trajectory T1). The activation is performed in accordance with an activation signal issued by the driver via the remote control 25. The possible course along the first trajectory T1 is recorded by the detection device 20. If an obstacle enters, particularly in the form of another motor vehicle or other road user, the movement is stopped. If the obstacle disappears, the movement continues along the first trajectory T1. Furthermore, an avoidance trajectory, which moves the motor vehicle to the target position Z around an obstacle, may be determined and executed in front of the control device 23.

Obstacles may not be directly present. In this case, for example, a setting indicator of another motor vehicle, which indicates a movement in a particular direction, can be detected by means of the detection device 20, which other motor vehicle will cross the selected trajectory. The expected movement of the motor vehicle may also be regulated by motor vehicle-to-vehicle communication. In any case, the movement of the first motor vehicle 1 in the selected trajectory T1 will be stopped until it is clear that the route is free and remains free.

List of reference numerals

1 first Motor vehicle

2 second Motor vehicle

3 third Motor vehicle

11 front part of vehicle

12 rear part of vehicle

13 vehicle side

20 detection device

21 vidicon

22 storage device

23 control device

24 receiving device

25 transmitting device

P parking position

Z target position

T1 first trajectory

Second trajectory of T2

T3 third trace

Claims

1. Method for automatic departure of a first motor vehicle (1), having the steps of:

-issuing a first control command to move the motor vehicle (1) from the current parking position (P) to the target position (Z),

-recording the surroundings of the motor vehicle (1) in connection with the movement of the motor vehicle from the parking position (P),

-issuing a second control command to select a direction of movement and an angle of movement from the parking position (P),

-determining at least one first trajectory (T1) of the departure movement from the parking position (P) to the target position (Z),

-starting the departure movement,

it is characterized in that the preparation method is characterized in that,

the first trajectory (T1) is also determined on the basis of data about the surroundings of the motor vehicle and data determined during the movement of the motor vehicle (1) to the parking position (P) and data stored in a storage device (22) of the motor vehicle (1).

2. The method of claim 1, wherein the first trajectory (T1) is divided into a plurality of sub-trajectories.

3. The method of claim 2, wherein the number of sub-tracks and the time of departure movement are limited.

4. The method according to any one of the preceding claims, wherein the information about the surroundings of the motor vehicle relates to the width of a road (31) on which the motor vehicle (1) is to be driven.

5. Method according to any of the preceding claims, wherein the information about the surroundings of the motor vehicle relates to the distance from an intersection area of a road (31) on which the motor vehicle (1) is to move.

6. Method according to any of the preceding claims, wherein a ring memory is used as the storage means (22).

7. Method according to claim 6, wherein data on the ring memory (22) is transcribed into a non-volatile storage device when the motor vehicle (1) is shut down.

8. Method according to any one of the preceding claims, wherein information about the entry of other motor vehicles into the area of the first trajectory (T1) is additionally taken into account.

9. Method according to any of the preceding claims, wherein the method is initiated by means of a remote control (25).

10. The method of any one of the preceding claims, wherein in addition to the first trajectory (T1), at least a second trajectory (T2) is determined and one of the trajectories (T1, T2) is selected.

11. The method of claim 10, wherein one of the trajectories (T1, T2) is automatically pre-selected.

12. Motor vehicle (1) having at least one detection device for detecting the surroundings of the motor vehicle (20), the at least one detection device being selected from the group of radar, ultrasound, lidar and a camera (21), a storage device (22) and a control device (23), characterized in that the control device (23) is configured to control the method according to any one of claims 1-11.

13. System comprising a motor vehicle according to claim 12 and a smart device with an application allowing remote control for starting and executing a method with the features of any of claims 1-11.