DE102006003675B4 - Method and device for determining a preferred end orientation of a motor vehicle in a parking space - Google Patents

Abstract

A method for determining a preferred end orientation of a motor vehicle (1) when parking in a parking space (2) for a parking assistance system (21) of the motor vehicle (1) comprising: receiving sensor information; evaluating the sensor information to determine the preferred end orientation of the motor vehicle (1) in the parking space (2); and providing end orientation information based on the evaluation, the end orientation information indicating the end orientation of the motor vehicle (1) in the parking space (2); characterized in that the receiving of sensor information comprises receiving sensor information about the motor vehicle (1) and evaluating using an orientation determination method in which a value for the preferred end orientation from the sensor information about the motor vehicle (1) is independent of information about objects in the environment is determined.

Description

The invention relates to a method and a device for determining a preferred end orientation of a motor vehicle when parking in a parking space for a parking assistance system of the motor vehicle. In particular, the invention relates to a method according to the preamble of patent claim 1 and a device according to the preamble of claim 8.

• a) eine Abstandswarnung, (Parkdistancecontroll-PDC);
• b) eine Anzeige von Informationen über die Eignung einer Parklücke, z. B. deren Abmessungen;
• c) eine Unterstützung des Fahrers beim Einparken, was eine Lenkwinkelvorgabe oder sogar einen automatischen Lenkeingriff umfassen kann; oder
• d) ein vollständig automatisiertes Einparken.

Modern motor vehicles often have parking assistance systems. Parking assistance systems may include various assistance functions. These include, for example

• a) a distance warning, (Park Distance Control PDC);
• b) a display of information on the suitability of a parking space, z. B. their dimensions;
• c) assistance of the driver when parking, which may include a steering angle specification or even an automatic steering intervention; or
• d) fully automated parking.

In the assistance functions c) and d) a steering intervention is usually required. This means that the steering of the motor vehicle must be actively changed during the parking process. This steering intervention can be made automatically controlled by the motor vehicle itself. In the assistance functions c) and d), the motor vehicle calculates a desired path along which the motor vehicle is parked in the parking space or is to be parked.

In order to be able to determine such a nominal path, the ideal end position of the motor vehicle in the parking space must be determined. The end position of the motor vehicle is dependent on various boundary conditions. These include, for example, a length of the parking space, a depth of the parking space, the manner in which the parking space is limited in front and / or rear and / or laterally. Furthermore, in the end position of the motor vehicle, a distinction has to be made between an end orientation or end orientation of the vehicle (angle of the motor vehicle to an orientation of the parking space) and an end position of the motor vehicle. In the following, it will be discussed how a preferred end orientation for an optimal end position of the motor vehicle in the parking space can be determined at the end of a parking operation, with respect to which the motor vehicle is aligned when parking.

From the publication DE 103 54 661 A1 is known a parking assistance system that determine a parking space size, calculate a nominal trajectory and can tell a driver information and instructions about a parking operation, so that it can park the motor vehicle along a predetermined nominal path in the parking space. The desired path is calculated in each case so that the motor vehicle is preferably aligned at the end of a first Einparkzuges parallel to a curb, which limits the parking space on a lateral longitudinal side. If a parking space size is not sufficient to align the motor vehicle parallel to the curb, then a desired path is output or proposed, which leads to an oblique orientation of the motor vehicle with respect to the curb at the end of a first Einparkzuges. A subsequent alignment of the motor vehicle in the parking space should be determined on the basis of distances in front of and behind the motor vehicle to limitations of the parking space. A preferred end orientation is not determined.

From the publication DE 102 61 176 A1 a parking assist device is also known, in which a parking space is measured and a desired path is calculated. From a display device, an optimal target position of the parked vehicle is shown in a plan view of the parking space. In each case, the optimum target position achievable by means of a single-step parking procedure is displayed. This is explicitly chosen so that a vehicle approximated as a rectangle is placed as parallel as possible in a rectangular parking space. The optimum setpoint position at the end of a parking maneuver is updated in each case and depends on the current position of the vehicle. It therefore does not represent a preferred end position of the motor vehicle in the parking space when the parking space is not large enough, for example, to park the motor vehicle in the parking space in such a way that it is optimally aligned, preferably parallel to a lateral boundary of the parking space.

From the DE 10 2005 015 396 A1 For example, a method for assisting a parking operation of a vehicle is known. By means of a sensor arrangement of the vehicle, the parking space is detected while driving past the vehicle at the parking space. To provide a reliable reference for the lateral parking space boundary, the position and orientation of the side parking space boundary is calculated from data acquired by the sensor assembly prior to reaching and / or passing the parking space.

From the DE 199 09 811 A1 a parking aid for motor vehicles is known which has a gyrosensor with which the angle of rotation of the vehicle about the vertical axis of the vehicle can be measured. When a predetermined angle of rotation of the vehicle relative to a starting position of the vehicle, a warning signal is issued to a signal generator to signal to the driver that towards an initial orientation an orientation is reached that requires a counter-steering.

From the WO 2005/120932 A1 For example, a method and an apparatus for assisted parking of a motor vehicle in a parking space are known. The method provides the following steps: approaching the parking space; Measuring the parking space by means of sensors arranged on the motor vehicle; Calculating a target parking path and displaying the target parking path on a display; Display of the Isteinparkpfad on the display, so that the Isteinparkpfad can be adapted to the Solleinparkpfad.

From the DE 601 01 788 T2 For example, a method and apparatus for performing the longitudinal parking of vehicles is known. The environment is measured with sensors and instructions, for example, for actuators, to perform a parking operation, each adapted to currently determined during the parking sensor readings.

The invention is based on the technical problem of providing a method and a device with which it is possible in a simple manner reliably a preferred optimal end orientation for a parking process of a motor vehicle in a parking space, which is preferably aligned with a longitudinal direction parallel to a roadway, set.

The technical problem is solved by a method with the features of claim 1 and a device having the features of claim 8. Advantageous embodiments of the invention will become apparent from the dependent claims.

In particular, a method is provided for determining a preferred end orientation of a motor vehicle when parking in a parking space for a parking assistance system of the motor vehicle, comprising: receiving sensor information; evaluating the sensor information to determine the preferred end orientation of the motor vehicle in the parking space; and providing end-orientation information based on the evaluation, wherein the end-orientation information indicates the end-orientation of the motor vehicle in the parking space, wherein receiving sensor information includes receiving sensor information about the motor vehicle and evaluating using an orientation determination method that has a value for the preferred one Endorientierung is determined from the sensor information about the motor vehicle. Further, a device for determining a preferred end orientation of a motor vehicle when parking in a parking space for a parking assistance system of the motor vehicle is proposed, which comprises: a receiving unit for receiving sensor information; an evaluation unit for evaluating the sensor information to determine the preferred end orientation of the motor vehicle in the parking space; and an output / provision unit for providing end-orientation information based on the evaluation, the end-orientation information indicating the value for the end-orientation of the motor vehicle in the parking space; wherein the receiving unit is designed to receive sensor information about the motor vehicle and the evaluation unit comprises an evaluation module with which an orientation determination method can be used in the evaluation in which a value for the preferred end orientation can be determined from the sensor information about the motor vehicle. While in known methods and devices for determining a final orientation of a motor vehicle for a parking sensor information about objects in an environment of the motor vehicle are evaluated, such as measurement results of ultrasound or radar sensors and optical sensors, the distances of objects in the vicinity of the motor vehicle from each other and from the motor vehicle determine, is provided according to the invention that the preferred end orientation is determined based on sensor information about the motor vehicle and can be fixed. As sensor information about the motor vehicle such sensor information is considered, which can be collected in the motor vehicle itself and provide at least primarily information about the motor vehicle. These may be, for example, signals from rotary encoders, measurement signals from a steering angle detection sensor, measurement signals from a gyro sensor, measurement signals from a GPS sensor, etc. The method according to the invention thus specifies a value for the final orientation for the parking process, independently of specific information about objects in the environment. Thus, it is possible to determine a preferred end orientation of a motor vehicle in situations in which, for example, a curb that is otherwise often used as an orientation aid that limits the parking space on one side can not be detected reliably. A value for the preferred end orientation can thus be determined solely on the basis of the sensor information about the motor vehicle.

As a rule, a motor vehicle, which is to be parked parallel to the roadside, for example, in a parking space, initially drives past this parking space. Here, the route or the covered lane is usually oriented parallel to a longitudinal direction of the parking space. Therefore, a preferred embodiment of the invention provides that the orientation determination method is the preferred end orientation determined by a lane traveled by the vehicle while driving past the parking space. The lane can be determined solely on the basis of sensor information about the motor vehicle. For example, pulses from rotary encoders and sensor information from steering angle sensors are evaluated for this purpose.

Alternatively or additionally, an orientation of the motor vehicle at the time of activation of a parking operation of the parking assistance system, at the time of engagement of a reverse gear, at the time in which a steering angle of the motor vehicle over a predetermined period or a predetermined distance in a tolerance angle range around a zero angle range, the a straight-ahead driving has been found, or at the time that is determined by the parking assistance system that the parking space has a sufficient size to park the vehicle in the parking space can determined. As in the case of passing by, the motor vehicle has an excellent orientation with respect to the parking spaces at the different times indicated above. For example, the motor vehicle at the indicated times prior to parking in a parallel to the roadway running parking space is usually aligned parallel thereto. Further, a driver may be instructed to take a parallel alignment at those times when he wants to park his vehicle.

In a preferred embodiment it is provided that the receiving of the sensor information comprises receiving sensor information about objects in an environment of the motor vehicle and when evaluating the sensor information, one or more further orientation determination methods are applied, each also determining a value for the end orientation information, and each the values are assigned an optionally predefined weighting and the value which has the highest weighting is provided as end orientation information. In this embodiment, different orientation determination methods may be used to determine a value for the preferred end orientation. The different methods or the values determined thereby are assigned a weighting. This can be predefined. For example, it is possible that a maximum weighting is given to an orientation determination process. If this orientation determination method succeeds, i. H. being able to determine a value for the preferred end orientation of the motor vehicle, this value is used. In other embodiments, it may be provided that the various orientation determination methods are performed and the weights are respectively determined based on results achieved in the embodiment. This makes it possible to associate a plausibility or a quality value with the individual object orientation methods and only the orientation determination method that determines the highest quality, ie. H. has the highest weight is used to set the preferred end orientation.

In one embodiment of the invention, it is provided that the further or one of the further orientation determination methods comprises determining a boundary object orientation of an object laterally delimiting a parking space along a longitudinal side and determining the value for the preferred orientation based on the determined boundary object orientation. In this embodiment, for example, the orientation of a curb, which limits a parking space laterally, be used.

In another embodiment, it is envisioned that the further or another of the further orientation determination methods comprises determining the value for the preferred end orientation from a front outer parking space boundary and a rear outer parking space boundary, the value for the preferred end orientation being a connecting line between the front outer space Parking space limit and the rear outer parking space limit is set. This embodiment provides an additional method for determining a preferred end orientation, which, however, typically has poorer reliability than the previously-mentioned orientation determination methods.

In a further embodiment it is provided that the further or an additional one of the further orientation determination methods comprises determining the value for the preferred end orientation based on an orientation of a motor vehicle which delimits the parking space in front or behind. In this case, it is assumed that, in particular in the case of parallel parking spaces, the vehicles are optimally aligned in a parking space lying in front of the parking space or a parking space behind the parking space and the individual parking spaces are also aligned parallel to one another.

The features of the device according to the invention have the same advantages as the features of the method according to the invention.

The invention will be explained in more detail below with reference to a preferred embodiment with reference to a drawing. Hereby show:

1 a schematic plan view of a parking space and a motor vehicle and a desired path for parking a motor vehicle in the parking space;

2 a schematic view of a parking space which is bounded on a longitudinal side of a curb and front and rear of each of a motor vehicle;

3 a further schematic view of a parking space, which is bounded laterally by a curb and front and rear respectively by a motor vehicle, wherein a motor vehicle is not optimally parked with respect to the curb;

4 a further schematic plan view of a parking space and a motor vehicle to be parked in the parking space; and

5 a schematic block diagram of a device for determining a preferred end orientation of a motor vehicle.

In 1 is a motor vehicle 1 during a parking process in a parking space 2 shown schematically as a plan view of the parking situation. The car 1 moves along a target trajectory 3 , which is also referred to as the desired course. The already covered section of the desired trajectory 3 is shown in solid lines. A section of the desired trajectory still to be traversed 3 is shown in dashed lines. The target trajectory 3 has been calculated by a parking assistance system (not shown) that the motor vehicle 1 at the end of the parking process not only in the parking space 2 is located, but a longitudinal axis 4 is aligned parallel to a preferred end orientation, by means of a dashed line 5 is indicated. The dashed line 5 ie, the preferred end orientation is parallel to a lateral boundary 6 the parking space 2 aligned. The dashed line 5 is also parallel to an x-axis 7 a coordinate system 8th aligned. The coordinate system 8th has an origin 9 on. The origin 9 falls with a front outer boundary 10 the parking space 2 together. The coordinate system 8th is right-handed and a y-axis 11 indicates from the lateral boundary 6 the parking space 2 to a roadway 12 out. The x-axis 7 points in a direction of travel, in which the motor vehicle 1 moved before the parking process.

In 2 is also a plan view of a parking situation shown schematically. The same technical features are provided in the figures with the same reference numerals. The parking space 2 is at a front end 13 by a front motor vehicle 14 limited. At the rear end 15 is the parking space 2 through a rear vehicle 16 limited. A side boundary 6 the parking space 2 is designed as a curb. In order to establish a preferred end orientation for a motor vehicle in the parking space, different orientation determination methods can be used.

By means of sensors, such as ultrasonic measuring sensors, radar sensors, optical sensors, etc., the parking space 2 be measured. Here are the front motor vehicle 14 , the rear motor vehicle 16 as well as the curb, which is the lateral boundary 6 the parking space 2 forms, objects in an environment of a motor vehicle (not shown), in the parking space 2 wants to park. An orientation determination method may be the orientation of the lateral boundary 6 , ie the curb, determine.

Another method may be the front outer boundary 10 and a rear outer boundary 17 determine. A value for the preferred end orientation may be based on an orientation of a connection line 18 the front outer boundary 10 and the rear outer boundary 17 be determined.

Still other orientation determination methods may include an orientation of the front vehicle 14 or the rear vehicle 16 determine. These orientations can also be used to establish the preferred end orientation.

In 3 another parking situation is shown schematically as a top view. The parking situation after 3 differs from the parking situation 2 in that the front motor vehicle 14 not optimally positioned with respect to the curb, which is the lateral boundary 6 the parking space 2 forms. If one chooses the connecting line 18 between the front outer boundary 10 and the rear outer boundary 17 the parking space 2 as a reference object for determining the preferred end orientation, the motor vehicle is not optimally aligned. Therefore, it is preferred, at least if a curb can not be reliably detected, the lateral boundary 6 the parking space 2 forms to determine the preferred end orientation based on sensor information about the motor vehicle, which is to be parked.

Based on 4 should be explained how the preferred end orientation based on sensor information about the motor vehicle 1 can be determined. In 4 is yet another parking situation shown in plan view. When driving past the parking space 2 has the motor vehicle 1 a driveway or a lane 19 kilometer. This lane 19 runs parallel to the lateral boundary 6 the parking space 2 , It is thus suitable to be used to determine the preferred end orientation. The track or the lane 19 can be determined based on sensor pulses of a rotary encoder on one of the vehicle wheels and a yaw angle sensor signal. Likewise, satellite navigation information or signals from a gyrometer can be evaluated.

The preferred end orientation can also be based on the orientation of the motor vehicle 1 yourself, who has this at a certain time. Suitable times include, for example, a time in which a parking operation of the parking assistance system is activated, a time at which a reverse gear is engaged, a time in which a steering angle of the motor vehicle over a predetermined period or a predetermined distance in a tolerance angle range around a zero angle , which has been found to correspond to a straight-ahead driving, or a time at which the parking assistance system determines that the parking space 2 has a sufficient size to the motor vehicle in the parking space 2 to be able to park. Other suitable times may also be chosen.

If a plurality of orientation determination methods are made available by an evaluation unit or executed in an evaluation method, then it is provided that a weighting is assigned to each value determined for the preferred end orientation. This can be done by assigning a fixed weighting to each orientation determination process. In this way, a hierarchical determination based on the different orientation determination methods is made possible. Other embodiments may provide that the weighting be determined based on the quality of the measurement signals or the like.

In 5 is a schematic block diagram of a device 20 establishing a preferred end orientation of a motor vehicle when parking in a parking space 2 for a parking assistance system 21 of the motor vehicle 1 shown. The device 20 includes a receiving unit 22 for receiving sensor information about objects 23 in an environment of the motor vehicle 1 , The sensor information is provided by sensors 24 detected. Other sensors 25 , which are configured for example as a rotary encoder and steering angle detection sensors, transmit sensor information about the motor vehicle 1 , The sensor information is stored in an evaluation unit 26 evaluated. The evaluation unit 26 includes evaluation modules 27 that execute one of the orientation determination methods described above. At least one of the evaluation modules 27 is configured so that an orientation determination method is executable that the preferred end orientation based on sensor information about the motor vehicle 1 determined yourself. The evaluation unit 26 gives the value for the final orientation of the motor vehicle 1 to an output / delivery unit 28 which has the largest weight assigned to it. The output / delivery unit 28 outputs or provides the preferred end orientation in the form of a signal.

The device 20 can be executed in a hardware circuit. Alternatively, the device 20 partially or completely implemented in software for interaction with a programmable microprocessor.

LIST OF REFERENCE NUMBERS

1

motor vehicle

2

parking lot

3

target trajectory

4

Longitudinal axis of the motor vehicle

5

dashed line indicating the preferred end orientation

6

lateral limitation of the parking space

7

X axis

8th

coordinate system

9

Origin of the coordinate system

10

front outer boundary of the parking space

11

y-axis

12

roadway

13

front end of the parking space

14

front motor vehicle

15

rear end of the parking space

16

rear motor vehicle

17

rear outer boundary of the parking space

18

connecting line

19

Lane (driveway)

20

Device for determining a preferred end orientation of a motor vehicle

21

Parking assistance system

22

receiver unit

23

objects

24

sensors

25

additional sensors

26

evaluation

27

evaluation modules

28

Output / supply unit

Claims (14)

Method for determining a preferred end orientation of a motor vehicle ( 1 ) when parking in a parking space ( 2 ) for a parking assistance system ( 21 ) of the motor vehicle ( 1 ) comprising: receiving sensor information; an evaluation of the sensor information for determining the preferred end orientation of the motor vehicle ( 1 ) in the parking space ( 2 ); and providing end-orientation information based on the evaluation, the end-orientation information indicating the end-orientation of the motor vehicle ( 1 ) in the parking space ( 2 ) indicates; characterized in that the receiving of sensor information comprises receiving sensor information about the motor vehicle ( 1 ) and an orientation determination method is used in the evaluation, in which a value for the preferred end orientation from the sensor information about the motor vehicle ( 1 ) is determined independently of information about objects in the environment. Method according to Claim 1, characterized in that the orientation determination method determines the preferred end orientation with reference to one of the motor vehicle ( 1 ) while driving past the parking space ( 2 ) lane ( 19 ). Method according to Claim 1 or 2, characterized in that the orientation determination method determines the preferred end orientation on the basis of an orientation of the motor vehicle ( 1 ) at the time of activation of a parking operation of the parking assistance system ( 21 ), at the time of engagement of a reverse gear, at the time when a steering angle of the motor vehicle ( 1 ) over a predetermined time period or a predetermined distance in a tolerance angle range around a zero angle corresponding to straight ahead driving, or at the time when the parking assistance system ( 21 ) it is established that the parking space ( 2 ) has a sufficient size to the motor vehicle ( 1 ) in the parking space ( 2 ) to be able to park. Method according to one of the preceding claims, characterized in that the receiving of sensor information comprises receiving sensor information about objects ( 23 ) in an environment of the motor vehicle ( 1 and in evaluating the sensor information, one or more further orientation determination methods are used, each of which also determines a value for the end orientation information, assigning each of the values an optionally predefined weighting, and providing as final orientation information the value having the highest weighting. Method according to one of the preceding claims, characterized in that the further or one of the further orientation determination methods comprises determining a boundary object orientation of the parking space ( 2 ) along a longitudinal side laterally bounding object and the value for the preferred orientation is determined based on the specific boundary object orientation. Method according to one of the preceding claims, characterized in that the further or another of the further orientation determination methods comprises determining the value for the preferred end orientation by means of a front outer parking space boundary ( 10 ) and a rear outer parking space boundary ( 17 ), wherein the value for the preferred end orientation by a connecting line ( 18 ) between the front outer parking space boundary ( 10 ) and the rear outer parking space boundary ( 17 ). Method according to one of the preceding claims, characterized in that the further or an additional one of the further orientation determination methods comprises determining the value for the preferred end orientation on the basis of an orientation of an object ( 23 ), which closes the parking space ( 2 ) front or back limited. Contraption ( 20 ) for determining a preferred end orientation of a motor vehicle ( 1 ) when parking in a parking space ( 2 ) for a parking assistance system ( 21 ) of the motor vehicle ( 1 ) comprising: a receiving unit ( 22 ) for receiving sensor information; an evaluation unit ( 26 ) for evaluating the sensor information to the preferred end orientation of the motor vehicle ( 1 ) in the parking space ( 2 ) to determine; and an output / delivery unit ( 28 ) for providing end-orientation information based on the evaluation, the end-of-orientation information indicating the end-of-travel value of the motor vehicle ( 1 ) in the parking space ( 2 ) indicates; characterized in that the receiving unit ( 22 ) for receiving sensor information about the motor vehicle ( 1 ) is formed and the evaluation unit ( 26 ) an evaluation module ( 27 ), with which an orientation determination method is applicable in the evaluation, in which a value for the preferred end orientation from the sensor information about the motor vehicle ( 1 ) can be determined independently of information about objects in the environment. Contraption ( 20 ) according to claim 8, characterized in that the one evaluation module ( 27 ) is configured so that, with the orientation determination method, the preferred end orientation is determined by means of one of the motor vehicle ( 1 ) while driving past the parking space ( 2 ) lane ( 19 ) can be determined. Contraption ( 20 ) according to claim 8 or 9, characterized in that the one evaluation module ( 27 ) is configured such that with the orientation determination method the value for the preferred end orientation based on an orientation of the motor vehicle ( 1 ) at the time of activation of a parking operation of the parking assistance system ( 21 ), at the time of engaging a reverse gear, at the time when a steering angle of the motor vehicle over a predetermined time period or a predetermined distance in a tolerance angle range around a zero angle, which corresponds to a straight-ahead driving, or at the time at which the parking assistance system ( 21 ) it is established that the parking space ( 2 ) has a sufficient size to the motor vehicle ( 1 ) in the parking space ( 2 ) parking is determinable. Contraption ( 20 ) according to one of claims 8 to 10, characterized in that the receiving unit ( 22 ) for receiving sensor information about objects ( 23 ) in an environment of the motor vehicle ( 1 ) is formed and the evaluation unit ( 26 ) a further evaluation module ( 27 ) or several further evaluation modules ( 27 ), with which the sensor information can be evaluated by means of one or more further orientation determination methods, a value for the end orientation information likewise being able to be determined by means of the further or several further evaluation modules, and an optionally predefined weighting can be assigned to each of the values and the end orientation information Value that is the highest weighting. Contraption ( 20 ) according to one of claims 8 to 11, characterized in that the further evaluation module ( 27 ) or one of the further evaluation modules ( 27 ) is configured such that by means of the further or one of the further orientation determination methods, a determination of a boundary object orientation of the parking space ( 2 ) along a longitudinal side laterally limiting object is possible and the value for the preferred orientation based on the specific boundary object orientation can be determined. Contraption ( 20 ) according to one of claims 8 to 12, characterized in that the further evaluation module ( 27 ) or another of the further evaluation modules ( 27 ) is configured so that by means of the further or the other of the further orientation determination methods, a determination of the value for the preferred end orientation based on a front outer parking space boundary ( 10 ) and a rear outer parking space boundary ( 17 ) is possible, the value for the preferred end orientation by a connecting line ( 18 ) between the front outer parking space boundary ( 10 ) and the rear outer parking space boundary ( 17 ). Contraption ( 20 ) according to one of claims 8 to 13, characterized in that the further or an additional one of the further evaluation modules ( 27 ) is configured such that, by means of the further or an additional one of the further orientation determination methods, a determination of the value for the preferred end orientation based on an orientation of an object ( 23 ) is possible that the parking space ( 2 ) front or back limited.

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