DE102009005506A1 - Method for finding parking space for motor vehicle, involves associating navigation data with measured free space data with respect to position of vehicle to decide whether free space is considered as parking space or not - Google Patents

Abstract

The method involves measuring surrounding of a motor vehicle, and judging free spaces, which are used as parking spaces, in the surrounding of the motor vehicle from the measured surrounding field data. Navigation data are associated with the measured free space data with respect to a position of a vehicle to decide whether the free space is considered as a parking space or not. Predetermined driving conditions and/or position information, which are derived from the navigation data, can exclude or support evaluation of the free space as the parking space. An independent claim is also included for a device for finding a parking space, which is suitable for parking a motor vehicle.

Description

The The invention relates to a method and a device for finding a parking space suitable for parking a motor vehicle according to the preamble of claim 1 and the Preamble of claim 7.

systems, which assist the driver of a motor vehicle when parking So parking systems or parking assistance systems belong to Group of driver assistance systems increasingly used in vehicles for Increase of comfort, in support of the driver and / or to increase safety. All these current systems have in common that they have one suitable measuring device to measure the environment of your own vehicle and under the help of various algorithms parking spaces can recognize and measure more or less well.

Especially is the search for sufficiently large longitudinal parking spaces, followed by lateral parking maneuvers, an everyday occurrence Challenge of drivers of motor vehicles. At the same time the development of vehicle design both optical and For safety reasons, the constantly visible Area around the vehicle reduces and so the parking task in addition difficult. Therefore, to relieve the driver and sovereignty to give back, various parking assistance systems have been developed have been used to assist the driver of a motor vehicle when parking or, in the final stage of expansion, carry out the parking yourself should.

In its simplest form is such a parking assistant one Parking assistance, in which the distances of the vehicle forward and / or measured behind other vehicles under obstacles and / or be displayed on a display in the cockpit. In the case of falling below given safety distances is an optical, acoustic and / or Haptic warning issued to the driver, so this his Parking can control accordingly. Such parking aids belong now to the special equipment of vehicles the middle class.

In a further embodiment, as for example in the DE 10 2005 017 360 A1 A parking assistant for parking a motor vehicle comprises at least one display device, a device for measuring parking spaces and / or parking pockets, a control device and a steering actuator, wherein the device has a display device with a plurality of display states, the driver via parking spaces or Parkbags related parameters and system states of the parking assistant. In the further expansion stage, an automatic parking operation is performed after prior measurement of the parking space, as for example in the DE 3813083 A1 is described. The known device comprises four switches with regard to the choice of operating mode, via which the driver can specify the location and type of parking space. Thus, the driver can select between left parking space, left parking bag, right parking space or right parking bag.

Furthermore, from the document E. Wahl et al .: "Realization of a parking assistant based on motion stereo", 16th Aachen Colloquium Automotive and Motor Technology 2007, pp. 871-879 , a video-based method of parking space measurement is known that relies on motion stereo. The method distinguishes between two modes of operation, namely a first mode for measuring the parking space and determining its length. The second mode is for the refined reconstruction of the driving environment when resetting into the gap. In this way, warning functions or autonomous driving maneuvers can be realized.

Indeed is in all the known systems only for free space searched for a sufficient for parking the motor vehicle Have size. Consequently, gets in the known Systems of the driver also, for example, at intersections or junctions or on highways in stop and go traffic parking spaces displayed, which in reality do not exist. To the driver in these To confuse situations are therefore usually the Disable these systems by default and must be explicitly turned on by the driver if he intends a parking operation, whether this now semi-automatic or should be automatic.

Of the Invention is therefore the object of a method and a Specify a device that a secure identification of measured Free spaces available as parking spaces.

These The object is achieved by a method having the features of the claim 1 and by a device having the features of claim 8 solved. Preferred embodiments of the invention are the subject the dependent claims.

In the method for finding a parking space according to the invention, which is suitable for parking a motor vehicle, ie, the own vehicle, the environment of the motor vehicle is measured, and from the measured environment data is closed to clearances in the vicinity of the vehicle, which may be used as parking spaces are. To decide whether the space considered to be a possible parking space or not, navigation data describing the position of the own vehicle is linked to the measured clearance data.

Preferably can predefined driving situations and / or position information of the own vehicle, which are derived from the navigation data, an assessment of a free space as a possible parking space either exclude or assist.

Preferably Such a predetermined driving situation can be a traffic jam situation be in which the motor vehicle essentially in a stop and go operation drives and known parking aids in the active state, for example on the highway, alleged parking lots would identify.

A from the navigation data derived position information with respect the position of the own vehicle is present when, for example, the Vehicle at an intersection, in a junction, in a roundabout, on a highway or a highway located. Such position information prevents judgment a free space as possible parking space, in other words a Linking the position information with a possible one measured clearance closes a possible parking space out.

says however, the position information indicates that the vehicle is due to the navigation data and navigation information in a parking lot, for example, a motorway parking lot or the like, is, then results in a linkage of the position information with a free space a possible parking space.

A suitable parameterization of at least parts of the navigation information can link the position information with a Free space. For example, the navigation information may be contain a boolean parameter "parking allowed / inadmissible", which results from the navigation data.

Farther The position information may also include parking information on the roadside or other parking areas. A Such parking information may also indicate the type of parking space full. H. whether it is a head parking space, a Pitch parking space or a transverse parking space is.

Preferably The navigation data can be country-specific Parameterisations for the assessment of a free space with regard to its Use as possible parking included, too may be part of the navigation information. So parking on the roadside can be one Function of time and / or date. By means of such Country-specific parameterizations can therefore be determined by the Linking the position information with a free space Immediately the statement to be made, whether a possible parking space is present, d. h., whether within the time or on this date Parking is allowed on the roadside, for example. such Country parameterization or local parameterization can be determined automatically by the navigation system and get into the evaluation.

• – eine Einrichtung zum Vermessen des Umfeldes eines Eigenfahrzeugs,
• – eine Auswerteeinrichtung zum Auswerten der Umfelddaten und Bestimmen von Freiräumen in der Umgebung des Eigenfahrzeuges,
• – eine Navigationseinrichtung zum Bestimmen von Navigationsdaten hinsichtlich des Eigenfahrzeugs, und
• – eine Verknüpfungseinheit zum Verknüpfen der Navigationsdaten mit den ermittelten Freiräumen in der Umgebung des Eigenfahrzeuges zur Bewertung eines Freiraums als möglicher Parkplatz.

An inventive device for finding a parking space, which may be suitable for parking a motor vehicle, comprises:

• A device for measuring the surroundings of a private vehicle,
• An evaluation device for evaluating the environment data and determining free spaces in the surroundings of the own vehicle,
• A navigation device for determining navigation data with regard to the own vehicle, and
• - A linking unit for linking the navigation data with the determined free spaces in the environment of the own vehicle for the evaluation of a free space as a possible parking space.

When Facilities for measuring the environment include, for example, infrared devices, radar devices, Laserscan devices and imaging devices, such as Video cameras, or a combination of several of the mentioned environment detectors for use.

Further Preferably, the device according to the invention a display device for displaying a possible parking space and / or other important parameters for parking on.

In the linking device of the invention Device is preferably a free space then as possible Parking discarded when the position determined by the navigation device of the own vehicle shows that the own vehicle on a Junction, in a junction, in a roundabout, on a highway or on a road. The Enumeration of said position information is not in conclusion, but only as an example. Further Location information that provides a free space as possible parking space Exclude are driveways, fire hydrants, Feuerwehrausfahrten and other such conditions excluding a parking lot, which are subsumed under the term position information. With In other words, position information includes information about the admissibility of a parking lot.

With In other words, a position information can, as in the previous mentions having a logical identifier above it decides whether a clearance is a possible parking space or Not.

on the other hand is preferably in the linking unit of the invention Device a free space then assessed as a possible parking space, if the position of the own vehicle determined by the navigation device shows that the vehicle, for example, in a parking lot located. As already mentioned above, can the person responsible for a positive assessment of a free space Position information is not limited to a parking lot but it can also be local regulations regarding of parking, for example, country-specific Parameterizations that the navigation system retrieves. Furthermore, can the navigation information Information about parking areas and / or parking space types used for plausibility the detected parking spaces can be used.

With the method according to the invention or the inventive Devices become the disadvantages of the known systems which on any open spaces are avoided. In The invention reports navigation data to the parking system and evaluated there. The evaluation can also be done in the navigation device or in an external unit, and it can now be the result be reported to the parking system. By including the navigation data in the vehicle, the system can recognize itself that it is on a Position is at which no parking spaces can be, and can suppress the display automatically in this way. Also can by further in particular off-road information on it be concluded that the vehicle is in a parking lot, and the search can be adjusted accordingly. The same applies for roadside parking, taking Country-specific parameterizations of the system independently at a border crossing by means of the navigation system can be done.

A preferred embodiment of the invention will be below explained with reference to the drawings. It shows

1 a first embodiment of the parking assistant according to the invention, and

2 a second embodiment of the parking assistant according to the invention.

1 shows a first embodiment of a parking assistant 1 a motor vehicle, not shown, with an environment sensor 2 and a navigation system 3 , being the navigation system 3 an external or internal unit. The environment sensor delivers 2 Environment data to an evaluation 4 in which free space in the environment of the motor vehicle is determined from the environment data that would be suitable as potential parking spaces. A possible free space is in the evaluation 4 also examined whether the free space is also sufficient in size for the motor vehicle. If this is the case, then comes the evaluation unit 4 to the positive result that there is a possible parking space in the surrounding area, otherwise the result is negative. The result, ie there is a possible parking space or not, becomes a linking unit 5 in which the possible parking lot with the navigation data of the navigation system 3 be linked. In addition to the position of the motor vehicle, these navigation data include further parameters relevant to the vehicle, such as the driving situation, the road situation, and position information that the navigation system has 3 for example, via GPS or due to the navigation system 3 underlying road network information. In the linking unit 5 It is checked whether, for example, the position information and the driving situation prevents a possible parking situation, as is the case in the case of an intersection. In other words, if the vehicle is at an intersection, the potential parking space is discarded and this result of the dispenser 6 communicated. However, if the link between the navigation data and the possible parking space is positive, the output device receives the result that an acceptable parking space has been found and can take appropriate action, for example, inform the driver.

2 shows a further embodiment of the parking assistant according to the invention 1 in which the procedure is carried out in another way. A higher-level evaluation / control device 10 causes the environmental sensor system provides environment data of the environment of the motor vehicle. This environment data are stored in the evaluation / control device 10 as far as open spaces are concerned, the possible parking spaces. Subsequently, the evaluation / control device causes 10 the provision of navigation data by the navigation system 3 , The navigation data and the parking lot data are in a linking unit 5 linked together and the result to the evaluation / control device 10 delivered. If the combination of the data indicates that a permissible parking space has been determined, this is done by the evaluation / control device 10 to an output unit 6 reported and displayed, for example, the driver and / or further processed.

In the embodiment of the 2 It is also possible that the evaluation / control device 10 first at the navigation system 3 inquire about navigation data of the current location and then examined this data, if in the current environment at all parking is possible. If this is not the case, as is the case, for example, when driving on a motorway, then no environment data is necessarily required to determine possible free spaces, which would be suitable as parking lots. The embodiment of the method of linking navigation data with environment data can therefore be configured flexibly.

1

parking assistant

2

environment sensors

3

navigation device

4

evaluation

5

linking unit

6

output

10

Evaluation / control device

QUOTES INCLUDE IN THE DESCRIPTION

This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.

Cited patent literature

• - DE 102005017360 A1 [0005]
• - DE 3813083 A1 [0005]

Cited non-patent literature

• - E. Wahl et al.: "Realization of a parking assistant based on motion stereo", 16th Aachen Colloquium Vehicle and Engine Technology 2007, pp. 871-879 [0006]

Claims (13)

A method for finding a parking space suitable for parking a motor vehicle, wherein the environment of the motor vehicle is measured and closed from the measured environment data on spaces in the vicinity of the motor vehicle, which are usable as parking spaces, characterized in that navigation data relating to the position of the own vehicle with the measured free space data are linked to the decision whether the considered free space can be considered as a possible parking space or not. Method according to claim 1, characterized in that that predetermined driving situations and / or position information, which are derived from the navigation data of the own vehicle, a Assessing a free space as possible parking space exclude can or support. Method according to claim 2, characterized in that that a given driving situation realized by a traffic jam is. Method according to claim 2, characterized in that that a position information that is an assessment of a free space as parking excludes, an intersection, a junction, a roundabout, a highway or highway. Method according to claim 2, characterized in that that a position information that is an assessment of a free space supported as a possible parking space, a Parking lot, especially a motorway parking lot, is. Method according to one of claims 2 to 5, characterized in that the position information parking information has detected parking areas. Method according to one of claims 1 or 2, characterized in that contained in the navigation data Country-specific parameterizations for the evaluation of a Free space regarding its use as possible Parking used. Device for finding a parking space suitable for parking a motor vehicle, comprising a device ( 2 ) for measuring the environment of an own vehicle, an evaluation device ( 4 ) for evaluating the environment data and determining free spaces in the surroundings of the own vehicle, a navigation device ( 3 ) for determining navigation data of the own vehicle, and a linking unit ( 5 ) for linking the navigation data with the designated clearances in the vicinity of the own vehicle to evaluate a free space as a possible parking space. Apparatus according to claim 8, characterized in that the device is a display device ( 6 ) for displaying a possible parking lot. Apparatus according to claim 8 or 9, characterized in that the device has a rating unit which the Navigation data with an identifier for use as possible Parking lot. Device according to one of claims 8 to 10, characterized in that in the linking unit ( 5 ) a free space is discarded as a possible parking space if the space provided by the navigation device ( 3 ) determined position of the own vehicle that the vehicle is located at an intersection, in a junction, in a roundabout, on a highway or on a highway. Device according to one of claims 8 to 10, characterized in that in the linking unit ( 5 ) a free space is considered to be a possible parking space if that of the navigation device ( 3 ) certain position of the own vehicle indicates that the vehicle is in a parking lot. Device according to one of claims 8 to 10, characterized in that in the assessment of the free spaces in the environment of the own vehicle country-specific parameterizations of the navigation system ( 3 ).