DE102010030492A1 - Method for assisting parking process of vehicle using driver assistance system, involves offering selected parking strategy to driver of vehicle, and implementing offered parking strategy in response to activation by driver - Google Patents

Abstract

The method (500) involves selecting a parking strategy (504) based on sensor data, and offering the selected parking strategy to a driver of a vehicle (506). The offered parking strategy is implemented (508) in response to activation by the driver. The parking strategy is selected based on the sensor data including maneuver data concerning detection of a potential parking introductory driving maneuver. The parking strategy is selected based on the absence of parking space data to length and/or width of the potential parking space. The driving maneuver data concerns facts such as steering wheel movement, greed rate alteration, cycle track differences of wheels, speed differences of wheels and lateral acceleration of the vehicle. Independent claims are also included for the following: (1) a computer program for assisting a parking process of a vehicle (2) a device for supporting a parking process of a vehicle.

Description

State of the art

The invention relates to parking systems for assisting a parking operation of a vehicle.

Parking systems assist drivers when parking, for example in passive form by means of steering instructions or in active form by means of automatic steering wheel controls or (partly) automatic braking and acceleration interventions.

The basic procedure when using a parking system is the following:
S0: A parking space search is activated.
S1: An unoccupied parking space is detected while driving past a number of vehicles.
S2: The driver is offered parking assistance.
S3: The driver activates the parking system.
S4: Guided and / or assisted parking is performed.

The parking space detection in step S1 takes place by means of a sensor, for example an ultrasonic sensor present on the front bumper of a vehicle, which measures the surroundings of the vehicle. In order to be able to detect an unoccupied parking space suitable for the vehicle in step S1, the vehicle must pass the two PLOs and calculate the dimensions of the parking space based on the measured edges of the measured objects and compare them with the size of the vehicle.

Such a parking system is for example in the US 2003/0210157 A1 described. A method for operating a parking system here comprises the steps of a) determining the length and / or width of a parking space when passing them; b) the determination of a specific Einparkablaufs, for example. Depending on a recent development of the process and / or a corresponding vehicle position to drive the vehicle into the detected parking space; c) issuing instructions to the driver; and d) automatically braking and / or accelerating the vehicle during the parking process.

1 clarifies the sequence of a parking system supported by a parking system even further. A vehicle 100 has a sensor 102 and moves in search of a parking space on vehicles 104 and 106 past. While the vehicle 100 from the position 108 to the position 110 moves, detects the driver assistance system of the vehicle 100 with the help of the sensor 102 the presence of a parking space 112 , The size of the parking space 112 is based on the detected edges or boundaries of the objects 104 and 106 certainly.

In order for the parking system to assist the driver when parking, the driver must drive the vehicle 100 at the vehicles 104 and 106 pass by like in 1 illustrated. This driving behavior corresponds to the behavior that a driver would normally perform even without a parking system. However, the conditions are different when transverse parking: For a conventional parking system can support the driver, this must observe a certain driving behavior. This is based on the 2A and 2 B illustrates: In 2a lays a vehicle 200 analogous to that in 1 indicated vehicle 100 a vehicle sensor 202 , So that this a transverse parking space 204 between two PLBOs 206 and 208 can detect, the vehicle must 200 first at both PLBOs 206 and 208 passed, ie from a position 210 in a position 212 be guided. Only then can a supported parking take place as indicated by arrows 214 is indicated.

This in 2A However, illustrated driving behavior does not correspond to the usually preferred parking. This is in 2 B illustrates: If enough large maneuvering space is available, the driver of a vehicle shuns 250 usually once from the side (arrow 252 ), and then moves ( 254 ) backwards into a parking space 256 between two PLBOs 258 and 260 , This in 2 B illustrated driving behavior has compared to that of 2A a number of advantages. So less parking trains are necessary, and the duration of the parking process is minimized. In addition, the parking space is immediately blocked and other road users can better recognize the driving intentions.

At the in 2 B However, in many cases illustrated driving behavior can not assist a parking system. The reason is in 3 clarified. A vehicle 300 leads a lateral Ausschwenkbewegung 302 out. The sensor 304 of the vehicle 300 recorded the PLBO 306 , The range of the sensor 302 is however limited, ie the field of vision 310 of the sensor 302 is enough due to the swiveling out 302 no longer off to the second PLBO 308 to be able to detect (the boundary of the sensor field of view is as a dashed line 312 indicated). Thus, with reference to the initially-defined steps S0-S4, the step S1 of detecting a parking space can not be successfully completed, and therefore, the parking system can not offer assistance to the driver at step S2.

From the perspective of the driver is disadvantageously the parking system in the in 2 B and 3 shown situations only limited or not available. In addition, unclear system states can occur if, again referring to the situation in 3 - the second PLBO 308 is detected for a short instant, is not detected as PLBO, or detected but no position of the PLBO 308 can be determined or the dimensions or edges of the PLBOs 308 can not be determined. This may lead to unclear or nonsensical suggestions of the parking system.

In order to improve the availability or robustness of a parking system in the situations described above, sensors with a larger field of view, for example radar sensors instead of ultrasonic sensors, can be used. Alternatively or additionally, other sensors can be provided on the vehicle. However, such solutions are expensive.

General presentation of the invention

An inventive method for assisting a parking operation of a vehicle comprises the following steps: selecting a parking strategy based on sensor data; Offering the selected parking strategy to a driver of the vehicle; and initiating the offered parking strategy in response to an activation by the driver. This method, when selecting the parking strategy, takes into account sensor data comprising driving maneuver data. The driving maneuver data relate to the detection of a potentially maneuvering parking maneuver.

The inclusion of driving maneuver data makes it possible to select and offer a parking strategy, for example for transverse parking, even in situations in which a parking space can not or can not be detected with sufficient reliability, for example because a PLBO is outside the field of vision of a sensor. In such situations, the parking space data replace or supplement the driving maneuver data, thus enabling a situation determination that, despite the lack of measurement of the parking space, enables the provision of parking assistance. In this way, a driving maneuver-dependent selection of a parking strategy (eg, cross or longitudinal parking) becomes possible without having to provide additional or particularly powerful sensors with increased range.

The driving maneuver data may relate to the detection of a shunting of the vehicle. For example, the driving maneuver data can be used to detect, for example, an outbreak of the vehicle, as is characteristic when initiating a transverse parking.

The driving maneuver data may, for example, relate to one of the following situations: a steering wheel movement, a yaw rate change, wheel path differences of wheels, for example, wheel path differences of outside and inside wheels, speed differences of wheels, and / or lateral acceleration of the vehicle. Such driving maneuver data are usually detected anyway in existing vehicles by existing sensors, for example, for use in automatic braking systems such as ABS, ESP, etc. Thus, no additional sensors are required to implement the invention.

The sensor data taken into account when selecting the parking strategy may also include parking space data relating to at least partial detection of a parking space. In one embodiment of this variant of the method according to the invention, the parking space data relate to the detection of exactly one parking space-limiting object. In contrast to conventional methods, in which a parking strategy can only be selected and offered when two parking space-limiting objects have been detected, for example their dimensions, edges and mutual distance, it is sufficient if a single PLBO was detected, that is, for example, the edge of a parked vehicle was recorded. The presence of a parking space is then inferred that 1) no further vehicle immediately adjacent to the detected vehicle is detected, and that 2) driving maneuver data indicate the initiation of a parking maneuver, for example, a swiveling can be detected by the driving maneuver data.

In particular embodiments of the method according to the invention, the parking space data in particular does not include a length and / or width of the potential parking space. Although such data is not available, a parking strategy can nevertheless be selected and offered by including driving maneuver data. In certain embodiments of the inventive method, the step of selecting a parking strategy is based precisely on the lack of parking space data on the length and / or width of the potential parking space. In these embodiments, the parking strategies are prioritized: The parking system first attempts to determine and offer a parking strategy such as longitudinal or transverse parking based on conventional methods of detecting and measuring parking spaces. Only when a parking space can not be detected, because only a single PLBO detected driving maneuver data is additionally used.

The determined and offered parking strategy can relate in particular to the selection of a transverse parking maneuver instead of a longitudinal parking maneuver, which is selected according to the invention based on parking space data as well as driving maneuver data. The problem of parking space detection discussed above occurs in particular in transverse parking; The use of driving maneuver data according to the invention solves this problem in a surprisingly simple manner and enables a robust parking assistant.

In certain embodiments of the method according to the invention, the activated parking strategy is carried out based on the detection of the exactly one PLBO. For this purpose, it is assumed that a parking space sufficient for the dimensions of the vehicle to be parked is present, otherwise the driver would not have initiated the driving maneuver determined by the driving maneuver data. For example, a parking position of the vehicle can be determined based on the detected edge of the PLBO (plus the predetermined safety distance).

According to the invention, a computer program is proposed by which one of the methods described here is realized when the computer program is executed on a programmable computer device. This computer device may, for example, be a microprocessor, DSP or the like processor on board a vehicle. According to the invention, a machine-readable data carrier is further proposed, on which the aforementioned computer program is stored. Such a data carrier, on which programmable computer-executable instructions are stored for carrying out one of the methods described here, may, for example, comprise a permanent or rewritable memory area located within or in association with a programmable computer device and / or may have a removable CD-ROM. ROM, DVD or a USB stick. Additionally or alternatively, a computer program according to the invention may be provided for downloading to a programmable device, e.g. Via a data network such as the Internet, or a communication line such as a telephone line or a wireless connection.

According to the invention, a device for supporting a parking process of a vehicle is also proposed, in particular a parking system, with the following components: a component for selecting a parking strategy based on sensor data; a component for offering the selected parking strategy to a driver of the vehicle; and a component for initiating the offered parking strategy in response to activation by the driver. The component for determining a parking strategy is designed to take into account sensor data which, in addition to parking space data relating to an at least partial detection of a potential parking space, also includes driving maneuver data relating to a detection of a potentially parking-initiating driving maneuver.

Finally, a driver assistance system according to the invention is proposed, which comprises a device for supporting a parking operation as described above.

Brief description of the figures

Further aspects and advantages of the invention will now be described in more detail with reference to the accompanying figures. Hereby shows:

1 in schematic form a longitudinal parking maneuver;

2A a transverse parking maneuver taking into account a conventional parking system;

2 B a transverse parking maneuver without regard to a conventional parking system;

3 a schematic illustration of the difficulties of a conventional parking system when Querparken;

4 in the form of a block diagram of functional components of a driver assistance system according to the invention;

5 in the form of a flow chart, an operation of the driver assistance system of 4 ; and

6 in schematic form a representation of one of the driver assistance system of the invention 4 supported parking operation.

embodiments

4 shows in the form of a block diagram functional components of an embodiment of a driver assistance system according to the invention 400 , The system 400 has a parking system 402 , a selection component 404 , a presentation component 406 , as well as an initialization component 408 , Furthermore lies in the driver assistance system 400 a memory 410 for the Storage of different parking strategies before. The driver assistance system 400 also has connection to sensory components 412 and 414 , where the sensor 412 for example, an ultrasonic sensor on an outside of a vehicle. The sensor 414 For example, it may detect the condition of a steering wheel of a vehicle, the state of one or more wheels of the vehicle, or similar, maneuver related characteristics of the vehicle.

An operation of the driver assistance system 400 will now be described with reference to the flowchart of 5 as well as in the 6A and 6B portrayed exemplary sketched parking maneuver.

The driver assistance system 400 is designed to parking operations such as the transverse parking of a vehicle 600 in a parking space 602 to support ( 500 ). The driver assistance system 400 out 4 be in the vehicle 600 installed and be with the front right fender of the vehicle 600 located sensor 412 connected.

In step 502 becomes the driver assistance system 400 activated to perform a parking space search. Such activation may either be actively initiated by the driver, or may be automatically triggered, for example, by low vehicle speed and repeated detection of potential parking space bounding objects (PLBOs). At a position 604 of the vehicle 600 the parking space search is activated. The sensor 412 detects a potential PLBO 606 for example, a parked vehicle.

In step 504 at a position 608 of the vehicle 600 select the component 404 of the driver assistance system 400 now a parking strategy for the vehicle 600 out. Until then, the component has 404 Parking space data 413 from the sensor 412 in particular, a detection of the PLBOs 606 affect. Another PLBO in the room 610 has not been detected. In other words, a u. U. existing, another PLBO could from the sensor 412 not be recorded because the vehicle 600 a swinging motion 612 has performed so that the range of the sensor 412 is not enough to make an object in the room 610 capture. A conventional algorithm based on the detection of a parking space by measuring the edges of two PLBOs by a width or length of the parking space 602 can not be performed or must be canceled.

According to the invention, the selection component relates 404 however, further sensor data, in particular of the sensor 414 , in their evaluation. It is believed that by the sensor 414 data supplied driving maneuver data, in particular, the swinging 612 of the vehicle 600 affect. So can the sensor 414 delivered driving maneuver data, for example steering wheel rash or movement concern whose parameterized representation falls within a predetermined range of values, so that the component 404 from the received driving maneuver data 415 the swiveling movement 612 can determine.

The discovery component 404 is designed to handle the sensor data 415 only to be used if the parking space data 413 not for a conventional measurement of the parking space 602 sufficient, ie in particular the sensor data 415 only used if there is no second PLBO in the room 610 was recorded. At the time the vehicle is in position 608 is found that no further PLBO has been detected, so that the driving maneuver data 415 be used for the evaluation. Because of the driving maneuver data 415 the swiveling movement 612 determine, and continue the parking space data 413 the presence of the one PLBO 606 Show, represents the selection component 404 by resorting to in the memory component 410 stored parking strategies that the driver presumably a transverse parking backwards into the parking space 602 seeks. Therefore, the selection component indicates 404 a corresponding signal 416 to the presentation component 406 out.

In step 506 offers the presentation component 406 the selected parking strategy to a driver of the vehicle 600 at. For example, the presentation component 406 a corresponding output on a screen 418 cause and / or cause an acoustic output. At the same time, the presentation component 406 the initiation component 408 give an indication of the selected parking strategy.

In step 508 takes the initiation component 408 a signal, for example, of an input unit realized in software and / or hardware 420 opposite. The unit may, for example, an operating button in the form of one on the display 418 be positioned soft keys, or may be an acoustic input unit. The driver has the input unit 420 the offered parking support accepted. In response, the component initiates 408 the previously selected and the driver offered parking strategy by appropriate control of the parking system 402 , Here comes the process 500 out 5 to an end ( 510 ) and the concrete parking maneuver, ie the concrete Einparkweg, can be calculated.

The parking 614 of the vehicle 600 in the parking space 602 can, as in 6b indicated by the driver assistance system 400 considering only the detected PLBO 606 respectively. The latter was yes from the sensor 412 detected, ie a limitation of the PLBOs 606 to the parking space 602 was detected. On the detected object 606 then becomes a minimum safety distance 616 acted upon, for example, 40 cm, so that a comfortable disembarkation of the driver after parking is guaranteed. Then the vehicle 606 from the driver with the assistance of the parking system 402 in the parking space 602 parked.

For safety reasons, even in the exemplary embodiments of a driver assistance system described here, the driver always decides for himself whether he accepts an offered parking strategy or not. So it is conceivable that the driving movement 612 in 6 mistakenly interpreted as a swiveling movement. In order to make the detection of swiveling as robust as possible, additional sensor data can be taken into account. So can the component 404 in addition to detecting (an edge) of the PLBO 606 and a swiveling movement 612 for example, wait for the driver to engage a reverse gear until the offering of a parking strategy is triggered.

In the exemplary embodiments described here, both parking space data and driving maneuver data are taken into account when selecting a parking strategy. In other embodiments, u. U. completely waived the inclusion of parking space data. It can be a transverse parking, for example. Only offered due to detection of a swiveling, z. At low speed and / or in principle activated, d. H. seeking, parking assistant. In this case, the system could search for a "hole" or a "gap" in a subsequent reverse train by means of corresponding sensors in the rear area of the vehicle.

In general, however, an automatic parking assistance by the inclusion of parking space data will be more complex, but also more robust, z. B. if at least a first parking space corner was detected from the detection of a first (seen in the direction of travel) Parklückenbegrenzenden object, as described above.

The invention is not limited to the embodiments described herein and the aspects highlighted therein; Rather, within the scope given by the appended claims a variety of modifications are possible, which are within the scope of expert action.

QUOTES INCLUDE IN THE DESCRIPTION

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

Cited patent literature

• US 2003/0210157 A1 [0005]

Claims (11)

A method of assisting a parking operation of a vehicle, comprising the steps of: - selecting ( 504 ) a parking strategy based on sensor data; - To offer ( 506 ) the selected parking strategy to a driver of the vehicle; and - initiate ( 508 ) the offered parking strategy in response to an activation by the driver; characterized in that the sensor data taken into account when selecting the parking strategy driving maneuver data ( 415 ), which detect a potential parking maneuver ( 612 ) affect. Method according to Claim 1, characterized in that the driving maneuver data ( 415 ) the detection of a Ausscherens ( 612 ) of the vehicle ( 600 ) affect. Method according to claim 1 or 2, characterized in that the driving maneuver data ( 415 ) concern at least one of the following: a steering wheel movement, a yaw rate change, wheel path differences of wheels, speed differences of wheels, a lateral acceleration of the vehicle. Method according to one of the preceding claims, characterized in that the sensor data taken into account when selecting the parking strategy also includes parking space data ( 413 ), which at least partially detect a parking space ( 602 ) affect. Method according to Claim 4, characterized in that the parking space data ( 413 ) the detection of exactly one parking space limiting object ( 606 ) affect. Method according to claim 4 or 5, characterized in that the parking space data ( 413 ) do not include a length and / or width of the potential parking space. Method according to claim 6, characterized in that the step of selecting ( 504 ) of a parking strategy on the lack of parking space data ( 413 ) to the length and / or width of the potential parking space ( 602 ). Method according to one of the preceding claims, characterized in that as a parking strategy, a transverse parking maneuver is selected instead of a longitudinal parking maneuver. Computer program for carrying out the method according to one of the preceding claims, when the computer program is executed on a programmable computer device. Device for assisting a parking process of a vehicle, comprising the following components: - a component ( 404 ) for selecting a parking strategy based on sensor data; - one component ( 406 ) for offering the selected parking strategy to a driver of the vehicle; and a component ( 408 ) for initiating the offered parking strategy in response to an activation by the driver; characterized in that the component ( 404 ) for selecting a parking strategy is designed to take into account sensor data, the driving maneuver data ( 415 ) relating to detection of a potentially maneuvering parking maneuver. Driver assistance system ( 400 ) with a device for assisting a parking operation according to claim 10.

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