DE102010043742A1 - Method for selecting a parking space in the case of several parking spaces suitable for parking - Google Patents

Abstract

A method for a parking maneuver in a parking space for a motor vehicle with at least one sensor, with the help of this at least one sensor continuously recording data for the detection of a parking space when driving past and, when a parkable parking space is detected, a control unit automatically decides which parking space for a possible one Parking process is selected based on the calculated trajectory.

Description

The invention is based on a method for determining a parking space for a possible parking operation, as well as a computer program and a computer program product for carrying out the same according to the preamble of the independent claims.

State of the art

Various driver assistance systems are known for supporting a parking process, for example park pilots who calculate a trajectory for a parking operation and give each driver driving instructions for carrying out the parking procedure. Such driver assistance systems use, for example, systems for parking space measurement (PLV), which determine, for example by means of ultrasonic sensors or radar sensors, the width and the relative position of a parking space to the own vehicle and perform a possible parking depending on the width of the own vehicle and possibly the required trajectory.

From the DE 100 45 616 A1 a method is known for automatically parking a vehicle. The vehicle environment is recorded by a video camera. The driver can select a desired parking space on a touchscreen.

From the DE 10 2007 002 261 A1 is a parking assistance known in which by means of sensors parameters of possible parking spaces are determined and displayed to the driver graphically. The parameter set can be designed such that the respectively last detected parking space is displayed to the driver. The driver can then make a selection or correction of a parking space shown.

Disclosure of the invention

Advantages of the invention

The procedure according to the invention with the characterizing features of the independent claims has the advantage that in a parking situation in which more than one parkable parking space was detected, an independent selection of a parking space is made to a fully or semi-automatic parking in this parking space perform.

Advantageously, that parking space is selected independently, which allows a driver of a motor vehicle after the initiation of the fully or semi-automatic parking operation a traceable for the driver and / or the rest of traffic parking. A comprehensible parking operation means, for example, that no longer distances are covered to the parking space, for example, twice the width of a parkable parking space, and / or that no frequent corrections of a calculated for the parking trajectory are necessary.

Further advantages are a low fuel consumption or tire wear, as well as a shortening of the parking time and / or less influence and endangerment of the remaining traffic.

It is also conceivable that during parking operations, which are performed by the driver, an adaptive parking space measurement takes place, whereby the fully or semi-automatic parking process is adapted for further parking operations to the parking behavior of the driver. This may, for example, only take place if the parking behavior of the driver is good, in the sense of, for example, straight alignment within the parking space.

Another advantage of the method is an improved alignment of the motor vehicle within a parking space. Thus, an angle of the motor vehicle is prevented and / or a possible collision with an obstacle when opening a vehicle door is taken into account by the parking operation.

Further advantageous embodiments of the present invention are the subject of the dependent claims.

For example, ultrasound, radar and / or infrared sensors, capacitive sensors, LIDAR sensors (light detection and ranging) and / or environment cameras with a higher measurement accuracy can be used to detect the at least one sensor signal, which further optimizes the parking process allow, for example by determining other boundary conditions such as possible obstacles in a parking space.

The method according to the invention can be implemented both for reverse and for forward parking operations and is not dependent on a rectangular shape of the parking space. Even obliquely arranged or trapezoidal parking spaces represent parking-dependent parking spaces depending on the vehicle dimensions for this method. The parking procedure can also be started if, for example, the vehicle is traveling slowly without the vehicle having to completely stand still.

The control unit and / or a computer separate from the control unit preferably contain at least one electrical memory in which the Procedural steps are stored as a computer program.

The computer program according to the invention provides that all steps of the method according to the invention are carried out when it runs in a control unit and / or a computer separate from the control unit.

The computer program product according to the invention with a program code stored on a machine-readable carrier carries out the method according to the invention when the program runs in a control device and / or a separate computer from the control device.

Brief description of the figures

Embodiments of the invention are illustrated in the drawings and explained in more detail in the following description.

It shows:

1 an example of a parking situation with two parking spaces;

2 another example of a parking situation with two parking spaces;

3 an example of a parking situation with only one parking space;

4 a flowchart of an embodiment of the method according to the invention; and

5 an embodiment of a device suitable for carrying out the method according to the invention.

Detailed description of the embodiments

In the 1 illustrated parking situation shows a vehicle ( 2 ), a parking space ( 5 ) and a parking space ( 6 ) located between two parked vehicles ( 7 ) and ( 8th ) respectively. ( 7 ) and ( 9 ) are located on a carriageway (F). The vehicle ( 2 ) has at least one control unit ( 10 ) and at least one sensor. A possible sensor ( 3 For example, a steering angle may detect a wheel pulse counter signal and / or a GPS signal. As another possible sensor ( 4 For example, an ultrasonic, radar, infrared, LIDAR (light detection and ranging) and / or a capacitive sensor, for example a wire rate sensor, and / or an environment camera are used. Preferably, the sensor ( 4 ) is installed at at least one point in at least one bumper of the motor vehicle, but this can also be attached to another advantageous positions of the motor vehicle.

On the basis of passing by the at least one sensor ( 3 ) and or ( 4 ) transmitted sensor data parking spaces can be detected and a parking space geometry, for example, be determined based on the detected width. On the basis of the supplied sensor data and the determined therefrom geometry is determined whether the parking space for the vehicle ( 2 ) is parkable.

At least two detected parking spaces ( 5 ) and ( 6 ), each of these parking spaces ( 5 ) and ( 6 ) an orientation ( 5a ) and ( 6b ). The orientation includes, for example, the beginning of the parking space and / or the alignment with the roadway and / or the passing vehicle ( 2 ).

The position and orientation (A) of the vehicle ( 2 ) to the parked vehicles can be detected by means of the sensors ( 3 ) and or ( 4 ) be determined. For this purpose, the position and orientation (A) of the vehicle are determined, for example, based on a steering angle signal and / or a distance to a vehicle.

In 1 has the vehicle ( 2 ) a distance (L1) since detection of the parkable parking space ( 5 ) and a route (L2) since the detection of the parkable parking space ( 6 ). On the basis of the sensor data and the boundary conditions determined therefrom, at least two trajectories (T1) and (T2) for a possible parking process in the parking spaces ( 5 ) or ( 6 ). The distances traveled (L1) and (L2) can be as in 1 calculated from the beginning of the parking space to the rear of the vehicle, but they can also be, for example, from the end of the parking space to the center of the vehicle ( 2 ) be calculated.

Based on the calculated trajectories is determined by the control unit ( 10 ), which of the at least two trajectories (T1) or (T2) is used for a possible parking procedure or which parking space is offered to the driver.

Advantageously, that trajectory by the control unit ( 10 ) independently selected, which allows a driver of a motor vehicle after the initiation of the fully or semi-automatic parking operation a traceable for the driver and / or the rest of traffic parking. A comprehensible parking operation means, for example, that no longer distances (L1) or (L2) are covered to the parking space, for example, a distance longer than twice the width of a detected parkable parking space, and / or that no frequent corrections of a calculated for the parking Trajectory are necessary. The maximum permissible route length can be, for example, firmly defined and / or dependent on the parking space geometry. So can be an exclusion criterion for selection Trajectory be exceeded by a certain distance.

Further advantages are a low fuel consumption or tire wear, as well as a shortening of the parking time and / or less influence and endangerment of the remaining traffic.

Furthermore, it can be taken into account for the decision to select the trajectories which of the two parking spaces ( 5 ) or ( 6 ) Has a greater width, so that, for example, a more comfortable disembarkation of the driver can be implemented.

In 1 For example, the trajectory (T1) for a parking process in the parking space ( 5 ). This calculated trajectory (T1) allows a parking operation, which minimizes an exiting on the opposite side and requires fewer steering movements than the calculated trajectory (T2).

In the 2 illustrated parking situation shows similar to the in 1 illustrated parking situation a vehicle ( 2 ), a parking space ( 5 ) and a parking space ( 6 ) located between two parked vehicles ( 7 ) and ( 8th ) respectively. ( 7 ) and ( 9 ) are located on a carriageway (F).

In 2 For example, the trajectory (T2) for a parking process in the parking space ( 6 ). Although this trajectory requires more steering movements, but requires a much shorter return journey, so that during this parking a lesser influence on the rest of the traffic is done as in a parking on the basis of the trajectory (T1).

In the 3 illustrated parking situation shows a vehicle ( 2 ), a parking space ( 5 ) located between two parked vehicles ( 5 ) and ( 7 ) is located on a carriageway (F). Analogous to the in 1 and 2 parking situations is the parking space ( 6 ) an orientation ( 6a ). The orientation includes, for example, the beginning of the parking space and / or the alignment with the roadway and / or the passing vehicle ( 2 ).

The position and orientation (A) of the vehicle ( 2 ) to the parked vehicles can be detected by means of the sensors ( 3 ) and or ( 4 ) respectively. For this purpose, the position and orientation (A) of the vehicle, for example, based on a steering angle signal ( 3 ) and / or a distance ( 4 ) to a vehicle.

In the illustrated parking situation close to the parking space ( 6 ), after the limiting vehicle ( 7 ) no further parking spaces. Nevertheless, a parking in the parking space ( 6 ), the vehicle recognized since the last vehicle ( 7 ) traveled distance (L2) takes into account, for example, based on the side facing away from the last parking space ( 6a ) of the vehicle ( 7 ). In 3 has the vehicle ( 2 ) a distance (L1) since detection of the parkable parking space ( 5 ). Although the distance traveled (L1) since the last detected parkable parking space ( 6 ) exceeds a defined maximum length, for example, a trajectory (T) for a possible parking process in the parking space ( 6 ). Therefore, the parking space is still offered for parking and thus increases the number of parking spaces offered for parking.

4 shows a flowchart of the method according to the invention. If, for example, the travel speed of the vehicle is within predefinable threshold values, the process for parking space measurement is performed in one step ( 10 ) started.

In a further step ( 20 ) sensor data is continuously recorded while driving. This process is carried out until either the vehicle stops or travels faster than the threshold to which a parking space measurement takes place.

If there is no parkable parking space in one step during parking space measurement ( 30 ), then another check in step ( 40 ) instead of. Drives the vehicle during the test In step ( 40 ), then the parking space measurement in step ( 20 ). If the car continues to travel, but faster than the threshold to which a parking space measurement takes place, then the procedure is repeated in one step ( 50 ) completed.

Is in step ( 30 ) detects a parkable parking space, then the further procedure takes place via a step ( 60 ) and a step ( 70 ) instead of. The in step ( 30 ) parkable parking space is in the next step ( 60 ) saved. For this purpose, for example, the width of the parking space and the position are stored to the vehicle.

In step ( 70 ) is checked whether the vehicle stops, for example. To start a parking operation or if the vehicle continues, then the parking space detection in step ( 20 ). In one step ( 80 ) is detected after the vehicle is stopped in step ( 70 ) in one step ( 80 ) checked whether no, one parkable or more than two parking spaces were stored. If no parkable parking space has been stored or the parking procedure has not been started, then the procedure is repeated in one step ( 90 ) completed.

If a parkable parking space has been found then a trajectory is calculated and the procedure in step ( 110 ).

If more than two parkable parking spaces have been saved, then in one step ( 100 ) calculates at least two trajectories for a possible parking operation. In this step, the control unit automatically decides which trajectory is used for a fully or semi-automatic parking process.

After the decision in step ( 100 ) is in one step ( 110 ) carried out a query to the driver if he wants to perform a parking operation, for example. By acoustic, optical and / or graphical signals. The driver confirms in step ( 110 ) that he wants to park in this parking space, then in one step ( 130 ) the parking operation carried out on the basis of the independently determined parking space on the basis of the calculated trajectory. If the driver does not confirm that he would like to park, then the method is, for example, after a predeterminable time or after starting the vehicle in one step ( 120 ) completed.

After the parking process or a cancellation eg by the driver, the process in step ( 140 ) completed.

Alternatively, the driver in step ( 60 ) already be given an indication by acoustic, optical and / or graphic signals that a parkable parking space for a possible parking operation is available and / or the calculation of the trajectory for this detected parking space are performed.

Alternatively, the driver in step ( 130 ) displays all parkable parking spaces and he can choose in which of these parking spaces he would like to park. For this purpose, the driver can also be signaled, which parking space was selected by the control unit, for example. As the optimal parking space.

5 shows a technical environment of the method according to the invention. In a vehicle 300 there is at least one control unit 301 , The control unit 301 be from at least one sensor 302 Data provided. There may be more sensors 302 (1) . 302 (2) , ... 302 (n) to be available. The sensor data can be sent to the control unit 301 be transmitted directly via an interface or alternatively via a bus system such as the CAN bus. The control unit contains at least one memory 306 for storing and processing the sensor data. The control unit 301 controls at least one actuator 305 at. Other actuators 305 (1) . 305 (2) , ... 305 (m) may be, for example, an accelerator pedal, a brake pedal, a steering wheel. The vehicle 300 or control unit 301 can also have more interfaces 307 For example, for the interaction with the driver in the form of queries and confirmations.

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

• DE 10045616 A1 [0003]
• DE 102007002261 A1 [0004]

Claims (12)

Method for a parking process in a parking space for a motor vehicle ( 2 ) with at least one sensor ( 4 ), whereby when passing by means of this at least one sensor ( 4 ) continuously data for detecting a parking space are detected, characterized in that upon detection of at least two parking spaces ( 5 ) and ( 6 ), at least two trajectories (T1) and (T2) depending on the respective parking space geometry of the parkable parking spaces ( 5 ) and ( 6 ), a position and orientation (A) of the motor vehicle ( 2 ) for a possible fully or semi-automatic parking operation, and then automatically by a control unit ( 10 ) is decided which parking space is selected for a possible parking on the basis of the calculated trajectory. A method according to claim, characterized in that the calculation of the trajectories (T1) and (T2) takes into account a minimization of the number of trains necessary for parking. Method according to one of the preceding claims, characterized in that the least possible outward breaking of the motor vehicle ( 2 ) is taken into account on the other lane side in the calculation of the trajectories (T1) and (T2). Method according to one of the preceding claims, characterized in that during the parking process on the basis of the selected trajectory (T1) or (T2) an orientation of the motor vehicle ( 2 ) is made as parallel as possible to at least one side limiting the parking space. Method according to one of the preceding claims, characterized in that a simple for a driver and / or passenger disembarkation is taken into account. Method according to one of the preceding claims, characterized in that in the detection of a parkable parking space an acoustic, optical and / or graphical indication takes place. Method according to one of the preceding claims, characterized in that after calculation of the trajectories (T1) and (T2) for the possible parking operation issued by acoustic, optical and / or graphic signals query to a driver and after confirmation by a driver of Parking procedure based on the automatic control unit ( 10 ) and / or by the driver selected trajectory (T1) or (T2) is performed. Method according to one of the preceding claims, characterized in that during parking operations, which are performed by the driver, an adaptive parking space measurement takes place, whereby the parking process is adapted to the parking behavior of the driver. Device according to one of the preceding claims, characterized in that for detecting the distance to the at least one object, an ultrasound, radar, infrared, LIDAR and / or a capacitive sensor and / or at least one environment camera is used. Device for a parking operation in a parking space for a motor vehicle ( 2 ) with at least one sensor ( 4 ), whereby when passing by means of this at least one sensor ( 4 ) continuously data for detecting a parking space are detected, characterized in that upon detection of at least two parking spaces ( 5 ) and ( 6 ), based on a position and orientation (A) of the motor vehicle ( 2 ) for a possible fully or semi-automatic parking operation, and then automatically by a control unit ( 10 ) is decided which parking space is selected for a possible parking on the basis of the calculated trajectory. Computer program with program code means adapted to perform all the steps of a method according to one of claims 1 to 8, when the computer program is executed on a computer or a corresponding computing unit. A computer program product comprising program code means stored on a computer-readable medium for carrying out all the steps of a method according to any one of claims 1 to 8 when a computer program according to claim 11 is executed on a computer or a corresponding computing unit.

Images