DE102010061904A1 - Method for supporting a parking operation - Google Patents

Abstract

A driving aid device with at least one sensor is proposed, which continuously measures a parking space during a fully or semi-automatic parking process and automatically corrects the originally calculated parking process when an obstacle is detected.

Description

The invention is based on a method for determining a parking space, 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 10 2005 058 499 A1 a driver assistance system is known, which in addition to an output unit also has an input unit with which at least one reference position of the motor vehicle can be entered by a driver, wherein the output of instructions to the driver or the implementation of at least one phase of the parking process taking into account the input reference position.

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 when at least one obstacle during a fully or semi-automatic off or parking operation, the process is not canceled, but independently made a correction of the originally calculated trajectory and the parking process is continued on the basis of a new trajectory.

Advantageously, the driver of the motor vehicle can initiate a parking operation, which does not necessitate manual intervention by the driver on account of the continuous measurement and independent correction of the originally calculated trajectory of the parking procedure.

Another advantage is the higher availability of parking operations and the number of parkable parking space over previously known methods. Due to the independent correction of a possible parking trajectory, the number of aborted parking operations can be reduced because, in contrast to previous solutions, no interruption of the parking process upon detection of an obstacle is necessary. As a result, the number of parkable parking spaces is increased, whereby a high acceptance of the parking space measurement system is achieved by the driver.

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.

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 for 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 surrounding cameras can be used to detect the at least one sensor signal. Depending on the sensors used, different conversions are possible, for example, when using sensors with a higher measurement accuracy, a further optimization of the parking process can be made.

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 Parkable parking spaces depending on the vehicle dimensions for this process.

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.

The control unit and / or a computer separate from the control unit preferably contain at least one electrical memory in which the method 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 a parking situation that is relevant to the method according to the invention;

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

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

Detailed description of the embodiments

In the 1 illustrated road situation 1 shows a vehicle 2 , a parking space 5 that is between two parked vehicles 6 and 8th is located on a carriageway F and has a certain width B. The vehicle 2 has at least one sensor. A possible sensor 3 For example, it can detect a steering angle and / or a wheel pulse counter signal. As another possible sensor 4 For example, an ultrasonic, radar, infrared, LIDAR (light detection and ranging) and / or a capacitive sensor and / or an environment camera is used. Preferably, the sensor 4 Installed at least one location in at least one bumper of the motor vehicle, but this can also be attached to another advantageous positions of the motor vehicle.

Based on when driving through the at least one sensor 4 transmitted sensor data may be a parking space 5 be recognized and a parking space geometry on the basis of the detected width B and depth D are determined. The depth D is determined by a depth of detection of the at least one sensor 4 limited. In the parking space 5 there is an obstacle 7 , for example, a column which limits the parking space. In 1 the column is located deeper in the parking space than the detection depth D and is therefore not recognized as an obstacle and not taken into account for a calculation of a possible parking operation. On the basis of the at least one sensor 4 supplied sensor data and the resulting parking space geometry is determined whether the parking space for the vehicle 2 is parkable. Is the detected parking space 5 for the vehicle 2 parkable at least one trajectory T is calculated for the possible parking operation.

After calculation of the trajectory T, a query is made to the driver. The query can be carried out by acoustic, optical and / or graphic signals. By the query, the driver can decide whether the parking operation is performed or not and in the event that the parking is to be performed, the driver can decide whether the parking is fully or semi-automatically performed or independently by the driver. After the selection of the query by the driver, a parking operation based on the calculated trajectory T is started.

In the calculation of the trajectory T, at least one boundary condition is taken into account, for example, as few parking trains as possible for the parking procedure, as little as possible an outrun of the motor vehicle and / or a duration of the parking procedure. If several trajectories are possible for the parking operation, then the trajectory can be selected automatically or manually by the driver on the basis of the boundary conditions.

In 2 a flowchart of the method according to the invention is shown. In a step S1, data for detecting a parking space are detected by a sensor. If a parking space is detected on the basis of the detected sensor data, a parking space geometry is determined on the basis of the sensor data in a step S2. On the basis of the determined parking space geometry, a decision is made in a step S2 as to whether it is a parking space that can be parked for the motor vehicle and, if necessary, a calculation of at least one trajectory for a possible parking procedure is calculated in a step S3. By a query in a step S4, the parking operation is started after confirmation by a driver. In a next step S5, a continuous measurement of the parking space is performed during the parking process. If an obstacle is recognized in this step that does not permit a further parking process on the basis of the calculated trajectory, then in a further step S6 at least one corrected trajectory T _{korr is} calculated on the basis of the updated parking space geometry. The parking process, which is carried out with the aid of the originally calculated trajectory T, is interrupted for this purpose and the corrected trajectory T _{corr is} independently calculated. Then the parking process is based on the corrected trajectory T _cor continued. In 1 exemplified a possible corrected trajectory T _corr , which is intended to illustrate a possible parking operation in which the vehicle first moves backwards with a certain steering angle, then with a possibly different steering angle a calculated distance moves forward and finally again with a possibly different steering angle concludes the parking process.

Should not possible for a parking corrected trajectory T _corr be calculated, eg. Due to the dimensions of the obstacle, the parking process is canceled and there is an indication to the driver. Possibly. the motor vehicle travels back to the original vehicle position on the basis of the originally calculated trajectory T.

The corrected trajectory T _corr can divide the parking process, for example, into several parking trains. In the calculation of the corrected trajectory T _corr , at least one boundary condition is taken into account, for example, as few parking trains as possible for the parking procedure, as little as possible of the motor vehicle and / or one duration of the parking procedure. If a plurality of corrected trajectory T _corr for the parking procedure be possible, then the corrected trajectory T _corr can be selected automatically or manually by the driver on the basis of the boundary conditions.

In a step S7, the parking process is terminated when the process has been successfully completed and the vehicle has been parked in the parking space or if, for example, an optimized trajectory T _korr could not be calculated on the basis of the updated parking space geometry. Possibly. the motor vehicle travels back to the original vehicle position on the basis of the originally calculated trajectory T. It is also conceivable that, for example, the corrected trajectory T _{corr takes place} only after the confirmation by the driver or continuous trajectories are calculated.

In 1 It can be seen that both in the case of the original calculated trajectory T, approximately the center of the parkable parking space assumed on the basis of the parking space geometry is taken into account for the calculation. In the calculation of the corrected trajectory T _corr , at least one boundary condition for determining the center can be taken into account, for example, the parking space can be centered between the at least one obstacle with a sufficiently large corrected width B _corr 7 and the vehicle 2 be set on the opposite side of the parking space, if z. B. the obstacle 7 at least one door of the motor vehicle and / or a trunk when opening not blocked.

To prevent oblique parking, as in 1 indicated by the dashed rectangle with the width B _corr , approximately the outermost points or the outermost dimensions of the obstacle 7 assumed as a limitation of the parking space.

Based on this corrected in step S6 trajectory T _corr the further parking operation is continued in step S5.

3 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. 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. 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 102005058499 A1 [0003]

Claims (14)

Method for a parking operation in a parking space for a motor vehicle 2 with at least one sensor, wherein when driving with the aid of this at least one sensor data for detecting a parking space are detected, and on detection of a parkable parking space a parking space geometry is determined and a calculation of a trajectory T is performed for a possible parking operation, during a based on the calculated trajectory T performed parking, by continuous measurement of the parking space by the at least one sensor data are detected, which is detected by a continuous comparison between the detected sensor data and the determined parking space geometry, a possible collision of the motor vehicle with an obstacle, characterized in that an updated parking space geometry is determined on the basis of the comparison, and if at least one obstacle is detected 7 a corrected trajectory T _corr is calculated for the parking procedure, wherein the parking process is continued _corr using the corrected trajectory T. A method according to claim 1, characterized in that the sensor data represent the distance to at least one object that limits the parking space and / or is located in the trajectory traveled for parking. Method according to one of the preceding claims, characterized in that the corrected trajectory takes into account a minimization of the number of trains necessary for parking. Method according to one of the preceding claims, characterized in that as little as possible of the motor vehicle 2 is taken into account on the other side of the road during parking on the basis of the corrected trajectory T _corr . Method according to one of the preceding claims, characterized in that during the parking process using corrected trajectory T _corr an orientation of the motor vehicle 2 as parallel to at least one parking space limiting side is made. 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 upon detection of a parking space geometry in which no calculation of a corrected trajectory T _{corr is} possible due to the sensor data, an interruption of the parking process takes place. Method according to one of the preceding claims, characterized in that the motor vehicle travels back to the original vehicle position on the basis of the originally calculated trajectory T when the parking process is interrupted. 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 trajectory T for the parking operation issued by acoustic, optical and / or graphical signals query to a driver and carried out after confirmation by a driver of the parking operation on the basis of the calculated trajectory T. becomes. Device for carrying out a method according to claims 1 to 10, characterized in that during a parking process carried out on the basis of the calculated trajectory T, by continuous measurement of the parking space by the at least one sensor data are detected, wherein by a continuous comparison between the detected sensor Data and the calculated parking space geometry, a possible collision of the motor vehicle 2 with an obstacle 7 is detected, based on the comparison, a corrected trajectory T _{corr is} determined, wherein the parking operation is performed on the basis of the corrected trajectory T _corr . Device according to one of the preceding claims, characterized in that an ultrasound, radar, infrared, LIDAR and / or a capacitive sensor and / or at least one environment camera is used to acquire the data. Computer program with program code means for carrying out all the steps of a method according to one of claims 1 to 10, 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 10 when a computer program according to claim 13 is executed on a computer or a corresponding computing unit.

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