DE102012015002B4 - Method and device for assisted parking - Google Patents

Abstract

A method for assisting parking a motor vehicle in a parking space, wherein the motor vehicle has a parking device for assisted or automatic parking with a surroundings detection, based on the information of Einparkeinrichtung an avatar (2) is generated in the form of a virtual Parklotsen in the field of view of Driver is projected when parking and instructs the driver by means of adapted to the current driving situation virtual gesture in the parking space, the driver's line of sight is determined and the avatar (2) depending on the determined direction in the windscreen, rear window, side window and / or in the Rearview mirror or side mirrors is displayed, and the avatar (2) is projected on the line of sight of the driver's current line of sight in the outer area of the motor vehicle.

Description

The invention relates to a method for assisting a driver of a motor vehicle when parking in a parking space according to the preamble of claim 1 and to a corresponding device according to the preamble of claim 5.

The parking of a motor vehicle, in particular the reverse parking, places increased demands on the ability of the driver, in particular if the considered parking space is relatively narrow or difficult to reach. Often, the driver then waives the driving of such a parking space, which can lead to a long time looking for a suitable parking space, especially in today's parking situation. To relieve the driver in such situations, a variety of methods and devices for assisting a driver when parking a motor vehicle have been developed.

The simplest type of parking assistance is to provide information about the environment of the vehicle, such as an acoustic distance notification to obstacles in the vicinity of the vehicle, wherein the distance measurement is usually based on ultrasonic sensors. In this way, the driver is easily displayed the distance to obstacles when maneuvering, with the control of the vehicle remains completely the responsibility of the driver.

The presentation of the measured environment situation in a display together with the current outlines of the vehicle is the next step in assisting the driver. Here, the driver can see the current status of his vehicle in the surrounding situation on the display and assess the situation regarding intentional actions more accurate than the purely acoustic information. Again, the responsibility for the vehicle remains entirely in the hands of the driver.

The next level of assisted parking concerns park assistants known as PLA. These measure the environment of the motor vehicle with a suitable environmental sensor and search, for example, while passing by laterally parked vehicles for a suitable parking space. If a suitable parking space is found, starting from a suitable starting point for parking, a parking trajectory is calculated and the vehicle is parked in the parking space with the park steering assistant, wherein the park steering assistant takes over the steering while the driver remains responsible for gas and brake. Such Parklenkassistenten have been proposed in multiple variants of varying complexity for various parking situations and are available as special equipment high-quality vehicles.

The last stage is fully automatic parking systems that measure the environment of the vehicle, determine possible parking spaces located therein and on the instructions of the driver to control a suitable parking space and fully automatic parking. Such systems are already being tested for series production.

Another parking aid can the US 7,119,715 B2 which describes a mobile robot used within a closed parking area, which leads a vehicle both to a free parking space of the parking area, and subsequently instructs the driver in the free parking space in the sense of an external pilot.

Furthermore, the document describes DE 102 30 945 A1 a parking assistance device for rear parking a vehicle in a parking lot with an image pickup device for taking a picture of the rear environment of the vehicle and a display device for displaying the rear image, wherein the intended path of the vehicle is superimposed in the image of the display device.

From the publication DE 10 2006 056 966 A1 a parking assistant for a motor vehicle is known, wherein the driver of the motor vehicle is supported by means of a visual display device having a parking assistant. In this case, a target steering angle and an actual steering angle is displayed simultaneously on the display device, so that the driver can adjust the actual steering angle accordingly.

The publication DE 10 2009 051 463 A1 describes a motor vehicle with an external control device and a Parklenkassistenten, wherein the external control device is designed for communication with the Parklenkassistenten, so that initiated by the external control device parking operation of the motor vehicle is feasible taking into account location information.

However, there are now drivers who are critical of the technical automation in the vehicle. You may find it difficult to "give up" the steering wheel, as it were, and lose control of the vehicle. This is necessary for driver assistance systems such as the PLA.

Then there are parking situations in which the PLA refuses to provide assistance. This may be the case, for example, if the gap is too narrow or if the trailer is too large. In such situations, the driver is again relying solely on his driving skills. Although he has more or less abstract, distorted and / or schematic distance displays or environment maps in the combination or infotainment display available, but instructions or a Einparkunterstützung he does not get.

The publication DE 10 2007 037 073 A1 relates to a device for conveying information to the driver of a motor vehicle, comprising a control device and a pointing device controlled by the control device. In this case, the pointing device has at least one three-dimensionally embodied directional indicator element, which is movable in at least one degree of freedom, and at least one drive element for moving the direction indicator element. In this case, a spatial direction to be displayed to the driver can be determined by the control device, and the drive element of the pointing device can be activated by the control device in order to align the direction indicator with the spatial direction to be displayed.

The publication US 07119715 B2 shows a robot, which gives a driver a similar instructions for parking in a parking lot instructions. The robot is equipped with a camera that generates a picture of the vehicle and the parking lot. Further, the robot has receiving means for receiving vehicle information such as steering angle, selected range and vehicle speed. Based on the information provided, the robot calculates an optimal parking trajectory and directs the vehicle to the parking area by visual signals to the driver, such as hand signals.

The publication DE 069 836 846 T2 describes a vehicle-mounted device that allows one or more personalized agents or avatars to appear to a driver or occupant of the vehicle to communicate with it. In this case, the device has: a first detection device for detecting a predetermined current or actual state; first storage means for storing analysis data updatable in response to the input of the last actual state detected by the first detection means; at least one personalized agent capable of communicating with a user in the vehicle; a second storage means for storing a plurality of communication programs; a communication program selection means for designating one of the communication programs to be executed in accordance with the current state detected by the first detection means and / or the analysis data currently stored in the first storage means; agent control means for controlling an activity of the agent according to the selected communication program; and an agent output device for outputting the agent activity determined by the agent control device to the user in the vehicle.

The invention is therefore based on the object to provide a method and a device for assisted parking of a vehicle, which overcome the above-mentioned disadvantages.

This object is achieved by a method having the features of claim 1 and by an apparatus having the features of claim 5. Preferred embodiments of the invention are the subject of the dependent claims.

In the method according to the invention for assisting the parking of a motor vehicle in a parking space, the motor vehicle having a parking device for assisted or automatic parking with a surroundings recognition, an avatar in the form of a virtual parking guide is generated based on the information of the parking facility, which is in the field of vision of the driver is projected during parking and instructs the driver by means of adapted to the current driving situation virtual gesture in the parking space. In terms of the invention, projection also means that the virtual parking guide is represented, for example, by means of an electrochromatic method.

The direction of the driver's direction is determined, and the avatar is faded into the front, rear or side window as well as the rear or side mirrors, depending on the direction of view. Furthermore, the avatar is projected on the line of sight of the driver's current line of sight outside the motor vehicle.

Preferably, the avatar may execute a predetermined number of parking gestures, wherein a first group of parking gestures relate to hand signals for general information and a second group of park gestures relate to hand signals for travel movements.

Further preferably, the parking device determines the optimal Einparkablauf for the selected parking space. The determined Einparkablauf is divided into individual sections and each section is assigned a park gesture. The parking gesture for the individual section is in particular a function of the parking situation and the surrounding situation.

The virtual parking guide thus supports the driver, for example, sitting alone in the car, in a "human" way in difficult parking situations. The pilot "stands" virtually outside the motor vehicle and observes the driving and parking situation virtually from the outside and actively gives hints. So that the driver can perceive these comfortably, the virtual guide is projected into his field of vision. This is done depending on the direction in the front, side or rear windows, as well as in the rear and side mirrors. The keyword is "Augmented Reality", d. H. the superposition of reality with virtual information. The pilot instructs the driver by means of common and adapted to the respective parking situation gestures, especially hand gestures, in the parking space, as it would do a "real" passenger or passer-by who is standing next to the car.

It is particularly advantageous that the driver retains control of his vehicle all the time. Therefore, after successfully completing the parking, he also has a stronger emotional sense of achievement. People who regard technology as critical are taken away from the fear of automated driver assistance systems because a virtual "human" instructor supports the driver. In tight parking situations, in which the Park Steering Assistant does not work due to undefined surroundings or too short distances, support can nevertheless be offered, since the driver still steers himself. Compared to a human parking guide, the invention has the advantage that the virtual guide can be faded into his field of vision, depending on the direction in which the driver looks. There is therefore no "twisting" of the neck to look for the guide. The driver can be - maintained in the driving school - learned or habitual gaze behavior during parking operations. In addition, the virtual guide has the potential also efficient and easy to assist when maneuvering and parking larger cars or trucks (with trailer). Another advantage of the virtual pilot is that it is well visible even at night or in poor visibility conditions such as rain, snow or fog.

• – eine Einrichtung zur Erzeugung eines Avatars in Form eines virtuellen Parklotsen basierend auf den Informationen der Einparkeinrichtung,
• – eine Einrichtung zur Ermittlung der aktuellen Blickrichtung des Fahrers, und
• – eine Einrichtung zum Einblenden des Avatars in die ermittelte aktuelle Blickrichtung des Fahrers.

The device according to the invention for carrying out the above-described method for assisted parking in a parking space comprises a parking device for assisted or automatic parking with an environment detection and a device for determining a Einparkablaufs from the environmental data. Further, the device has:

• A device for generating an avatar in the form of a virtual parking guide based on the information of the parking device,
• A device for determining the driver 's current line of sight, and
• - A device for displaying the avatar in the determined current line of sight of the driver.

The parking device can be a park assist (PLA) or a park distance control (PDC). Likewise, an automatic parking system can be used. It is essential that the Einparkeinrichtung has a mode "manual parking with a virtual Parklotsen".

Preferably, the apparatus comprises means for generating an avatar a predetermined number of parking gestures that the avatar can perform. To visualize these gestures, it is possible, for example, to create virtual 3D persons and film sequences by means of "motion capturing", which are provided to the device in the form of stored material.

Further preferably, the device has a device for subdividing the park run determined by the parking device into individual steps, wherein a parking gesture of the avatar can be assigned to each individual step.

More preferably, the individual gesture associated with a single step is a function of the current parking situation and the surrounding situation. The individual gestures or sequences for visualizing the gestures of the avatar are assigned to the various surrounding situations and parking situations during parking or parking phases.

• – Der virtuelle Parklotse ermöglicht Einparken durch Einweiser auch für Alleinfahrer.
• – Der virtuelle Parklotse ermöglicht effizienteres Einparken durch Einweiser, da der virtuelle Einweiser überall dort zu sehen ist, wohin der Blick des Fahrers sich richtet.
• – Der virtuelle Parklotse bildet eine Rückfallposition für Automatiksysteme, wenn diese aufgrund technischer Einschränkungen nicht funktionieren, wie dies beispielsweise bei zu engen Parklücken der Fall sein kann.

In summary, the virtual parking controller has the following advantages:

• - The virtual parking controller allows parking by instructors for solo travelers.
• - The virtual parking controller allows more efficient parking by instructors, as the virtual guide is visible wherever the driver's gaze is directed.
• - The virtual parking guide forms a fallback position for automatic systems, if they do not work due to technical limitations, as may be the case, for example, if the parking spaces are too narrow.

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

1 the insertion of an avatar in the interior mirror of a motor vehicle,

2 a compilation of possible parking gestures, and

3 the technical implementation of the method as a block diagram.

1 shows one in the interior rearview mirror 1 vehicle mirrored avatar 2 , which has the function of a virtual parking controller for the driver of the motor vehicle. The interior rearview mirror 1 that by means of a holder 3 on the windscreen 4 is fixed, shows an image of the rear space of the vehicle and there are two vehicles in the picture 5 and 6 to recognize, between which a parking space 7 in which the virtual parking controller 2 with his gestures instructs the vehicle. The insertion of the avatar 2 in the interior rearview mirror 1 means that the line of sight of the driver of the vehicle is currently directed in the interior rearview mirror.

2 shows a compilation of possible parking gestures a to i in a schematic representation. Meanwhile, some of the gestures shown are now used in the training of pilots and for instructing trucks or aircraft. The illustrated gestures a to i are therefore explained below: Gesture: Importance: Explanation: a Caution Hold right arm up, palm facing forward b Stop Both arms extend horizontally sideways, palms facing forward c Keep risk Both arms extend horizontally sideways, palms facing forward and arms alternately angling and stretching d Depart Hold right arm up, palm facing forward and arm side to side e Come here Both arms bend, palms facing inwards and waving with forearms f Remove Both arms bend, palms face outward and waved away with forearms G Drive left Slightly angle the left arm horizontally and move it sideways H To drive on the right Slightly angle the right arm horizontally and move it sideways i distance reduction Hold both palms parallel and join them together according to the distance

The gestures a to c concern hand signs for general information, while the parking gestures d to i represent hand signs for driving movements.

These gestures are reduced to a minimum that the user can clearly distinguish. Only then is an intuitive distinction of the gestures by the user possible without a learning program or training.

To visualize these gestures, virtual 3D persons and film sequences are created, for example by means of "motion capturing". The individual gestures or sequences then become the different ones Surrounding situations when parking or parking phases of the PLA assigned and saved for later disposal at a suitable location.

• 1) Als Overlay in vorhandenen Displays: Hierbei werden alle vorhandenen Infotainmentanzeigen, Kombiinstrumentanzeigen und sonstige Displays benutzt.
• 2) Nutzen von transparenten Overlay-Displays: Auf den Frontscheiben, den Seitenscheiben und den Heckscheiben sowie auf den Innenspiegeln und Außenspiegeln.
• 3) kleine Projektoren (analog zum Headup Display), die den Avatar in die Sichtflächen (Scheiben/Spiegel) projizieren. Denkbar ist auch eine Kombination dieser Möglichkeiten.

The virtual park guide can be faded into the driver's field of view in three states:

• 1) As an overlay in existing displays: All existing infotainment displays, instrument cluster displays and other displays are used.
• 2) Use of transparent overlay displays: On the windscreens, the side windows and the rear windows as well as on the interior mirrors and exterior mirrors.
• 3) small projectors (similar to the Headup Display), which project the Avatar into the visible surfaces (panes / mirrors). It is also conceivable a combination of these possibilities.

3 shows the technical implementation of the method for assisted parking by means of a virtual Parklotsen. In principle, the virtual parking controller uses the information of the parking assistant and / or the PDC system. It is a situational display. The technical procedure of a parking procedure with virtual parking controllers is explained below on the basis of function blocks: block importance B1: Activation of the PLA by the driver. B2: Selection of the PLA mode, for example "manual parking with virtual park controllers". B3: Determination of the optimal parking procedure, which is a standard functionality of the Park Steering Assistant. B4: Subdivision of the parking process into individual steps, to each of which a parking gesture can be assigned. B5: Tracking the line of sight of the driver, for example with an existing interior camera, and determining the viewpoint. B6: Positioning of the virtual parking guide on the line of sight of the driver in the outer area of the motor vehicle. B7: Depending on the parking and surrounding situation, the correct parking gesture is selected. B8: Display / projection of the virtual parking guide into the corresponding display, and / or transparent or reflective surface. B9: Tracking the transverse and longitudinal movement of the vehicle. B10: Constant adaptation of the viewpoint, the projection surface and the appropriate parking gesture according to the function blocks B3 to B8. For adaptation, the optimal parking procedure and the necessary gestures are continually recalculated by the system, aligned with the position of the vehicle in the parking space.

It makes sense for the driver to be additionally supported by linguistic commands of the virtual parking controller.

Furthermore, an interior camera is necessary, which tracks the driver's gaze and thus determines the current viewing direction. Such indoor cameras are successfully tested for fatigue detection systems and can be used directly.

All functions, sensors and cameras of the park steering assistant and PDC (Park Distance Control) system can be used, as far as they are available. A PLA system is required because the calculation of a parking situation from the sensor data, as integrated in the PLA system, is necessary. The recorded parking situation is then mapped onto the prepared gestures or sequences. The use of a 360 ° outdoor camera is also an advantage, since then, for example, the virtual pilot in the 360 ° external display in the infotainment display can be displayed.

LIST OF REFERENCE NUMBERS

1

Interior rearview mirror

2

Avatar - virtual parking guide

3

bracket

4

windscreen

5

parked vehicle

6

parked vehicle

7

parking lot

a

Park gesture

b

Park gesture

c

Park gesture

d

Park gesture

e

Park gesture

f

Park gesture

G

Park gesture

H

Park gesture

i

Park gesture

B1

Block 1

B2

Block 2

B3

Block 3

B4

Block 4

B5

Block 5

B6

Block 6

B7

Block 7

B8

Block 8

B9

Block 9

B10

Block 10

Claims (8)

Method for assisted parking of a motor vehicle in a parking space, wherein the motor vehicle has a parking device for assisted or automatic parking with an environment detection, wherein based on the information of Einparkeinrichtung an avatar ( 2 ) is generated in the form of a virtual parking controller, which is projected into the driver's field of vision during parking and instructs the driver by means of a virtual gesture adapted to the current driving situation in the parking space, the driver's line of sight is determined and the avatar ( 2 ) is faded into the windscreen, rear window, side window and / or the rearview mirrors or side mirrors depending on the determined viewing direction, and the avatar ( 2 ) is projected on the line of sight of the current line of sight of the driver in the exterior of the motor vehicle. Method according to claim 1, characterized in that the avatar ( 2 ) may perform a predetermined number of parking gestures (a-i), wherein a first group of parking gestures (a-c) relate to general attention hand gestures and a second group of park gestures (d-i) relate to hand gestures for travel movements. Method according to one of the preceding claims, characterized in that the Einparkeinrichtung determines the optimal Einparkablauf for the selected parking space, the determined Einparkablauf is divided into individual sections and every single section a parking gesture (a-i) is assigned. A method according to claim 3, characterized in that the parking gesture (a-i) for the single section is a function of parking situation and environmental situation. Device which is set up and designed to carry out the method for assisted parking in a parking space according to one of the preceding claims, with a parking device for assisted or automatic parking with a surroundings detection and for determining a Einparkablaufs from the surrounding data, characterized in that the device further comprising: means for generating an avatar ( 2 ) in the form of a virtual parking guide, a device for determining the current direction of the driver, and a device for displaying the avatar ( 2 ) in the determined current direction of the driver. Device according to Claim 5, characterized in that the device for generating an avatar ( 2 ) comprises a predetermined number of park gestures (a-i) that the avatar ( 2 ). Device according to one of claims 5 or 6, characterized in that the device comprises a device for subdividing the Parkablaufs determined by the Einparkeinrichtung in individual steps, each parking step a parking gesture (a-i) can be assigned. Apparatus according to claim 7, characterized in that the single step associated with a single gesture (a-i) is a function of the current parking situation and the surrounding situation.

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