DE102012103059A1 - Method for safe parking of vehicle in hillside, involves automatically controlling two wheels of vehicle such that wheels point to front edge of roadway, on detecting parking situation - Google Patents

Method for safe parking of vehicle in hillside, involves automatically controlling two wheels of vehicle such that wheels point to front edge of roadway, on detecting parking situation Download PDF

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Publication number
DE102012103059A1
DE102012103059A1 DE201210103059 DE102012103059A DE102012103059A1 DE 102012103059 A1 DE102012103059 A1 DE 102012103059A1 DE 201210103059 DE201210103059 DE 201210103059 DE 102012103059 A DE102012103059 A DE 102012103059A DE 102012103059 A1 DE102012103059 A1 DE 102012103059A1
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Germany
Prior art keywords
parking
vehicle
detecting
wheels
roadway
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Ceased
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DE201210103059
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German (de)
Inventor
Ulrich Stählin
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Continental Autonomous Mobility Germany GmbH
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Continental Teves AG and Co OHG
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Priority to DE201210103059 priority Critical patent/DE102012103059A1/en
Publication of DE102012103059A1 publication Critical patent/DE102012103059A1/en
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/0285—Parking performed automatically

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The method involves automatically controlling two wheels of the vehicle such that the wheels point to the front edge of roadway, on detecting the parking situation. The parking situation is recognized when the driver operates the park lever brake and does not open the door, and the edge of lane is detected by environment detecting sensor such as radar, light detection and ranging (LIDAR), ultrasonic sensor or camera sensor. An independent claim is included for device for safe parking of vehicle.

Description

Die Erfindung betrifft ein Verfahren und eine Vorrichtung zum sicheren Parken eines Fahrzeugs, insbesondere an einem Hang. The invention relates to a method and a device for safe parking of a vehicle, in particular on a slope.

Moderne Fahrzeuge sind i.d.R. mit elektrischer Servolenkung (EPS, Electric Power Steering) und elektrische Parkbremsen (EPB) ausgestattet. Letztere sorgt dafür, das Fahrzeug auf seiner Position zu halten. Dieser Vorgang ist bei einigen Fahrzeugen sogar automatisch und muss vom Fahrer nicht mehr initiiert oder durchgeführt werden, wie das bei der „klassischen“ Handbremse der Fall ist. Modern vehicles are i.d.R. equipped with electric power steering (EPS) and electric parking brakes (EPB). The latter ensures that the vehicle is kept in its position. This process is even automatic for some vehicles and no longer needs to be initiated or performed by the driver, as is the case with the "classic" handbrake.

Es ist die Aufgabe der hier vorliegenden Erfindung ein verbessertes Verfahren und eine verbesserte Vorrichtung zum sicheren Parken eines Fahrzeugs anzugeben. It is the object of the present invention to provide an improved method and apparatus for safely parking a vehicle.

Es ist ein wesentlicher Bestandteil der Erfindung, in einer Parksituation die Vorderräder über die Lenkung automatisiert so einzuschlagen, dass sie in Fahrtrichtung zum Fahrbahnrand mit einer Randbefestigung zeigen. Dadurch wird sichergestellt, dass im Falle des Rollens des Fahrzeugs dieses in Richtung der Randbefestigung rollt und daher durch diese gestoppt wird. Zur Ausführung der Erfindung sind zumindest folgenden Mittel notwendig

  • – Mittel zur Erkennung einer Fahrbahnrandbefestigung,
  • – Mittel zur automatischen Ansteuerung einer Lenkung, die z.B als elektrisch ansteuerbare Servolenkung, rein elektrische Servolenkungen (EPS) ausgestaltet sind, und
  • – Mittel zur Erkennung einer Parksituation.
It is an essential part of the invention, in a parking situation, the front wheels on the steering automatically hit so that they point in the direction of travel to the edge of the road with an edge attachment. This ensures that in the case of rolling the vehicle this rolls in the direction of the edge mounting and therefore stopped by them. For carrying out the invention, at least the following means are necessary
  • Means for detecting a roadway attachment,
  • - means for automatically controlling a steering, which are designed, for example, as electrically controllable power steering, purely electric power steering (EPS), and
  • - means for detecting a parking situation.

Vorzugsweise wird die Erfindung bei einer Parksituation am Hang ausgeführt. Das Parken am Hang wird dabei in bevorzugter Weise mit einem Längsbeschleunigungssensor in Kombination mit einer Stillstandserkennung festgestellt. Die Stillstandserkennung erfolgt bevorzugt unter Zuhilfenahme von Raddrehsensoren. Längsbeschleuningungssensoren werden im Fahrzeug bereits z.B. im Rahmen von ESP- oder Insassenschutzsystemen (Airbagansteuerung nach Unfallserkennung durch einen Beschleunigungssensor) verwendet. Gibt der Längsbeschleunigungssensor bei Stillstand einen Wert aus, der über einem definierten Schwellwert liegt, so ist mit einem Park an einer Steigung bzw. einem Hang zu rechnen. Preferably, the invention is carried out in a parking situation on a slope. Parking on a slope is determined in a preferred manner with a longitudinal acceleration sensor in combination with a standstill detection. The standstill detection is preferably carried out with the aid of Raddrehsensoren. Longitudinal acceleration sensors are already installed in the vehicle e.g. used in the context of ESP or occupant protection systems (airbag control after accident detection by an acceleration sensor). If the longitudinal acceleration sensor outputs a value which is above a defined threshold value at standstill, a park can be expected on a slope or a slope.

In einer bevorzugten Ausgestaltung der Erfindung wird eine Parksituation anhand eines oder mehrerer der folgenden Kriterien erkannt:

  • – Ein Parkbremshebel oder -schalter wird durch den Fahrer bedient. In einer bevorzugten Ausgestaltung der Erfindung wird eine Parksituation anhand zusätzlicher Kriterien erkannt, z.B. das Anhalten länger als eine vorgegebene Zeit t1 (Schwellwert) und/oder der Fahrer sich abschnallt und/oder die Tür öffnet.
  • – Eine elektronische Parkbremse des Fahrzeugs wird aktiviert, insbesondere durch eine automatische Aktivierung. In einer bevorzugten Ausgestaltung der Erfindung wird eine Parksituation anhand zusätzlicher Kriterien erkannt, z.B. das Anhalten länger als eine vorgegebene Zeit t1 (Schwellwert) und/oder der Fahrer sich abschnallt und/oder die Tür öffnet.
  • – Ein Stillstand des Fahrzeugs erkannt wird und sich der Fahrer abschnallt und/oder die Tür öffnet,
  • – ein Einparkmanöver beendet ist, das durch einen automatischen Einparkassistenten durchgeführt wurde.
In a preferred embodiment of the invention, a parking situation is identified on the basis of one or more of the following criteria:
  • - A parking brake lever or switch is operated by the driver. In a preferred embodiment of the invention, a parking situation is identified on the basis of additional criteria, for example stopping for longer than a predetermined time t1 (threshold value) and / or the driver unstraps and / or opens the door.
  • - An electronic parking brake of the vehicle is activated, in particular by an automatic activation. In a preferred embodiment of the invention, a parking situation is identified on the basis of additional criteria, for example stopping for longer than a predetermined time t1 (threshold value) and / or the driver unstraps and / or opens the door.
  • - A stoppage of the vehicle is detected and the driver unbuckles and / or opens the door,
  • - A parking maneuver is completed, which was performed by an automatic parking assistant.

Wichtig ist zusätzlich zu erkennen, in welche Richtung die Räder eingeschlagen werden sollen. Hierzu werden vorzugsweise die folgenden Methoden verwendet:

  • – Über Umfeldsensoren (z.B. Kamera, Ultraschall, ...) wird die Randbefestigung erkannt
  • – Über eine Analyse eines Manövers vor der Initiierung von Parkaktoren wie z.B. der Parkbremse wird erkannt, in welcher Richtung die Randbefestigung sein müsste. So kann bei einem Einparkmanöver in Fahrtrichtung nach rechts davon ausgegangen werden, dass sich die Randbefestigung rechts befindet. Als Parkmanöver ist hier das gesamte Manöver zu verstehen, nicht nur das letzte Einlenken bei z.B. einem mehrzügigen Einparkmanöver. Entsprechend kann bei einem Einparkmanöver in Fahrtrichtung nach links davon ausgegangen werden, dass sich die Randbefestigung links befindet. Ein Parkmanöver wird hierbei entweder durch die Aktivierung eines Parkassistenten erkannt oder es wird generell gespeichert, in welche Richtung sich das Fahrzeug in einer vorgegebenen verstrichenen Zeitspanne bewegt hat, wobei diese Zeitspanne einen Wert zwischen 5 und 90 Sekunden einnimmt. In einer bevorzugten Ausgestaltung beträgt die Zeitspanne etwa 10 Sekunden. In einer besonderen Ausgestaltung der Erfindung wird diese Information bei einer Stillstandserkennung zu Rate gezogen.
  • – Der Fahrer zeigt die Richtung durch den Blinker an, der insbesondere auch ein Parklicht anschaltet.
It is also important to recognize in which direction the wheels should be turned. The following methods are preferably used for this:
  • - By means of environmental sensors (eg camera, ultrasound, ...) the edge mounting is detected
  • - An analysis of a maneuver prior to the initiation of parking actuators such as the parking brake detects in which direction the edge attachment would have to be. Thus, in a parking maneuver in the direction of travel to the right, it can be assumed that the edge attachment is on the right. As a parking maneuver here is the entire maneuver to understand, not just the last turn in eg a mehrzügigen parking maneuvers. Accordingly, in a parking maneuver in the direction of travel to the left, it can be assumed that the edge attachment is on the left. In this case, a parking maneuver is recognized either by the activation of a parking assistant or it is generally stored in which direction the vehicle has moved within a predetermined elapsed time, this time taking a value between 5 and 90 seconds. In a preferred embodiment, the time period is about 10 seconds. In a particular embodiment of the invention, this information is consulted in a standstill detection.
  • - The driver indicates the direction through the turn signal, which in particular turns on a parking light.

Claims (7)

Verfahren zum sicheren Parken eines Fahrzeugs, wobei das Fahrzeug umfasst: – Mittel zur Erkennung einer Fahrbahnrandbefestigung, – Mittel zur automatischen Ansteuerung einer Lenkung und – Mittel zur Erkennung einer Parksituation dadurch gekennzeichnet, dass bei Erkennung einer Parksituation zumindest zwei Räder des Fahrzeugs über die automatische Ansteuerung derart einzuschlagen, dass sie in Fahrtrichtung zu einem Fahrbahnrand hin zeigen. A method for the secure parking of a vehicle, the vehicle comprising: - means for detecting a lane edge attachment, - means for automatically controlling a steering and - means for detecting a parking situation, characterized in that upon detection of a parking situation at least two wheels of the vehicle on the automatic control strike so that they point in the direction of travel to a lane edge. Verfahren nach Anspruch 1 für ein Fahrzeug mit Mitteln zur Erkennung einer Parksituation am Hang, dadurch gekennzeichnet, dass das Verfahren nur in einer Parksituation am Hang ausgeführt wird. A method according to claim 1 for a vehicle with means for detecting a parking situation on a slope, characterized in that the method is carried out only in a parking situation on a slope. Verfahren nach einem der vorherigen Ansprüche dadurch gekennzeichnet, dass eine Parksituation erkannt wird, wenn – ein Parkbremshebel oder -schalter durch den Fahrer bedient wird und insbesondere sich der Fahrer abschnallt und/oder die Tür öffnet, – ein Stillstand erkannt wird und sich der Fahrer abschnallt und/oder die Tür öffnet, – bei Aktivierung einer elektronischen Parkbremse, insbesondere bei einer automatischen Aktivierung, – ein Einparkmanöver beendet ist, das durch einen automatischen Einparkassistenten durchgeführt wurde. Method according to one of the preceding claims characterized in that a parking situation is detected when A parking brake lever or switch is operated by the driver and in particular the driver unstraps and / or opens the door, - a standstill is detected and the driver unstraps and / or opens the door, When activating an electronic parking brake, in particular during an automatic activation, - A parking maneuver is completed, which was performed by an automatic parking assistant. Verfahren nach einem der vorherigen Ansprüche dadurch gekennzeichnet, dass der Fahrbahnrand durch Umgebungserfassungssensoren, insbesondere Radar-, Lidar-, Ultraschall- oder Kamerasensoren erkannt wird. Method according to one of the preceding claims, characterized in that the roadway edge is detected by environmental detection sensors, in particular radar, Lidar-, ultrasonic or camera sensors. Verfahren nach einem der Ansprüche 1 bis 3 für ein Fahrzeug mit Mitteln zur Analyse eines Einparkmanövers, dadurch gekennzeichnet, dass die Lage des Fahrbahnrandes durch Analyse des unmittelbar vorhergehenden Einparkmanövers ermittelt wird. Method according to one of claims 1 to 3 for a vehicle with means for analyzing a parking maneuver, characterized in that the position of the roadway edge is determined by analyzing the immediately preceding parking maneuver. Verfahren nach einem der Ansprüche 1 bis 3 für ein Fahrzeug mit Blinker, dadurch gekennzeichnet, dass die Lage des Fahrbahnrandes durch Analyse eines Blinkersignals ausgelöst durch einen Fahrer ermittelt wird. Method according to one of claims 1 to 3 for a vehicle with turn signals, characterized in that the position of the roadway edge is determined by analyzing a turn signal triggered by a driver. Vorrichtung für ein Fahrzeug umfassend – Mittel zur Erkennung einer Fahrbahnrandbefestigung, – Mittel zur automatischen Ansteuerung einer Lenkung und – Mittel zur Erkennung einer Parksituation – eine Speichereinheit auf der ein Verfahren nach einem der vorherigen Ansprüche hinterlegt ist – einen mit der Speichereinheit verbundenen Prozessor zur Durchführung eines Verfahren nach einem der vorherigen Ansprüche. Device for a vehicle comprising Means for detecting a roadway attachment, - means for automatically controlling a steering and - means for detecting a parking situation - A storage unit on which a method according to any one of the preceding claims is deposited - A processor connected to the memory unit for performing a method according to any one of the preceding claims.
DE201210103059 2012-04-10 2012-04-10 Method for safe parking of vehicle in hillside, involves automatically controlling two wheels of vehicle such that wheels point to front edge of roadway, on detecting parking situation Ceased DE102012103059A1 (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102014202324A1 (en) 2014-02-10 2015-08-13 Conti Temic Microelectronic Gmbh Method and device for safe parking of a vehicle
DE102014202325A1 (en) 2014-02-10 2015-08-13 Conti Temic Microelectronic Gmbh Method and device for safe parking of a vehicle
DE102017212364A1 (en) 2017-07-19 2019-01-24 Audi Ag Method for parking a motor vehicle in a parking position, control device, and motor vehicle
FR3073188A1 (en) * 2017-11-09 2019-05-10 Foundation Brakes France PARKING SECURING SYSTEM OF A MOTOR VEHICLE
DE102020104070A1 (en) 2020-02-17 2021-08-19 Bayerische Motoren Werke Aktiengesellschaft Method, device for preventing movement of the means of locomotion in a parking mode and such a means of locomotion

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DE102007027357A1 (en) * 2006-06-14 2007-12-27 Continental Teves Ag & Co. Ohg Method for maneuvering a motor vehicle having a drive motor comprises driving the driving wheels via an automatic transmission and transferring a creep torque to the driving wheels
DE102007002262A1 (en) * 2007-01-16 2008-08-21 GM Global Technology Operations, Inc., Detroit Method for support of driver of motor vehicle near parking, involves determining parameters of detected possible parking vacancies by sensors
DE102008004633A1 (en) * 2008-01-16 2009-07-23 Robert Bosch Gmbh Method and device for detecting and / or measuring a parking space

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DE102007027357A1 (en) * 2006-06-14 2007-12-27 Continental Teves Ag & Co. Ohg Method for maneuvering a motor vehicle having a drive motor comprises driving the driving wheels via an automatic transmission and transferring a creep torque to the driving wheels
DE102007002262A1 (en) * 2007-01-16 2008-08-21 GM Global Technology Operations, Inc., Detroit Method for support of driver of motor vehicle near parking, involves determining parameters of detected possible parking vacancies by sensors
DE102008004633A1 (en) * 2008-01-16 2009-07-23 Robert Bosch Gmbh Method and device for detecting and / or measuring a parking space

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Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102014202324A1 (en) 2014-02-10 2015-08-13 Conti Temic Microelectronic Gmbh Method and device for safe parking of a vehicle
WO2015117611A2 (en) 2014-02-10 2015-08-13 Conti Temic Microelectronic Gmbh Method and device for safely parking a vehicle
DE102014202325A1 (en) 2014-02-10 2015-08-13 Conti Temic Microelectronic Gmbh Method and device for safe parking of a vehicle
WO2015117611A3 (en) * 2014-02-10 2015-11-19 Conti Temic Microelectronic Gmbh Method and device for safely parking a vehicle
JP2017507829A (en) * 2014-02-10 2017-03-23 コンティ テミック マイクロエレクトロニック ゲゼルシャフト ミット ベシュレンクテル ハフツングＣｏｎｔｉ Ｔｅｍｉｃ ｍｉｃｒｏｅｌｅｃｔｒｏｎｉｃ ＧｍｂＨ Method and apparatus for safely parking a vehicle
US10046804B2 (en) 2014-02-10 2018-08-14 Conti Temic Microelectronic Gmbh Method and device for safely parking a vehicle
DE102017212364A1 (en) 2017-07-19 2019-01-24 Audi Ag Method for parking a motor vehicle in a parking position, control device, and motor vehicle
DE102017212364B4 (en) 2017-07-19 2022-08-11 Audi Ag Method for parking a motor vehicle in a parking position, control device, and motor vehicle
FR3073188A1 (en) * 2017-11-09 2019-05-10 Foundation Brakes France PARKING SECURING SYSTEM OF A MOTOR VEHICLE
US11814038B2 (en) 2017-11-09 2023-11-14 Foundation Brakes France System for securing the parking of a motor vehicle
DE102020104070A1 (en) 2020-02-17 2021-08-19 Bayerische Motoren Werke Aktiengesellschaft Method, device for preventing movement of the means of locomotion in a parking mode and such a means of locomotion

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