DE102013020699A1 - Parking assistance system and method for driver assistance during parking maneuvers - Google Patents

Abstract

The invention relates to a parking assistance system for a vehicle comprising: a first means (101) for detecting a condition of the vehicle, a second means (102) for detecting a vehicle environment, a third means (103) for detecting a position of the vehicle, an evaluation means ( 104), with which, depending on the state, the position, and the vehicle environment, a number n of currently possible parking maneuvers, with n> 1 can be determined, and with which for the n parking maneuvers according to one or more predetermined criteria, a prioritization can be determined Display means (105), with which the n parking maneuvers are displayed in an order according to their prioritization, an input means (106), with which a parking maneuver can be selected by a user of the vehicle from the indicated n parking maneuvers, and a fourth means (107), either with the vehicle is controlled such that the selected parking maneuver is carried out automatically by the vehicle, od he be issued with the user for the execution of the selected parking maneuver instructions for performing necessary steering adjustments and a necessary longitudinal guidance of the vehicle.

Description

The invention relates to a parking assistance system and a method for driver assistance in parking maneuvers.

In the present case, a parking maneuver is understood to mean maneuvering a vehicle into a parking space or a parking maneuver in which a vehicle is maneuvered out of a parking space.

Parking assistance systems for vehicles (motor vehicles, buses, trucks, etc) are, for example, from the publications DE 10 2010 030 208 A1 or EP 1 249 379 B1 known. They serve to assist the driver in the execution of a parking maneuver or to carry out the parking maneuver automatically. For this purpose, either the driver of the parking assistance system instructions for carrying out the necessary steering adjustment and longitudinal guidance given or the steering adjustment and optionally the longitudinal guidance are performed automatically by the parking assistance system.

As is known, for a given parking space (parking lot), there are several possible entry and exit parking processes. Thus, for example, from a longitudinal parking space to the left or right or from a Querparklücke backwards or forwards (in each case relative to the longitudinal direction of the vehicle) are parked. The possible on / off parking operations for a specific parking space also depend on the current environmental conditions of the parking space (for example, one or more parking / parking facilities may be blocked by parked vehicles or other obstacles).

A longitudinal parking space is understood as meaning a parking space / parking space which is arranged parallel to a roadway. A transverse parking space is understood as meaning a parking space / parking space which is typically bounded on both sides by vehicles parked in parallel.

The object of the invention is to provide a parking assistance system and a method for driver assistance during parking maneuvers, which enable an improved preselection for the user.

The invention results from the features of the independent claims. Advantageous developments and refinements are the subject of the dependent claims.

Accordingly, a parking assistance system for a vehicle is proposed, comprising: a first means for detecting a condition of the vehicle, a second means for detecting a vehicle environment, a third means for detecting a position of the vehicle, an evaluation means with which, depending on the condition, the position , and the vehicle environment can determine a number n of currently possible parking maneuvers, with n ≥ 1, and with which a prioritization can be determined for the n parking maneuvers according to one or more predetermined criteria, a display means with which the n parking maneuvers are performed in an order according to their Prioritization are displayed, an input means with which a parking maneuver is selectable by a user of the vehicle from the displayed n parking maneuvers, and a fourth means with which either the vehicle is controlled such that the selected parking maneuver is carried out automatically by the vehicle, or with the user to Ausfüh tion of the selected parking maneuver instructions for performing necessary steering adjustments and to a necessary longitudinal guidance of the vehicle are issued.

The term "state of the vehicle" is widely understood here. It preferably comprises all parameters which can be detected by sensors of the vehicle. It advantageously includes all the parameters which include a dynamic state of the vehicle (eg speed, acceleration, etc.), an electrical state of the vehicle (eg ignition on / off, which electrical consumers (eg assistance systems, turn signals, sensors, etc.). are on / off), and / or indicate a mechanical condition of the vehicle (eg parking brake applied, brake pedal / accelerator pedal depressed, central locking locked, etc.). The first means is therefore a system with sensors for detecting and providing a vehicle condition. The vehicle state may further include a history of vehicle states indicating a trend toward the current vehicle state.

The second means for detecting a vehicle environment is preferably a sensor system for detecting and optionally evaluating the vehicle environment. The second means preferably comprises at least one ultrasonic sensor and / or one laser sensor and / or one radar sensor and / or one LIDAR sensor and / or one camera sensor. The environmental data acquired by the sensor (s) are preferably evaluated with regard to detection of parking spaces and obstacles in their direct surroundings. The results of this evaluation are preferably provided to the evaluation means as a "vehicle environment".

The third means for detecting a position of the vehicle is advantageously a GNSS unit (eg a GPS, GLONASS, GALILEO unit) as is well known today.

The evaluation means is advantageously a computer unit with which, depending on the provided state of the vehicle, the position of the vehicle, and the vehicle environment, a number n of currently possible parking maneuvers can be determined with n ≥ 1, in particular with n> 1, and with the n for the parking maneuvers according to one or more predetermined criteria, a prioritization determined is. The determination of the n possible parking maneuvers, for example, by comparing the current scenario (defined by the current state of the vehicle, the current position of the vehicle, and recorded current vehicle environment) done with stored in a database parking scenarios. Alternatively or additionally, the determination of the n possible parking maneuvers can also be determined on the basis of the detected current scenario and a movement model of the vehicle.

If the n possible parking maneuvers are determined, the determined parking maneuvers are prioritized on the basis of one or more predefined criteria. Such a criterion may be, for example: number of shunting steps, or distance to obstacles during maneuvering etc. Thus, for example, the parking maneuvers are prioritized such that the maneuver with the lowest number of shunting steps receives the highest priority and others with more shunting steps one each lower priority. If, for example, the number of maneuvering steps for two parking maneuvers is the same, then the distance to the obstacles during maneuvering can additionally be used, so that the one of the two parking maneuvers receives the higher priority, which maintains a greater distance from obstacles. The / the criteria can advantageously be specified by the user, so that an individualization of the parking assistance system or the prioritization is possible.

The display means with which the n parking maneuvers are displayed in an order according to their prioritization is advantageously a central display / monitor of the vehicle, for example the multifunction display. The display means can of course also be designed as a separate display of the parking assistance system. When displaying the n parking maneuvers is advantageous, the parking maneuver with the highest priority displayed in the first place. The input means, with which a parking maneuver can be selected by the user of the vehicle from the indicated n parking maneuvers, can be designed for manual input or voice input.

The proposed parking assistance system thus determines with the highest priority optimized in the current situation according to individually predetermined criteria parking maneuver and makes this in a list along with other equally possible parking maneuvers the user to choose from. Typically, the user will choose to execute the first prioritized parking maneuver. Nevertheless, the user has the option of activating another parking maneuver from the list. The parking assistance system enables the user to easily and quickly select a parking maneuver from several possible parking maneuvers. The operation of the parking assistance system requires few operating steps.

Advantageously, the first means, the second means, the third means, the fourth means, the evaluation means, the display means and the input means are arranged in the vehicle.

A refinement of the parking assistance system is characterized in that a fifth means for detecting a driving process carried out by the vehicle, and / or a sixth means for providing information from a digital road map of a road traffic network is / are present, and the evaluation means is dependent on the n parking maneuvers determined the running process and / or the information from the digital road map. The driving process can be stored, for example, as a trajectory of the vehicle and / or as control signals for longitudinal and lateral control of the vehicle. Thus, for example, a parking operation can be stored in the form of the driving operation and executed in a subsequent Ausparken in reverse order. The information from the road map include, for example, the positions, dimensions of parking lots, fixed obstacles (eg curbs, etc.).

• – Einparken in eine Längsparklücke vorwärts nach links;
• – Einparken in eine Längsparklücke vorwärts nach rechts,
• – Einparken in eine Längsparklücke rückwärts nach rechts,
• – Einparken in eine Längsparklücke rückwärts nach links,
• – Einparken in eine Querparklücke vorwärts nach links;
• – Einparken in eine Querparklücke vorwärts nach rechts,
• – Einparken in eine Querparklücke rückwärts nach links,
• – Einparken in eine Querparklücke rückwärts nach rechts,
• – Ausparken aus einer Längsparklücke vorwärts nach links;
• – Ausparken aus einer Längsparklücke vorwärts nach rechts,
• – Ausparken aus einer Längsparklücke rückwärts nach rechts,
• – Ausparken aus einer Längsparklücke rückwärts nach links,
• – Ausparken aus einer Querparklücke vorwärts nach links;
• – Ausparken aus einer Querparklücke vorwärts nach rechts,
• – Ausparken aus einer Querparklücke rückwärts nach links,
• – Ausparken aus einer Querparklücke rückwärts nach rechts.

A refinement of the parking assistance system is characterized in that the parking maneuvers include maneuvers from the following list:

• - parking in a longitudinal parking space forward to the left;
• - parking in a longitudinal parking space forward to the right,
• - parking in a longitudinal parking space backwards to the right,
• - parking in a longitudinal parking space backwards to the left,
• - Parking in a transverse parking space forward to the left;
• Parking in a transverse parking space forward to the right,
• - parking in a transverse parking space backwards to the left,
• - parking in a transverse parking space backwards to the right,
• - parking out of a longitudinal parking space forward to the left;
• - parking out of a longitudinal parking space forward to the right,
• - parking out of a longitudinal parking space backwards to the right,
• - parking out of a longitudinal parking space backwards to the left,
• - parking out of a transverse parking space forward to the left;
• - parking out of a transverse parking space forward to the right,
• - parking out of a transverse parking space backwards to the left,
• - Parking out of a transverse parking space backwards to the right.

A development of the parking assistance system is characterized in that the parking assistance system is designed for communication with a mobile unit, the mobile unit having a display means and an input means, and the parking assistance system and the mobile unit are designed such that the n parking maneuvers in the order be displayed according to their prioritization on the display means of the mobile unit, and the user of the vehicle with the input means of the mobile unit from the displayed n parking maneuvers can select a parking maneuver, which is transmitted to the fourth means and then executed. In the case of the described use of the mobile unit for display / input, the selected parking maneuver is advantageously carried out automatically by the fourth means. In particular, the user of the vehicle need not be in the vehicle during the execution of the selected parking maneuver. Thus, for example, it is possible to park the vehicle in tight parking spaces (which, in the parked state of the vehicle, do not permit entry / exit of the user into / from the vehicle), or automatically park out of such parking spaces. In this case, the mobile unit is preferably a mobile phone or a smart phone (i-phone etc) or a tablet PC (i-pad, etc.).

Furthermore, the invention relates to a vehicle with a parking assistance system as described above.

Finally, the invention relates to a method for assisting a driver of a vehicle in a parking maneuver, comprising the following steps. In a first step, a detection of a state of the vehicle takes place. In a second step, a detection of a vehicle environment of the vehicle takes place. In a third step, a detection of a position of the vehicle takes place. In a fourth step, depending on the state, the position, and the vehicle environment, a number n of currently possible parking maneuvers takes place, with n ≥ 1. In a fifth step, a prioritization is carried out for the n parking maneuvers according to one or more predetermined criteria , In a sixth step, the n parking maneuvers are displayed in an order according to their prioritization. In a seventh step, a parking maneuver is selected by a user of the vehicle from the indicated n parking maneuvers. In an eighth step, either a driving of the vehicle is carried out such that the selected parking maneuver is carried out automatically by the vehicle, or for carrying out the selected parking maneuver outputting instructions for carrying out necessary steering adjustments and for a necessary longitudinal guidance of the vehicle.

A refinement of the method is characterized in that detection of a driving operation carried out by the vehicle, and / or provision of information from a digital road map of a road network takes place, and determination of the n parking maneuvers depends on the executed driving operation and / or on the information done from the digital road map.

Further advantages, features and details result from an analogous and analogous transmission of the above statements to the parking assistance system and from the following description, in which - where appropriate, with reference to the drawings - at least one embodiment is described in detail. The same, similar and / or functionally identical parts are provided with the same reference numerals.

Show it:

1 a schematic structure of a parking assistance system according to an embodiment, and

2 a schematic flowchart of a method according to an embodiment.

1 shows a schematic structure of a parking assistance system according to an embodiment. The parking assistance system shown comprises a first means 101 for detecting a condition of the vehicle, a second means 102 for detecting a vehicle environment, a third means 103 for detecting a position of the vehicle, an evaluation means 104 with which, depending on the state, the position, and the vehicle environment, a number n of currently possible parking maneuvers, with n ≥ 1 can be determined, and with which a prioritization can be determined for the n parking maneuvers according to one or more predetermined criteria, a display means 105 with which the n parking maneuvers are displayed in an order according to their prioritization, an input means 106 in which a parking maneuver is selectable by a user of the vehicle from the displayed n parking maneuvers, and a fourth means 107 with which either the vehicle is controllable in such a way that the selected parking maneuver is carried out automatically by the vehicle or with which the user is issued with instructions for carrying out the selected parking maneuver for carrying out necessary steering adjustments and necessary longitudinal guidance of the vehicle.

The parking assistance system is for radio communication 113 with a smartphone 110 trained, the smartphone 110 a display 110a and an input means 110b (Keyboard / voice input option). The (data) communication takes place in this embodiment between the smartphone 110 and the evaluation means 104 in that the parking maneuvers determined by the evaluation means are arranged in the order according to their prioritization on the display means 110a the mobile unit 100 are displayed. The user of the vehicle can now use the input device 110b the mobile unit 100 from the indicated n parking maneuvers select a parking maneuver, the fourth means 107 is transmitted and then executed.

If, for example, a vehicle is parked in a very narrow transverse parking space, so that the user can not enter the vehicle or only with the greatest physical distortion, the user can use the smartphone to select a parking maneuver that is performed autonomously by the vehicle. The execution of the Ausparkmanövers includes in this case, the start of the engine.

2 FIG. 12 is a schematic flowchart of a method for assisting a driver of a vehicle in a parking maneuver according to one embodiment. FIG. The method comprises the following steps: Detecting 201 a state of the vehicle, detecting 202 a vehicle environment, capture 203 a position of the vehicle, depending on the state, the position, and the vehicle environment determine 204 a number n of currently possible parking maneuvers, with n ≥ 1, for the n parking maneuvers according to one or more predetermined criteria Determine 205 a prioritization, ads 206 Park n maneuvers in an order according to their prioritization, from the indicated n park maneuvers 207 a parking maneuver by a user of the vehicle, and either driving 208a of the vehicle such that the selected parking maneuver is automatically performed by the vehicle, or outputting to execute the selected parking maneuver 208b instructions for making necessary steering adjustments and necessary longitudinal guidance of the vehicle.

Although the invention has been further illustrated and explained in detail by way of preferred embodiments, the invention is not limited by the disclosed examples, and other variations can be derived therefrom by those skilled in the art without departing from the scope of the invention. It is therefore clear that a multitude of possible variations exists. It is also to be understood that exemplified embodiments are really only examples that are not to be construed in any way as limiting the scope, applicability, or configuration of the invention. Rather, the foregoing description and description enable the skilled artisan to practice the exemplary embodiments, and those of skill in the knowledge of the disclosed inventive concept may make various changes, for example, to the function or arrangement of particular elements recited in an exemplary embodiment. without departing from the scope defined by the claims and their legal equivalents, such as further explanation in the description.

LIST OF REFERENCE NUMBERS

101

first means

102

second means

103

third means

104

evaluation

105

display means

106

input means

107

fourth means

108

fifth remedy

109

sixth means

110

mobile unit

110a

Display means of the mobile unit

110b

Input means of the mobile unit

111

Longitudinal control of the vehicle

112

Transverse regulation of the vehicle

113

radio link

201 to 210

steps

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 102010030208 A1 [0003]
• EP 1249379 B1 [0003]

Claims (9)

Parking assist system for a vehicle, comprising: - a first means ( 101 ) for detecting a condition of the vehicle, - a second means ( 102 ) for detecting a vehicle environment, - a third means ( 103 ) for detecting a position of the vehicle, - an evaluation means ( 104 ), with which depending on the state, the position, and the vehicle environment, a number n of currently possible parking maneuvers can be determined with n ≥ 1, and with which for the n parking maneuvers according to one or more predetermined criteria, a prioritization can be determined - a Display means ( 105 ), with which the n parking maneuvers are displayed in an order according to their prioritization, - an input means ( 106 ), with which a parking maneuver can be selected by the user of the vehicle from the indicated n parking maneuvers, and - a fourth means ( 107 ), with which either the vehicle is controllable such that the selected parking maneuver is carried out automatically by the vehicle, or with which the user to execute the selected parking maneuver instructions for performing necessary steering adjustments and to a necessary longitudinal guidance of the vehicle are issued. Parking assist system according to Claim 1, in which the first means ( 101 ), the second ( 102 ), the third means ( 103 ), the fourth ( 107 ), the evaluation means ( 104 ), the display means ( 105 ) and the input means ( 106 ) are arranged in the vehicle. Parking assist system according to claim 1 or 2, wherein a fifth means ( 108 ) for detecting a driving operation performed by the vehicle, and / or a sixth means ( 109 ) is present for providing information from a digital road map of a road network, and the evaluation means ( 104 ) determines the n parking maneuver depending on the running process and / or the information from the digital road map. Parking assist system according to one of claims 1 to 3, wherein the parking maneuvers include maneuvers from the following list: - parking in a longitudinal parking space forward to the left; - parking in a longitudinal parking space forward to the right, - parking in a longitudinal parking space backwards to the right, - parking in a longitudinal parking space backwards to the left, - Parking in a transverse parking space forward to the left; Parking in a transverse parking space forward to the right, - parking in a transverse parking space backwards to the left, - parking in a transverse parking space backwards to the right, - parking out of a longitudinal parking space forward to the left; - parking out of a longitudinal parking space forward to the right, - parking out of a longitudinal parking space backwards to the right, - parking out of a longitudinal parking space backwards to the left, - parking out of a transverse parking space forward to the left; - parking out of a transverse parking space forward to the right, - parking out of a transverse parking space backwards to the left, - Parking out of a transverse parking space backwards to the right. Parking assistance system according to one of claims 1 to 4, wherein the parking assistance system for communication with a mobile unit ( 110 ), wherein the mobile unit ( 110 ) a display means ( 110a ) and an input means ( 100b ), and the parking assistance system and the mobile unit ( 110 ) are arranged such that the n parking maneuvers are executed in the order according to their prioritization on the display means ( 110a ) of the mobile unit ( 100 ) and the user of the vehicle with the input means ( 110b ) of the mobile unit ( 100 ) can select a parking maneuver from the indicated n parking maneuvers which can be addressed to the fourth means ( 107 ) is transmitted. Parking assist system according to claim 5, in which the mobile unit ( 110 ) is a mobile phone or a smart phone or a tablet PC. Vehicle with a parking assistance system according to one of claims 1 to 6. A method of assisting a driver of a vehicle in a parking maneuver, comprising the steps of: - detecting ( 201 ) of a state of the vehicle, - detecting ( 202 ) of a vehicle environment, - detecting ( 203 ) a position of the vehicle, - depending on the state, the position, and the vehicle environment determine ( 204 ) a number n of currently possible parking maneuvers, with n ≥ 1, - for the n parking maneuvers according to one or more predetermined criteria ( 205 ) of prioritizing, - displaying ( 206 ) the parking maneuvers in an order according to their prioritization, - from the displayed parking maneuvers Select ( 207 ) a parking maneuver by a user of the vehicle, and - either driving ( 208a ) of the vehicle in such a way that the selected parking maneuver is carried out automatically by the vehicle or outputting to execute the selected parking maneuver ( 208b ) of instructions for carrying out necessary steering adjustments and for a necessary longitudinal guidance of the vehicle. Method according to Claim 8, in which a detection ( 209 ) driving a vehicle, and / or providing ( 210 ) of information from a digital road map of a road network, and in which the determining ( 204 ) the n parking maneuver is done depending on the running process and / or the information from the digital road map.

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