DE102013213064A1 - Method and device for autonomous parking of a vehicle with external monitoring - Google Patents
Method and device for autonomous parking of a vehicle with external monitoring Download PDFInfo
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- DE102013213064A1 DE102013213064A1 DE102013213064.3A DE102013213064A DE102013213064A1 DE 102013213064 A1 DE102013213064 A1 DE 102013213064A1 DE 102013213064 A DE102013213064 A DE 102013213064A DE 102013213064 A1 DE102013213064 A1 DE 102013213064A1
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- 238000000034 method Methods 0.000 title claims abstract description 34
- 238000012544 monitoring process Methods 0.000 title claims abstract description 23
- 238000005286 illumination Methods 0.000 claims abstract description 10
- 230000004397 blinking Effects 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 description 5
- BUHVIAUBTBOHAG-FOYDDCNASA-N (2r,3r,4s,5r)-2-[6-[[2-(3,5-dimethoxyphenyl)-2-(2-methylphenyl)ethyl]amino]purin-9-yl]-5-(hydroxymethyl)oxolane-3,4-diol Chemical compound COC1=CC(OC)=CC(C(CNC=2C=3N=CN(C=3N=CN=2)[C@H]2[C@@H]([C@H](O)[C@@H](CO)O2)O)C=2C(=CC=CC=2)C)=C1 BUHVIAUBTBOHAG-FOYDDCNASA-N 0.000 description 1
- 238000005352 clarification Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005562 fading Methods 0.000 description 1
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- 238000012806 monitoring device Methods 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/48—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for parking purposes
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
- G05D1/0061—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements for transition from automatic pilot to manual pilot and vice versa
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
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- Lighting Device Outwards From Vehicle And Optical Signal (AREA)
Abstract
Bei einem Verfahren und Vorrichtung zum autonomen Einparken eines Fahrzeugs mit externer Überwachung des Einparkvorgangs, wobei das Fahrzeug einen Einparkassistenten zum Ausführen einer autonomen Einparkfunktion mit einer Umfeldsensorik aufweist, wird das Licht der Beleuchtungseinrichtungen des Fahrzeugs zur Übermittlung von Informationen über die aktuelle Fahrzeugposition des Fahrzeugs während des autonomen Einparkvorgangs an die externe Überwachung verwendet.In a method and apparatus for autonomous parking of a vehicle with external monitoring of the parking operation, wherein the vehicle has a parking assistant for performing an autonomous parking function with an environment sensor, the light of the illumination devices of the vehicle for transmitting information about the current vehicle position of the vehicle during the autonomous parking operation used to external monitoring.
Description
Die Erfindung betrifft ein Verfahren zum autonomen Einparken eines Fahrzeugs mit externer Überwachung des autonomen Einparkvorgangs gemäß dem Oberbegriff des Anspruchs 1 sowie eine entsprechende Vorrichtung gemäß dem Oberbegriff des Anspruchs 10.The invention relates to a method for autonomous parking of a vehicle with external monitoring of the autonomous parking operation according to the preamble of
Zur Unterstützung des Fahrers eines Kraftfahrzeugs werden Fahrzeuge in verstärktem Maße mit Fahrerassistenzsystemen ausgerüstet, die den Fahrer bei seinen fahrerischen Aufgaben entlasten. Zu diesen den Fahrer unterstützenden Assistenzsystemen zählen Einparksysteme, da das Einparken eines Kraftfahrzeugs bei heutigen Parkplatzsituationen hohe Anforderungen an das fahrerische Können des Fahrzeugführers stellen. So reicht das Spektrum der Einparkunterstützungen von einer reinen Einparkhilfe bis zu autonom agierenden Einparkassistenten.In order to assist the driver of a motor vehicle, vehicles are to a greater extent equipped with driver assistance systems which relieve the driver of his or her driving duties. To assist the driver assistance systems include parking systems, since the parking of a motor vehicle in today's parking situations make high demands on the driving skills of the driver. The range of parking assistance ranges from a purely parking aid to autonomous parking assistants.
Reine Einparkhilfen verwenden üblicherweise Ultraschalldetektoren zur Messung von Abständen zu Hindernissen, wobei die Abstände beispielsweise durch akustische Signale an den Fahrer übermittelt werden. Komfortablere Einparkhilfen erstellen ein Bild der Umgebung des Fahrzeugs und stellen das Fahrzeug innerhalb der aufgenommenen Umgebung auf einem Display dar, so dass der Fahrer die Bewegung des Fahrzeugs während seines Einparkvorgangs direkt verfolgen kann. Bei diesen Einparkhilfen hat der Fahrer weiterhin die volle Kontrolle über die Fahrzeugfunktionen, mit anderen Worten es erfolgt beispielsweise keinerlei Lenkunterstützung und es werden keine Ein- oder Ausparktrajektorien ermittelt.Pure parking aids usually use ultrasonic detectors for measuring distances to obstacles, the distances are transmitted, for example by acoustic signals to the driver. More comfortable parking aids create an image of the surroundings of the vehicle and represent the vehicle within the recorded environment on a display, so that the driver can directly track the movement of the vehicle during its parking operation. With these parking aids, the driver still has full control over the vehicle functions, in other words, for example, there is no steering assistance and no one or Ausparktrajektorien determined.
Komplexere Einparkassistenten messen mit einer geeigneten Umfeldsensorik das Umfeld des Fahrzeugs aus, ermitteln geeignete Parklücken und zeigen diese dem Fahrer bei einer Parklückensuche an. Nach dem Auffinden einer geeigneten Parklücke ermittelt der Einparkassistent eine geeignete Einparktrajektorie und fährt diese in Interaktion mit dem Fahrer ab. Dabei können die verschiedenen Fahrfunktionen wie Lenken, Gasgeben und Bremsen zwischen Fahrer und Assistenzsystem verteilt sein. In der einfachsten Form dieser Einparkassistenten übernimmt das Assistenzsystem die Lenkung während die Funktionen Vortrieb und Bremsen beim Fahrer verbleiben.More complex parking assistants use a suitable environment sensor to measure the surroundings of the vehicle, identify suitable parking spaces and show them to the driver during a parking space search. After finding a suitable parking space, the parking assistant determines a suitable parking trajectory and drives it in interaction with the driver. The various driving functions such as steering, accelerating and braking can be distributed between the driver and the assistance system. In the simplest form of these parking assistants, the assistance system takes over the steering while the functions of propulsion and braking remain with the driver.
Autonom agierende Einparkassistenten weisen eine autonome Fahrfunktion auf, die für den Einparkvorgang vollständig die Kontrolle über das Fahrzeug übernimmt. Mit anderen Worten, die Fahrfunktionen Lenken, Gasgeben und Bremsen werden von der autonomen Fahrfunktion während des Einparkvorgangs übernommen. Allerdings befindet sich der Fahrer üblicherweise während des Einparkvorgangs im Fahrzeug und kann jederzeit zur Wahrung seiner Überwachungspflicht die Führung des Fahrzeugs durch Übersteuerung der Fahrfunktionen wieder übernehmen.Autonomous parking assistants have an autonomous driving function which completely takes over the control of the vehicle for the parking process. In other words, the driving functions of steering, accelerating and braking are taken over by the autonomous driving function during the parking process. However, the driver is usually during the parking process in the vehicle and at any time to maintain his duty to monitor the leadership of the vehicle by overriding the driving functions again.
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Bei einem autonom in eine Garagenbox oder in einer vergleichbaren Parkbox einparkenden Fahrzeug wird die einzuparkende Person, die hier der Einfachheit halber mit dem Fahrer des Fahrzeugs identifiziert wird, eine Überwachungspflicht haben, um den Einparkvorgang im Gefahrenfall abbrechen zu können.In a vehicle parked autonomously in a garage box or in a comparable parking box, the person to be parked, who is here identified for the sake of simplicity with the driver of the vehicle, must have a monitoring duty in order to be able to stop the parking operation in the event of danger.
Übliche Einparkassistenten gehen von einem im Fahrzeug befindlichen Fahrer aus, der jederzeit in das Fahrgeschehen eingreifen und den autonomen Einparkvorgang abbrechen kann. Bei Einparkassistenten, bei denen der Einparkvorgang von außerhalb gesteuert wird, erfolgt eine Überwachung über ein Kamerasystem mit aufwendiger Bildübertragung an die Fernsteuerung.Conventional parking assistants are based on a driver in the vehicle who intervenes in the driving process at all times and autonomously Parking can cancel. With parking assistants, in which the parking process is controlled from outside, monitoring takes place via a camera system with complex image transmission to the remote control.
Der Erfindung liegt daher die Aufgabe zugrunde ein Verfahren und eine Vorrichtung zum autonomen Einparken eines Fahrzeugs in eine Parkbox zu schaffen, wobei die externe Überwachung des Einparkvorgangs auf einfache Weise ermöglicht wird.The invention is therefore an object of the invention to provide a method and apparatus for autonomous parking a vehicle in a parking box, the external monitoring of the parking operation is made possible in a simple manner.
Diese Aufgabe wird durch ein Verfahren zum autonomen Einparken eines Fahrzeugs in eine Parkbox mit externer Überwachung mit den Merkmalen des Anspruchs 1 sowie durch eine entsprechende Vorrichtung mit den Merkmalen des Anspruchs 10 gelöst. Bevorzugte Ausgestaltungen der Erfindung sind Gegenstand der Unteransprüche.This object is achieved by a method for autonomous parking of a vehicle in a parking box with external monitoring with the features of
Bei dem erfindungsgemäßen Verfahren zum autonomen Einparken eines Fahrzeugs mit externer Überwachung des Einparkvorgangs, wobei das Fahrzeug einen Einparkassistenten zum Ausführen einer autonomen Einparkfunktion mit einer Umfeldsensorik aufweist, wird das Licht der Beleuchtungseinrichtungen des Fahrzeugs zur Übermittlung von Informationen über die aktuelle Fahrzeugposition des Fahrzeugs während des autonomen Einparkvorgangs an die externe Überwachung verwendet. Durch die Verwendung des Lichts der Beleuchtungseinrichtungen des Fahrzeugs wird der Fahrer des Fahrzeugs beim autonomen Einparken auf einfache Weise optisch über die aktuelle Position des Fahrzeugs und den Stand des autonomen Einparkvorgangs informiert und daher in die Lage versetzt entsprechend reagieren zu können, ohne dass eine Übertragung von Daten mit hohem Datenvolumen auf eine Fernsteuerung oder Überwachungseinrichtung zur Durchführung des externen autonomen Einparkvorgangs notwendig ist.In the inventive method for autonomous parking of a vehicle with external monitoring of the parking operation, wherein the vehicle has a parking assistant for performing an autonomous parking function with an environment sensor, the light of the illumination devices of the vehicle for transmitting information about the current vehicle position of the vehicle during the autonomous Parking operation used to external monitoring. By using the light of the lighting devices of the vehicle, the driver of the vehicle is informed in a simple manner visually about the current position of the vehicle and the state of the autonomous parking operation during autonomous parking and therefore able to react accordingly without a transmission of Data with a high data volume is necessary to a remote control or monitoring device for performing the external autonomous parking operation.
Vorzugsweise wird das Frontlicht der Frontscheinwerfer, das Seitenlicht, beispielsweise der der Spiegelleuchten und das Rücklicht der Rückleuchten zur Anzeige der Position des Fahrzeugs und zur Anzeige von Hindernissen verwendet, mit anderen Worten zur Information des Fahrers während des autonomen Einparkvorgangs mit externer Steuerung eingesetzt. Es werden also die externen Beleuchtungseinrichtungen des Fahrzeugs zur Informationsbereitstellung verwendet, so dass keine separaten Beleuchtungseinrichtungen notwendig sind.Preferably, the headlight of the headlights, the sidelight, for example, the mirror lights and the taillight of the taillights used to display the position of the vehicle and to display obstacles, in other words, for information of the driver during the autonomous parking operation with external control is used. Thus, the external illumination devices of the vehicle are used to provide information, so that no separate lighting devices are necessary.
Weiter bevorzugt betrifft der Einparkvorgang ein Einparken in eine Parkbox. Dabei wird unter Parkbox beispielsweise eine Garage oder eine Box in einer Parkgarage verstanden. Durch die Beleuchtung der Parkbox wird bei Dunkelheit oder schlechter Ausleuchtung der Parkbox die vom Fahrer wahrzunehmende Überwachungsfunktion erleichtert oder überhaupt erst ermöglicht.More preferably, the parking process relates to a parking in a parking box. Parkbox is understood to mean, for example, a garage or a box in a parking garage. By illuminating the parking box in the dark or poor illumination of the parking box facilitated by the driver to be perceived monitoring function easier or even possible.
Vorzugsweise erfolgt mit der Einfahrt in die Parkbox ein Ausleuchten des Inneren der Parkbox mit dem Frontlicht der Frontscheinwerfer erfolgt. Auf diese Weise kann der externe, den autonomen Parkvorgang überwachende Fahrer visuell die Fahrzeugposition kontrollieren und weiß, dass sich das Fahrzeug bei der Einfahrt in die Parkbox befindet.Preferably, with the entrance into the parking box, the interior of the parking box is illuminated with the front light of the front headlight. In this way, the external driver monitoring the autonomous parking operation can visually inspect the vehicle position and knows that the vehicle is entering the parking box.
Weiter bevorzugt wird ein Hindernis in der Parkbox durch ein Anleuchten des Hindernisses, durch ein Anpassen der Stellung der das Frontlicht erzeugenden Frontscheinwerfer und/oder durch ein Blinken der Frontscheinwerfer angezeigt. Dabei kann die Anpassung der Frontscheinwerfer in vertikaler Richtung über eine Höhenverstellung und/oder in horizontaler Richtung über eine entsprechende Verschwenkung erfolgen.More preferably, an obstacle in the parking box is indicated by an illumination of the obstacle, by adjusting the position of the headlight generating the headlight and / or by flashing the headlights. In this case, the adjustment of the headlights in the vertical direction via a height adjustment and / or in the horizontal direction via a corresponding pivoting done.
Weiter bevorzugt erfolgt eine Ausleuchtung der Seitenbereiche der Parkbox durch das Seitenlicht des Fahrzeugs dann, wenn das Fahrzeug mit der Höhe der Seitenspiegel in die Parkbox eingefahren ist, da üblicherweise das Seitenlicht in den Seitenspiegels angeordnet ist. Auf diese Weise wird der den Einparkvorgang überwachende Fahrer darüber informiert, dass das Fahrzeug schon teilweise in die Einparkbox eingefahren ist und es wird der Seitenbereich der Parkbox ausgeleuchtet.Further preferably, an illumination of the side areas of the parking box by the side light of the vehicle then takes place when the vehicle is retracted with the height of the side mirrors in the parking box, since usually the side light is arranged in the side mirror. In this way, the driver monitoring the parking process is informed that the vehicle has already partially entered the parking box and the side area of the parking box is illuminated.
Vorzugsweise wird der Abstand der Kopfseite des Fahrzeugs zu der Stirnseite der Parkbox mittels der Rückleuchten des Fahrzeugs angezeigt. Da dann das Fahrzeug im wesentlichen in die Parkbox eingefahren ist und sich innerhalb der Parkbox befindet, wird der sich üblicherweise hinter dem Fahrzeug und damit außerhalb der Parkbox befindliche Fahrer über den Abstand des Fahrzeugs zur Stirnseite der Parkbox oder Garage informiert und ist über die Position des Fahrzeugs informiert.Preferably, the distance of the head side of the vehicle is displayed to the front of the parking box by means of the taillights of the vehicle. Since then the vehicle has essentially retracted into the parking box and is located inside the parking box, the driver who is usually located behind the vehicle and thus outside the parking box is informed about the distance of the vehicle to the front side of the parking box or garage and is informed about the position of the vehicle Vehicle informed.
Dabei kann der Abstand des Fahrzeugs zur Stirnseite der Parkbox durch eine Variation der Blinkfrequenz und/oder durch stufenweises Zu- oder Abschalten von Rückleuchtenmodulen erfolgen. Auf diese Weise kann beispielsweise ein Anzeigeband erzeugt werden, welches über seine Breite oder Höhe den Abstand zur Stirnwand anzeigt. Wird der Abstand zu klein, so kann ein Blinken einsetzen, um den Fahrer zu warnen, dass bei dem autonomen Einparkvorgang ein Problem aufgetreten ist, so dass ein manueller Abbruch notwendig wird.In this case, the distance of the vehicle to the front side of the parking box by a variation of the blinking frequency and / or by stepwise switching on or off of tail lamp modules done. In this way, for example, a display band can be generated, which indicates the distance to the end wall over its width or height. If the distance is too small, then a flashing may be used to warn the driver that a problem has arisen during the autonomous parking procedure, so that a manual termination is necessary.
Ferner kann die Hell/Dunkelgrenze des Frontlichts des Fahrzeugs zur Abstandsbestimmung insbesondere bei kleinen Abständen zur Stirnseite der Parkbox verwendet werden, indem die Hell/Dunkelgrenze durch eine entsprechende Ansteuerung des Frontlichts verschoben wird. Aus der Bestimmung der Verschiebung der Hell/Dunkelgrenze als Funktion der Frontlichtverstellung kann der Abstand des Fahrzeugs zur Stirnseite bestimmt werden. Die Verschiebung der Hell/Dunkelgrenze kann beispielsweise durch eine geeignete Umfeldsensorik wie ein Kamerasystem bestimmt werden, so dass sich mit Kenntnis der dazugehörigen Scheinwerfereinstellungen, d. h. der entsprechenden Winkel, der Abstand zur Stirnseite der Parkbox ermitteln lässt.Furthermore, the light / dark boundary of the vehicle headlight for distance determination can be used in particular at small distances to the front of the parking box by the light / dark limit by an appropriate control of the headlight is shifted. From the determination of the shift of the light / dark boundary as a function of the front light adjustment, the distance of the vehicle to the front side can be determined. The shift of the light / dark boundary can be determined, for example, by a suitable environment sensor system such as a camera system, so that the distance to the front side of the parking box can be determined with knowledge of the associated headlight settings, ie the corresponding angle.
Die erfindungsgemäße Vorrichtung, welche zur Durchführung des im Vorangegangenen beschriebenen Verfahrens zum autonomen Einparken eines Fahrzeugs mit externer Überwachung des Einparkvorgangs ausgelegt ist, umfasst einen Einparkassistenten zum Ausführen einer autonomen Einparkfunktion mit einer Umfeldsensorik sowie eine Einrichtung zur Ansteuerung der Beleuchtungseinrichtungen des Fahrzeugs. Auf diese Weise kann das Licht der angesteuerten Beleuchtungseinrichtungen zur Übermittlung von Informationen bezüglich der Fahrzeugposition des Fahrzeugs während des autonomen Einparkvorgangs an die externe Überwachung verwendet werden.The device according to the invention, which is designed to carry out the method described above for autonomous parking of a vehicle with external monitoring of the parking process, comprises a parking assistant for carrying out an autonomous parking function with an environment sensor system and a device for controlling the illumination devices of the vehicle. In this way, the light of the controlled lighting devices can be used for the transmission of information regarding the vehicle position of the vehicle during the autonomous parking operation to the external monitoring.
Auf die im Vorangegangenen erläuterte Kommunikation der Fahrzeugposition und des aktuellen Zustands des autonomen Einparkvorgangs mittels Licht an die externe, den Einparkvorgang überwachende Person wird auf intuitive Weise mit am Fahrzeug vorhandenen Mitteln der Überwachungspflicht Genüge getan.On the above-explained communication of the vehicle position and the current state of the autonomous parking operation by means of light to the external, the parking operation monitoring person is done in an intuitive way with on-vehicle means of monitoring duty satisfied.
Eine bevorzugte Ausführungsform der Erfindung wird nachfolgende anhand der Zeichnungen erläutert. Dabei zeigtA preferred embodiment of the invention will be explained below with reference to the drawings. It shows
In
In
Zur Verdeutlichung zeigt die
BezugszeichenlisteLIST OF REFERENCE NUMBERS
- 11
- Fahrzeugvehicle
- 22
- Garage/ParkboxGarage / parking box
- 33
- Frontlichtheadlight
- 44
- Front des FahrzeugsFront of the vehicle
- 55
- Stirnseite der Garage/ParkboxFront of the garage / parking box
- 66
- Hindernisobstacle
- 77
- Seitenlicht linksSidelight left
- 88th
- Seitenlicht rechtsSidelight on the right
- 99
- linke Rückleuchteleft tail light
- 1010
- rechte Rückleuchteright tail light
- 1111
- Balken linksBar on the left
- 1212
- Balken rechtsBar right
- 1313
- Höhe großer AbstandHeight large distance
- 1414
- Höhe mittlerer AbstandHeight average distance
- 1515
- Höhe kleiner AbstandHeight small distance
ZITATE ENTHALTEN IN DER BESCHREIBUNG QUOTES INCLUDE IN THE DESCRIPTION
Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.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.
Zitierte PatentliteraturCited patent literature
- DE 102009041587 A1 [0006] DE 102009041587 A1 [0006]
- DE 102009033066 A1 [0007] DE 102009033066 A1 [0007]
- DE 102005060722 A1 [0008] DE 102005060722 A1 [0008]
- DE 102010056064 A1 [0009] DE 102010056064 A1 [0009]
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