DE102014013692A1 - Method for performing an automatic parking operation and driver assistance device - Google Patents
Method for performing an automatic parking operation and driver assistance device Download PDFInfo
- Publication number
- DE102014013692A1 DE102014013692A1 DE102014013692.2A DE102014013692A DE102014013692A1 DE 102014013692 A1 DE102014013692 A1 DE 102014013692A1 DE 102014013692 A DE102014013692 A DE 102014013692A DE 102014013692 A1 DE102014013692 A1 DE 102014013692A1
- Authority
- DE
- Germany
- Prior art keywords
- vehicle
- parking
- target position
- parking operation
- detected
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/06—Automatic manoeuvring for parking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
- B60K28/02—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver
- B60K28/04—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver responsive to presence or absence of the driver, e.g. to weight or lack thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
- B60K28/10—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle
- B60K28/12—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle responsive to conditions relating to doors or doors locks, e.g. open door
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0062—Adapting control system settings
- B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/10—Historical data
Abstract
Die Erfindung betrifft ein Verfahren zum Durchführen eines automatischen Parkvorgangs eines Fahrzeugs (1) mittels einer Fahrerassistenzvorrichtung (3) mit den Schritten: – Erfassen einer Fahrzeugumgebung; – Identifizieren einer initial vorgegebenen oder gelernten Zielposition (Z) anhand der erfassten Fahrzeugumgebung (2); – Ermitteln und/oder Bereitstellen einer Trajektorie (T) zur Zielposition (Z); – Starten eines Parkvorgangs entlang der ermittelten und/oder bereitgestellten Trajektorie (T), Dabei ist vorgesehen, dass – zu Beginn und während des Parkvorgangs ein Fahrzeugzustand überwacht wird und – überprüft wird, ob sich ein Insasse zu Beginn des Parkvorgangs im Fahrzeug (1) befindet, wobei in Abhängigkeit des Fahrzeugzustands und einer Insassenanwesenheit im Fahrzeug (1) der Parkvorgang durchgeführt oder unterbrochen wird. Weiterhin betrifft die Erfindung eine Fahrerassistenzvorrichtung (3).The invention relates to a method for performing an automatic parking operation of a vehicle (1) by means of a driver assistance device (3) with the steps: - detecting a vehicle environment; - Identifying an initial predetermined or learned target position (Z) based on the detected vehicle environment (2); Determining and / or providing a trajectory (T) to the target position (Z); - Starting a parking operation along the determined and / or provided trajectory (T), It is provided that - at the beginning and during the parking process, a vehicle state is monitored and - checks whether an occupant at the beginning of the parking process in the vehicle (1) is located, wherein depending on the vehicle condition and an occupant presence in the vehicle (1) the parking operation is performed or interrupted. Furthermore, the invention relates to a driver assistance device (3).
Description
Die Erfindung betrifft ein Verfahren zum Durchführen eines automatischen Parkvorgangs eines Fahrzeugs gemäß dem Oberbegriff des Anspruchs 1. Weiterhin betrifft die Erfindung eine Fahrerassistenzvorrichtung gemäß dem Oberbegriff des Anspruchs 10.The invention relates to a method for performing an automatic parking operation of a vehicle according to the preamble of
Aus der
Der Erfindung liegt die Aufgabe zu Grunde, ein gegenüber dem Stand der Technik verbessertes Verfahren zum Durchführen eines automatischen Parkvorgangs sowie eine verbesserte Fahrerassistenzvorrichtung anzugeben.The invention is based on the object of specifying a method for performing an automatic parking procedure that is improved over the prior art and an improved driver assistance device.
Hinsichtlich des Verfahrens wird die Aufgabe erfindungsgemäß mit den in Anspruch 1 angegebenen Merkmalen und hinsichtlich der Fahrerassistenzvorrichtung mit den in Anspruch 10 angegebenen Merkmalen gelöst.With regard to the method, the object is achieved according to the invention with the features specified in
Vorteilhafte Ausgestaltungen der Erfindung sind Gegenstand der Unteransprüche.Advantageous embodiments of the invention are the subject of the dependent claims.
Bei einem Verfahren zum Durchführen eines automatischen Parkvorgangs eines Fahrzeugs mittels einer Fahrerassistenzvorrichtung wird eine Fahrzeugumgebung erfasst, eine initial vorgegebene oder gelernte Zielposition anhand der erfassten Fahrzeugumgebung identifiziert, eine Trajektorie zur Zielposition ermittelt und/oder bereitgestellt und ein Parkvorgang entlang der ermittelten und/oder bereitgestellten Trajektorie gestartet. Erfindungsgemäß wird beim Starten des Parkvorgangs ein Fahrzeugzustand zu Beginn und während des Parkvorgangs mittels eines Überwachungsmoduls überwacht und überprüft, ob sich ein Insasse zu Beginn des Parkvorgangs im Fahrzeug befindet, wobei in Abhängigkeit des Fahrzeugzustands und einer Insassenanwesenheit im Fahrzeug der Parkvorgang durchgeführt oder unterbrochen wird.In a method for carrying out an automatic parking operation of a vehicle by means of a driver assistance device, a vehicle environment is detected, an initially specified or learned target position is identified based on the detected vehicle environment, a trajectory to the target position is determined and / or provided, and a parking process along the determined and / or provided trajectory started. According to the invention, when starting the parking operation, a vehicle condition is monitored at the beginning and during the parking operation by means of a monitoring module and checks whether an occupant is in the vehicle at the beginning of the parking operation, wherein the parking operation is performed or interrupted depending on the vehicle condition and an occupant presence in the vehicle.
Durch das Verfahren kann eine Sicherheit für sich in dem Fahrzeug befindende Insassen während des Abfahrens der Trajektorie gegenüber dem Stand der Technik erhöht werden. Der autonom durchgeführte Parkvorgang wird dabei abgebrochen, wenn bei der Überwachung des Fahrzeugzustands ein für die Insassen ungünstiges Ereignis eintritt oder die Insassen eine bestimmte Aktion auslösen, mittels der in die Autonomie des Parkvorgangs eingegriffen wird. Die Ereignisse und Aktionen sind dabei von der Fahrerassistenzvorrichtung und/oder vom Fahrzeughalter vorgebbar.By the method, a safety for occupants located in the vehicle during the trajectory of the vehicle can be increased over the prior art. The autonomously carried out parking process is thereby canceled if an unfavorable for the occupants event occurs during the monitoring of the vehicle condition or the occupants trigger a specific action by means of which is intervened in the autonomy of the parking process. The events and actions are predetermined by the driver assistance device and / or the vehicle owner.
Ausführungsbeispiele der Erfindung werden im Folgenden anhand von Zeichnungen näher erläutert.Embodiments of the invention are explained in more detail below with reference to drawings.
Dabei zeigen:Showing:
Einander entsprechende Teile sind in allen Figuren mit den gleichen Bezugszeichen versehen.Corresponding parts are provided in all figures with the same reference numerals.
Die
Die Fahrerassistenzvorrichtung
Die Fahrerassistenzvorrichtung
Die Fahrerassistenzvorrichtung
Die Erfassungseinheit
Ist die Zielposition Z als eine initial vorgegebene oder erlernte Zielposition Z identifiziert und hat sich das Fahrzeug
Das Fahrerassistenzsystem
Das Überwachungsmodul
Der Parkvorgang wird mittels der Steuereinheit
Alternativ oder zusätzlich kann der Parkvorgang unterbrochen werden, wenn zwischen dem Fahrzeug
Wird der Parkvorgang abgebrochen, hält das Fahrzeug
Alternativ oder zusätzlich ist es auch möglich, den unterbrochenen Parkvorgang automatisch wieder zu starten, indem das Überwachungsmodul
Das Fahrzeug
Die Zielposition Z ist hierbei teilweise von einer Mauer umgeben, so dass zum Verlassen des Fahrzeugs
Im gezeigten Ausführungsbeispiel wird der Parkvorgang bereits vor der Zielposition Z unterbrochen, so dass der Beifahrer und die Fondinsassen auf der Beifahrerseite die Möglichkeit haben, das Fahrzeug
BezugszeichenlisteLIST OF REFERENCE NUMBERS
- 11
- Fahrzeugvehicle
- 22
- Fahrzeugumgebungvehicle environment
- 33
- FahrerassistenzvorrichtungDriver assistance device
- 3.13.1
- Erfassungseinheitacquisition unit
- 3.23.2
- Verarbeitungseinheitprocessing unit
- 3.33.3
- Steuereinheitcontrol unit
- 3.43.4
- Überwachungsmodulmonitoring module
- 44
- UmgebungserfassungseinheitEnvironment detecting unit
- SS
- Startpositionstarting position
- TT
- Trajektorietrajectory
- ZZ
- Zielpositiontarget position
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 102013015349 A1 [0002] DE 102013015349 A1 [0002]
Claims (10)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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DE102014013692.2A DE102014013692A1 (en) | 2014-09-17 | 2014-09-17 | Method for performing an automatic parking operation and driver assistance device |
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DE102014013692.2A DE102014013692A1 (en) | 2014-09-17 | 2014-09-17 | Method for performing an automatic parking operation and driver assistance device |
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DE102014013692A1 true DE102014013692A1 (en) | 2016-03-17 |
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DE102014013692.2A Withdrawn DE102014013692A1 (en) | 2014-09-17 | 2014-09-17 | Method for performing an automatic parking operation and driver assistance device |
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Cited By (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102015214798A1 (en) * | 2015-08-04 | 2017-02-09 | Robert Bosch Gmbh | Method for operating a vehicle |
DE102016208900A1 (en) * | 2016-05-23 | 2017-11-23 | Volkswagen Aktiengesellschaft | Method and device for starting an automatic parking operation |
DE102016109851A1 (en) * | 2016-05-30 | 2017-11-30 | Valeo Schalter Und Sensoren Gmbh | Method for the autonomous parking of a motor vehicle in a parking space with output of an exit signal to the driver, driver assistance system and motor vehicle |
EP3312764A3 (en) * | 2016-09-30 | 2018-09-05 | Lg Electronics Inc. | Autonomous vehicle |
CN110281914A (en) * | 2018-03-14 | 2019-09-27 | 本田技研工业株式会社 | Controller of vehicle, control method for vehicle and storage medium |
GB2576483A (en) * | 2018-05-31 | 2020-02-26 | Jaguar Land Rover Ltd | Apparatus and method for controlling vehicle movement |
GB2576482A (en) * | 2018-05-31 | 2020-02-26 | Jaguar Land Rover Ltd | Apparatus and method for controlling vehicle movement |
DE102018219308A1 (en) | 2018-11-13 | 2020-05-14 | Hyundai Motor Company | Method for assisting parking bay maneuvers of a vehicle and parking assistant for a vehicle |
CN111746512A (en) * | 2019-03-29 | 2020-10-09 | 本田技研工业株式会社 | Vehicle control system |
CN114034493A (en) * | 2021-11-04 | 2022-02-11 | 杭州海康汽车软件有限公司 | Automatic parking debugging method, device and system |
US11345336B2 (en) | 2018-05-31 | 2022-05-31 | Jaguar Land Rover Limited | Apparatus and method for controlling vehicle movement |
US11897456B2 (en) | 2018-05-31 | 2024-02-13 | Jaguar Land Rover Limited | Apparatus and method for controlling vehicle movement |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102013015349A1 (en) | 2013-09-17 | 2014-04-10 | Daimler Ag | Method for starting-up of vehicle for parking in parking lot, involves determining whether vehicle is to be parked in home parking lot or home parking zone when starting-up vehicle, based on identified environmental data of vehicle |
-
2014
- 2014-09-17 DE DE102014013692.2A patent/DE102014013692A1/en not_active Withdrawn
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
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DE102013015349A1 (en) | 2013-09-17 | 2014-04-10 | Daimler Ag | Method for starting-up of vehicle for parking in parking lot, involves determining whether vehicle is to be parked in home parking lot or home parking zone when starting-up vehicle, based on identified environmental data of vehicle |
Cited By (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102015214798A1 (en) * | 2015-08-04 | 2017-02-09 | Robert Bosch Gmbh | Method for operating a vehicle |
DE102015214798B4 (en) | 2015-08-04 | 2023-03-30 | Robert Bosch Gmbh | Method of operating a vehicle |
DE102016208900A1 (en) * | 2016-05-23 | 2017-11-23 | Volkswagen Aktiengesellschaft | Method and device for starting an automatic parking operation |
DE102016109851A1 (en) * | 2016-05-30 | 2017-11-30 | Valeo Schalter Und Sensoren Gmbh | Method for the autonomous parking of a motor vehicle in a parking space with output of an exit signal to the driver, driver assistance system and motor vehicle |
EP3251922A1 (en) * | 2016-05-30 | 2017-12-06 | Valeo Schalter und Sensoren GmbH | Method for autonomous parking of a motor vehicle into a parking space with output of an exit signal to the driver, driver assistance system and motor vehicle |
EP3312764A3 (en) * | 2016-09-30 | 2018-09-05 | Lg Electronics Inc. | Autonomous vehicle |
US10744967B2 (en) | 2016-09-30 | 2020-08-18 | Lg Electronics Inc. | Autonomous vehicle |
CN110281914A (en) * | 2018-03-14 | 2019-09-27 | 本田技研工业株式会社 | Controller of vehicle, control method for vehicle and storage medium |
US11345336B2 (en) | 2018-05-31 | 2022-05-31 | Jaguar Land Rover Limited | Apparatus and method for controlling vehicle movement |
GB2576483A (en) * | 2018-05-31 | 2020-02-26 | Jaguar Land Rover Ltd | Apparatus and method for controlling vehicle movement |
GB2576482A (en) * | 2018-05-31 | 2020-02-26 | Jaguar Land Rover Ltd | Apparatus and method for controlling vehicle movement |
US11897456B2 (en) | 2018-05-31 | 2024-02-13 | Jaguar Land Rover Limited | Apparatus and method for controlling vehicle movement |
DE102018219308A1 (en) | 2018-11-13 | 2020-05-14 | Hyundai Motor Company | Method for assisting parking bay maneuvers of a vehicle and parking assistant for a vehicle |
US11106213B2 (en) | 2018-11-13 | 2021-08-31 | Hyundai Motor Company | Method for assisting bay parking maneuvers of a vehicle and a parking assistant for a vehicle |
CN111746512B (en) * | 2019-03-29 | 2023-08-18 | 本田技研工业株式会社 | Vehicle control system |
CN111746512A (en) * | 2019-03-29 | 2020-10-09 | 本田技研工业株式会社 | Vehicle control system |
CN114034493A (en) * | 2021-11-04 | 2022-02-11 | 杭州海康汽车软件有限公司 | Automatic parking debugging method, device and system |
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R119 | Application deemed withdrawn, or ip right lapsed, due to non-payment of renewal fee |