DE102015002438A1 - A method of operating a motor vehicle for performing an automatic parking operation and motor vehicle having a parking system - Google Patents

A method of operating a motor vehicle for performing an automatic parking operation and motor vehicle having a parking system

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Publication number
DE102015002438A1
DE102015002438A1 DE102015002438.8A DE102015002438A DE102015002438A1 DE 102015002438 A1 DE102015002438 A1 DE 102015002438A1 DE 102015002438 A DE102015002438 A DE 102015002438A DE 102015002438 A1 DE102015002438 A1 DE 102015002438A1
Authority
DE
Germany
Prior art keywords
parking
motor vehicle
34q
parking space
34l
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.)
Pending
Application number
DE102015002438.8A
Other languages
German (de)
Inventor
Eberhard App
Carsten Hämmerling
Peter Nicke
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
APP, EBERHARD, DR. PHIL., DE
HAEMMERLING, CARSTEN, DIPL.-ING., DE
NICKE, PETER, DIPL.-PHYS., DE
Original Assignee
Daimler AG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Daimler AG filed Critical Daimler AG
Priority to DE102015002438.8A priority Critical patent/DE102015002438A1/en
Publication of DE102015002438A1 publication Critical patent/DE102015002438A1/en
Pending legal-status Critical Current

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    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/14Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G08G1/141Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
    • G08G1/143Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces inside the vehicles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D15/00Steering not otherwise provided for
    • B62D15/02Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027Parking aids, e.g. instruction means
    • B62D15/0285Parking performed automatically

Abstract

The invention relates to a motor vehicle and method for operating a motor vehicle (20) for performing an automatic parking operation, wherein ambient data of an environment of the motor vehicle (20) during a travel of the motor vehicle (20) in a direction of travel at a speed (v) only below one predetermined limit value (vG) (S10) are continuously detected (S12). Furthermore, under the condition that a predetermined first operation performed by the user is detected (S14), results of the detection (S12) performed in step a) are displayed as a schematic (29a) on a display (28) of the motor vehicle (20) ( S16). As a result, a situation-adapted parking space search can be provided.

Description

  • The invention relates to a method for operating a motor vehicle for carrying out an automatic parking operation in which environmental data of an environment of the motor vehicle during a movement of the motor vehicle in a direction of travel are detected continuously at a speed only below a predetermined limit. The invention further relates to a motor vehicle having a parking system for carrying out an automatic parking operation, the parking system having a detection means which is adapted to ambient data of an environment of the motor vehicle during a travel of the motor vehicle in a direction of travel at a speed only below a predetermined limit capture.
  • From the DE 10 2010 043 742 A1 For example, an automatic parking system for a motor vehicle is known which detects suitable free parking when the motor vehicle is traveling at a speed below a predetermined threshold. If several free parking spaces are detected, the most suitable parking space will be preselected automatically. In addition, all detected parking spaces including the automatically preselected parking space can be displayed to the user of the vehicle. After the user has either selected the automatically preselected parking space or another of the displayed free parking spaces and has confirmed this selection, an automatic parking process is initiated in the selected parking space. It is provided that the system outputs acoustic, optical and / or graphic signals to the user, either as soon as a free parking space has been detected by the system or if the motor vehicle stops and the system has detected at least one free parking space at that time.
  • The disadvantage here is that the information output on free parking is not always desired by the user, for example, if this is not at all after the search for a free parking space, but for other reasons slow driving. The issuance of said signals to inform the user of free parking can be distracting to the driver in such situations and affect traffic safety. If, for example, such information is still displayed graphically in an undesired situation, then this can also lead to relevant information, such as navigation information, being hidden or suppressed.
  • The object of the present invention is therefore to provide a method for operating a motor vehicle for carrying out an automatic parking operation and a motor vehicle having a parking system, by means of which the search for a parking space or automatic parking operations can be made more appropriate to the situation.
  • This object is achieved by a method for operating a motor vehicle and a motor vehicle having a parking system according to the independent claims. Advantageous embodiments of the invention can be found in the dependent claims.
  • In the method according to the invention for operating a motor vehicle for carrying out an automatic parking operation, environment data of an environment of the motor vehicle are continuously detected during a travel of the motor vehicle in a traveling direction at a speed only below a predetermined limit value. Furthermore, under the condition that a predetermined first operation performed by the user is detected, results of the detection performed are displayed as a schematic representation on a display device of the motor vehicle.
  • The great advantage of the invention is that the results of the detection are only displayed if this is also desired by the user and he has expressed this by the predetermined first operating action. As a result, the user is not distracted by unnecessary fade free parking, if this is not desired, and also increases road safety.
  • The predetermined first operation may be, for example, to operate an operating element, such as a park pilot button, the z. B. is designed as a hard key, and is specifically designed to start the park pilot display of the display device. In addition, the results of the continuous acquisition can also be displayed as an animation of the search in the schematic representation. The driver can thus watch during the trip, if and when free parking spaces are found. If the motor vehicle remains thereupon, the found free parking spaces can be displayed on the display device as a schematic representation.
  • Furthermore, it is an advantageous embodiment of the invention that, if during detection at least one parking space suitable for a predetermined criterion was found, the at least one parking space in the schematic representation is displayed on the display device and, if the at least one parking spaces for the implementation of automatic parking operation by a detected predetermined second operation of the User has been determined, the parking process is carried out automatically in the at least one parking space.
  • The predetermined criterion may, for. Example, consist in that a obstacle-free area along the course of the road has predetermined minimum dimensions, which are predetermined by the dimensions of the respective motor vehicle. The predetermined second operating action can be, for example, to actuate a central operating element, for example a rotary pushbutton or a touchpad. However, it is also possible to provide a plurality of second operator actions before the automatic parking operation is started. For example, the user can select a desired one of the parking spaces found by a first operator action, if more than one free parking space were detected, and confirm his choice by another operation. This is particularly advantageous because it can reduce the risk of accidental triggering of the automatic parking operation. For additional security even further operator actions may be provided, for. As the engagement of the reverse gear by the driver before the automatic parking operation is started. In this case, it can also be provided that, if a plurality of free parking spaces were detected, the motor vehicle or the parking system preselects the most suitable parking space according to predetermined criteria, such as the next, widest or those for which the calculated parking trajectory simplifies most, or the that least affects traffic flow
  • In addition, an automatic parking operation is to be understood as a parking operation during which the driver neither participates in the acceleration nor in the deceleration of the motor vehicle nor in the steering of the motor vehicle, that is to say in FIG. H. The motor vehicle accelerates and brakes automatically and, if necessary, also changes direction if it is necessary for the relevant parking operation. Furthermore, the vehicle takes over automatically necessary for the parking process steering interventions. In a further advantageous embodiment of the invention is under the condition that when detecting at least one was determined according to a predetermined criterion parking space, checked whether the at least one parking spot found represents a Längsparklücke or a Querparklücke. Here, a longitudinal parking space is defined as extending in the direction of travel parking space and a transverse parking space is defined as a transverse to the direction extending parking space. Under the condition that this check reveals that the at least one parking space found represents a transverse parking space and on the condition that the parking space found has been determined to perform the parking operation, a selection request is issued by the display device to the user, the selection request a selection between a first parking maneuver and a second parking maneuver provides the user for selection. Further, under the condition that the first parking maneuver is selected by the user, the automatic parking operation is performed according to the first parking maneuver and, under the condition that the second parking maneuver is selected, the automatic parking operation is performed according to the second parking maneuver.
  • This embodiment is particularly advantageous because in this case the user is even given the choice between different Einparkmanövern. In this case, the first parking maneuver preferably represents a forward parking maneuver in which the motor vehicle automatically parks forward into the transverse parking space, and the second parking maneuver represents a reverse parking maneuver in which the motor vehicle automatically parks backwards into the transverse parking space. There are many situations where forward parking is better and many situations where reverse parking is more beneficial. For example, it may be that more space is available for getting off one side of the transverse parking space than on the other. The driver can thus decide for himself whether, for example, he wants more space to get out of the car, or prefers to allow his passenger to get off the car and select an appropriate parking maneuver. It may also be that the driver after parking something in the trunk invite or unload from this and thus requires more space in the rear of the vehicle than in the front area. Depending on the parking situation, the driver can advantageously decide by this embodiment of the invention now, whether the vehicle should park forward or backward in the free transverse parking space. This allows a much more situation-adapted, automatic parking.
  • In a further advantageous embodiment of the invention, parking is switched to a remote parking operating mode for decentralized, in particular remotely controlled parking, when it is detected that the motor vehicle is brought to a standstill after displaying the results as a schematic representation and before or during the automatic parking operation and a predetermined third operator action of the user has been performed, in particular when a gear selection operating element of the motor vehicle has been set to a parking position as a predetermined third operator action.
  • In the remote parking mode of operation, the user is advantageously remotely controlled Parking, for example via a mobile communication device allows. This is particularly advantageous especially when a parking space is very narrow, so that the entry and / or exit would make difficult after parking. It is particularly advantageous that the remote parking mode of operation can also be started when the motor vehicle has already started to perform the automatic parking operation. Also in this case, the user can actively stop the vehicle and set the gear-selection control to the park position, thereby activating the remote-parking operating mode.
  • It is preferred that in the remote parking operating mode, the automatic parking operation is started or continued when the vehicle received a predetermined confirmation signal transmitted by a mobile communication device. The user can thus easily start the remote parking operating mode, as described above, get out of the vehicle and continue on his mobile communication device, such as a smartphone, mobile phone, a tablet PC and the like, the automatic parking process. This offers the user even more flexibility in automatic parking and parking.
  • In a further advantageous embodiment of the invention, in the remote parking operating mode, the user is provided with a third parking maneuver for selection, wherein, under the condition that the third parking maneuver is selected by the user, the motor vehicle automatically moves forwards or backwards on one, in particular straight, Trajectory, which is predetermined regardless of the detection of the environment data, parked up to a predetermined parking position.
  • This third parking maneuver is particularly suitable for parking in a garage, for example. The user can thus get out of his vehicle and park the vehicle remotely controlled forward or backward on almost straight trajectory in the garage. The predetermined parking position can be detected by sensors of the motor vehicle itself, for example, it goes so far forward or back until an obstacle is detected. In addition, the parking sensors can also be used to make minor corrections automatically. As a result, a simple parking in a garage is made possible in a particularly advantageous manner, especially since garages are usually not given the opportunity to pass them to let them detect by the vehicle sensors as free parking.
  • In a further advantageous embodiment of the invention, it is provided that when the motor vehicle has been parked in at least one parking space found when detecting the environmental data, the motor vehicle automatically out of the parking space when a predetermined fourth operator action of the user has been detected. In this way, not only an automatic parking, but also an automatic parking out of parking spaces is possible. If this is a parking space that was detected when the environmental data was detected, the motor vehicle can store the corresponding information and use it again when it is being parked. This automatic Ausparkvorgang can be implemented both in the context of longitudinal parking spaces and in connection with transverse parking spaces. If the motor vehicle is parked in a longitudinal parking space, the motor vehicle automatically parks in the park direction from this longitudinal parking space. If the motor vehicle is parked in a transverse parking space, it is preferred that the user is again provided with an option via the display device in which he can choose between a parking direction "left" or "right". As a result, a user can advantageously decide for himself in which direction he wishes to continue after the motor vehicle has been automatically parked.
  • In a further advantageous embodiment of the invention, the user is displayed during an automatic on and / or Ausparkvorgangs a remaining distance to a predetermined breakpoint of the motor vehicle. This predetermined breakpoint may represent, for example, a Endparkposition or final parking position or, if automatically change of direction must be performed during the automatic on and / or Ausparkvorgangs, also a breakpoint indicating this change of direction represent. As a result, the user is particularly comprehensively informed about the parking and Ausparkvorgang and can graphically understand and monitor. In a further embodiment of the invention, it may be provided that a direction indicator, in particular turn signals, of the motor vehicle is automatically activated. Motorists occasionally miss the activation of the turn signal when entering a parking space. In the context of this embodiment of the invention, the driver can be supported to behave in accordance with the rules, by the respective turn signals is automatically activated. As soon as the driver activates a guided or automatic parking or parking procedure, the turn signal is switched on in the direction corresponding to the maneuver. The turn signal remains on until parking is completed or canceled. If the driver moves the turn signal lever from the middle position, the automatic flashing process is interrupted and the driver's turn signal is canceled implemented. A new automatic activation of the turn signal takes place only with the next guided or automatic parking process.
  • In a further embodiment of the invention, the motor vehicle is guided during an automatic parking operation by interfering with the longitudinal and lateral dynamics in a parking space, to automatically the direction of travel (forward-backward) is changed. Usually, in an automatic parking operation, the driver must press a deadman button. In contrast to this, an embodiment of the invention provides that the driver does not have to actuate a deadman's button or the like. At the end of a parking process, preference is also given to automatically inserting the driving step P after a short waiting time.
  • Furthermore, distances to recognized obstacles on the head unit or the display device can be displayed by the parking system. If an obstacle enters the warning area of the motor vehicle, the displayed image changes and the distances are displayed. However, not the entire picture is superimposed but only a part of it; the rest of the image is darkened a bit and moves into the background of the ad. For vehicles with all-round visibility system, the driver also gets an easy way to get the whole Park Pilot display on the screen. A corresponding softkey is shown in the image on the display and preselected so that the driver has an overview of the situation around his vehicle by simply pressing only one control immediately.
  • The motor vehicle according to the invention comprises a parking system for performing an automatic parking operation, the parking system having a detection means which is adapted to detect environmental data of an environment of the motor vehicle during a travel of the motor vehicle in a direction of travel at a speed only below a predetermined limit. In this case, the parking system is designed to display results of the detection of the environmental data as a schematic representation on a display device of the motor vehicle on condition that a user-performed predetermined first operator action is detected by the parking system.
  • The features mentioned for the method according to the invention and its features, combinations of features and their advantages apply in the same way for the motor vehicle according to the invention. Furthermore, the method steps mentioned in connection with the method according to the invention and its embodiments enable the further development of the motor vehicle according to the invention by further objective features.
  • Further advantages, features and details of the invention will become apparent from the following description of preferred embodiments and from the drawing. The features and combinations of features mentioned above in the description as well as the features and feature combinations mentioned below in the description of the figures and / or shown alone in the figures can be used not only in the respective combinations indicated, but also in other combinations or in isolation, without the scope of To leave invention.
  • Showing:
  • 1 a flowchart for illustrating the method for operating a motor vehicle for performing an automatic parking operation according to an embodiment of the invention;
  • 2 a schematic representation of a motor vehicle with a parking system according to an embodiment of the invention;
  • 3a a schematic representation of the representation on a display device of the motor vehicle with a parking pilot display, which represents a schematic parking lot selection, according to an embodiment of the invention;
  • 3b a schematic representation of the representation on a display device of the motor vehicle with a parking pilot display, which represents a selection representation for selecting a parking maneuver, according to an embodiment of the invention;
  • 4 a schematic representation of the representation on a display device of the motor vehicle in a remote parking operating mode of the motor vehicle according to an embodiment of the invention;
  • 5 a schematic representation of the parking pilot display on the display device of the motor vehicle for displaying a remaining distance to a stop point of the motor vehicle according to an embodiment of the invention; and
  • 6 a schematic representation of the park pilot display on the display device of the motor vehicle for an automatic parking operation according to an embodiment of the invention.
  • In the figures identical, functionally identical or functionally similar elements are denoted by the same reference numerals.
  • 1 shows a flowchart illustrating the method for operating a motor vehicle for performing an automatic parking operation. In this case, it is first checked in a step S10 whether the speed V of the motor vehicle is below a predetermined limit value v G , for example 35 km / h. lies. If this is the case, the parking space search starts automatically and there is a continuous acquisition of environmental data in step S12. This is indicated to the driver via an icon 12a . 12b . 12c or 12d in the instrument cluster. At the same time a first icon signals 12a that the parking space search is active, but still a parking space was found, a second icon 12b in that the parking space search is active and at least one parking space in the direction of travel has been found on the left, a third icon 12c in that the parking space search is active and at least one parking space in the direction of travel has been found on the right, and a fourth icon 12d in that the parking space search is active and at least one parking space has been found on both sides of the motor vehicle in the direction of travel. Subsequently, it is checked in a step S14 whether the user has performed a predetermined first operation, such as pressing a park pilot button. If this is the case, a display device of the motor vehicle in step S16, the parking space search, ie the results of the detection process from step S12, represents. If the motor vehicle moves away, the driver is shown in this schematic representation preferably the parking space search as an animation. As soon as the motor vehicle is at a standstill, the driver is shown in the illustration the free parking spaces found up to this time of the standstill. It is preferred that in the schematic representation of up to six suitable parking spaces can be displayed.
  • The driver can then select a desired free parking space and start the automatic parking process, whereupon the motor vehicle automatically parks in step S18 in the driver-specific parking space. As soon as the motor vehicle is traveling at a speed v equal to or above the predetermined limit value v G , both the parking space search in step S12 and the display of the schematic representation in step S16 are ended. If it is determined in step S10 that the speed v of the motor vehicle is not below the predetermined limit value v G , it is first checked in a step S16 whether the parking space search or the display of the search results is active. If at least one of them is the case, the parking space search and / or the display are ended in a step S22 and the procedure starts again from the beginning in step S10.
  • 2 shows a schematic representation of a motor vehicle 20 with a parking system 22 according to an embodiment of the invention. The parking system 22 has a control device 24 for controlling the process of searching for parking spaces and automatic parking operations. Furthermore, the parking system 22 z. B. as environmental sensors 25 trained detection means for detecting the environmental data of the motor vehicle 20 on, which may be formed, for example, as one or more cameras and / or ultrasonic sensors. Depending on the equipment variant of the parking system 22 , also referred to below as the park pilot, different numbers of detection means can be provided. In a first preferred equipment variant, the parking system 22 a 360-degree camera or a 360 ° camera system. In a second equipment variant, only a reversing camera or a reversing camera system is provided. The first equipment variant has more selectable camera angles, namely 180 ° forwards, 130 ° forwards, a rim perspective to the front, 180 ° to the rear, 130 ° to the rear and a trailer zoom to the rear. The second equipment variant has the selectable camera angles 180 ° to the rear, 130 ° to the rear and a trailer zoom to the rear. In addition, it is preferred that both variants for the detection of the environmental data, in particular for parking space search, also include ultrasonic sensors.
  • Furthermore, the parking system includes 22 a speed sensor 26 , a display device 28 which, for example, a head unit 28 of the motor vehicle 20 represents, a central operating element 30 , For example, a rotary trigger or a touchpad, and preferably as a parking pilots button 32 trained further control.
  • As described, the parking space search automatically runs at a speed v less than the predetermined limit value v G. This will be to the driver via one of the icons 12a . 12b . 12c . 12d (see. 1 ) is displayed. If the driver then the parking pilot button 32 presses, then changes the head unit, which z. B. the display device 28 and the controller 24 in a park pilot application and correspondingly brings a Parkpilot display associated with the park pilot application 29 on the display device 28 for presentation. When the vehicle is moving during the detection of the environment data, a driver has the park pilot button 32 pressed, the park pilot display shows an animation of the parking space search. When stopping for found parking spaces, preferably the nearest parking space is automatically on the passenger side of the motor vehicle 20 through the parking system 22 preselected. The found free parking spaces are in the park pilot display 29 while the driver on the display device 28 shown as a schematic representation, this representation below as a schematic parking space selection 29a referred to as. In this schematic parking lot selection 29a are the selectable, free parking spaces, especially transverse parking spaces 34q and / or longitudinal parking spaces 34l , shown schematically. The pre-selected parking space is replaced by a "highlight" 35 , so an optical identification, the parking space, in this case a Längsparklücke 34l , as well as by a lane 36 from the schematically illustrated motor vehicle 38 in the parking space 34l displayed. The driver can use this parking space 34l confirm, or via the central control element 30 , for example by turning or pushing, or via the touchpad, for example, by horizontal or vertical wiping, another parking space 34q . 34l choose. By pressing the central control element 30 or the touchpad becomes the selected parking space 34q . 34l confirmed and the parking started.
  • In addition, instructions to the driver, such as. For selecting a parking space 34q . 34l and / or to confirm a selected parking space 34q . 34l and / or further actions to be performed by the driver during the procedure, e.g. B. Inserting the reverse gear to start the automatic parking process, via a line of text 39 in the park pilot display 29 be issued.
  • While in 2 in the schematic parking lot selection 29a an example of a representation of the search results of a search, in which three transverse parking spaces 34q and two longitudinal parking spaces 34l were found, are represented and continue one of the longitudinal parking spaces 34l through the parking system 22 is preselected, is in 3a another example of the display of a schematic parking space selection 29a the park pilot ad 29 shown.
  • 3a shows a schematic representation of a display, in particular the park pilot display 29 , on the display device 28 of the motor vehicle 20 with a representation of detection results of the detection of the environmental data of the motor vehicle 20 as a schematic parking lot selection 29a , in which case again three transverse parking spaces 34q and two longitudinal parking spaces 34l , which were detected according to predetermined criteria as free, suitable parking spaces in the detection detected. For example, the dimensions of the motor vehicle can be used as predetermined criteria 20 be used.
  • In this example, one of the transverse parking spaces 34q through the parking system 22 vorselektiert, which the driver by the presentation again by an optical highlighting by "highlighting" 35 the transverse parking space 34q and through lanes 36 from the schematically illustrated motor vehicle 38 in the transverse parking space 34q is shown.
  • Parking in a transverse parking space 34q takes place via a 2-stage selection process. The first step is the parking space 34q chosen by the user and in the second step the direction of the park - forward vs.. backward. Selecting the desired parking space 34q . 34l can by means of the central control element 30 be performed by the user. This chooses a transverse parking space 34q from, the user is a selection request or choice in a selection representation 29b the park pilot ad 29 to select a desired maneuver, as shown in 3b shown.
  • 3b shows the display on the display device 28 with a selection representation 29b the selectable parking maneuver for a selected transverse parking space 34q , This will be a first menu item 40v for selecting a forward parking maneuver in which the motor vehicle 20 forward into the selected transverse parking space 34q parked, and a second menu item 40r for the selection of a reverse parking maneuver in which the motor vehicle 20 backwards into the selected transverse parking space 34q parked, shown. In addition, in this selection representation 29b in 3b the first menu item 40v for parking forward by the user has been selected, for. B. via the central control 30 , The selection representation 29 also shows a schematic drawing of lanes 36 the trajectory that the motor vehicle 20 has calculated and traveled for the selected parking maneuver. Will now be replaced by another operator action of the user, eg. B. pressing the central control 30 or the touchpad confirming the selected parking maneuver starts the parking system 22 the automatic parking process and the motor vehicle 20 automatically parks in the parking space 34q according to the illustrated lanes 36 one.
  • In a further advantageous embodiment of the invention, it is also possible, as an alternative to conventional parking, in which the driver is in the vehicle, the vehicle 20 via a smartphone, in particular by means of a smartphone app to park. The possibility to change to this remote parking mode is indicated to the driver by an icon in an upper text line 39 the park pilot ad 29 , on the display device 28 displayed. To enter the remote parking mode, the driver must select gaps found 34q . 34l in the gear P of the motor vehicle 20 switch. In the schematic representation of the parking lot selection 29a Smartphone smartphone is then preferred in the found parking spaces 34q . 34l appears on the right side of the screen and the image of a smartphone 42 (see. 4 ) added. This is to make it clear to the driver that has been changed to the remote parking mode. The required inputs for starting the remote parking are then the driver in the text line 39 at the top of the display on the display 28 displayed.
  • The change to remote parking is not only possible at the beginning of a parking operation, but also during an ongoing parking. To do this, the driver merely has to stop and change to driving mode P. The further instructions for continuing the parking process via smartphone, he receives again on the line of text 39 , A special feature of remote parking is the so-called "exploration mode", as in 4 should be illustrated. In exploration mode, the vehicle does not enter a parking space previously measured via ultrasonic sensors or other detection means 34q . 34l parked, but "only" straight forward or backward, z. B. in a garage, moves. By including the "Parktronic" sensor, ie the detection means 27 of the parking system 22 of the motor vehicle 20 , minor course corrections are possible. This exploration mode is the driver in the presentation of the schematic parking lot selection 29a over straight lanes 36 behind or behind the schematic vehicle 38 displayed in the illustration. This can be the driver via the central control 30 or the touchpad like a parking space 34q . 34l choose. The following describes the automatic parking procedure in normal mode, ie not in the remote parking mode. In one embodiment, after selection and confirmation of a parking space 34q . 34l The parking procedure is started by the user and the driver is requested to engage the reverse gear. For vehicles 20 With automatic transmission, additional gear changes required during the parking procedure are carried out automatically. By engaging the reverse gear, the schematic view of the parking lot selection becomes 29a or the selection representation 29b into the camera view 29c (see. 5 ), which as part of the park pilot display 29 on the display device 28 is displayed, changed. In the camera view 29c are lanes 46 projected, ie as schematic representations of the camera view 29c superimposed, depending on the steering angle of the motor vehicle 20 to change. On the basis of these lanes 46 the driver can see which way the vehicle is 20 depending on the steering angle will take.
  • During the automatic entry and exit process, the remaining distance is displayed until the next change of direction or to a breakpoint, as in 5 shown. This is done via two red horizontal markings 48 on the lanes 46 and preferably by a slightly dark colored area between these lanes 46 , With increasing reduction of the residual path, the markers move 48 and the area on your own vehicle too. This advantageously helps the driver to assess the situation during the automatic parking process much better, to survey and monitor.
  • Furthermore, a distance display 29d , a so-called "Parktronic" distance indicator, in the park pilot displays 29 be integrated, as well as in 5 shown. Depending on the equipment variant of the motor vehicle 20 , ie only with reversing camera or with a 360 ° camera or a 360 ° camera system, there are the following Parktronic display variants of the distance display 29d :
    Indicates the motor vehicle 20 a 360 ° camera system, the Parktronic distance display takes place 29d here in the form of an oval ring 52 around the vehicle shown 38 , The segments of the ring 52 are controlled separately. The distance coding is color-coded into three levels, namely yellow, orange and red, where yellow symbolizes large distances, orange mean distances and red small distances to obstacles. In addition, the distance indicator 29d shown as a top-view image, ie in a plan view of the motor vehicle, which takes place with inclusion of the image recordings of the 360 ° camera system.
  • Indicates the motor vehicle 20 Only one reversing camera on, the Parktronic display 29d in the form of a grid around the vehicle 38 , The distance coding to an obstacle takes place here both in color, in particular again yellow, orange and red, as well as spatially in the form of the approximation of the color segments to the own vehicle 38 in the presentation.
  • These distance displays 29d can be used advantageously both in automatic parking operations as well as manually performed parking operations.
  • When the head unit via the display device 28 already a park pilot view 29 indicates, then the distance display takes place 29d , as in 5 as part of the respective park pilot view. However, it may also happen that at slow forward speed, z. B. at a speed v less than 12 km / h, an obstacle from the sensors of the distance system is detected while the head unit on the display device 28 another application, eg. B. navigation, displays. In these cases, an automatic activation of the distance display takes place 29d as soon as an obstacle has been detected. However, this is preferred only the proportion of the park pilot image is displayed, in which the distance information to the obstacle can be seen. On a display of the complete camera image 29c is waived. Advantageously, a driver is thus displayed in adaptation to a particular situation only the necessary information and prevents unnecessary distraction of the driver.
  • 6 shows a schematic representation of the display on the display device 28 for an automatic parking operation of the motor vehicle 20 with another selection representation 29b , A vehicle 20 that with the help of the park pilot, ie the parking system 22 , was parked, can also be parked again with the park pilot. In order to start the Ausparkvorgang, the driver must first change back to the Park Pilot application of the head unit, in particular by pressing the Park Pilot Hardkey, ie the Park Pilot button 32 ,
  • Became the vehicle 20 to the passenger side in a Längsparklücke 34l parked, the vehicle can 20 only to the driver's side from the longitudinal parking space 34l be parked out. Conversely, a Ausparken only to the passenger side is possible when the vehicle 20 previously parked on the driver's side. Regarding parking in a transverse parking space 34q can in a forward parked vehicle 20 the Ausparkvorgang from the Querparklücke 34q only backwards and vice versa. In both cases, the driver must decide when starting the Ausparkvorganges in which direction he wants to continue after parking, ie left or right. The selection is made as for parking via the central control element 30 or the touchpad. The options when parking out of transverse parking spaces 34q are in a schematic selection display to the driver 29b displayed, which is a first menu item 54r to park to the right and a second menu item 54l to park to the left. When selecting one of the menu items 54l . 54r by the driver, z. B. the second menu item 54r , as in 6 are presented to the driver in the selection display 29b in addition, the lanes 36 the trajectory for automatic parking out.
  • It should be noted that the system described above may be designed such that, depending on whether the last guided parking maneuver was a forward parking or a reverse parking, the last guided parking maneuver is offered as a preselection in a next parking maneuver.
  • It should also be noted that the system described above can be designed such that a pre-selection "parking space left" or "parking space right" is determined by means of a turn signal.
  • Overall, such a method for operating a motor vehicle for performing an automatic parking operation and a motor vehicle with a parking system is provided, which allows a parking space search and automatic parking operations adapted to a variety of different situations individualized while the user at any time comprehensive information, also adapted to the situation over to provide the respective operations.
  • LIST OF REFERENCE NUMBERS
  • 12a, 12b, 12c, 12d
    Icon
    20
    motor vehicle
    22
    parking system
    24
    control device
    25
    environmental sensors
    26
    speed sensor
    28
    display
    29
    Park-Pilot display
    29a
    schematic parking lot selection
    29b
    selection representation
    29c
    camera view
    29d
    distance display
    30
    central operating element
    32
    Park Assist button
    34q
    Cross parking space
    34l
    Parallel parking space
    35
    highlighting
    36
    lane
    38
    schematic motor vehicle
    39
    line of text
    40v
    Menu item for selecting forward parking
    40r
    Menu item for selecting the reverse parking
    42
    Picture of a smartphone
    46
    Projected lane
    48
    mark
    52
    ring
    54r
    Menu item for selecting the parking to the right
    54l
    Menu item for selecting the left parking
    S10
    step
    S12
    step
    S14
    step
    S16
    step
    S18
    step
    S20
    step
    S22
    step
    V
    speed
    V G
    limit
  • 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 102010043742 A1 [0002]

Claims (10)

  1. Method for operating a motor vehicle ( 20 ) for performing an automatic parking operation, comprising the step of: a) continuously acquiring (S12) environmental data of an environment of the motor vehicle ( 20 ) during a travel of the motor vehicle ( 20 ) in a traveling direction at a speed (v) only below a predetermined threshold (v G ) (S10); characterized by the step: b) on the condition that a predetermined first operation performed by the user is detected (S14), displays (S16) of results of the detection (S12) performed in step a) as a schematic representation ( 29a ) on a display device ( 28 ) of the motor vehicle ( 20 ).
  2. Method according to Claim 1, characterized by the following steps: c) on the condition that during detection (S12) in step a) at least one parking space suitable for a predetermined criterion ( 34q ; 34l ), indicating the at least one parking space ( 34q ; 34l ) in the schematic representation ( 29a ) on the display device ( 28 ); and d) on the condition that the at least one parking space ( 34q ; 34l ) was determined for performing the automatic parking operation by a detected predetermined second operator action of the user, automatically performing (S18) of the parking operation in the at least one parking space ( 34q ; 34l ).
  3. A method according to claim 2, characterized by the steps: e) on the condition that during detection (S12) in step a) at least one parking space suitable for a predetermined criterion ( 34q ; 34l ), checking whether the at least one parking space found ( 34q ; 34l ) a longitudinal parking space ( 34l ) or a transverse parking space ( 34q ), whereby a longitudinal parking space ( 34l ) is defined as a parking space extending in the direction of travel ( 34q ; 34l ), and wherein a transverse parking space ( 34q ) is defined as a transverse to the direction extending parking space ( 34q ; 34l ); and f) on the condition that the check in step e) reveals that the at least one parking space found ( 34q ; 34l ) a transverse parking space ( 34q ) and on the condition that the parking space found ( 34q ; 34l ) for the execution of the parking operation, issuing a selection request ( 29b ; 40v ; 40r ) by the display device ( 28 ) to the user, the selection prompt ( 29b ; 40v ; 40r ) selects between a first parking maneuver and a second parking maneuver to the user; and g) under the condition that the first parking maneuver has been selected by the user, performing the automatic parking operation in step d) according to the first parking maneuver, and under the condition that the second parking maneuver has been selected, performing the automatic parking operation in step d) according to the second parking maneuver.
  4. Method according to Claim 3, characterized in that the first parking maneuver represents a forward parking maneuver, in which the motor vehicle ( 20 ) automatically forward into the transverse parking space ( 34q ), and wherein the second parking maneuver represents a reverse parking maneuver in which the motor vehicle ( 20 ) automatically backwards into the transverse parking space ( 34q ).
  5. Method according to one of the preceding claims, characterized in that is switched to a remote parking operating mode for decentralized, especially remote-controlled, parking, when it is detected that the motor vehicle ( 20 ) has been brought to a standstill after step b) and before or during the automatic parking operation and a predetermined third operation of the user has been performed, in particular when a gear selection operating element of the motor vehicle (as a predetermined third operating action) ( 20 ) has been set to a park position.
  6. A method according to claim 5, characterized in that in the remote parking operating mode, the automatic parking operation is started or continued when the motor vehicle ( 20 ) a predetermined confirmation signal sent from a mobile communication device has been received.
  7. A method according to any one of claims 5 or 6, characterized in that, in the remote parking mode of operation to the user a third parking maneuver provided for selection, wherein under the condition that third parking maneuver is selected by the user, the motor vehicle ( 20 ) automatically forward or backward on an especially straight trajectory, which is predetermined independently of the detection (S12) in step a), to a predetermined parking position.
  8. Method according to one of the preceding claims, characterized in that when the motor vehicle ( 20 ) in at least one parking space found during detection (S12) in step a) ( 34q ; 34l ), the motor vehicle ( 20 ) automatically from the parking space ( 34q ; 34l ) when a predetermined fourth operator action of the user has been detected.
  9. Method according to one of the preceding claims, characterized in that during an automatic entry and / or Ausparkvorgangs the user a remaining distance to a predetermined breakpoint ( 48 ) of the motor vehicle ( 20 ) is shown.
  10. Motor vehicle ( 20 ) with a parking system ( 22 ) for carrying out an automatic parking operation, wherein the parking system ( 22 ) a detection means ( 25 ), which is adapted to environmental data of an environment of the motor vehicle ( 20 ) during a travel of the motor vehicle ( 20 ) in a traveling direction at a speed (v) only below a predetermined threshold (v G ); characterized in that the parking system ( 22 ) is designed, on the condition that a predetermined first operation performed by the user by the parking system ( 22 ), results of the acquisition of the environmental data as a schematic representation ( 29a ) on a display device ( 28 ) of the motor vehicle ( 20 ).
DE102015002438.8A 2015-02-26 2015-02-26 A method of operating a motor vehicle for performing an automatic parking operation and motor vehicle having a parking system Pending DE102015002438A1 (en)

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DE102015002438.8A DE102015002438A1 (en) 2015-02-26 2015-02-26 A method of operating a motor vehicle for performing an automatic parking operation and motor vehicle having a parking system
PCT/EP2016/000206 WO2016134822A1 (en) 2015-02-26 2016-02-06 Method for operating a motor vehicle for carrying out an automatic parking manoeuvre and motor vehicle comprising a parking system

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WO2019081072A1 (en) * 2017-10-24 2019-05-02 Bayerische Motoren Werke Aktiengesellschaft Method, device, computer program and computer program product for operating a display unit in a vehicle
WO2020043461A1 (en) 2018-08-31 2020-03-05 Volkswagen Ag Method and arrangement for generating a representation of surroundings of a vehicle, and vehicle having such an arrangement
WO2020043475A1 (en) 2018-08-31 2020-03-05 Volkswagen Ag Method and arrangement for producing a surroundings map of a vehicle, textured with image information, and vehicle comprising such an arrangement
DE102018214874B3 (en) 2018-08-31 2019-12-19 Audi Ag Method and arrangement for generating an environment map of a vehicle textured with image information and vehicle comprising such an arrangement
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