DE102015205013A1 - Parking assistance system - Google Patents

Abstract

The invention relates to a parking assistance system for supporting a parking maneuver of a motor vehicle, in which the motor vehicle is automatically brought to a target position. The park assist system includes a user-activated dump mode of operation to enable the unloading of an object and / or to enable a passenger to exit prior to completion of the park maneuver, such user unload mode both prior to commencement of the park maneuver and after commencement of the park maneuver Park maneuver is activated, wherein in response to the activation of this Ausladebetriebmodus automatically before reaching the target position, a temporary stoppage of the motor vehicle in a Ausladeposition is brought about, and wherein the parking assistance system is configured, in the event of a successful before the start of the parking maneuver activation of Auslade- Operating mode to be traversed by the motor vehicle to reach the target position trajectory as a function of a predeterminable by the user area of the motor vehicle, from which to perform the unloading or disembarkation.

Description

The invention relates to a parking assistance system for supporting a parking maneuver of a motor vehicle, in which the motor vehicle is automatically brought to a target position.

Future generations of parking assistance systems are able to take over both the lateral control of a motor vehicle by means of the vehicle steering system as well as the longitudinal control of the control of the accelerator pedal, brake pedal and transmission for the fully automatic execution of a parking maneuver. The driver still has the responsibility to monitor the maneuver, e.g. continuously activates an activation key.

In particular, in certain parking assistance systems certain operating modes, e.g. be provided in the form of a "pause mode" and a "termination mode": In the "pause mode", the motor vehicle is brought to a standstill immediately upon the occurrence of a certain "pause condition" and kept at a standstill by means of the vehicle brakes, e.g. can then take place when the driver releases the activation key, an object is detected at a greater distance or the passenger door is opened. Once the pause condition is no longer met, the parking maneuver is resumed. Moreover, typically the pause mode is time-limited, with the park maneuver being aborted after a predetermined period of time (e.g., 3 minutes). In the "abort mode" the motor vehicle is immediately brought to a standstill and kept at a standstill when a termination condition occurs. This can e.g. be the case when the driver's door is opened, the shift lever is actuated or an object is detected in the immediate vicinity of the motor vehicle. Here, the parking brake is actuated, with no resumption of the maneuver is possible. During the parking maneuver itself, the stop-start mode is typically disabled to prevent unwanted engine shutdown.

The trajectory or "trajectory" during the parking process and the final position of the motor vehicle in a certain parking space are determined such that the available parking area is optimally utilized. Thus, for example, on a comparatively small parking space, the position of the motor vehicle can be chosen exactly in the center of the parking space, whereas on a larger parking space the positioning of the motor vehicle can be selected e.g. closer to the front vehicle can be selected.

However, under certain circumstances the operating modes described above may prove inadequate in certain operating situations. For example, the situation may arise where a person with reduced mobility (e.g., an elderly person, a pregnant woman, a wheelchair user, an injured person, etc.) wants to get out of the vehicle. Since such persons typically require more space to get out of the car, it may be necessary to fully open the respective vehicle door, and it is usually necessary for such persons to take a longer time to get off the car. Depending on the current environmental conditions, the trajectory just provided for the parking process and the strategy intended for aligning the motor vehicle may then prove to be less than optimal. Furthermore, it may be the case that an optionally used pause mode is completely deactivated if the respective paging process of the respective person takes too long, so that the driver is then forced to finish the maneuver manually. In addition, the engine runs during the entire time of the boarding process.

Further, e.g. also occur a situation in which the driver of a motor vehicle, in which bulky objects such. Furniture, suitcases, a refrigerator etc. are transported, extra space needed to unload these objects. The unloading of such objects from the trunk typically requires that a free space of considerable size remains behind the motor vehicle. Depending on the respective ambient conditions, the trajectory provided for the parking operation (for example when parking in a target position that is perpendicular to the roadway) and the strategy for aligning the motor vehicle may also prove to be less than optimal in this case as well. Even if the pause mode is used, the case may occur here too that the parking assistance system is completely deactivated as soon as the driver requires too long a time to unload the motor vehicle, so that the driver can also be forced to finish the maneuver manually to lead. Furthermore, the engine also runs here during the entire unloading process.

In other situations, it may happen that, due to certain actions of the driver during the unloading process, an automatic transition to the abort mode occurs, such as when the driver applies the handbrake, brings the selector lever to the park position or opens the driver's door.

Out EP 1 249 379 B1 Among other things, a method and a device for moving a motor vehicle to a target position are known, wherein the environment of the motor vehicle is continuously analyzed by means of suitable environmental sensors. If, in this case, a parking and maneuvering device makes it possible to carry out the desired parking or Rangiermanövers recognized and signaled, any existing passengers can leave the vehicle. Here, the motor vehicle is brought into a safe state, for example by pressing the brake before signaling. After getting off the driver starts the parking or maneuvering by means of a transmitting device, which may be integrated, for example, in the vehicle key.

Out DE 10 2012 015 922 A1 Among other things, a method for performing a parking operation of a vehicle by means of a driver assistance system is known, wherein the user of the driver assistance system at the beginning of the automatic parking a choice between at least two parking maneuvers available, one of these parking maneuvers is a direct parking maneuver and wherein the other of these parking maneuvers a breakpoint is determined to exit a user.

For further prior art is only an example EP 2 289 768 A2 . DE 10 2011 084 366 A1 . DE 10 2012 201 038 A1 . DE 2008 051 982 A1 . DE 10 2011 112 578 A1 such as DE 10 2004 027 869 A1 directed.

It is an object of the present invention to provide a parking assist system which allows a passenger to comfortably get out and / or unload objects in a comfortable and effective manner.

This object is achieved by the parking assistance system according to the features of independent claim 1.

A parking assist system according to the invention for assisting a parking maneuver of a motor vehicle in which the motor vehicle is automatically brought to a target position comprises a user-activated unloading operation mode for enabling the unloading of an object and / or enabling a passenger to disembark before completing the parking maneuver in which, in response to the activation of this unloading operating mode, a temporary stoppage of the motor vehicle in an unloading position is automatically brought about before reaching the target position.

The parking assistance system is further configured, in the case of an activation of the Ausladebetriebmodus before starting the parking maneuver to be traversed by the motor vehicle to reach the target position trajectory in response to a user definable area of the motor vehicle, from which the unloading or disembarking to be determined.

The present invention provides an additional and novel mode of operation in the form of an "unload mode of operation", which mode of operation may be activated by the driver both prior to commencing a park maneuver and during the park maneuver.

The parking assistance system according to the invention differs in particular from conventional parking assistance systems, which only offer a choice of different trajectories, by providing an additional, novel operating mode, which is specifically activated by the driver or user and - if activated - a change in the park assistance strategy result. For this purpose, the activation of the Auslade operating mode according to the invention with specific interactions with other vehicle subsystems is accompanied.

The inventive concept for enabling the unloading of an object and / or the disembarkation of a passenger by means of the user-side activation of a special operating mode makes it possible, in particular, for the driver to be spontaneously - e.g. after already started parking maneuvers - a corresponding decision is made. In this case, it is also possible for the driver or user in particular to change the vehicle position and / or the vehicle state even after activation of the special unloading operating mode.

The possibility provided by the invention of (possibly also spontaneous) activation of a special unloading operating mode by the driver or user also has the further advantage that no additional hardware in the form of e.g. Sensors is needed. Furthermore, the driver or user is enabled to perform certain actions that are normally unavailable to him during a parking maneuver (such as opening the vehicle doors, reactivating the stop-start system, etc.).

Characterized in that the area of the motor vehicle, from which the unloading or disembarking is to take place, by the driver or user can be predetermined, and further taken into account by the user predetermined range already in the determination of the motor vehicle to reach the target position trajectory is, there is the further advantage that eg a wheelchair user or a person lying on a bedside can be unloaded as close as possible to an entrance door (for example, a hospital).

According to one embodiment, the parking assistance system is configured to be activated in the event of activation prior to the start of the parking maneuver the Auslade operating mode to determine a trajectory to be traversed by the motor vehicle to reach the target position as a function of a predetermined by the user, to be released behind the motor vehicle distance.

Thus, if the unloading mode of operation is activated even before the start of a parking maneuver, the driver is given the opportunity, e.g. via a suitable HMI interface (HMI = "Human Machine Interface" = "man-machine interface") to specify that side of the motor vehicle from which a passenger allows the exit or from which an object is to be unloaded. Depending on the nature of the parking space provided for the parking process, a suitable modified parking trajectory can first be determined, wherein a stopover at the optimum unloading position can be planned or offered. Subsequently, suitable correction maneuvers can be offered by means of which the final target position can be achieved.

According to one embodiment, the parking assistance system is configured to cause an immediate stoppage of the motor vehicle in the event of activation of the unloading operating mode after the start of the parking maneuver. Thus, when the unloading operation mode is activated after the parking maneuver has already been started, the motor vehicle is brought to a standstill, and the current position of the motor vehicle given at this time represents the unloading position.

In one embodiment, the park assist system is configured to resume a parking maneuver begun prior to this stoppage following the stall of the motor vehicle in the dump position in response to a user input. In this case, an automatic check of the vehicle condition, in particular the opening state of the vehicle doors or the position of the gearbox selector lever, can take place, in particular, before this resumption of the parking maneuver. Furthermore, depending on the result of this check, a signal may be sent to the user and / or a request to change the vehicle condition.

According to one embodiment, the parking assist system is configured to indicate the presence of any abort condition that would trigger a final park maneuver outside of the unload mode of operation, specifically exceeding a hold time of the vehicle, an operation of the hand brake or the transmission gear selector with respect to the continuation of the park maneuver to disregard. In other words, such a termination condition is ignored, so that also e.g. after a prolonged Auslade- or exit process not about a final and unwanted demolition of the parking maneuver, but a resumption of the parking maneuver after completion Auslade- or exit process takes place.

According to one embodiment, the parking assistance system is configured to automatically activate a parking brake after reaching the Ausladeposition.

According to one embodiment, the parking assistance system is configured to automatically switch off the motor of the motor vehicle after reaching the Ausladeposition.

• – Das Kraftfahrzeug wird zum Stillstand gebracht und mittels der Bremse im Stillstand gehalten.
• – Die elektronische Parkbremse wird automatisch aktiviert (oder der Fahrer muss die Handbremse betätigen), wonach das Bremspedal wieder gelöst werden kann.
• – Die Stopp-Start-Funktion wird aktiviert und der Motor nach einer vorbestimmten Zeitspanne (von z.B. 10s) abgeschaltet.
• – Der Fahrer wird informiert.
• – Der Zustand des Parkassistenzsystems bleibt "eingefroren" unabhängig von etwaigen Maßnahmen des Fahrers (z.B. Änderung der Wählhebelposition, Öffnen irgendwelcher Türen, Betätigung des Lenkrades, Betätigung der Pedale etc.), so dass auf solche Maßnahmen bzw. ein entsprechendes Abbruchsignal keine Reaktion (insbesondere also kein endgültiger Abbruch des Manövers) erfolgt. Hierbei kann jedoch das Parkassistenzsystem immer noch vom Fahrer über eine geeignete HMI-Schnittstelle deaktiviert werden, oder es kann ein Abschalten der Zündung vorgenommen werden, um den "eingefrorenen Zustand" zu beenden.
• – Das weitere geplante Parkmanöver wird im Speicher gehalten (entsprechend dem "Pausenmodus" bei herkömmlichen Systemen).

The steps performed after reaching the unloading position can thus be as follows:

• - The motor vehicle is brought to a standstill and held by the brake at a standstill.
• - The electronic parking brake is automatically activated (or the driver must apply the handbrake), after which the brake pedal can be released again.
• - The stop-start function is activated and the motor is switched off after a predetermined period of time (eg 10 s).
• - The driver is informed.
• - The state of the parking assistance system remains "frozen" regardless of any action by the driver (eg change the selector lever position, open any doors, actuation of the steering wheel, actuation of the pedals, etc.), so that no such reaction or a corresponding cancellation signal no response (in particular thus no final termination of the maneuver) takes place. In this case, however, the parking assistance system can still be deactivated by the driver via a suitable HMI interface, or the ignition can be switched off to end the "frozen state".
• - The further planned parking maneuver is held in memory (according to the "pause mode" in conventional systems).

The inventive concept can generally also be implemented in applications with remote-controlled parking.

Further embodiments of the invention are described in the description and the dependent claims.

The invention will be explained in more detail with reference to embodiments shown in the accompanying drawings.

Show it:

1 a flowchart for explaining a possible operation of the parking assist system according to the invention in one embodiment;

2a -C schematic representations to illustrate a parking operation in a possible embodiment; and

3a C schematic representations to illustrate a parking operation in another possible embodiment.

In the following, a possible operation of the parking assistance system according to the invention with reference to the in 1 illustrated flowchart and the schematic representations of 2a -C and 3a -C described.

In 2a C is a parking operation in a possible embodiment shown schematically, in which case a parking takes place in a parallel to the lane or direction target position. A motor vehicle carrying out the parking procedure is " 210 ", wherein during parking between two other vehicles 220 . 230 according to 2 B a temporary stop is performed with the front passenger door open 215 a person gets out. 2c shows the reached final target position.

In 3a C is a parking operation in a further possible embodiment shown schematically, wherein a parking car performing motor vehicle with " 240 is parked here and wherein here a parking in a direction perpendicular to the lane or direction of travel target position takes place, starting from the situation according to 3a takes place according to 3b unloading one or more objects before according to 3c the final target position is reached.

The in 1 The sequence shown assumes that the driver of a motor vehicle wants to carry out a parking operation, has activated the parking assistance system and unload an object located in the motor vehicle or even allow a person in the vehicle to get out (step S10). In 1 For the sake of simplicity and merely as an example, only the unloading of an object is mentioned.

In step S20, an initial query is made as to whether the automatic parking maneuver has already been started. If so, the driver activates the "unloading operation mode" in step S30, whereupon the vehicle is stopped in step S40. If the automatic parking maneuver has not yet been started according to the inquiry in step S20, the driver activates the "unloading operation mode" in step S21, selects the discharge side of the motor vehicle in step S22 and, optionally, selects the distance to be released behind the motor vehicle in an optional step S23. Thereupon, the determination of a parking trajectory by the parking assistance system according to the invention taking into account or scheduling a Auslade-stopover and the determination of required (correction) maneuver to reach the final target position (step S24). In step S25, the motor vehicle reaches the unloading position, whereupon a transition to step S40, in which the motor vehicle is brought to a standstill, takes place.

In step S50, the electronic parking brake is activated. Thereupon, an activation of the stop-start function is performed in step S60, wherein the engine - if necessary after a short interruption or waiting time - is turned off. Then, in step S70, the functionality of the parking assist system, according to which a parking maneuver is normally canceled in response to a corresponding signal, is disabled (i.e., there is no response to this signal until further notice). In step S80 optionally the data of the parking maneuver can be stored in a memory. After informing the driver in step S90, the driver unloads the object in step S100 (or allows the person desiring to leave the motor vehicle) and reactivates the parking assistance system in step S110, whereupon in step S120 the engine is restarted. In step S130, it is checked whether the motor vehicle is in a state in which the automatic parking maneuver can be continued (for example, whether the doors are closed and the selector lever is in the appropriate position). If this is not the case, the driver is informed accordingly, so that he first driver the vehicle in this state transferred.

To resume or continue the parking maneuver, the driver first has to put the motor vehicle in a state in which automatic vehicle operation via the parking assistance system is possible or permissible (ie all doors closed, selector lever in the N position, etc.). The state of the motor vehicle can be checked in this case, and the driver can optionally be asked to correct the state via the HMI interface. By actuating a suitable activation key, the engine can be restarted, whereupon the parking maneuver is resumed. If additional correction maneuvers are required, these are automatically initiated by the parking assistance system in order to reach the optimum final target position (eg in 2 a corresponding trajectory is shown by arrows).

As soon as the motor vehicle is in a state enabling the continuation of the parking maneuver, the driver is informed in step S140 and the parking maneuver is continued starting from the unloading position.

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

• EP 1249379 B1 [0008]
• DE 102012015922 A1 [0009]
• EP 2289768A2 [0010]
• DE 102011084366 A1 [0010]
• DE 102012201038 A1 [0010]
• DE 2008051982 A1 [0010]
• DE 102011112578 A1 [0010]
• DE 102004027869 A1 [0010]

Claims (9)

A parking assistance system for assisting a parking maneuver of a motor vehicle, wherein the motor vehicle is automatically brought to a target position, characterized in that the parking assistance system a user activatable Ausladebetriebmodus to allow the unloading of an object and / or to allow the disembarkation of a passenger before completion the parking maneuver, wherein this Auslade operating mode is activated by the user both before the start of the parking maneuver and after the start of the parking maneuver, in response to the activation of this Ausladebetriebmodus automatically brought before reaching the target position, a temporary stoppage of the motor vehicle in a Ausladeposition is configured, and wherein the parking assistance system is configured, in the case of an activation of the Ausladebetriebmodus before starting the parking maneuver to start one of the motor vehicle to reach the target position de trajectory in dependence on a user definable area of the motor vehicle, from which to perform the unloading or disembarking determine. Parking assistance system according to claim 1, characterized in that it is configured, in the case of a successful before the start of the parking maneuver activation of the Auslade operating mode to be traversed by the motor vehicle to reach the target position trajectory in response to a predetermined by the user, behind the motor vehicle to be released Distance to determine. Parking assistance system according to one of claims 1 or 2, characterized in that it is configured to bring about an immediate standstill of the motor vehicle in the event of an activation of the Auslade operating mode after the start of the parking maneuver. Parking assistance system according to one of the preceding claims, characterized in that this is configured to resume after the brought about stoppage of the motor vehicle in the unloading position in response to a user input a parking maneuver started before this stoppage. Parking assistance system according to claim 4, characterized in that before this resumption of the parking maneuver, an automatic check of the vehicle condition, in particular the opening state of the vehicle doors or the position of the gearbox selector lever, takes place. Parking assistance system according to claim 5, characterized in that depending on the result of this check a signal to the user and / or a request to change the vehicle condition goes out. Parking assistance system according to one of the preceding claims, characterized in that it is configured, the presence of any termination condition, which would trigger a final abort of the parking maneuver outside of the Auslade mode of operation, in particular the exceeding of a holding time of the motor vehicle, an operation of the handbrake or Gearbox selector lever, to disregard the continuation of the parking maneuver. Parking assistance system according to one of the preceding claims, characterized in that it is configured to automatically activate a parking brake after reaching the Ausladeposition. Parking assistance system according to one of the preceding claims, characterized in that this is configured to automatically switch off after reaching the Ausladeposition the engine of the motor vehicle.

Images