DE102016212629A1 - Method and device for automated or semi-automated parking of a motor vehicle - Google Patents

Abstract

The invention relates to a method and a device (1) for automated or semi-automated parking of a motor vehicle (100), comprising an evaluation and control unit (2), an actuator system (3) and at least one parking space sensor system (4), wherein the parking space Sensor (4) is designed to detect parking spaces (PL), wherein the evaluation and control unit (2) is designed such that the actuators (3) in response to a detected parking space (PL) to control such that the motor vehicle ( 100) is automatically or partially automated in the parking space (PL) is ranged, wherein the evaluation and control unit (2) is designed such that it can read a trajectory (23) as a search path, in which case the actuators (3) so controlled is that the motor vehicle (100) automatically travels the trajectory (23), as long as at least one termination condition is met, the parking space sensor system (4) is designed such, during the run of the search path to detect parking spaces (PL), wherein the evaluation and control unit (2) is further designed such that a detected parking space (PL) is offered to a user, wherein after selecting the parking space (PL) the motor vehicle (100) automated or semi-automated in the parking space (PL) is ranked or the motor vehicle (100) is automatically ranked in a detected parking space (PL), wherein the automated or semi-automated maneuvering in a parking space (PL) represents a termination condition.

Description

The invention relates to a method and a device for automated or semi-automated parking of a motor vehicle.

From the DE 10 2010 043 742 A1 a method for a parking operation in a parking space for a motor vehicle with at least one sensor is known, which are continuously detected when passing by means of this at least one sensor data for the detection of a parking space. When recognizing at least two parking spaces that can be parked, at least two trajectories are determined as a function of the respective parking space geometry of the parkable parking spaces, a position and orientation of the motor vehicle for a possible fully or semi-automatic parking process, which is then decided automatically by a control unit, which parking space for a possible parking space Parking is selected based on the calculated trajectory. The method is activated when the motor vehicle driver drives below a limit speed.

The invention is based on the technical problem of providing a method for the automated or semi-automated parking of a motor vehicle, which further relieves the motor vehicle driver. Another technical problem is the creation of a suitable device.

The technical problem is solved by a method having the features of claim 1 and a device having the features of claim 6. Further advantageous embodiments of the invention will become apparent from the dependent claims.

• a) Bereitstellen einer Trajektorie als Such-Pfad für das Kraftfahrzeug, wobei das Kraftfahrzeug automatisiert oder teilautomatisiert die Trajektorie abfährt, solange nicht mindestens eine Abbruchbedingung erfüllt ist,
• b) Erfassen von Parklücken mittels einer Parkraum-Sensorik während des Abfahrens der Trajektorie,
• c) Anbieten einer erfassten Parklücke für den Nutzer, wobei nach Auswahl der Parklücke das Kraftfahrzeug automatisiert oder teilautomatisiert in die Parklücke rangiert wird oder automatisiertes Rangieren des Kraftfahrzeugs in eine erfasste Parklücke, wobei das automatisierte oder teilautomatisierte Rangieren in eine Parklücke eine Abbruchbedingung für den Verfahrensschritt a) darstellt.

The method for automated or semi-automated parking of a motor vehicle comprises the following method steps:

• a) providing a trajectory as a search path for the motor vehicle, wherein the motor vehicle automatically or partially automatically trajectory departs, as long as at least one termination condition is met,
• b) detecting parking spaces by means of a parking space sensor system during the trajectory,
• c) offering a detected parking space for the user, wherein after selecting the parking space, the motor vehicle is automatically or partially automated maneuvering in the parking space or automated maneuvering of the motor vehicle in a detected parking space, the automated or semi-automated maneuvering in a parking space a termination condition for the process step a ).

The trajectory provided as a search path thereby relieves the motor vehicle driver of the driving task of driving the motor vehicle past the potential parking spaces. The entire parking process is therefore carried out automatically at an early stage.

The provided trajectory as a search path can basically be provided by two alternatives.

In a first alternative, the trajectory provided is a trained trajectory. If, for example, the motor vehicle driver frequently drives into his garage or to a certain parking space in front of his house, this and the associated trajectory are stored so that the motor vehicle is then able to offer an automated journey from a certain point in front of the garage or the parking space. Another possibility is that when a motor vehicle driver drives several times in the same parking garage, the device remembers the trajectories trailed and stores a trajectory for driving through the parking garage from it as a trained trajectory.

Alternatively, the trajectory as a search path can also be provided by a third party. For example, the operator of a parking garage when entering the parking garage to send the trajectory to the motor vehicle, so then the motor vehicle can traverse the trajectory automatically.

In a further embodiment, information is transmitted in addition to the trajectory, by means of which an admissible parking space can be distinguished from an impermissible parking space. For example, these are map data of parking facilities.

In a further embodiment, vehicles parked when the trajectory is being traveled are recorded and stored as information about the admissibility of a parking space. Alternatively or additionally parking lot lines, signs and / or signs are recorded and stored.

The device for automated or semi-automatic parking of a motor vehicle comprises an evaluation and control unit, an actuator and at least one parking space sensor, wherein the parking space sensor is designed to detect parking spaces, wherein the evaluation and control unit is designed such Actuators in response to a detected parking space to control such that the motor vehicle is automated or partially automated in the parking space is ranked. The evaluation and control unit is designed such that it can read in a trajectory as a search path, in which case the actuators are controlled in such a way that the motor vehicle automatically leaves the trajectory, as long as at least one termination condition is not met. The parking space sensor system is designed to detect parking spaces during the travel of the search path. The evaluation and control unit is further designed such that a detected parking space is offered to a user, wherein after selecting the parking space, the motor vehicle automatically or partially automated ranks in the parking space. In semi-automated maneuvering, for example, the motor vehicle driver still has to press the gas pedal, whereas the steering movements are automatically adjusted by the actuators. Alternatively, the motor vehicle automatically ranks in a detected parking space without it being offered to the user before.

With regard to the further embodiments, reference may be made to the preceding statements.

The invention will be explained in more detail below with reference to a preferred embodiment. The figures show:

1 a schematic block diagram of an apparatus for automated or semi-automated parking of a motor vehicle and

2 a schematic representation of a parking lot or a parking deck of a parking garage.

In the 1 is a schematic block diagram of a device 1 illustrated for automated or semi-automated parking of a motor vehicle, comprising an evaluation and control unit 2 , an actuary 3 , a parking sensor 4 , an input and output unit 5 , a store 6 with at least one trained trajectory and a wireless interface 7 ,

The evaluation and control unit reads 2 a trajectory as a search path, for example from the memory 6 , wherein the reading takes place in dependence on a detected position of the motor vehicle. For example, the position is determined by means of a GPS receiver and checked whether there is a trajectory for this position. Alternatively, via the interface 7 a trajectory and, where appropriate, additional information is received. Subsequently, the evaluation and control unit controls 2 the actuators 3 such that the motor vehicle automatically travels the trajectory until at least one termination condition is met.

While the motor vehicle leaves the trajectory as a search path, the parking space sensor system searches 4 after parking spaces. The parking space sensors 4 For example, it may include at least one camera and / or ultrasound and / or radar sensors. If a parking space is detected, two variants are possible. In a first variant, the trajectory is then aborted and the motor vehicle automatically ranks in the parking space.

In a second variant, the parking space is initially offered to the user, for example on the input and output unit 5 , which is designed for example as a touch screen. If the user refuses the parking space, the motor vehicle continues to drive the trajectory automatically. On the other hand, if the user confirms the parking space, the motor vehicle is automatically or partially automated in the parking space.

Preferably, the device records also parked vehicles in order to gain information about permissible parking spaces for future journeys.

In the 2 an exemplary situation is shown. A motor vehicle 100 with a device according to the invention 1 (please refer 1 ) drives to a barrier 21 a parking lot 20 , A transmitting unit 22 of the parking lot 20 transmits a trajectory 23 as a search path to the motor vehicle 100 , The trajectory 23 leads over the entire parking lot 20 with all parking spaces (occupied P and unoccupied PL) up to a barrier 24 at the exit. This can be the trajectory 23 in a multi-storey car park. The car 100 then automatically moves the trajectory 23 off and the parking sensors 4 looks for unoccupied parking spaces PL, as already too 1 has been described.

In one area 25 There is a parking ban, which is characterized for example by signs or roadway painting. This information can be transmitted together with the trajectory, so that the motor vehicle 100 is not parked in inadmissible parking spaces. Alternatively, this can also be done by image analysis of the parking space sensors 4 respectively.

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)

Method for automated or semi-automated parking of a motor vehicle ( 100 ), comprising the following method steps: a) providing a trajectory ( 23 ) as a search path for the motor vehicle ( 100 ), wherein the motor vehicle ( 100 ) automates or partially automates the trajectory ( 23 ) departs, as long as at least one termination condition is not met, b) detecting parking spaces (PL) by means of a parking space sensor system ( 4 ) during the trajectory ( 23 ), c) offering a detected parking space (PL) for the user, wherein after selecting the parking space (PL) the motor vehicle ( 100 ) is automatically or partially automated in the parking space (PL) is ranked or automated maneuvering of the motor vehicle ( 100 ) in a detected parking space (PL), wherein the automated or semi-automated maneuvering in a parking space (PL) represents a termination condition for the method step a). Method according to Claim 1, characterized in that the trajectory provided ( 23 ) one of the motor vehicle ( 100 ) trained trajectory is used. Method according to Claim 1, characterized in that the trajectory provided ( 23 ) one to the motor vehicle ( 100 ) transmitted trajectory is used. Method according to claim 3, characterized in that in addition to the trajectory ( 23 ) Information can be transmitted by means of which an admissible parking space (PL) can be distinguished from an impermissible parking space. Method according to one of the preceding claims, characterized in that when trajectory ( 23 parked vehicles are recorded and stored as information about the permissibility of a parking space (PL). Contraption ( 1 ) for the automated or semi-automated parking of a motor vehicle ( 100 ), comprising an evaluation and control unit ( 2 ), an actuator ( 3 ) and at least one parking space sensor system ( 4 ), wherein the parking space sensors ( 4 ) is designed in such a way to detect parking spaces (PL), wherein the evaluation and control unit ( 2 ) is designed such that the actuators ( 3 ) in response to a detected parking space (PL) such that the motor vehicle ( 100 ) is automatically or partially automated in the parking space (PL) is ranked, characterized in that the evaluation and control unit ( 2 ) is designed such that this trajectory ( 23 ) as a search path, in which case the actuators ( 3 ) is controlled such that the motor vehicle ( 100 ) automates the trajectory ( 23 ) departs, as long as at least one termination condition is met, the parking space sensors ( 4 ) is designed to detect parking spaces (PL) during the travel of the search path, wherein the evaluation and control unit ( 2 ) is further designed such that a detected parking space (PL) is offered to a user, wherein after selection of the parking space (PL) the motor vehicle ( 100 ) is automatically or partially automated in the parking space (PL) is ranked or the motor vehicle ( 100 ) is automatically ranked in a detected parking space (PL), wherein the automated or semi-automated maneuvering in a parking space (PL) represents an abort condition. Apparatus according to claim 6, characterized in that the read trajectory ( 23 ) a trained trajectory of the motor vehicle ( 100 ). Device according to claim 6, characterized in that the device ( 1 ) with an interface ( 7 ) for receiving a trajectory ( 23 ) is designed as a search path. Apparatus according to claim 8, characterized in that the evaluation and control unit ( 2 ) is formed in such a way, with the trajectory ( 23 ) information on permissible parking spaces (PL). Device according to one of claims 6 to 9, characterized in that the device ( 1 ) is designed such that the parking space sensors ( 4 ) during the trajectory ( 23 Parked vehicles that are stored as information about the permissibility of a parking space (PL).

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