DE102017100061A1 - A method for assisting a driver of a motor vehicle when parking using a driver assistance device, corresponding computer program product and driver assistance device - Google Patents

Abstract

The invention relates to a method for assisting a driver of a motor vehicle (10) when parking in one of several parking spaces (16, 18) of a parking zone (14) using a driver assistance device of the motor vehicle (10), the method comprising the steps: in one Training mode of the driver assistance device: recording and storing reference data via a path (24) from a reference home position (26) to a reference home position (28) while the motor vehicle (10) is controlled by a driver on the path (24), wherein at least one of the parking lots (16, 18) is accessible from the reference target position (28) using an automatic parking system of the driver assistance apparatus, this parking system operating without training, and in a different mode of operation from the training mode: driving the motor vehicle under the Control of the driver assistance device using the reference data to the R destination target position (28), selecting the parking space (16) and / or maneuvering type of parking maneuver to be performed by the automatic parking system, and parking the motor vehicle (10) in this parking space (16) under the control of the automatic parking system. The invention further relates to a corresponding computer program product and a corresponding driver assistance device.

Description

The invention relates to a method for assisting a driver of a motor vehicle when parking in one of a plurality of parking spaces of a parking zone using a driver assistance device of the motor vehicle.

The invention further relates to a corresponding computer program product and a driver assistance device for assisting a driver of a motor vehicle when parking in one of a plurality of parking spaces of a parking zone.

Modern semi-autonomous vehicles are designed to self-park. For this they need to know the geometry of their environment. A new category of automatic parking systems is the trained parking system. At present several solutions for home-trained parking are being developed. The driver of the vehicle must train the driver assistance device of the vehicle with respect to the particular path that the vehicle is to follow for a parking operation thereafter.

Many houses have a parking zone with more than one possible parking space. For current trained parking systems, they would need to train more than one path / trajectory to allow parking in more than one location.

The document DE 10 2013 015 348 A1 describes a method for assisting a driver of a motor vehicle when parking in one of a plurality of parking spaces of a parking zone using a driver assistance device of the motor vehicle. The method includes a training (or learning) mode of the driver assistance device and an operating mode of the driver assistance device. In both modes, the training mode and the operating mode, the motor vehicle must travel from a starting point along a path to an end position of the parking operation at the corresponding parking space. This method is a method of "fully trained parking". The corresponding parking system of the driver assistance device is a "fully trained parking system".

It is an object of the invention to provide a method for assisting a driver of a motor vehicle when parking in one of several parking spaces of a parking zone using a driver assistance device of the motor vehicle, a corresponding computer program product and a corresponding driver assistance device, which are improved over the prior art.

This object is achieved by a method, a computer program product and a driver assistance device having the features according to the respective independent claims. Advantageous embodiments of the invention are the subject of the dependent claims, the description and the figures.

The method according to the invention for assisting a driver of a motor vehicle when parking in one of several parking spaces of a parking zone using a driver assistance device of the motor vehicle comprises: (i) in a training mode (learning mode) of the driver assistance device: recording and storing reference data via a path from a reference Output position to a reference target position while the motor vehicle is being controlled by the driver along the path, wherein at least one of the parking lots is accessible from the reference target position using an automatic parking system of the driver assistance apparatus, the parking system operating without training; and (ii) in a subsequent operation mode different from the training mode: driving the motor vehicle to the reference target position under the control of the driver assistance apparatus using the reference data; Selecting the parking space and / or maneuvering type of a parking maneuver to be performed by the automatic parking system; and parking the motor vehicle in the parking lot under the control of the automatic parking system. Automatic parking systems that work without training are already on the market (for example Valeo Park4U®). Typical types of maneuvers carried out by the automatic parking system are e.g. Forward parking, reverse parking, parallel parking, vertical parking (in the sense of transverse parking). Preferably, at least two of the parking lots are accessible from the reference target position using the automatic parking system.

The invention provides a solution for enabling a driver to select possible parking and / or parking maneuvers, all that is required is to store a single trained path / trajectory. This would give the driver much more flexibility and control, as well as limiting resource requirements and hence the cost of the embedded implementation.

1. (a) Das Training muss durch den Fahrer mindestens einmal pro möglichem Parkplatz (auch als Stellplatz bezeichnet) ausgeführt werden.
2. (b) Jeder trainierte Pfad/jede trainierte Trajektorie benötigt Speicherplatz zum Speichern der Referenzdaten, was die Stücklistenkosten erhöhen und die Gebrauchstauglichkeit einschränken kann.
3. (c) Da die Pfade/Trajektorien das Parkmanöver enthalten, ist der Typ des Parkmanövers nicht veränderbar. Damit der Fahrer beispielsweise Vorwärtseinparken anstelle von Rückwärtseinparken auswählen kann, würde ein separater trainierter Pfad/eine separate trainierte Trajektorie erforderlich sein.

This method overcomes the following weaknesses of fully trained parking using a training mode and operating mode of the driver assistance device, both of which end when the vehicle is in the final parking position at the parking lot:

1. (a) The training must be performed by the driver at least once per possible parking space (also referred to as pitch).
2. (b) Each trained path / trap needs space to store the reference data, which may increase BOM cost and limit usability.
3. (c) Since the paths / trajectories contain the parking maneuver, the type of parking maneuver is not changeable. For example, to allow the driver to select forward parking instead of reverse parking, a separate trained path / trained trajectory would be required.

According to a preferred embodiment of the invention, the driver assistance device records the reference data about the path in the training mode using at least one sensor for detecting features of the environment in the surrounding area of the path. In other words, trained parking systems use various sensors to record information from the environment (landmarks) according to a trajectory being traveled, and in a subsequent "rendering" they include the newly acquired information the previously stored information to determine its position relative to the stored trajectory, which is then used to make decisions on how to maneuver the vehicle until finally parking at the stored parking position. The sensor or at least one of the sensors can be a camera, in particular a front camera and / or a rear camera. Other possible sensors are z. As laser scanners and / or radars.

According to a particularly preferred embodiment of the invention, the automatic parking system of the driver assistance device uses the sensor or at least one of the sensors for detecting features of the environment in the vicinity of the path for parking the motor vehicle in the selected parking space. The sensor (s) are capable of detecting features of the environment, such as features of objects, entering at least one corresponding environmental region of the motor vehicle that the sensor (s) are sensing.

According to a further preferred embodiment of the invention, the parking of the motor vehicle in the selected parking space is a parking operation according to one or more of the following parking maneuver types: forward parking, reverse parking, parallel parking and vertical parking. The maneuver may be a combination of these maneuvers, e.g. Parking in front perpendicular. The maneuver may also be a different maneuver, e.g. diagonal parking. The corresponding parking path or park trajectory is a typical maneuver type path, e.g. a reverse parking path / reverse parking trajectory (reverse parking in the parking lot, often in combination with a subsequent correction).

According to yet another preferred embodiment of the invention, the selection of the parking space and / or the parking maneuver type is a selection made manually by the driver or an automatic selection made by the driver assistance device.

The reference data define reference points of the trained in training mode path and / or landmark information about objects in the surrounding area of the path. The path is adequately described by the reference points.

The computer program product of the invention comprises computer executable program code portions having program code instructions configured to execute the aforementioned method.

The invention further relates to a driver assistance device for assisting a driver of a motor vehicle when parking in one of several parking spaces of a parking zone, wherein the driver assistance device is configured to record (i) reference data about a path from a reference home position to a reference target position in a training mode and while the motor vehicle is being controlled by the driver on the path, wherein at least one of the parking spaces is accessible from the reference target position using an automatic parking system of the driver assistance apparatus, the parking system operating without training; (ii) driving the motor vehicle to the reference target position under the control of the driver assistance apparatus using the reference data in an operation mode different from the training mode; (iii) to provide a choice for selecting the parking space and / or the parking maneuver type to be performed by the automatic parking system; and (iv) parking the motor vehicle in the parking space under the control of the automatic parking system. The driver assistance device may be a computer-based device having a processor and a data storage.

According to a preferred embodiment of the driver assistance device, the driver assistance device is configured to execute the aforementioned method.

According to another preferred embodiment of the driver assistance device, the driver assistance device has at least one sensor for detecting features of the environment in at least one surrounding region of the motor vehicle, wherein the driver assistance device detects reference data via the path in the training mode.

According to yet another preferred embodiment of the driver assistance device, the reference data is data for defining reference points of the trained in training mode path and / or data of landmark information about objects in the surrounding area of the path. The path is sufficiently described by the reference points.

Further features of the invention will become apparent from the claims, the figures and the description of the figures. All mentioned in the foregoing description features and combinations of features and mentioned in the following description of the figures and / or only in the figures features and feature combinations are not only in the combination, but also in other combinations or independently usable.

• 1 eine Draufsicht eines ersten Beispiels eines Parkvorgangs mit einem trainierten Pfad in Kombination mit einem automatischen Endparkmanöver; und
• 2 eine Draufsicht eines zweitens Beispiels eines Parkvorgangs mit einem trainiertem Pfad in Kombination mit einem automatischen Endparkmanöver.

The invention will be explained in more detail below based on a preferred embodiment and with reference to the accompanying drawings; show it:

• 1 a plan view of a first example of a parking process with a trained path in combination with an automatic Endparkmanöver; and
• 2 a plan view of a second example of a parking process with a trained path in combination with an automatic Endparkmanöver.

1 shows a plan view of a motor vehicle 10 on a street 12 , The car 10 is for example a passenger car. At the edge of the street 12 there is a parking zone 14 with two parking spaces (parking spaces) 16 . 18 , The two parking lots 16, 18 are arranged in a row, both parking spaces 16 . 18 are aligned substantially parallel to the road. The car 10 has a driver assistance device (not shown) with at least two sensors and an automatic parking system, which works without training, so without training. The sensors are in the front and rear of the vehicle 10 arranged. The detection areas of these sensors are environmental areas 20 . 22 in front of and behind the motor vehicle 10 ,

The vehicle 10 goes along a path 24 in the street 12 from a reference home position 26 to a reference target position 28 of the path 24 , The path 24 has a curved section followed by a straight section and is defined by multiple reference points 30 on the path 24 sufficiently described. There are a number of environment objects 32 . 34 in a surrounding area of the path 24 , The environment objects 32 . 34 of in 1 example shown are trees 32 on the roadside and the parking lot borders 34 the two parking lots 16 . 18 , After the reference target position 28 has been reached, the motor vehicle 10 by an automatic parking maneuver, which is carried out by an automatic parking system that works without training (in short: a non-trained automatic parking system) in one of the parking lots 16 (more specifically backwards) parked. The corresponding parking path or the park trajectory 36 This parking maneuver is a typical path / trajectory determined by an untrained automatic parking system that drives the vehicle backwards into the parking lot 16 controls, in combination with a subsequent correction, until the vehicle 10 reached the final parking position. In addition is also a possible parking trajectory 40 a parking maneuver to park the vehicle 10 in the other parking lot 18 shown.

A corresponding method for assisting a driver of the motor vehicle 10 when parking in one of the two parking lots 16 . 18 the parking zone 14 using the driver assistance device has a training mode and a subsequent mode of operation:

In the driver assistance device training mode (sometimes referred to as the learning mode), reference data is transmitted via the path 24 from the reference home position 26 to the reference target position 28 recorded by the driver assistance device and stored while the motor vehicle 10 by the driver on the path 24 is controlled. The reference target position 28 is chosen such that both parking spaces 16 . 18 using the automatic parking system of the driver assistance apparatus from the reference target position 28 from reachable.

In the operating mode other than the training mode: The motor vehicle becomes the reference target position under the control of the driver assistance device using the reference data 28 hazards. One of the parking lots (in the example shown the first parking lot 16 ) is selected by the driver by means of a polling protocol of the driver assistance device. Finally, the motor vehicle 10 under the control of the automatic parking system of the driver assistance device in the selected parking lot 16 parked.

1. 1) ein Bild der Stellplätze von der Fahrzeugkamera (typischerweise eine vordere, eine hintere oder eine seitliche Kamera oder eine beliebige Kombination davon, in Abhängigkeit von der Fahrtrichtung);
2. 2) ein Bild der Umgebungssituation des Fahrzeugs (eine Draufsicht oder eine Bowl-View-Ansicht, die von allen vier Umgebungsansicht-Kameras zusammengefügt ist);
3. 3) Andere Sensordaten, wie beispielsweise Abstand von Ausgangs-/Endposition, Abstand zu Parkplätzen, Abstand zu Objekten, Objektklassifizierung;
4. 4) Es können auch aktuelle GPS-Koordinaten übertragen werden, so dass der Fahrer diese in einer Kartenansicht sehen kann.
5. 5) Optionen für den Fahrer zum Auswählen der nächsten Aktion.

In other words, the driver assistance device is trained in such a way that the vehicle approaches a path / trajectory 23 from the beginning of a home zone (reference home position) 26 ) to start the parking area (reference target position 28 ), unlike Park4U ^® Home, however, the training does not include the final parking maneuver (park trajectories 36 . 40 ). After the vehicle 10 once within the range of the parking zone 14 It can use the existing Park4U ^® function to detect possible parking spaces (parking positions) 16 . 18 ) to identify. These spaces can be the driver as options using the existing Park4U ^® - offered or Park4U ^®-Remote functionality. In addition, the device may provide the driver with additional information, including but not limited to:

1. 1) an image of the parking spaces of the vehicle camera (typically a front, a rear or a side camera or any combination thereof, depending on the direction of travel);
2. 2) an image of the vehicle's environmental situation (a top view or a bowl-view view assembled from all four environment view cameras);
3. 3) other sensor data, such as distance from home / end position, distance to parking spaces, distance to objects, object classification;
4. 4) Current GPS coordinates can also be transmitted so that the driver can see them in a map view.
5. 5) Options for the driver to select the next action.

The above information may be transmitted via WIFI or Bluetooth or the like to a receiver of the driver, such as a telephone. The information provided may assist the driver in making a decision as to which car park 16 . 18 should be selected, which maneuvering type should be selected (eg forward / reverse parking) or what the next steps of the vehicle 10 should be.

The driver gets a picture of the area that allows him to make an informed decision about what the vehicle is 10 should do next. If there is something that should not be in the area, the driver can be made aware of it.

2 shows a further plan view of a motor vehicle 10 on a street 12 , At the edge of the street 12 there is a parking zone 14 with two parking spaces (parking spaces) 16, 18. The two parking lots 16 are arranged in parallel, and each of the parking lots extends diagonally with respect to the road.

This scene is more information available than the conventional system Park4U ^® HMI, because the driver can see if the identified plots actually suitable parking 16 . 18 For example, if parking in the identified parking space could block the route for other drivers, or if the parking space is partially on a public road or outside the home parking zone boundary, or if the identified parking space is reserved for someone else. The driver can also recognize other vehicles in the area and the possible availability of other parking positions.

1. (i) Auswahl eines der identifizierten Parkplätze 16, 18;
2. (ii) Auswahl des Parkmanövertyps;
3. (iii) Weiterfahren entlang des Pfades/der Trajektorie 24, um andere Parkplätze zu identifizieren;
4. (iv) Anfordern, dass das Fahrzeug 10 für eine definierte Zeit wartet, zum Beispiel wenn ein anderes Fahrzeug aus einem Stellplatz 16, 18 ausparkt;

The options that may be provided to the driver in this situation may include, but are not limited to:

1. (i) selecting one of the identified parking lots 16 . 18 ;
2. (ii) selection of parking maneuver type;
3. (iii) Continue along the path / trajectory 24 to identify other parking spaces;
4. (iv) request that the vehicle 10 waiting for a defined time, for example if another vehicle from a parking space 16 . 18 ausparkt;

The driver may then select one of the aforementioned options on his smartphone, and the vehicle 10 will perform the maneuver and inform the driver about the completion.

1. 1. Der Fahrer hat mehr Flexibilität bei der Auswahl des Stellplatzes (dies wird relevanter, wenn der Benutzer Information erhält, über die das System nicht verfügt, beispielsweise kann der Fahrer erkennen, dass ein anderer Fahrer den ausgewählten Stellplatz anfordert, so dass er nicht verwendet werden sollte);
2. 2. Der Fahrer hat mehr Flexibilität bei der Wahl des Parkmanövers;
3. 3. Der Fahrer muss nur einmal ein Training ausführen;
4. 4. Es wird weniger Speicherplatz benötigt, um mehr Parkoptionen aufzunehmen;
5. 5. Die Sicherheit wird erhöht, weil ein Benutzer die sicherste Parkoption für das Szenario auswählen kann;
6. 6. Der Fahrer erhält mehr Information über die Parkposition des Fahrzeugs 10.

The advantages of these options are manifold:

1. 1. The driver has more flexibility in selecting the parking space (this becomes more relevant when the user receives information that the system does not have, for example, the driver can recognize that another driver is requesting the selected parking space so that he does not use it should be);
2. 2. The driver has more flexibility in the choice of parking maneuver;
3. 3. The driver only has to do one training session;
4. 4. Less storage space is needed to accommodate more parking options;
5. 5. Security is increased because a user can select the safest parking option for the scenario;
6. 6. The driver receives more information about the parking position of the vehicle 10 ,

LIST OF REFERENCE NUMBERS

10

vehicle

12

Street

14

parking zone

16

first parking lot

18

second parking lot

20

surrounding area

22

surrounding area

24

trained path

26

Reference home position (trained path)

28

Reference target position (trained path)

30

Reference points (trained path)

32

Object in the environment (tree)

34

Object in the environment (border marking)

36

first parking trajectory

38

parking position

40

second parking trajectory

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 102013015348 A1 [0005]

Claims (10)

A method of assisting a driver of a motor vehicle (10) when parking in one of a plurality of parking spaces (16, 18) of a parking zone (14) using a driver assistance device of the motor vehicle (10), the method comprising the steps of: in a driver assistance device training mode: recording and storing reference data over a path (24) from a reference home position (26) to a reference home position (28) while the motor vehicle (10) is controlled by the driver along the path (24) wherein at least one of the parking lots (16, 18) is accessible from the reference target position (28) using an automatic parking system of the driver assistance apparatus, this parking system operating without training; and in a subsequent operating mode other than the training mode: driving the motor vehicle (10) to the reference target position (28) under the control of the driver assistance device using the reference data, selecting the parking space (16) and / or maneuvering type of parking maneuver to be performed by the automatic parking system, and parking the motor vehicle (10) in this parking space (16) under the control of the automatic parking system. Method according to Claim 1 characterized in that the driver assistance device records the reference data via the path (24) in the training mode using at least one sensor for detecting features of the environment (32, 34) in a surrounding area of the path (24). Method according to Claim 2 , characterized in that the automatic parking system of the driver assistance device uses the sensor or at least one of the sensors for detecting features of the environment (32, 34) in the vicinity of the path (24) for parking the motor vehicle (10) in the selected parking lot (16) , Method according to one of the preceding claims, characterized in that the parking of the motor vehicle (10) in the selected parking space (16) is a parking operation according to one or more of the following types of parking maneuvers: - forward parking, - reverse parking, - parallel parking, - vertical parking, - diagonal parking, - another suitable parking maneuver. Method according to one of the preceding claims, characterized in that the selection of the parking space (16) and / or the parking maneuver type is a selection made manually by the driver or an automatic selection carried out by the driver assistance device. Method according to one of the preceding claims, characterized in that the reference data define reference points (30) of the trained in training mode path (24) and / or landmark / feature information about the environment in the surrounding area of the path (24). A computer program product comprising computer executable program code portions having program code instructions configured to perform the method of any one of Claims 1 to 6 perform. A driver assistance device for assisting a driver of a motor vehicle (10) when parking in one of a plurality of parking spaces (16, 18) of a parking zone (14), wherein the driver assistance device is configured to in a training mode, recording and storing reference data on a path (24) from a reference home position (26) to a reference home position (28) while the motor vehicle (10) is being controlled by the driver on the path (24); wherein at least one of the parking lots (16, 18) is accessible from the reference target position (28) using an automatic parking system of the driver assistance apparatus, the parking system operating without training; driving the motor vehicle (10) in an operating mode other than the training mode under the control of the driver assistance apparatus using the reference data to the reference target position (28); provide a selection for selecting the parking space (16) and / or maneuvering type of parking maneuver to be performed by the automatic parking system; and Park the motor vehicle (10) under the control of the automatic parking system in the parking lot (16). Device after Claim 8 characterized by at least one sensor for detecting features of the environment (32, 34) in at least one surrounding area of the motor vehicle (20, 22), whereby the driver assistance device in the training mode records the reference data via the path (24). Device after Claim 8 or 9 characterized in that the reference data comprises data for defining reference points (30) of the trained in training mode path (24) and / or Data of landmark information about the surrounding area of the path (24).

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