DE102017211398A1 - Parking assistance system - Google Patents

Abstract

It is a parking assistance system for a vehicle, which has an electrical system for providing electrical energy, a drive train and a powered by the electrical system with electrical braking system, proposed. The parking assistance system has a control unit for performing an autonomous parking operation of the vehicle, and a monitoring unit for monitoring the electrical system of the vehicle. The monitoring unit is set up to monitor the electrical system during execution of the autonomous parking operation, and when the monitoring unit detects a critical voltage curve of the electrical system, to send a signal to the control unit. The control unit is configured to activate the brake system upon receiving the signal and / or to secure the vehicle via the drive train of the vehicle in order to ensure a safe state of the vehicle.

Description

The present invention relates to a parking assistance system for a vehicle. Furthermore, the present invention relates to a vehicle having such a parking assistance system and to a method for the autonomous parking of a vehicle by means of a parking assistance system.

There are assistance systems for motor vehicles known by means of which driving maneuver driverless, d. H. without intervention by the driver, can be performed. These include parking assistance systems that automatically move a motor vehicle in a parking space or other parking space. Such a system can also be referred to as RCP (Remote Controlled Parking) system.

The parking maneuver can be controlled from outside the vehicle by means of a remote control, which is generally connected by radio to the parking assistance system in the vehicle. Alternatively, the parking maneuver in the vehicle can be initiated via a key or a voice input. The parking assistance system automatically controls, for example, the drive torque, the service brake, the gear selection and the steering.

In vehicles with assistance systems for performing automated driving maneuvers, in particular maneuvers in which the driver is not on the space provided for driving the vehicle, it must be provided that the vehicle can be brought to a safe state at any time during the maneuver by: this is slowed down to a standstill and is preferably secured against rolling away even when stationary, for example to prevent a collision with a sudden obstacle or in the event of a malfunction.

In such a case, since such an automated parking maneuver can also be performed when the driver is outside the vehicle, an intervention by a driver's operation of the brake pedal is eliminated.

There are systems that check before the execution of a parking maneuver whether the power supply is sufficient for the achievement of the safe state during the parking maneuver. However, it can also during the implementation of the parking maneuver to a limitation of the power supply and thus come to critical situations, because the braking system of the vehicle may not be fully operated due to the energy supply under certain circumstances.

Against this background, an object of the present invention is to provide a parking assistance system in which the vehicle can be brought into a safe state at any time during the execution of the parking maneuver.

• - das elektrische Bordnetz während der Durchführung des autonomen Parkvorgangs zu überwachen und
• - wenn die Überwachungseinheit einen kritischen Spannungsverlauf des elektrischen Bordnetzes detektiert, ein Signal an die Steuereinheit zu senden.

According to a first aspect, a parking assistance system for a vehicle is provided according to the invention, which has an electrical system for providing electrical energy, a drive train and a vehicle supplied with electrical energy from the electrical system braking system, wherein the parking assistance system, a control unit for performing an autonomous parking operation of the vehicle and a monitoring unit for monitoring the electrical system of the vehicle. In this case, the monitoring unit is set up to

• - To monitor the electrical system during the implementation of the autonomous parking process and
• - When the monitoring unit detects a critical voltage waveform of the electrical system, to send a signal to the control unit.

• - bei Empfangen des Signals das Bremssystem zu aktivieren und/oder
• - das Fahrzeug über den Antriebsstrang des Fahrzeugs zu sichern, um einen sicheren Zustand des Fahrzeugs sicherzustellen.

Furthermore, the control unit is set up to

• - Activate the brake system when receiving the signal and / or
• - To secure the vehicle via the drive train of the vehicle to ensure a safe condition of the vehicle.

• - Überwachen des elektrischen Bordnetzes während der Durchführung des autonomen Parkvorgangs,
• - Senden eines Signals an die Steuereinheit, wenn ein kritischer Spannungsverlauf des elektrischen Bordnetzes detektiert wird und
• - Aktivieren des Bremssystems bei Empfangen des Signals und/oder Sichern des Fahrzeugs über den Antriebsstrang, um einen sicheren Zustand des Fahrzeugs sicherzustellen.

According to a second aspect, a method for autonomous parking of a vehicle is carried out by means of a parking assistance system, wherein the vehicle has an electrical system for supplying electrical energy, a drive train and a vehicle supplied with electrical energy from the electrical system braking system, wherein the parking assistance system is a control unit for Carrying out an autonomous parking operation of the vehicle and having a monitoring unit for monitoring the electrical on-board network of the vehicle, and wherein the method comprises:

• Monitoring the electrical system during the autonomous parking process,
• - Sending a signal to the control unit when a critical voltage waveform of the electrical system is detected and
• Activating the brake system upon receipt of the signal and / or securing the vehicle via the driveline to ensure a safe condition of the vehicle.

Accordingly, a parking assist system for a vehicle is proposed. The vehicle has an electrical system for providing electrical energy, a drive train and a vehicle supplied with electrical energy from the electrical system braking system. The parking assistance system has a control unit for performing an autonomous parking operation of the vehicle and a monitoring unit for monitoring the electrical system of the vehicle.

In order to ensure that also during the execution of an autonomous parking operation, i. a parking operation is performed automatically by the vehicle without the driver's intervention, the vehicle can always be brought to a safe state, the monitoring unit is adapted to monitor the electrical system during the implementation of the autonomous parking operation, preferably this monitoring unit is in the brake system integrated. The monitoring unit can have at least one voltage measuring point, preferably more than one voltage measuring point.

Now the monitoring unit detects a critical voltage curve, e.g. a voltage drop of the electrical system, which is above a predefined limit, the monitoring unit sends a signal to the control unit. The predefined limit value can be chosen such that, in the event of a voltage drop which is greater than the limit value, the energy still available after the voltage drop is no longer sufficient to safely end the parking operation, but is still sufficient to ensure a safe state of the vehicle manufacture. The monitoring unit may comprise a plurality of subunits for monitoring the electrical system and for evaluating the detected information, which may be arranged at different locations within the vehicle. Thus, for example, the monitoring can be done via a sensor which is mounted in or on the electrical system, while the evaluation is done outside.

In this case, the monitoring unit can monitor the current voltage position, the correlation of several voltage values at several measuring points with one another and their time characteristic of the individual values as well as the relationships between the individual values, in order to determine the power supply of the energy supply. In addition to monitoring the electrical system, an evaluation of additional voltage and / or signal values recorded in the system can also take place, which contribute to establishing a safe state during an autonomous parking maneuver.

By monitoring the voltage level or the voltage profile of the electrical system, the functionality of several necessary for carrying out the parking process vehicle systems can be achieved. These include in particular vehicle systems that affect the achievement of the safe state, such as a hydraulic service brake system, an electric parking brake and a parking brake.

When the control unit receives the signal, it activates the braking operation to ensure a safe condition of the vehicle. Alternatively or additionally, the control unit can secure the vehicle via the drive train of the vehicle. In this context, a safe state is understood to mean that the vehicle is braked to a standstill and secured against rolling away. In this case, the engine can be turned off. The brake system may include actuators for driverless braking of the vehicle (eg, the hydraulic brake system) and actuators for securing the vehicle against rolling away (eg, the electric parking brake, the parking lock, and / or an electro-mechanical brake), with only a portion of the braking system activated can be.

To secure via the drive train, the ignition and injection of the engine can be disabled. Furthermore, in the event of a critical voltage drop, the valve activations activated during the parking operation can be deactivated while the pump motor is still active, ie. be placed in a de-energized state. This leads to a pressure build-up in the hydraulic brake. The vehicle can thus be held via the drive train and the hydraulic brake.

The parking assistance system may further comprise actuators for the driverless drive and the driverless steering of the vehicle and an environment sensor system for detecting obstacles and people in the driving area (eg an ultrasound, camera and / or radar sensor system).

The respective unit, for example control unit, can be implemented in hardware and / or software technology. In a hardware implementation, the respective unit may be embodied as a device or as part of a device, for example as a computer or as a microprocessor. In a software implementation, the respective unit may be designed as a computer program product, as a function, as a routine, as part of a program code or as an executable object.

According to one embodiment, the monitoring unit is adapted to the electrical Monitoring the vehicle electrical system continuously and / or cyclically. The cycle time can be selected so that the safety target, ie the achievement of a safe state, is achieved from the combination of cycle time and reaction time.

Through continuous or cyclical monitoring, the safe state can be established at any time during the parking process. In contrast to existing systems, not only before the beginning of the parking process, a review of the power supply is made, but also throughout the parking process.

The monitoring unit may be configured to monitor the voltage values at at least one supply terminal, in particular at two or more supply terminals, of the brake system.

In this way it can be ensured that precisely the braking system which is required to bring the vehicle into a safe state has sufficient energy to still be able to reach the safe state. Furthermore, the monitoring of the voltage values at the supply terminals can be realized in a particularly simple manner, since for this purpose only the voltage values at the already present supply terminals must be tapped.

The voltage values can be tapped directly or available as derived values. The voltage values can be monitored at several points in the electrical system, but at least at one supply terminal, in particular at least two supply terminals of the brake system. The braking system can also be connected to the vehicle electrical system via more than two supply terminals, in which case the voltage at some or all supply terminals can be monitored.

In accordance with a further embodiment, the monitoring unit is set up to determine the critical voltage drop as the difference between the voltage values of a supply terminal over time and / or the two supply terminals relative to each other.

The determination of the difference provides a very simple monitoring of the critical voltage drop. If the difference is greater than or equal to the predetermined limit, the brake system is activated.

Before carrying out the autonomous parking operation, the monitoring unit can perform a security check of the electrical system.

The safety check performed before the parking procedure has the safety objective that enough energy is available before the start of the parking process in order to be able to achieve a safe state of the vehicle at any time during the parking procedure. If this is not the case, parking is not released.

In addition, as the parking assistance system additionally monitors the electrical system during the parking process, provided that it is released after the safety check, in order to detect further faults and / or failures during the parking operation, the safety of the parking operation is further increased.

According to a further embodiment, the control unit is adapted to activate a parking brake, in particular an electro-mechanical brake, of the brake system.

This is advantageous since, with regard to the achievement of the safety objectives, the sole control of the electro-mechanical brake is better in terms of energy than the combination of hydraulic and electro-mechanical brake. By default, the vehicle is braked with the hydraulic brake and secured with the electro-mechanical brake.

If the existing voltage level for the actuation of the electro-mechanical brake is no longer sufficient, instead of the hydraulic brake can be activated, for which a lower voltage is sufficient. If neither the hydraulic nor the electro-mechanical brake can be activated, the vehicle can also be secured via an engaged gear. Depending on the voltage level and the detected state including the availability of energy, the safe state can be achieved in different ways depending on the specification of the actuator.

According to a further embodiment, the control unit is adapted to be controlled via a remote control.

When controlling via a remote control, the driver can be outside the vehicle and initiate the parking process from there via the remote control. Alternatively, the driver may also be in the vehicle. The remote control can also be realized by a via a wireless connection, such as mobile, connected device. This includes near field communication devices (NFC devices).

According to a further aspect, a vehicle with a parking assistance system as described above is proposed. The vehicle can while a motor vehicle such as a passenger car, a truck, a van, a motorhome, a van or the like. Further, the vehicle may be a vehicle in autonomous transportation systems in warehouses, etc., such as an autonomous forklift, or may be a trailer of a lorry.

According to a further aspect, a method for the autonomous parking of a vehicle by means of a parking assistance system is proposed. The vehicle has an electrical system for providing electrical energy, a drive train and a vehicle supplied with electrical energy from the electrical system braking system. The parking assistance system has a control unit for performing an autonomous parking operation of the vehicle and a monitoring unit for monitoring the electrical system of the vehicle. The method comprises the following steps: monitoring the on-board electrical system during the autonomous parking operation, sending a signal to the control unit when a critical voltage profile of the electrical system is detected, and activating the braking system upon receiving the signal and / or securing the vehicle over the powertrain to ensure a safe condition of the vehicle.

The embodiments and features described for the proposed device apply accordingly to the proposed method.

Furthermore, a computer program product is proposed, which has a program code which is adapted to cause the execution of the method as explained above on a computer.

A computer program product, such as a computer program means may, for example, be used as a storage medium, e.g. Memory card, USB stick, CD-ROM, DVD, or even in the form of a downloadable file provided by a server in a network or delivered. This can be done, for example, in a wireless communication network by transmitting a corresponding file with the computer program product or the computer program means.

Further possible implementations of the invention also include not explicitly mentioned combinations of features or embodiments described above or below with regard to the exemplary embodiments. The skilled person will also add individual aspects as improvements or additions to the respective basic form of the invention.

• 1 zeigt ein schematisches Blockdiagramm eines Fahrzeugs mit einem Parkassistenzsystem;
• 2 zeigt ein schematisches Schaltdiagramm eines Bremssystems des Fahrzeugs von 1, und
• 3 zeigt ein schematisches Ablaufdiagramm eines Verfahrens zum autonomen Parken eines Fahrzeugs mittels eines Parkassistenzsystems.

Further advantageous embodiments and aspects of the invention are the subject of the dependent claims and the embodiments of the invention described below. Furthermore, the invention will be explained in more detail by means of preferred embodiments with reference to the attached figures.

• 1 shows a schematic block diagram of a vehicle with a parking assistance system;
• 2 shows a schematic circuit diagram of a braking system of the vehicle of 1 , and
• 3 shows a schematic flow diagram of a method for autonomous parking of a vehicle by means of a parking assistance system.

In the figures, the same or functionally identical elements have been given the same reference numerals, unless stated otherwise.

1 shows a parking assistance system 10 for a vehicle 1 , The vehicle 1 has an electrical system 21 and a braking system 20 on. The electrical system 21 provides electrical energy, including to the braking system 20 ready.

The parking assistance system 10 has a control unit 11 to perform an autonomous parking operation. That means the control unit 11 without driver involvement actuators of the vehicle 1 drives to the vehicle 1 to move to a parking position. During such a parking operation, it must be ensured that even in the event of a fault or a complete or partial failure of the electrical system 21 the vehicle 1 can be brought into a safe state at any time, ie a state in which the vehicle 1 stands and is secured against rolling away.

For this purpose, the parking assistance system 10 a monitoring unit 12 on. The monitoring unit 12 serves to the electrical system 21 To monitor in time to detect a voltage drop / energy loss, which can lead to critical situations.

Before performing the autonomous parking operation, the monitoring unit 12 already in the course of a security check, determine whether the electrical system 21 can provide enough energy to perform the parking safely. If this is the case, the control unit can 11 start the parking process.

While performing the parking operation, the monitoring unit monitors 12 the electrical system 21 , In particular, the monitoring unit 12 a difference of the voltages at the supply terminals 23 . 24 of the brake system 21 monitor. As in 2 shown is the brake system 20 is via a voltage source 22 , which is part of the electrical wiring system 21 is energized. A voltage drop in the voltage between the two supply terminals 23 . 24 of the brake system 20 may be due to a fault in the electrical system 21 clues.

Although in 1 only one voltage source 22 is shown, there is the total voltage supply of the vehicle 1 from a voltage source, such as a generator or DC / DC converter, and an electrical storage, such as a battery. If either the voltage source or the electrical storage now fails, this leads to a voltage drop of the electrical system 21 by the monitoring unit 12 is detected. However, since the other part of the total power supply is still functional, the vehicle may 1 be transferred to a safe state.

The voltage drop can be detected depending on a lower limit of a single supply terminal or based on voltage fluctuations, such as a correlation of voltage fluctuations over time or the individual terminals with each other. The monitoring unit 12 is at least one of the supply terminals 23 . 24 connected. Will be a correlation of the voltage waveform at the terminals 23 . 24 determined to each other is the monitoring unit 12 to both terminals 23 . 24 connected. At least one of the two terminals 23 . 24 is designed to supply the actuator.

When the monitoring unit 12 such a voltage drop of the electrical system 21 detected and this is above a predefined limit, sends the monitoring unit 12 a signal to the control unit 11 ,

The control unit 11 activates the brake system upon receipt of such a signal 20 to a safe condition of the vehicle 1 sure. Preference can be given to an electro-mechanical brake of the brake system 20 be activated to stop and secure the vehicle simultaneously. Alternatively, especially if the existing voltage is insufficient, at least one hydraulic brake of the brake system 20 to be activated; leaving the vehicle 1 can be secured with the help of the parking brake. In this way, the safe condition of the vehicle 1 manufactured, in which this stands and is secured against rolling away. Is enough energy for the brake system 20 not out, the vehicle can 1 alternatively be secured via the drive train.

3 shows a method for autonomous parking of a vehicle 1 by means of a parking assistance system, as related to the 1 and 2 is described. The method comprises the following steps:

In a first step 301 becomes the electrical system 21 monitored during the implementation of the autonomous parking process.

If a drop in the electrical power supply of the electrical system 21 is detected, which is above a predefined limit (for example, by monitoring the voltage difference between the supply terminals 23 . 24 of the brake system 20 ), a signal in step 302 to the control unit 11 Posted.

In response to the signal, the control unit 11 in step 303 the brake system 20 Activate and / or secure the vehicle via the powertrain to ensure a safe condition of the vehicle 1 sure.

The proposed device and the proposed method, it is possible to put a vehicle at any time during an autonomous parking operation in a safe state.

Although the present invention has been described with reference to embodiments, it is variously modifiable.

LIST OF REFERENCE NUMBERS

1

vehicle

10

Parking assistance system

11

control unit

12

monitoring unit

20

braking system

21

electrical wiring system

22

voltage source

23.24

supply terminals

301-303

steps

Claims (10)

Parking assistance system (10) for a vehicle (1), which has an electrical on-board network (21) for providing electrical energy, a drive train and a from the electrical system (21) supplied with electrical energy braking system (20), wherein the parking assistance system (10 ) a control unit (11) for performing an autonomous parking operation of the vehicle (1) and a Monitoring unit (12) for monitoring the electrical system (21) of the vehicle (1), wherein the monitoring unit (12) is adapted to - monitor the electrical system (21) during the implementation of the autonomous parking operation and - if the monitoring unit ( 12) detects a critical voltage curve of the on-board electrical system (21), sends a signal to the control unit (11) and wherein the control unit (11) is set up to: - activate the brake system (20) upon receiving the signal and / or to secure the vehicle (1) via the drive train of the vehicle (1). Parking assistance system (10) according to Claim 1 , characterized in that the monitoring unit (12) is adapted to monitor the electrical system (21) continuously and / or cyclically. Parking assistance system (10) according to Claim 1 or 2 , characterized in that the monitoring unit (12) is adapted to monitor the voltage values at at least one supply terminal (23, 24), in particular at at least two supply terminals (23, 24) of the brake system (20). Parking assistance system (10) according to Claim 3 , characterized in that the monitoring unit (12) is adapted to determine the critical voltage drop as a difference of the voltage values of a supply terminal over time and / or the two supply terminals (23, 24) to each other. Parking assistance system (10) according to any one of the preceding claims, characterized in that the monitoring unit (12) is adapted to carry out a security check of the electrical system (21) before performing the autonomous parking operation. Parking assistance system (10) according to one of the preceding claims, characterized in that the control unit (11) is adapted to activate a parking brake, in particular an electro-mechanical brake, of the brake system (20). Parking assistance system (10) according to any one of the preceding claims, characterized in that the control unit (11) is adapted to be controlled by a remote control. Vehicle (1), in particular passenger cars, with a parking assistance system (10) according to one of Claims 1 to 7 , Method for the autonomous parking of a vehicle (1) by means of a parking assistance system (10), wherein the vehicle (1) an electrical on-board network (21) for providing electrical energy, a drive train and from the electrical system (21) supplied with electrical energy braking system (20), wherein the parking assistance system (11) has a control unit (11) for carrying out an autonomous parking operation of the vehicle (1) and a monitoring unit (12) for monitoring the electrical system (21) of the vehicle (1) the method comprising: Monitoring (301) the electrical system (21) during the autonomous parking process, Sending (302) a signal to the control unit (11) when a critical voltage waveform of the electrical system (21) is detected, and Activating (303) the brake system (20) upon receiving the signal and / or securing the vehicle (1) via the powertrain. A computer program product comprising program code adapted to perform the method on a computer Claim 9 to induce

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