DE102018129556A1 - Method for driving a vehicle at least partially autonomously as part of a parking process - Google Patents

Abstract

The invention relates to a method for driving a vehicle (6) at least partially autonomously as part of a parking process, comprising the following method steps: 6) and determining the deviation of the detected respective position of the vehicle (6) from at least one stored trajectory (9, 11, 12, 13, 14) and - parking the vehicle (6) in the parking lot (7) and storing the deviation of the Position of the parked vehicle (7) from the stored trajectory (9, 11, 12, 13, 14). This solves the task of improving the position detection when driving a vehicle (6) at least partially autonomously as part of a parking process.

Description

The invention relates to a method for driving a vehicle at least partially autonomously as part of a parking process.

A new category of automated parking systems is home-trained parking. For home-trained parking, the driver of the vehicle must train the vehicle in terms of the specific path that the vehicle should then follow according to its wishes for parking. Modern semi-autonomous motor vehicles are already configured to park themselves. To do this, they need to know the geometry of their surroundings. Trained parking systems use various sensors to record information from the environment, so-called orientation points, which correspond to a driven, previously trained trajectory, and in a subsequent “playback” they relate the newly acquired information to the previously stored information in order to relate their position to determine the stored trajectory, which is then used to make decisions about how to maneuver the vehicle until it finally parks in the stored parking space.

Now the system should also be able to perform a parking process at least partially autonomously. At the request of a user of the system, the vehicle should therefore be parked out and navigated to a position at which the user can get on. It can be problematic here that the vehicle is parked in a garage or at another location where no satellite navigation signal can be received and position determination is otherwise difficult or impossible. This would be e.g. also the case when the vehicle uses a front sensor for position detection and the vehicle is parked frontally in front of a wall, so that no information that can be used for navigation can be detected by means of the front sensor.

From the DE 10 2014 018 192 A1 A method for controlling a vehicle is known in which a target trajectory is determined from driving data of the vehicle, which is used as the basis for the vehicle during automatic driving. If the surroundings of the journey change, a trajectory determined from current driving data of the vehicle is compared with the target trajectory, deviations between the new trajectory and the target trajectory are determined and a new target trajectory is set as a function of the deviations.

In the DE 10 2014 016 237 A1 describes a method for operating a vehicle, in particular for moving to a parking position, in which method environmental data of the surroundings of the vehicle are recorded. The environmental data are recorded and stored by an activation of a vehicle driver or after identification of a predetermined zone, a three-dimensional environment map with real image data of the environment and / or with virtual image data generated from the environment data is generated or updated from the environment data, the three-dimensional environment map is opened a display device and a possible mobile trajectory for approaching a parking position is shown in the three-dimensional map.

From the DE 10 2013 015 348 A1 A method for operating a vehicle is known, in particular for approaching a parking space in a parking zone that is not visible / away from the street, in which method ambient data of the vehicle are recorded, wherein - when approaching a parking space in the parking zone, it is identified whether it is a home parking space or the parking zone is a home parking zone, and - when the home parking space or home parking zone is identified and the vehicle approaches the identified home parking space or the identified home parking zone, environmental data or driving data recorded, are stored or updated, wherein - in one Learning mode on the basis of the surrounding data or driving data, several trajectories for the at least one home parking space of the at least one home parking zone are determined and stored, and - in one operating mode when the at least one home parking space is approached for the at least one home parking zone, mobile trajectories are possible Selection and activation issued w earth or if only one of the determined trajectories is mobile, it is automatically activated.

Finally describes the DE 10 2011 107 974 A1 a method and a maneuvering assistance system for maneuvering a vehicle in an environment, the vehicle performing a reference maneuvering operation in the environment in a learning mode, which is stored, and in a repeating maneuvering to be carried out by the vehicle at least semi-autonomously after the learning mode The stored reference routing process for repeated routing is taken into account.

It is the object of the invention to improve the position detection when driving a vehicle at least partially autonomously as part of a parking process.

This object is solved by the subject matter of the independent claims. Preferred developments of the invention are described in the subclaims.

• - manuelles oder wenigstens teilautonomes Fahren des Fahrzeugs zu einem Parkplatz und dabei Erfassen der jeweiligen Position des Fahrzeugs und Ermitteln der Abweichung der erfassten jeweiligen Position des Fahrzeugs von wenigstens einer abgespeicherten Trajektorie und
• - Abstellen des Fahrzeugs auf dem Parkplatz und Abspeichern der Abweichung der Position des geparkten Fahrzeugs von der abgespeicherten Trajektorie.

According to the invention, a method for at least partially autonomous driving of a vehicle is thus provided with the following method steps:

• - Manual or at least partially autonomous driving of the vehicle to a parking space and thereby detecting the respective position of the vehicle and determining the deviation of the detected respective position of the vehicle from at least one stored trajectory and
• - Parking the vehicle in the parking lot and storing the deviation of the position of the parked vehicle from the stored trajectory.

It is therefore an important point of the invention that the deviation of the position of the parked vehicle from the stored trajectory is stored when the vehicle is parked in the parking lot. In order to make this possible, it is provided according to the invention that when the vehicle is driven manually or at least partially autonomously to a parking space, the respective position of the vehicle is detected and it is determined how the deviation of the detected respective position of the vehicle from a stored trajectory is. Since the system cannot necessarily predict when the vehicle will be parked in the parking lot, it is always ensured in this way that the deviation of the position of the parked vehicle from the stored trajectory at any time, and thus in any case when the vehicle is parked on the Parking space that is available.

The deviation of the detected respective position of the vehicle from a stored trajectory is preferably given by the distance line of the detected respective position from the stored trajectory. This means that the deviation of the detected respective position of the vehicle from a stored trajectory is given by the distance of the respective position of the vehicle from the stored trajectory, i.e. the smallest distance between the position of the vehicle and the stored trajectory, as well as the orientation of the trajectory defined route. In other words, the deviation is given by a length, namely the distance between the position of the vehicle and the stored trajectory, and by a direction vector, which is given by the orientation of this route.

The method according to the invention can be helpful for a plurality of parking processes, as will be explained in the following.

According to a preferred development of the invention, a partially autonomous parking of the vehicle from the parking space takes place by maneuvering to the stored trajectory with the aid of the stored deviation of the position of the parked vehicle from the stored trajectory and continuing along the stored trajectory. In this case, the method uses the stored trajectory to lead the vehicle away from the parking lot, the stored trajectory being achieved from the parking lot by the stored deviation of the position of the parked vehicle from the stored trajectory for maneuvering towards the stored trajectory is used.

• - manuelles oder wenigstens teilautonomes Fahren des Fahrzeugs zu dem Parkplatz und dabei Erfassen der jeweiligen Position des Fahrzeugs und Ermitteln der jeweiligen Abweichung der erfassten jeweiligen Position des Fahrzeugs von den abgespeicherten Trajektorien,
• - Abstellen des Fahrzeugs auf dem Parkplatz und Abspeichern der jeweiligen Abweichungen der Position des geparkten Fahrzeugs von den abgespeicherten Trajektorien,
• - wenigstens teilautonomes Ausparken des Fahrzeugs aus dem Parkplatz durch Navigieren zu einer von einem Nutzer des Verfahrens ausgewählten abgespeicherten Trajektorie mit Hilfe der abgespeicherten Abweichung der Position des geparkten Fahrzeugs von der ausgewählten abgespeicherten Trajektorie und Weiterfahren längs der ausgewählten abgespeicherten Trajektorie. Diese bevorzugte Ausgestaltung der Erfindung ermöglicht es dem Nutzer, aus verschiedenen Szenarien beim Ausparken auszuwählen: Je nachdem, wo sich der Nutzer befindet, kann der Nutzer verschiedene Trajektorien wählen und insbesondere eine derartige, bei der das Fahrzeug in seine Nähe manövriert wird.

According to a preferred development of the invention, a plurality of stored trajectories are provided and the method has the following steps:

• manual or at least partially autonomous driving of the vehicle to the parking lot and thereby detecting the respective position of the vehicle and determining the respective deviation of the detected respective position of the vehicle from the stored trajectories,
• Parking the vehicle in the parking lot and storing the respective deviations in the position of the parked vehicle from the stored trajectories,
• - At least partially autonomous parking of the vehicle from the parking lot by navigating to a stored trajectory selected by a user of the method with the aid of the stored deviation of the position of the parked vehicle from the selected stored trajectory and continuing along the selected stored trajectory. This preferred embodiment of the invention enables the user to choose from different scenarios when parking out: depending on where the user is, the user can choose different trajectories and in particular one in which the vehicle is maneuvered close to it.

• - Erfassen von Objekten in einer Umgebung des Fahrzeugs und Erfassen der von dem Fahrzeug gefahrenen Trajektorie während des manuellen oder wenigstens teilautonomen Fahren des Fahrzeugs zu dem Parkplatz,
• - Bestimmen eines fahrbaren Bereichs anhand der erfassten Objekte in der Umgebung des Fahrzeugs und der erfassten von dem Fahrzeug gefahrenen Trajektorie,
• - Bestimmen einer von dem Fahrzeug fahrbaren Trajektorie innerhalb des fahrbaren Bereichs und
• - beim Ausparken Manövrieren des Fahrzeugs weg von dem Parkplatz längs der bestimmten fahrbaren Trajektorie.

A preferred development of the invention is also that the method has the following steps:

• Detection of objects in an environment of the vehicle and detection of the trajectory driven by the vehicle during manual or at least partially autonomous driving of the vehicle to the parking lot,
• Determining a drivable area based on the detected objects in the surroundings of the vehicle and the detected trajectory driven by the vehicle,
• - Determining a trajectory drivable by the vehicle within the drivable area and
• when maneuvering out of the way, maneuvering the vehicle away from the parking lot along the determined mobile trajectory.

In this case, the trajectory that can be driven by the vehicle is preferably determined within the drivable area with the aid of a predetermined optimization criterion. The optimization criterion can e.g. include that the particular trajectory describes the fastest route, the shortest route, or the route with the least number of changes of direction between the parking lot and a predetermined position at which the user wants to get on.

The deviations of the trajectory driven by the vehicle from the at least one stored trajectory are preferably recorded continuously or at predetermined time and / or spatial intervals. In this way, especially if short time or spatial distances, e.g. in the range of ≤ 1 s or ≤ 1 m, high accuracy can be achieved in determining the position of the parked vehicle.

According to a preferred embodiment of the invention, provision is further made for the respective position of the vehicle to be detected at least partially by means of odometry. The particular position of the vehicle is very particularly preferably detected by means of odometry when no satellite navigation signal can be received at the position of the vehicle and / or the position of the vehicle can no longer be determined by means of vehicle sensors which detect the surroundings of the vehicle. A procedure of this type is thus possible, according to which the position of the vehicle is determined with the aid of satellite navigation signals as long as these can be received by the vehicle. Is this no longer possible because the vehicle e.g. enters a garage, the position of the vehicle relative to the position of the vehicle last determined on the basis of the received satellite navigation signals is determined by means of odometry, i.e. via the propulsion system of the vehicle, e.g. with the help of the detection of the wheel revolutions as well as the steering angle.

Furthermore, a preferred embodiment of the invention provides that before parking, a check is carried out to determine whether the vehicle has been moved since the parking of the vehicle in the parking lot and the deviation of the position of the parked vehicle from the stored trajectory. In this context, it is particularly preferred that after the vehicle has been parked and before it has been parked out, the orientation of at least one wheel of the vehicle is recorded and a check is carried out to determine whether the vehicle has been parked in the parking lot and the deviation has been saved Position of the parked vehicle has been moved by the stored trajectory, based on a comparison of the orientation of the wheel detected after parking or before parking. “Orientation of the wheel” preferably means the angle of rotation of the wheel, recorded by so-called “wheel ticks”. A determination that the vehicle has been moved since the parking in the parking lot and the storage of the deviation of the position of the parked vehicle from the trajectory is made by a determination that the wheel has turned. Additionally or alternatively, the orientation of the wheel can also be given by the angle that the wheel forms with respect to the body of the vehicle.

As an alternative or in addition to this, it is provided according to a preferred development of the invention that, after the vehicle has been parked and before parking, objects are detected in the surroundings of the vehicle and the vehicle is checked whether the vehicle has been parked in the parking lot and the vehicle has been parked Saving the deviation of the position of the parked vehicle from the stored trajectory has been carried out on the basis of a comparison of the objects detected in the surroundings of the vehicle after parking or before parking.

With the last-described preferred embodiments of the invention it can be checked whether the position determined and stored when the vehicle is parked is actually the position which represents the starting position when parking.

The invention also relates to the use of a method as described above in a motor vehicle.

The invention also relates to a non-volatile, computer-readable storage medium with instructions stored thereon which, when executed on a processor, bring about a method as described above.

The invention is explained in more detail below with reference to the drawings using preferred exemplary embodiments of the invention. The features shown can represent an aspect of the invention both individually and in combination. Features of various exemplary embodiments can be transferred from one exemplary embodiment to another.

• 1 schematisch ein Verfahren gemäß einem ersten bevorzugten Ausführungsbeispiel der Erfindung,
• 2 schematisch ein Verfahren gemäß einem zweiten bevorzugten Ausführungsbeispiel der Erfindung,
• 3 schematisch ein Verfahren gemäß einem dritten bevorzugten Ausführungsbeispiel der Erfindung und
• 4 schematisch ein Verfahren gemäß einem vierten bevorzugten Ausführungsbeispiel der Erfindung.

The drawings show:

• 1 schematically a method according to a first preferred embodiment of the invention,
• 2nd schematically a method according to a second preferred embodiment of the invention,
• 3rd schematically a method according to a third preferred embodiment of the invention and
• 4th schematically a method according to a fourth preferred embodiment of the invention.

Out 1 a method according to a first preferred embodiment of the invention can be seen. 1 shows schematically a top view of a property 1 with a parking area 2nd and objects, such as an outside boundary 3rd , Plants 4th and a residential building 5 . When parking a vehicle 6 in a designated parking space 7 in the parking area 2nd The procedure according to the first preferred exemplary embodiment of the invention described here is as follows:

The vehicle 6 is manually entered into the parking area by a user 2nd driven and parked there. The position of the vehicle is continuously recorded 6 along the driven trajectory 8th by means of satellite navigation signals (GPS) and by means of sensors that detect the surroundings of the vehicle 6 to capture. In addition, the current position of the vehicle 6 followed up with odometry. The position data of the vehicle determined from this 6 on its way along the trajectory 8th are continuously with a saved trajectory 9 compared that from a starting position 10th to the parking lot 7 leads. With the continuous detection of the respective position of the vehicle 6 is the respective deviation of the detected respective position of the vehicle 6 from the saved trajectory 9 determined. The distance line of the respective position of the vehicle is used as the deviation 6 from the saved trajectory 9 used. When driving manually, the current sensor data with the trajectory 9 compared to the relative position of the vehicle 6 to this trajectory 9 to determine. This relative position is saved.

In 2nd is now shown how the vehicle is not manual, but semi-autonomous in the parking lot 7 in the parking area 2nd is driven, namely by "playback" of a stored trajectory 12 . When driving along the trajectory 12 As in the case of the manual driving described above, the position of the vehicle continuously 6 determined and the deviation from two other stored trajectories 9 , 11 certainly.

Out 3rd a third preferred embodiment of the invention can be seen, in which the parking area 2nd is formed by a lockable garage. The vehicle 6 is in the parking lot 7 in the parking area formed by the garage 2nd driven in a manner as previously described in connection with the first and the second preferred embodiment. The position of the vehicle 6 In the parking lot 7 in relation to a saved trajectory 13 , 14 is known. Although in the parking area in the garage 2nd no satellite navigation signals can be received and in the present case due to the position of the sensors of the vehicle 6 no localization of the vehicle 6 is possible, the user of the method can navigate by means of odometry using the two stored trajectories 13 , 14 for parking the vehicle 7 Tobe offered. For both saved trajectories 13 , 14 the position deviations were determined when parking, so that both stored trajectories 13 , 14 can be partially started by the vehicle and then driven off.

The trajectories 13 , 14 differ in that in the trajectory 14 the vehicle is turned so that, if it has been parked frontally, the property 1 can be left in forward motion.

Out 4th A fourth preferred exemplary embodiment of the invention can be seen, according to that for parking the vehicle 6 from the parking area formed by a garage 2nd on the one hand, a saved trajectory 13 and on the other hand a trajectory 15 is offered due to the area determined to be mobile 16 within the boundary lines 17th , 18th when entering the vehicle 6 In the parking lot 7 has been determined. Both trajectories 13 , 15 can be started up and then shut down as described above.

In all of the preferred exemplary embodiments of the invention described above, a check is carried out before parking, whether the vehicle 6 since parking the vehicle 7 and storing the deviation of the position of the parked vehicle 6 from a saved trajectory 9 , 11 , 12 , 13 , 14 has been moved. This is done, for example, by parking the vehicle 6 and in each case a detection of the orientation of a wheel of the vehicle before parking 6 takes place, that is, the angle of rotation of the wheel and or the angle that the wheel relative to the body of the vehicle 6 forms, and checking that the vehicle 6 since parking the vehicle 6 in the parking lot and storing the deviation of the position of the parked vehicle 6 from the saved trajectory 9 , 11 , 12 , 13 , 14 has been moved, based on a comparison of the after parking or before parking the orientation of the wheel.

It is also possible that after parking the vehicle 6 and in each case a detection of objects in an environment of the vehicle before parking 6 done and checking whether the vehicle 6 since parking the vehicle 6 on the parking lot and storing the deviation of the position of the parked vehicle from the stored trajectory 9 , 11 , 12 , 13 , 14 has been moved on the basis of a comparison of that after parking or before parking in the vicinity of the vehicle 6 objects detected.

Reference symbol list

1

Property

2nd

Parking area

3rd

External boundary

4th

plants

5

Residential building

6

vehicle

7

parking spot

8th

driven trajectory

9

saved trajectory

10th

Starting position

11

saved trajectory

12

saved trajectory

13

saved trajectory

14

saved trajectory

15

as a trajectory determined to be mobile

16

mobile area

17th

Boundary line

18th

Boundary line

QUOTES INCLUDE IN THE DESCRIPTION

This list of documents listed by the applicant has been generated automatically and is only included 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.

Patent literature cited

• DE 102014018192 A1 [0004]
• DE 102014016237 A1 [0005]
• DE 102013015348 A1 [0006]
• DE 102011107974 A1 [0007]

Claims (13)

Method for driving a vehicle (6) at least partially autonomously, with the following method steps: - Manual or at least partially autonomous driving of the vehicle (6) to a parking space (7) and thereby detecting the respective position of the vehicle (6) and determining the deviation of the detected respective position of the vehicle (6) from at least one stored trajectory (9, 11 , 12, 13, 14) and - Parking the vehicle (6) in the parking lot (7) and storing the deviation of the position of the parked vehicle (7) from the stored trajectory (9, 11, 12, 13, 14). Procedure according to Claim 1 , with the following method step: - partially autonomous parking of the vehicle (6) from the parking lot (7) by maneuvering to the stored trajectory (9, 11, 12, 13, 14) with the aid of the stored deviation of the position of the parked vehicle (6) from the stored trajectory (9, 11, 12, 13, 14) and continuing along the stored trajectory (9, 11, 12, 13, 14). Procedure according to Claim 1 , wherein a plurality of stored trajectories (9, 11, 12, 13, 14) are provided, with the following steps: - manual or at least partially autonomous driving of the vehicle (6) to the parking lot (7) and thereby detecting the respective position of the vehicle (6) and determining the respective deviation of the detected respective position of the vehicle (6) from the stored trajectories (9, 11, 12, 13, 14), - parking the vehicle (6) in the parking lot (7) and storing the respective one Deviations in the position of the parked vehicle (6) from the stored trajectories (9, 11, 12, 13, 14), - at least partially autonomous parking of the vehicle (6) out of the parking lot (7) by navigating to one selected by a user of the method stored trajectory (9, 11, 12, 13, 14) with the aid of the stored deviation of the position of the parked vehicle (6) from the selected stored trajectory (9, 11, 12, 13, 14) and continuing along the selected ab stored trajectory (9, 11, 12, 13, 14). Procedure according to Claim 1 , with the following method steps: - detection of objects (3, 4, 5) in an environment of the vehicle (6) and detection of the trajectory (8) driven by the vehicle (6) during manual or at least partially autonomous driving of the vehicle (6) to the parking lot (7), - determining a drivable area (16) on the basis of the detected objects (3, 4, 5) in the vicinity of the vehicle (6) and the detected trajectory (8) driven by the vehicle (6), Determining a trajectory (15) drivable by the vehicle (6) within the drivable area (16) and - when parking the vehicle (6) maneuvering away from the parking lot (7) along the determined drivable trajectory (15). Method according to one of the preceding claims, wherein the deviation of the detected respective position of the vehicle (6) from a stored trajectory (9, 11, 12, 13, 14) by the distance line of the detected respective position of the vehicle (6) from the stored trajectory (9, 11, 12, 13, 14) is given. Method according to one of the preceding claims, wherein the detection of the deviations of the respective position of the vehicle (6) from the at least one stored trajectory (9, 11, 12, 13, 14) is carried out continuously or at predetermined time and / or spatial intervals. Method according to one of the preceding claims, wherein the detection of the respective position of the vehicle (6) is carried out at least partially by means of odometry. Procedure according to Claim 7 The respective position of the vehicle (6) is detected by means of odometry if no satellite navigation signal can be received at the position of the vehicle (6) and / or the position of the vehicle (6) cannot be determined by means of vehicle sensors which detect the surroundings of the vehicle is. Procedure according to one of the Claims 2 to 8th , Before parking, a check is carried out to determine whether the vehicle (6) has been parked in the parking lot (7) and the deviation of the position of the parked vehicle (6) from the stored trajectory (9, 11 , 12, 13, 14) has been moved. Procedure according to Claim 9 , After the vehicle (6) has been parked and before parking, objects (3, 4, 5) are detected in the surroundings of the vehicle (6) and the vehicle is checked (6) since the vehicle was parked ( 6) on the parking lot (7) and the storage of the deviation of the position of the parked vehicle (6) from the stored trajectory (9, 11, 12, 13, 14) has been moved on the basis of a comparison of the after parking or before objects (3, 4, 5) detected in the vicinity of the vehicle (6) are parked out. Procedure according to Claim 9 , After parking the vehicle (6) and before parking, a detection of the orientation at least one wheel of the vehicle (6) and checking whether the vehicle (6) since parking the vehicle (6) in the parking lot and storing the deviation of the position of the parked vehicle (6) from the stored trajectory (9, 11 , 12, 13, 14) has been moved on the basis of a comparison of the orientation of the wheel detected after parking or before parking. Use of a method according to one of the preceding claims in a motor vehicle (6) Non-volatile, computer-readable storage medium with instructions stored thereon which, when executed on a processor, use a method according to one of the Claims 1 to 11 cause.

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