DE102018213967A1 - Parking assistance system and method for parking and for automated positioning at a charging interface - Google Patents

Abstract

One aspect of the invention relates to a parking assistance system for automated and / or remote-controlled parking of a motor vehicle. In addition to parking without considering a charging interface, the parking assistance system is also used for the automated positioning of the motor vehicle at a charging interface of a charging device external to the vehicle, via which the motor vehicle can be charged with electrical energy external to the vehicle when the motor vehicle is positioned at the charging interface. The parking assistance system is set up to park the vehicle automatically and / or remotely based on parking control information, initially without taking the charging interface into account. It is then determined during automated and / or remote-controlled parking that one or more (cumulative) requirements for considering the charging interface for parking are met. After the one or more (cumulative) requirements for taking the charging interface for parking into account are met, the vehicle is then parked taking the charging interface into account such that the vehicle is automatically positioned at the charging interface of the charging device.

Description

The invention relates to a parking assistance system for automated and / or remote-controlled parking of a motor vehicle. The parking assistance system is also suitable for automated positioning of the motor vehicle at a charging interface of a charging device external to the vehicle, via which the motor vehicle can be charged with electrical energy outside the vehicle when the motor vehicle is positioned at the charging interface. This is, for example, an inductive charging interface, for example in the form of a vehicle-mounted floor coil aligned parallel to the driving surface, via which a vehicle-side coil aligned parallel to the vehicle floor is positioned.

Various types of parking assistance systems are known: In parking assistance systems for automated parking with only automated lateral guidance, the steering of the motor vehicle is carried out by the system during the parking process. The driver must take over the longitudinal guidance by accelerating and braking accordingly. In the case of parking assistance systems with automated lateral guidance and automated longitudinal guidance, depending on the degree of automation of the longitudinal guidance, the task of the longitudinal guidance is also partially or completely carried out by the parking assistance system. In parking assistance systems with automated lateral guidance and automated longitudinal guidance, the steering, the brakes, the vehicle drive and the direction of travel (forwards or backwards) are generally controlled by the parking assistance system. With such parking assistance systems, the driver has the option, for example, of parking the vehicle independently by actuating an operating element in the vehicle cockpit, for example a button; it can be provided that the control element must continue to be actuated during the parking maneuver.

Parking assist systems of this type enable, for example, parking in parallel parking spaces and / or transverse parking spaces. In the sense of the application, a transverse parking space is understood to mean a parking space that is not aligned parallel to the lane, and in particular is oriented essentially orthogonally to the lane. However, transverse parking spaces in the sense of the application are also understood to mean parking spaces which are oriented obliquely to the roadway and are not essentially orthogonal to the roadway and which, for example, form an angle of 35 ° with the roadway.

In the present case, it was assumed that the driver would remain in the driver's seat during automated parking. However, parking assistance systems are known, for example for head parking spaces (for example a single garage) that can be parked in the forward or backward direction and in which the driver is outside the vehicle during the parking process. The control of the parking process is shifted to a remote control. Such parking assistance systems are, for example, from the publications DE 10 2011 084 366 A1 . DE 10 2015 208 123 A1 and DE 10 2015 208 124 A1 known.

In such parking assistance systems that can be controlled by remote control, parking is generally also automated: for example, lateral guidance is automated without the user specifying the steering angle via the remote control.

To charge an electrical energy store (e.g. a battery) of an electrically operated motor vehicle (e.g. electric vehicle or hybrid vehicle) with electrical energy, it is known to connect the vehicle to a charging station external to the vehicle via a charging cable which the driver manually connects to must connect a vehicle-side connection and / or a charging station-side connection after the driver has parked the vehicle in a charging station at the charging station.

In addition, vehicle-external charging stations are known, in which the driver does not have to manually connect the vehicle to the charging station via a charging cable. Instead, it is sufficient to position the vehicle sufficiently precisely at a charging interface of the charging station; if necessary, a suitable alignment between the vehicle and the charging interface must be maintained. Examples of this are a wireless charging interface, for example an inductive charging interface, or a conductive charging interface with charging robot, in which the charging robot (for example a pivotable arm) establishes an electrical charging contact between the vehicle and the charging interface. In a frequently found variant of an inductive charging interface, a primary coil is arranged on the floor, while a secondary coil is arranged on the vehicle underbody. The energy transfer takes place via a magnetic coupling of the primary coil and the secondary coil. For efficient energy transmission, the vehicle must be brought into a charging position in which the secondary coil on the motor vehicle is aligned as precisely as possible above the primary coil.

A disadvantage of such charging devices is that the driver has to position the vehicle at a charging position of the charging interface within a positioning accuracy and often also with a predetermined orientation. The driver must have two points, which are often not directly or not clearly visible to him (namely the charging interface on the vehicle and the charging interface of the Charging device) must cover. For example, with a charging coil of an inductive charging interface lying on the floor (which can be driven over) or a charging interface with charging robot lying on the floor, the charging interface of the charging device in the X and Y directions must be made to coincide with a charging interface located at the bottom of the vehicle.

In known assistance systems for assisting the driver when positioning a motor vehicle at a predetermined charging position, the relative position of the primary coil to the secondary coil is continuously measured during the positioning process using a suitable method, either externally or on the vehicle side, and driver information is output to the driver based on this position information in order to assist the driver when positioning to support. For example, the driver can be optically shown in the vehicle cockpit how the vehicle is relative to the ground coil and whether the target position has been reached with sufficient accuracy. The driver can also be given specific steering instructions. The positioning of the vehicle is therefore carried out manually by the driver, the driver being supported in positioning by corresponding driver information. Examples of such assistance systems are in the publications DE 10 2013 207 907 A1 . DE 10 2013 207 906 A1 and DE 10 2012 214 201 A1 described.

Furthermore, it is known to automatically position the vehicle in the loading position based on such position information, as is the case, for example, in the documents DE 10 2015 202 435 A1 . DE 10 2013 217 713 A1 and DE 10 2013 217 718 A1 is described.

In such assistance systems for the automated positioning of the motor vehicle at the charging interface, the driver must first drive the vehicle sufficiently close to the charging interface until the assistance system can take over the vehicle guidance and can position the vehicle automatically at the charging interface. For example, position information about the charging interface must first be available before the automated vehicle guidance so that the assistance system can automatically position the vehicle at the charging interface. Such position information can be received, for example, when the motor vehicle approaches the charging interface from a transmitter external to the vehicle after the position of the vehicle has been determined relative to the charging interface outside the vehicle. In an exemplary implementation of the provision of position information, information about the position of the charging interface is only available to the assistance system, for example, only from a distance of approximately 4 m to the charging interface, which is then often still relatively inaccurate and whose accuracy only increases when the charging interface is approached further. In addition, it is often the case that accurate information about the surroundings of other objects in the charging parking space is only available when the charging interface is sufficiently approached due to the limited visibility of the vehicle-side sensor system.

It is therefore an object of the invention to provide an assistance system which allows the vehicle to be positioned at the charging interface as simply as possible for the driver.

The object is solved by the features of the independent claims. Advantageous embodiments are described in the dependent claims. It is pointed out that additional features of a claim dependent on an independent claim without the features of the independent claim or only in combination with a subset of the features of the independent claim can form a separate invention that is independent of the combination of all features of the independent claim can be made the subject of an independent claim, a divisional application or a late application. This applies in particular to the technical teachings of claims 6 (execution of additional moves), 9 (execution of corrective moves in the case of insufficient positioning), 10 (change of target orientation) and 12 (execution of a corrective move when the parking maneuver is terminated).

The invention is based on the knowledge that, after the position of a charging interface of a charging device external to the vehicle has been recognized (either via a vehicle-side or external vehicle sensor system), this information can be integrated into a known parking function for automated and / or remote-controlled parking, for example in a parallel parking space, a transverse parking space or a head parking space , so that - if the user parks the vehicle using this parking function - the vehicle automatically stops at the correct position so that the vehicle can be charged via the charging interface.

A first aspect of the invention relates to a parking assistance system for automated and / or remote-controlled parking of a motor vehicle.

The parking assistance system is preferably a parking assistance system for automated parking with automated lateral and / or longitudinal guidance. It is conceivable that, depending on the design of the parking assistance system, the driver is in the vehicle or outside the vehicle during the parking maneuver. If the driver is outside the vehicle, the parking process is preferably controlled by a remote control. For example, the driver must actuate a certain control element assigned to the forward drive on the remote control during the forward drive. However, it would also be possible for the parking assistance system to be a parking assistance system for remote-controlled parking without automation (for example no automated lateral guidance in order to park the vehicle straight into a head parking space) as long as the vehicle is not yet positioned in the loading position (this is done automatically).

In addition to parking (e.g. in a longitudinal, lateral or upside-down parking space) without taking into account a charging interface, the parking assistance system also serves to automatically position the motor vehicle at a charging interface of a charging device external to the vehicle, via which the motor vehicle can be charged with electrical energy external to the vehicle if the motor vehicle is positioned at the charging interface. For example, it is an inductive charging interface described above or a charging interface with charging robotics, which establishes a charging contact between the vehicle and the charging interface. The charging interface is preferably arranged on the floor, the vehicle being positioned above the charging interface.

The parking assistance system is set up to carry out various activities described below. This is typically done by means of an electronic control unit, which can also be distributed over several control devices. The control unit can comprise one or more processors which operate in a manner according to the invention controlled by one or more software programs.

The parking assistance system is set up to automatically and / or remotely park the vehicle based on parking control information without taking into account the charging interface, for example in a parking space comprising the charging interface (e.g. a parking space in the form of a longitudinal parking space, transverse parking space or head parking space). For example, the vehicle is parked in an automated and / or remote-controlled manner based on parking control information in a parking space (e.g. parking space) without taking the charging interface into account at a defined target point of the parking space. It would also be conceivable that the vehicle is parked on a straight line (and not on a destination), as is the case, for example, in the publication DE 10 2015 208 123 A1 for a parking assistance system that can be controlled by remote control from outside the motor vehicle.

If the parking space in which the parking assistance system is parked has the charging interface, the vehicle will approach the charging interface during parking and will, for example, obtain information about the position of the charging interface or the environment in the vicinity of the charging interface. It is then determined during automated and / or remote-controlled parking that one or more (cumulative) requirements for taking into account the charging interface for parking are met. For example, a requirement could be that the parking assistance system has received information (e.g. an X and a Y coordinate) about the position of a charging interface in the parking target area (e.g. by receiving the information from a vehicle-external transmitter or by measuring via a vehicle-side sensor ). Such information will only be available, for example, from a distance of approximately 4 m to the charging interface. If it is also required that the position information has a sufficiently high confidence / accuracy, the required distance can be, for example, approximately 3 m or less.

After the one or more (cumulative) requirements for taking into account the charging interface for parking are met, parking control information that is adapted to the taking into account of the charging interface is determined, for example. However, the adjusted parking tax information can also be determined beforehand as part of the prerequisite check.

For example, in the case of a parking trajectory with a specific parking end position in the parking space on which the initial parking process was based, the parking end position is changed taking into account the position of the charging interface and a correspondingly adapted parking trajectory is calculated. In this case, environment information determined by means of an environment sensor system, in particular objects delimiting the parking space (for example other vehicles or garage walls), is taken into account in order to maintain a sufficient distance from other objects.

Based on the adjusted control information, the vehicle is then parked automatically taking into account the charging interface in such a way that the vehicle is automatically positioned at the charging interface of the charging device. This saves the driver from having to position the vehicle precisely and laboriously at the charging interface of the charging device using manual vehicle guidance.

The parking assistance system according to the invention thus enables a conventional parking function to be used initially without taking the charging interface into account, so that the vehicle already has is automated and / or remote-controlled maneuvered in the vicinity of the charging interface, for example into a parking space having the charging interface (e.g. a parallel parking space, transverse parking space or a head parking space). The driver therefore does not have to drive the vehicle into the parking space manually until an automated positioning function can take over the vehicle guidance for positioning at the charging interface. Instead - if the vehicle has approached the charging interface using the known parking function in such a way that the one or more requirements for taking the charging interface into account for the parking process are met - the position of the charging interface for the parking process is automatically taken into account, so that the vehicle at the Charging interface is positioned, if necessary with aligning the orientation of the longitudinal axis of the vehicle to a predetermined orientation for charging at the charging interface.

The invention makes it possible, for example, that after activation of a known parking function by the driver for parking the vehicle in a parking space, the vehicle is automatically parked in the parking space in such a way that the vehicle is positioned at the charging interface. The support for positioning at the charging interface can be used, for example, for parking maneuvers in the forward or reverse direction (for example forward or rearward parking into a head parking space).

The parking maneuver can be parking maneuvers in which the user is in the vehicle or outside the vehicle during the parking maneuver.

It is pointed out that there may well be parking situations in which the vehicle takes the charging interface for the parking maneuver into account when the parking maneuver begins, for example because information about the position of the charging interface is already available before the parking maneuver begins. This would be conceivable, for example, if the driver brings the vehicle very close to the charging interface before the start of an automated parking maneuver.

Preferably, after the one or more requirements for taking into account the charging interface have been met or already beforehand, a driving trajectory which takes the charging interface into account and whose end point is selected such that the vehicle-side charging interface is positioned at the position of the charging interface in order to adapt the parking control information. If the vehicle is parked on a home straight, as is the case, for example, in the publication DE 10 2015 208 123 A1 For a parking assistance system that can be controlled by remote control from outside the motor vehicle, the length of the parking line could be limited to take account of the charging interface, the end point of the parking line being selected such that the vehicle-side charging interface is positioned at the position of the charging interface in the end point of the parking line , As an alternative or in addition to the limited parking line, a trajectory can also be calculated at this point.

As stated above, it is determined during automated and / or remote-controlled parking that one or more (cumulative) requirements for considering the charging interface for parking are met. For example, it could be a prerequisite that the parking assistance system has received information about the position of a charging interface in the parking target area (e.g. by receiving information from a transmitter external to the vehicle or by measurement via a vehicle-side sensor).

It is noted here that if information is received from a transmitter external to the vehicle, the external transmitter sends, for example, information about the position (and possibly also orientation) of the vehicle relative to the position of the charging interface; in the sense of the registration, this information is also understood as information about the position of the charging interface. The vehicle can then convert this information into a vehicle-related reference system.

It is preferably provided that only position information for a charging interface of a charging device is received if this charging interface or its charging device was selected by the user or (in the sense of an auto selection) by the vehicle before the automated or remote-controlled parking maneuver began, for example after a WLAN radio link information about the charging interface or charging device was received. This can prevent position information, for example, relating to a charging interface being received on a neighboring parking space that is adjacent to the parking space to which the user wishes to park during parking.

If, for example, information about the confidence or accuracy of position information is available (which was received, for example, from the transmitter external to the vehicle), it can be assumed as a necessary prerequisite for taking into account the position of the vehicle-external charging interface that the position of the charging interface has a sufficiently high confidence and / or accuracy the parking assistance system is known. For this purpose, it can be checked, for example, that the respective confidence (ie the system side Trust) or accuracy with regard to position information in a first dimension (for example longitudinal direction) and with regard to position information in a second dimension (for example transverse direction) is in each case greater or greater than or equal to a specific threshold value. The existence of a sufficiently high level of confidence or accuracy can also be checked as a further cumulative requirement with regard to the alignment difference between a target alignment in the loading position and the current alignment of the vehicle.

In a type of position determination which is particularly suitable for the invention, information about the position of the charging interface is received by a transmitter external to the vehicle when the motor vehicle approaches the charging interface (typically as the position of the vehicle in relation to the charging position) after the position of the vehicle in relation to the charging position was determined outside the vehicle. For example, a WLAN communication connection (wireless local area network) can be used for information transmission. To measure the position of the vehicle in relation to the charging position outside the vehicle, it can be provided that the vehicle emits a radio signal that is received by several receivers of the charging interface located at different locations, so that the charging device determines the position of the vehicle by means of a triangulation method can be.

An additional necessary requirement that must be met to take the charging interface into account for the parking maneuver can be, for example, that the charging interface can be reached from the current vehicle position (optionally taking into account the possibility of one or more additional trains), possibly taking into account a permissible one Alignment of the vehicle to the charging interface in the end position.

For this purpose, the parking assistance system can, for example, check in a first step whether the position of the charging interface can be reached without an additional train. In a first implementation variant of the first step, it can be checked whether the position of the charging interface is in an area in front of or behind the vehicle, depending on the direction of parking, which, without maneuvering (that is, with adaptation of the current train), has the potential of the Vehicle can be reached (if necessary, taking into account a permissible orientation of the vehicle to the charging interface in the end position). For example, it can be checked whether there is a one-way travel trajectory to the position of the charging interface (possibly taking into account a permissible orientation of the vehicle to the charging interface in the parked end position).

Alternatively, to check the accessibility of the charging interface, a second implementation variant of the first step could be used to determine whether the position of the charging interface can be reached without additional trains to any trains that are already planned (if necessary, taking into account a permissible orientation of the vehicle to the charging interface in the end position). , For example, it can be checked whether a travel trajectory to the position of the loading interface exists that does not require any further trains (compared to any further trains that are already planned), possibly taking into account a permissible orientation of the vehicle to the loading interface in the end position.

As part of the check of the accessibility of the charging interface from the current vehicle position, an optionally implemented second step could be used to check whether the charging interface can be reached from the current vehicle position with the inclusion of one or more additional trains (if necessary, taking into account a permissible orientation of the vehicle to the Charging interface in the end position). For example, the accessibility could be checked with a first correction train against the direction of the charging interface and a subsequent second correction train in the direction of the charging interface with a change of direction in between. If the charging interface cannot be reached without an additional train, the one or more additional trains are carried out in order to position the vehicle at the position of the charging interface.

In general, it is advantageous if the number of further trains is limited in the second step, for example to a maximum of two further trains.

If, for example, two additional correction trains with a change of direction in between are planned, the time for the start of the correction trains should be selected so that the motor vehicle approaches the charging interface as close as possible before the correction trains begin, so that the position of the charging interface is already known to the parking assistance system as precisely as possible ,

It can be provided that the parking assistance system includes a user interface that is set up to receive user-side configuration information that indicates whether (generally) charging interfaces should be taken into account by the user of the parking function or not. In this case, a further prerequisite for taking into account the charging interface is that, according to the configuration of the parking assistance system, taking into account charging interfaces for the parking process is generally permitted.

It is preferably provided that the user, for. B. is informed on a remote control or a screen in the vehicle cockpit during the parking maneuver that the vehicle is positioned at the charging interface.

It can optionally be provided that the parking assistance system offers the user the optional consideration of the charging interface for the parking maneuver and the driver agrees to this offer in order to take into account the charging cuts for the parking maneuver, or alternatively can also reject the offer.

For example, to prevent the parking assistance system from rerouting the parking process to charging interfaces that are outside a target parking space targeted by the driver, it can be provided that, to take into account a recognized charging interface for the parking maneuver, an additional prerequisite is checked that the charging interface external to the vehicle is defined in a defined manner Surrounding area around a target position or straight line is related to the position of the vehicle-side charging interface, specifically for the initial parking process, without taking into account the vehicle-external charging interface. For the test, for example, the position of the charging interface external to the vehicle can be shifted by the offset between the charging interface on the vehicle side and the reference point for the vehicle trajectory on the vehicle side, and it can be checked whether the position of the external charging interface shifted according to the offset is in a defined range around the end position of the vehicle trajectory ,

If the position of the charging interface cannot be reached with sufficient accuracy when parking for the first time, or if the orientation of the vehicle in relation to the charging interface is taken into account when reaching the loading position and the orientation of the vehicle in relation to the charging interface is not permitted, an automatic correction train can be started from the stopping point the parking space with a subsequent automatic correction move back into the parking space are offered to the user by the parking assistance system in order to improve the end position or the orientation in the end position. If necessary, it would also be conceivable that more than two correction moves are carried out.

For this purpose, after the vehicle has stopped at the charging interface, it can be checked whether one or more cumulative criteria regarding the quality of the positioning at the charging interface are met. These one or more criteria can relate to the position and / or the orientation of the vehicle in relation to the charging interface. For example, the criteria regarding the quality of the positioning at the charging interface are met if both the distance of a vehicle-side charging reference point (e.g. the center of a vehicle-side coil) to the position of the vehicle-external charging interface in the longitudinal direction is less than or less than a first threshold value as well the distance of the reference point to the position of the vehicle-external charging interface in the transverse direction is less than or less than the first or as a second threshold value. If the one or more criteria are not met, two or more additional correction moves are carried out with an intermediate change of direction in order to position the vehicle at the position of the charging interface. However, correction trains are preferably only carried out if, after the vehicle has stopped at the charging interface, it is determined that the charging position can be reached again via the correction trains in such a way that, once the charging position has been reached again, the one or more cumulative criteria relating to the quality of the Positioning on the charging interface are fulfilled. The execution of proofreading may also depend on the fact that a predetermined maximum number of proofreading is observed.

Furthermore, the execution of correction trains can be subject to the consent of the user via a user interface according to a previous system offer for the execution of the correction trains to the user.

If the vehicle is parked with a charging interface, the vehicle is preferably first parked during the parking process with a target orientation that is aligned with the longitudinal orientation of the one or more objects that adjoin the parking space. For example, in the case of a head parking space or a transverse parking space, these are objects which limit the parking space to the side (e.g. vehicles parked to the side or walls of a garage). In the case of a longitudinal parking space, it is, for example, the alignment of the vehicle in front and / or the rear of the longitudinal parking space or the alignment of a curb on the side.

After fulfilling one or more requirements, the vehicle is parked in the parking space with a target orientation oriented at the charging interface, for example after establishing sufficient confidence or accuracy of information about the current orientation of the motor vehicle relative to a target orientation at the charging interface.

As described above, the information received by the parking assistance system about the position of the charging interface in the course of the approach to the charging interface preferably continuously updated and more precise. Information about the position of the charging interface is either determined by means of a sensor system on the vehicle or received by a receiver external to the vehicle (and - if this has not been done externally - still converted to the coordinate system of the vehicle).

It is advantageous if the parking control information for the longitudinal and / or transverse guidance of the vehicle is adapted to the updated information about the position of the charging interface. Here, the parking control information is preferably not adapted to every slight change in the position information, but is only adapted if the change in the position of the charging interface compared to the position of the charging interface currently taken into account when parking reaches or exceeds a certain threshold.

If the parking process has been interrupted (for example by an operator action), when the parking process is resumed (in particular after the user has made a corresponding operating input for resumption), it should preferably be checked whether the distance between a vehicle-side charging point and the position of the vehicle-external charging interface is less than or equal to than a predetermined threshold. In this case, an additional correction move away from the charging interface is carried out when the parking process is resumed. The reason for this is that if the distance to the loading position is too short, a sufficiently high stopping accuracy may not be ensured. If, on the other hand, the distance is greater than or equal to the predetermined threshold value, the previous parking process is carried out without changing the path.

• - automatisiertes und/oder ferngesteuertes Parken des Kraftfahrzeugs basierend auf Parksteuerinformation zunächst ohne Berücksichtigung der Ladeschnittstelle;
• - während des automatisierten und/oder ferngesteuerten Parkens und des Annäherns an die Ladeschnittstelle, Feststellen, dass eine oder mehrere Voraussetzungen zur Berücksichtigung der Ladeschnittstelle für das Parken erfüllt sind, und
• - nachdem die ein oder mehreren Voraussetzungen zur Berücksichtigung der Ladeschnittstelle für das Parken erfüllt sind, automatisiertes Parken das Kraftfahrzeugs unter Berücksichtigung der Ladeschnittstelle basierend auf angepassten Parksteuerinformation derart, dass das Fahrzeug an der Ladeschnittstelle der Ladeeinrichtung positioniert wird.

A second aspect of the invention relates to a method for automated and / or remote-controlled parking of a motor vehicle and for positioning the motor vehicle at a charging interface of a charging device external to the vehicle. The process includes the steps:

• - Automated and / or remote-controlled parking of the motor vehicle based on parking control information, initially without taking the charging interface into account;
• - during automated and / or remote-controlled parking and approaching the charging interface, determining that one or more requirements for considering the charging interface for parking are met, and
• - After the one or more requirements for taking into account the charging interface for parking are met, automated parking of the motor vehicle taking into account the charging interface based on adapted parking control information such that the vehicle is positioned at the charging interface of the charging device.

The above statements regarding the parking assistance system according to the first aspect of the invention apply in a corresponding manner to the method according to the invention according to the second aspect of the invention. At this point, and advantageous embodiments of the method according to the invention not explicitly described in the patent claims correspond to the advantageous exemplary embodiments of the system according to the invention described above or described in the patent claims.

• 1 eine beispielhafte Ausgangsituation bei Aktivierung eines beispielhaften Parkassistenzsystems;
• 2a, b ein vereinfachtes Ablaufdiagramm des beispielhaften Parkassistenzsystems;
• 3 die Parksituation ab Berücksichtigung der Ladeschnittstelle; und
• 4 die Parksituation nach Erreichen der Parkendposition.

The invention is described below using an exemplary embodiment with the aid of the accompanying drawings. In these show:

• 1 an exemplary starting situation when an exemplary parking assistance system is activated;
• 2a, b a simplified flow diagram of the exemplary parking assistance system;
• 3 the parking situation from the point of view of the charging interface; and
• 4 the parking situation after reaching the final parking position.

In 1 is an exemplary starting situation when an exemplary parking assistance system of a motor vehicle is activated 1 (here a passenger car). The parking assistance system is, for example, a parking assistance system for parking in a head parking space. In the example of 1 becomes the head parking space to be parked 4 by two other vehicles 2 and 3 limited laterally. Instead, the head parking space could 4 also correspond to a single garage. The parking assistance system is preferably a remote control from outside the vehicle 1 controllable parking assistance system for parking in a head parking space 4 , such as this in the publication DE 10 2015 208 123 A1 is described. However, it would also be conceivable that the driver remains in the vehicle during the parking process and initiates and monitors the automated parking process from within the vehicle.

A parking assistance system for parking in a head parking space is described as an example. The concept described below for positioning the vehicle at the charging interface would also be transferable to a parking assistance system for parking in a parallel parking space or transverse parking space.

The head parking space 4 includes a charging interface 5 a charging device (for example an inductive charging interface with a bottom coil). With the vehicle 1 it is an electric vehicle or a hybrid vehicle which can be charged with electrical energy via the charging device if a vehicle-side charging interface 6 (for example a vehicle coil in the case of an inductive charging interface) above the charging interface 5 the charging device is positioned.

In the initial situation in 1 the parking assistance system is the position of the charging interface 5 due to the large distance between the charging interface 5 and the vehicle 1 not yet known. Information about the position of the charging interface 5 , which is sent by a vehicle-external transmitter, is only when the motor vehicle approaches 1 to the charging interface 5 received after the position of the vehicle 1 in relation to the position of the charging interface 5 was determined by the charging device. In addition to the position information, there is also information about the angle φ between the current longitudinal orientation of the vehicle 1 and the longitudinal orientation of the vehicle to be assumed 1 in the charging position at the charging interface 5 receive.

For example, a WLAN communication connection can be used for information transmission. For external measurement of the position of the vehicle 1 in relation to the position of the charging interface 5 it is provided, for example, that the vehicle 1 for example, after activation of the parking function, continuously sends out a radio signal from several receivers of the charging interface located at different locations 5 Will be received. The position of the vehicle can be determined from this by means of a triangulation method 1 be determined by the loading device.

It is preferably provided that only position information for a charging interface 5 a charging device is received if this charging interface or its charging device was selected by the user (or alternatively by the vehicle) before the automated parking maneuver began. To select a charging device / charging interface, information about a charging device or charging interface is received on the vehicle side at a sufficiently small distance (for example 30 m) from the charging device via a WLAN communication connection with the charging device. The driver then receives a message in the vehicle cockpit that a charging interface or charging device has been found, possibly with information received about the charging provider, the charging power and a parking space number of the charging device, and can then select the charging interface for use.

To the vehicle 1 with the vehicle-side charging interface 6 at the charging interface 5 to position, the driver climbs in front of the parking space 4 out of the vehicle 1 and starts with a remote control 2 the automatic parking process. From then on, the parking assistant takes over the control of the drive, braking and steering functions and the gear shift function and maneuvers the vehicle into the head parking space 4 into it. It can be provided that the user must continuously perform a certain operating action during automated vehicle guidance in order to prevent the vehicle from stopping, for example the actuation of an operating element on a remote control (or if an operating element remains in the vehicle in the vehicle cockpit).

The process of the parking process is based on 2 explained in more detail. In step 100 becomes the head parking space 4 measured using an environmental sensor system (for example, ultrasonic sensor system). This is preferably done when the parking space is manually approached 4 until the vehicle is parked 1 in front of the parking space 4 , provided the speed falls below a limit, and preferably also afterwards during the automated parking process. For this purpose, the position of objects is determined, for example the position of the lateral boundaries of a parking space, such as vehicles or the side walls of a garage.

After the driver activates the parking function, a radio signal is continuously transmitted on the vehicle side, based on which the vehicle's external charging device uses the vehicle 1 can locate and, if necessary, send information about the position of the charging interface to the vehicle based on this. In the query 105 it is checked whether position information for the charging interface has already been received before the parking process begins. In the following it is assumed that this is not the case.

Based on the measurement of the parking space 4 can, for example, after the driver initiates the parking process using the remote control (or even before) in step 110 a straight line as part of the parking control information 7 can be determined, which in the example of 1 in the middle between the vehicle 2 and the vehicle 3 lies. During the parking process, the parking assistance system tries to align the longitudinal axis with the straight line 7 adjust. This will be done in step 110 as a function of the angle α between the current alignment of the vehicle's longitudinal axis and the parking straight 7 and the lateral current offset between the reference point 9 of the vehicle 1 and the park straight 7 a trajectory 10 calculated as parking tax information (see, for example, the trajectory 10 in 1 ), the longitudinal axis of the vehicle 1 on the park straight 7 leads. The trajectory 10 gives the planned route of the reference point 9 (here: the center of the rear axle) of the vehicle 1 on. The trajectory 10 is preferably recalculated on an ongoing basis. This concept is in the pamphlet DE 10 2015 208 123 A1 described. The trajectory includes, for example, the respective X / Y position, the respective yaw angle and the respective curvature over time or over the distance.

In the foregoing, it was assumed that the vehicle is parked on a straight parking line as the home straight into the parking space without a parking end position being defined as the target point. In the case of parking without the charging interface 5 continues until, for example, the driver ends an operation on the remote control necessary for driving forward or a collision with an object behind the parking space 7 threatening. Alternatively, it would also be conceivable that a driving trajectory with a defined parking end position is initially determined based on the surrounding information in order to keep the vehicle in parking space 4 to park, as is known for example from conventional parking assistance systems for parking in parallel parking spaces or transverse parking spaces.

Based on the driving trajectory, the vehicle is stepped with automated longitudinal and lateral guidance 120 gradually parked. In step 130 it is checked whether the charging interface is approaching 5 already position information for the charging interface 5 was received. If this is not the case, the parking process will continue.

If in the query 130 however, it is determined that the vehicle 1 already the charging interface 5 has approximated that position information about the location of the charging interface relative to the position of the vehicle 1 was received is in the query 140 checked whether a defined prerequisite for considering the charging interface for the parking process is fulfilled.

1. 1. Gemäß der vom Nutzer veränderbaren aktuellen Konfiguration des Parkassistenzsystems werden Ladeschnittstellen generell beim Parkvorgang berücksichtigt.
2. 2. Die Position der Ladeschnittstelle 5 ist in einem Bereich, der mit dem bezüglich der Lenkbarkeit vorhandenen Potential des Fahrzeugs erreichbar ist. Sofern die Ladeschnittstelle nicht mit dem aktuellen Zug erreichbar ist, können zum Erreichen der Position auch zusätzliche Züge eingeplant werden.
3. 3. Die Konfidenz K_x der bekannten X-Position der Ladeschnittstelle 5 ist größer als ein Schwellwert S_Kx., d. h. K_x > S_Kx, und die Konfidenz K_y der bekannten Y-Position der Ladeschnittstelle 5 ist größer als ein Schwellwert S_Ky, d. h. K_y > S_Ky und die Konfidenz Kφ des Winkels φ zwischen der aktuellen Längsausrichtung des Fahrzeugs 1 und der einzunehmenden Längsausrichtung des Fahrzeugs 1 in der Ladeposition ist größer als ein Schwellwert S_Kφ, d. h. Kφ > S_Kφ.

These cumulative requirements include:

1. 1. According to the current configuration of the parking assistance system that can be changed by the user, charging interfaces are generally taken into account during the parking process.
2. 2. The position of the charging interface 5 is in an area that can be reached with the potential of the vehicle with regard to the steerability. If the loading interface cannot be reached with the current train, additional trains can be scheduled to reach the position.
3. 3. The confidence K _{x of} the known X position of the charging interface 5 is greater than a threshold value S _Kx ., ie K _x > S _Kx , and the confidence K _{y of} the known Y position of the charging interface 5 is greater than a threshold S _Ky , ie K _y > S _Ky and the confidence Kφ of the angle φ between the current longitudinal orientation of the vehicle 1 and the longitudinal orientation of the vehicle to be assumed 1 in the loading position is greater than a threshold value S _K φ, ie Kφ> S _K φ.

In a further implementation variant, it would be conceivable as 4 , Prerequisite also to check that the vehicle-external charging interface 5 in a defined surrounding area around a target position or home straight in relation to the position of the vehicle-side charging interface 6 is for the initial parking process without taking into account the charging interface external to the vehicle 5 , For example, the position of the vehicle-external charging interface can be used for the test 5 the offset between the vehicle-side charging interface 6 and the vehicle reference point 9 for the vehicle trajectory are shifted and checked whether the position of the external charging interface shifted according to the offset 5 in a defined area around the park straight 7 lies.

If, depending on the implementation variant, the requirements 1 , to 3 , or 1 , to 4 , the charging interface is taken into account for the further parking process. This is done in step 150 (or earlier during the examination of the prerequisite 2 .) as parking control information, for example one to the charging interface 6 adapted driving trajectory 11 with a (to the reference point 9 related) parking end position calculated in the position of the external charging interface 5 the position of the vehicle-side charging interface 6 corresponds (that is, in the case of inductive energy transmission, the vehicle coil and the vehicle-external ground coil are made to coincide). The on the reference point 9 The related parking end position then corresponds to the position of the charging interface external to the vehicle 5 after shifting by the offset between the vehicle-side charging interface 6 and the vehicle reference point 9 , The travel trajectory includes - if necessary - additional trains.

In 3 the situation is shown after the vehicle 1 the charging interface 5 on the trajectory 10 has approached such that all for the consideration of the charging interface 5 necessary requirements are met. For example, the in 3 illustrated trajectory 11 related to the reference point 9 calculated, in the park end position 12 the driving trajectory 11 the position of the charging interface external to the vehicle 5 and the position of the vehicle-side charging interface 6 lie on top of each other like this in 4 is shown. The trajectory includes, for example respective X / Y position, the respective yaw angle and the respective curvature over time or over the distance.

Based on the adapted driving trajectory 11 then becomes the vehicle 1 with automated longitudinal and lateral guidance to the position of the loading interface 5 guided. It can be assumed that the information about the position of the charging interface 5 is continuously updated and improved as it approaches the charging interface. Hence the driving trajectory 11 based on changes in the position of the charging interface 5 updated. This is the trajectory 11 but preferably not adapted for every slight change in the position information, but only fitted if the change in the position of the charging interface 5 compared to the current position of the charging interface when parking 5 reaches or exceeds a certain threshold.

In the query 170 it is checked whether the parking end position 12 was achieved. For this purpose, it is checked whether the distance between the position of the vehicle-side charging interface 6 and the position of the vehicle-external charging interface 5 are less than or less than a predetermined threshold and the vehicle has been stopped.

If the query 170 is positive and the parking end position 12 was reached is in the query 180 decided whether two correction trains with an intermediate change of direction (ie reverse train - change of direction - forward train) are to be carried out, since the quality of the positioning at the loading interface 5 is not sufficient. For this purpose, it is checked, for example, whether the distance between the X position of the vehicle-side charging interface 6 and the X position of the vehicle-external charging interface 5 is less than or less than a predetermined threshold value and the distance between the Y position of the vehicle-side charging interface 6 and the Y position of the vehicle-external charging interface 5 is less than or less than a predetermined threshold. Optionally, it can also be checked whether the amount of the angle φ between the actual longitudinal orientation of the vehicle 1 in the parked end position and desired longitudinal alignment of the vehicle 1 is less than or equal to a threshold value in the loading position. If one of the criteria checked is not met, the quality of the positioning is at the charging interface 5 not sufficient.

In this case, however, the correction moves are only carried out if it has additionally been determined that the parking end position can be reached again with the fulfillment of the criteria described above for the quality of the positioning.

The execution of the correction trains is preferably also subject to the user consenting to the implementation of the correction trains via a user interface (for example via the remote control or via a user interface in the vehicle in the presence of the driver in the vehicle) after the system informs the user of an inadequate Informed loading efficiency and offered him the correction trains.

After performing the correction moves in step 190 The parking process ends if the correction moves are not carried out.

Above it was assumed that in step 105 initially no information about the position of the charging station was received. Depending on where the vehicle is parked before initiating the parking process, it would be conceivable that position information for the charging interface be provided before the parking process begins 4 is present. In this case, the query 107 in accordance with the query 140 checked whether the requirements for considering the charging interface for the parking process are met. If this is the case, the charging interface can be taken into account right from the start and it will go according to step 150 a trajectory with such a target position determines that the vehicle-external charging interface 5 and the vehicle-side charging interface 6 to be covered in the target position.

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 102011084366 A1 [0004]
• DE 102015208123 A1 [0004, 0019, 0028, 0055, 0064]
• DE 102015208124 A1 [0004]
• DE 102013207907 A1 [0009]
• DE 102013207906 A1 [0009]
• DE 102012214201 A1 [0009]
• DE 102015202435 A1 [0010]
• DE 102013217713 A1 [0010]
• DE 102013217718 A1 [0010]

Claims (16)

Parking assistance system for the automated and / or remote-controlled parking of a motor vehicle (1) and for the automated positioning of the motor vehicle (1) on a charging interface (5) external to the vehicle, via a charging device external to the vehicle, via which the motor vehicle (1) can be charged with electrical energy external to the vehicle when the motor vehicle (1) is positioned at the charging interface (5), the parking assistance system being set up, - to park the motor vehicle (1) automatically and / or remotely based on parking control information, initially without taking into account the charging interface (5), - determine during automated and / or remote-controlled parking and approaching the charging interface (5) that one or more requirements for taking the charging interface (5) into account for parking are met, and - After the one or more requirements for taking into account the charging interface (5) for parking are met, the motor vehicle (1) is automatically parked taking into account the charging interface (5) based on parking control information adapted to the taking into account of the charging interface (5) so that the motor vehicle (1) is positioned for charging at the charging interface of the charging device. Parking assistance system after Claim 1 which is set up to determine, as parking control information adapted to the consideration of the charging interface (5), a driving trajectory which takes account of the charging interface (5) and / or a parking end position which takes account of the position of the charging interface (5). Parking assistance system according to one of the preceding claims, wherein the one or more requirements include: - The parking assistance system has information about the position of the charging interface (5), in particular the position of the charging interface (5) is known to the parking assistance system with a sufficiently high degree of confidence and / or accuracy. Parking assistance system after Claim 3 The parking assistance system is set up to receive information about the position of the charging interface (5) from a transmitter external to the vehicle when the motor vehicle (1) approaches the charging interface (5). Parking assistance system according to one of the preceding claims, wherein the one or more requirements include: - The charging interface (5) can be reached from the current vehicle position. Parking assistance system according to one of the preceding claims, wherein the parking assistance system is set up, - check during automated and / or remote controlled parking, • whether the position of the charging interface (5) can be reached without additional train, and • whether the position of the charging interface (5) can be reached via one or more trains, in particular two additional trains with an intermediate change of direction, and - Execute one or more additional trains, in particular two additional trains with an intermediate change of direction, in order to position the motor vehicle (1) at the position of the charging interface (5) if the position of the charging interface (5) cannot be reached without an additional train. Parking assistance system according to one of the preceding claims, wherein the parking assistance system comprises a user interface which is set up to receive user-side configuration information which indicates whether charging interfaces (5) are to be taken into account when parking or not. Parking assistance system according to one of the preceding claims, which is set up - Parking the motor vehicle (1) automatically and / or remotely based on parking control information in a parking space (4) having the charging interface (5) without taking the charging interface into account at a defined target point or a defined straight line (7). Parking assistance system according to one of the preceding claims, wherein the parking assistance system is set up, - after stopping the motor vehicle (1) at the charging interface (5) to check whether one or more cumulative criteria regarding the quality of the positioning at the charging interface (5) are met, and - Depending on this test, perform at least two additional correction trains with an intermediate change of direction in order to position the motor vehicle (1) at the position of the charging interface (5), in particular after the execution has been offered to the user beforehand and the user has given his consent via a user interface. Parking assistance system according to one of the preceding claims, wherein the parking assistance system is set up - first to park the motor vehicle (1) with a target orientation aligned with the one or more objects in a parking space (4) which delimit the parking space, after one or more requirements have been met, to change the target orientation, in particular after establishing sufficient confidence or accuracy of information about the current orientation of the motor vehicle (1) relative to a target orientation at the charging interface (5), and the motor vehicle (1) with one to park the charging interface (5) aligned target alignment in the parking space (4). Parking assistance system according to one of the preceding claims, wherein the parking assistance system is set up, - to receive updated information about the position of the charging interface (5) repeatedly during parking, and - Adapt the parking control information adapted to the consideration of the charging interface (5) to the updated information about the position of the charging interface (5), in particular if the change in the position of the charging interface (5) compared to the position of the charging interface (5 ) reaches or exceeds a certain threshold. Parking assistance system according to one of the preceding claims, wherein the parking assistance system is set up, - after an interruption of the parking process, check whether the distance between the position of a vehicle-side charging interface (6) of the motor vehicle (1) and the position of the vehicle-external charging interface is less than or equal to a specific threshold value, and - In this case, when the parking process is resumed, carry out an additional correction move away from the charging interface (5) external to the vehicle. Parking assistance system according to one of the preceding claims, wherein the one or more requirements for taking into account the charging interface (5) include: - The vehicle-external charging interface (5) is in a defined surrounding area around a target position or home straight in relation to the vehicle-side charging interface (6) when parking without considering the charging interface. Parking assistance system according to one of the preceding claims, wherein the parking assistance system is set up, - to position the motor vehicle (1) at an inductive charging interface (5) of a charging device external to the vehicle, or - To position the motor vehicle (1) at a charging interface (5) with charging robot, which establishes a charging contact between the motor vehicle (1) and the charging interface (5). Method for the automated and / or remote-controlled parking of a motor vehicle (1) and for positioning the motor vehicle (1) at a charging interface (5) of a charging device external to the vehicle, via which the motor vehicle (1) can be charged with electrical energy external to the vehicle when the motor vehicle (1 ) is positioned on the charging interface (5) with the steps: - Automated and / or remote-controlled parking of the motor vehicle (1) based on parking control information initially without taking into account the charging interface (5); - during the automated and / or remote-controlled parking and approaching the charging interface (5), determining that one or more requirements for taking the charging interface (5) into account for parking are met, and - After the one or more requirements for taking into account the charging interface (5) for parking are met, automated parking of the motor vehicle taking into account the charging interface (5) based on parking control information adapted to the taking into account of the charging interface (5) such that the vehicle is ready for charging is positioned at the charging interface (5) of the charging device. Software with program code to carry out the procedure according to Claim 15 if the software runs on a software controlled device.

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