DE102019113890A1 - Method of Compensating for an Odometry Error - Google Patents

Abstract

The present invention relates to a method for parking a vehicle (2) driving onto a curb (1) and having a plurality of wheels (3, 4, 5, 6), comprising the following steps: initial detection of environmental data (10); Target parking position of the vehicle (2) on the curb parking lot (7) (20); - determining a parking trajectory (E) (25); - starting a driving process of the vehicle (2) (30); - overcoming the curb (1) with at least one Wheel (3, 4, 5, 6) (40a, 40b); - Detecting an actual position of the vehicle (2) (50a, 50b); - Comparing the actual position of the vehicle (2) with the target position of the Vehicle (2) (60a, 60b); and updating the steering and / or movement maneuvers to be carried out for the vehicle (2) (70a, 70b). The present invention also relates to a driving support system with means for carrying out the steps of the method. The present invention also relates to a vehicle with the driving assistance system. Furthermore, the present invention relates to a computer program comprising instructions which, when the computer program is executed by a computer, cause the computer to carry out steps of the method. The present invention also relates to a data carrier signal which the computer program transmits. The present invention also relates to a computer-readable medium, comprising instructions which, when executed by a computer, cause the computer to execute steps of the method.

Description

The present invention relates to a method for parking a vehicle driving onto a curb with a plurality of wheels and with a vehicle-integrated driving support system for carrying out the method according to claim 1.

The present invention also relates to a driving support system with means for carrying out the steps of the method.

The present invention also relates to a vehicle with the driving assistance system.

Furthermore, the present invention relates to a computer program comprising instructions which, when the computer program is executed by a computer, cause the computer to carry out steps of the method.

The present invention also relates to a data carrier signal which the computer program transmits.

The present invention further relates to a computer-readable medium, comprising instructions which, when executed by a computer, cause the computer to carry out steps of the method.

It has been found that odometry errors regularly threaten to occur when a vehicle with at least one wheel overcomes a curb. In such a situation, there is a particular risk of slippage, namely, for example, from a wheel spinning that is supposed to overcome or drive up a wet curb. In such a parking situation, an odometry error can increasingly flow in as part of a parking process based on a driving assistance system. Such an odometry error can increase the more wheels are to negotiate a curb. Odometry errors can lead to the initially planned target position of the vehicle deviating from the actual position of the vehicle in such a way that safe parking cannot be guaranteed. For example, because of a significant odometry error, it may be necessary to interrupt driving assistance for the parking process for safety reasons as soon as the fourth wheel has overcome the curb, for example. Otherwise, there could be a risk of a collision with a surrounding obstacle due to incorrect position determination.

In particular when parking, in which the vehicle is moved back and forth frequently and overcomes a curb with its wheels several times in order to position the vehicle properly, there is a risk of an odometry error, which can lead to the parking process being interrupted for safety reasons.

In addition to the problem of an odometry error that a vehicle position cannot be reliably determined and therefore a collision with a surrounding obstacle could threaten, there is still the problem that a wheel adjacent to the curb can lock. This is the case, for example, if the diameter axis of the wheel runs at an acute angle to the longitudinal axis of the curb that the wheel to be moved, in particular the wheel to be steered, hits the curb in a blocking manner, so that the driving process cannot be continued as intended.

Based on the above-mentioned prior art, the invention is therefore based on the object of specifying a method for parking a vehicle driving into a curb, a driving support system, a vehicle, a computer program, a data carrier signal and a computer-readable medium, which in the event of odometry errors in Parking a vehicle in a curb parking lot enables an improved parking process.

The object is achieved according to the invention by the features of the independent claims. Advantageous embodiments of the invention are specified in the subclaims.

• Initialdetektieren von Umgebungsdaten, mit einem Sensorsystem, umfassend Daten eines Bordsteinparkplatzes und des Bordsteins;
• Bestimmen einer Zielparkposition des Fahrzeugs auf dem Bordsteinparkplatz, wobei die Anzahl der auf dem Bordsteinparkplatz zu parkenden Räder bestimmt wird, und Bestimmen einer Einparktrajektorie basierend auf den detektierten Umgebungsdaten, wobei die Einparktrajektorie eine Vielzahl von Soll-Positionen des Fahrzeugs aufweist; Starten eines Fahrvorgangs des Fahrzeugs, zumindest umfassend Lenk- und Bewegungsmanöver, zum Parken entlang der Einparktrajektorie;
• Überwinden des Bordsteins mit mindestens einem Rad;
• Detektieren einer Ist-Position des Fahrzeugs, mit dem Sensorsystem, nach einem Überwindungsvorgang des Bordsteins mit mindestens einem Rad;
• Vergleichen der Ist-Position des Fahrzeugs mit der Soll-Position des Fahrzeugs zur Detektion eines Odometriefehlers, mit einer Recheneinheit, nach einem Überwindungsvorgang des Bordsteins mit mindestens einem Rad;
• Aktualisieren der auszuführenden Lenk- und/oder Bewegungsmanöver des Fahrzeugs zum Kompensieren des detektierten Odometriefehlers, um das Fahrzeug entlang der Einparktrajektorie zu parken.

According to the invention, a method for parking a vehicle driving onto a curb with a plurality of wheels and with a vehicle-integrated driving support system for carrying out the method is thus specified, comprising the following steps:

• Initial detection of environmental data with a sensor system comprising data of a curb parking lot and the curb;
• Determining a target parking position of the vehicle in the curb parking lot, wherein the number of wheels to be parked in the curb parking lot is determined, and determining a parking trajectory based on the detected environmental data, the parking trajectory having a plurality of desired positions of the vehicle; Starting a driving process of the vehicle, at least including steering and movement maneuvers, for parking along the parking trajectory;
• Overcoming the curb with at least one wheel;
• Detecting an actual position of the vehicle with the sensor system after overcoming the curb with at least one wheel;
• Comparing the actual position of the vehicle with the desired position of the vehicle for the detection of an odometry error, with a computing unit, after overcoming the curb with at least one wheel;
• Updating of the steering and / or movement maneuvers to be carried out of the vehicle to compensate for the detected odometry error in order to park the vehicle along the parking trajectory.

The exact target parking position of the vehicle is part of the curb parking lot.

The last step of the method according to the invention is preferably carried out in the vehicle.

According to the invention, a driving support system with means for performing the steps of the method is also specified. The driving support system can have a driving support system for supporting autonomous or semi-autonomous driving of corresponding autonomous or semi-autonomous vehicles or a driver assistance system for supporting a driver of the vehicle in different driving situations.

A vehicle with the driving assistance system is also specified according to the invention. The vehicle is preferably a driver's ego vehicle.

Furthermore, according to the invention, a computer program is specified, comprising commands which, when the computer program is executed by a computer, cause the computer to carry out steps of the method. A computer program is a collection of instructions for performing a particular task, designed to solve a particular class of problems. A program's instructions are designed to be carried out by a computer and it requires a computer to be able to run programs in order for it to function.

According to the invention, a data carrier signal is also specified, which the computer program transmits.

Furthermore, according to the invention, a computer-readable medium is specified, comprising instructions which, when executed by a computer, cause the computer to execute steps of the method.

The basic idea of the present invention is therefore a method for compensating for an odometry error after driving a curb with a vehicle in order to ensure reliable and collision-free parking. After each wheel that has overcome a curb, a sensor system checks whether the current vehicle position corresponds to a calculated vehicle position. If this is not the case, the odometry data will be adjusted. This enables the target position to be reached as precisely as possible. Furthermore, the risk of a wheel hitting the curb and blocking is reduced. Avoiding the blocking stop in particular reduces damage to wheel rims and tires. Furthermore, a blocking stop leads to the risk that the parking process cannot be carried out along the parking trajectory and the parking process may be aborted.

Odometry describes a method of estimating the position and orientation, in particular the estimation of the position, of a mobile system based on the data of its propulsion system. Systems driven by wheels, for example a vehicle, use the number of wheel revolutions for this. One device that uses odometry to estimate location is an odometer. Odometry, in conjunction with dead reckoning, is a fundamental navigation method for ground-based vehicles of all types, in the present case in particular for vehicles, but due to its error properties it is rarely used as the sole method.

• Überwinden des Bordsteins mit mindestens einem Rad;
• Detektieren der Ist-Position des Fahrzeugs;
• Vergleichen der Ist-Position des Fahrzeugs mit der Soll-Position des Fahrzeugs zur Detektion des Odometriefehlers, und
• Aktualisieren der auszuführenden Lenk- und/oder Bewegungsmanöver des Fahrzeugs zum Kompensieren des detektierten Odometriefehlers, um das Fahrzeug entlang der Einparktrajektorie zu parken.
• Diese Schritte werden wiederholt bis das Fahrzeug mit der bestimmten Anzahl der auf dem Bordsteinparkplatz zu parkenden Räder auf dem Bordsteinparkplatz geparkt ist. Es hat sich herausgestellt, dass dieses Vorgehen eine optimale Lösung darstellt, um einen möglichst genauen Parkvorgang auf Bordsteinparkplätzen zu ermöglichen.

According to an advantageous embodiment of the invention, it is provided that the following steps are repeated:

• Overcoming the curb with at least one wheel;
• Detecting the current position of the vehicle;
• Comparing the actual position of the vehicle with the desired position of the vehicle to detect the odometry error, and
• Updating of the steering and / or movement maneuvers to be carried out of the vehicle to compensate for the detected odometry error in order to park the vehicle along the parking trajectory.
• These steps are repeated until the vehicle with the specific number of wheels to be parked in the curb parking lot is parked in the curb parking lot. It has been found that this procedure represents an optimal solution to enable the most precise possible parking process in curb parking spaces.

According to an advantageous embodiment of the invention, it is provided that the determination of the target parking position of the vehicle in the curb parking lot and the determination of the parking trajectory take place assuming a flat base area. This simplifies the arithmetic operation for determining the parking trajectory, and saves computing capacity in this method step. Although it can happen that any odometry errors sometimes result from the fact that a route offset occurs when negotiating the curb, this odometry error can be compensated according to the method by updating the steering and / or movement maneuvers to be carried out by the vehicle.

According to an advantageous embodiment of the invention, it is provided that the determination of the target parking position of the vehicle on the curb parking lot and the determination of the parking trajectory take place in such a way that the driving assistance system simulates the driving process of the vehicle to be carried out, whereby for each wheel that is to overcome the curb , at least one influencing factor is taken into account. This means that typical causes for odometry errors for a certain vehicle type can be taken into account from the outset when determining the parking trajectory. This distributes the required computing capacity and can have an advantageous effect on the accuracy of the odometry error to be compensated.

According to an advantageous embodiment of the invention, it is provided that during the overcoming of the curb of a respective wheel, slip, ground deviations and / or a height of the curb are at least one influencing factor. In the case of motor vehicles in particular, these can be typical influencing factors that must be taken into account when determining the parking trajectory.

According to an advantageous embodiment of the invention, it is provided that the curb is overcome with at least one wheel in such a way that the wheel to be overcome is driven adjacent to the curb until an increased resistance is detected on the motor side, so that the respective wheel with increased torque is applied to overcome the curb. This enables the parking process to take place more precisely and the odometry error to be compensated for can be reduced.

According to an advantageous embodiment of the invention it is provided that in the case of a wheel adjacent to the curb, an intensity of a motor resistance and / or a steering angle of the wheel to the curb is used in addition to detecting the actual position of the vehicle. This can increase the precision of the detection of the actual position of the vehicle and thus enable a more precise parking process.

According to an advantageous embodiment of the invention it is provided that the initial detection of environmental data with a sensor system comprises at least one snapshot. A snapshot can be completely evaluated as the only recording in one evaluation step, so that the required computing capacity is reduced. It has been found that accurate detection results can still be achieved.

According to an advantageous embodiment of the invention, it is provided that the detection of an actual position of the vehicle with a sensor system includes at least one snapshot. A snapshot can be completely evaluated as the only recording in one evaluation step, so that the required computing capacity is reduced. It has been found that accurate detection results can still be achieved.

According to an advantageous embodiment of the invention it is provided that the determination of the parking trajectory with respectively simulated snapshots of the target positions of the vehicle takes place in such a way that additional braking points along the parking trajectory and respective target positions of the vehicle are set at these braking points. This enables a parking process that is as precise as possible with the lowest possible odometry errors to be compensated for.

According to an advantageous embodiment of the invention, it is provided that the comparison of the actual position of the vehicle with the target position of the vehicle for the detection of the odometry error is carried out with the computing unit in such a way that a reference object is determined from the environmental data, so that after overcoming the curb an actual distance of the vehicle to the reference object is compared with a nominal distance to the reference object with at least one wheel in order to derive the odometry error from a distance difference. This enables a parking process that is as precise as possible with the lowest possible odometry errors to be compensated for.

According to a particularly advantageous embodiment of the aforementioned invention, it is provided that
the odometry error is derived by taking into account the difference in distance from the parking trajectory and / or an expected braking point along the parking trajectory. This enables a parking process that is as precise as possible with as little compensation as possible Odometry errors and also requires only little computing capacity to determine the odometry error.

According to an advantageous embodiment of the invention, it is provided that the updating of the steering and / or movement maneuvers of the vehicle to be carried out takes place in such a way that a movement maneuver is carried out first and then a steering maneuver. It has been found to be an efficient method to compensate for the odometry error.

The invention is explained in more detail below with reference to the attached drawing using preferred embodiments. 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 eine schematische Draufsicht auf ein anfahrendes Fahrzeug in einem Straßenverkehrssystem mit Rechtsverkehr parallel zu einem Bordstein gemäß einer ersten bevorzugten Ausführungsform des erfindungsgemäßen Verfahrens,
• 2 einen auf 1 nächsten Schritt, nachdem das Fahrzeug seine Umgebungsdaten detektiert hat und an einem Bordsteinparkplatz vorbeigefahren ist,
• 3 einen auf 2 nächsten Schritt, bevor das Fahrzeug den Bordstein überwindet,
• 4 einen auf 3 nächsten Schritt, wobei das Fahrzeug mit einem hinteren, beifahrerseitigen Rad auf den Bordstein auffährt,
• 5 zwei auf 4 alternativ nächste Schritte, wobei das Fahrzeug zumindest mit einem vorderen, beifahrerseitigen Rad auf den Bordstein aufzufahren versucht,
• 6 einen auf 5b nächsten Schritt, wobei das Fahrzeug mit allen vier Rädern den Bordstein überwunden hat und auf seinem Bordsteinparkplatz steht,
• 7 eine schematische Seitenansicht eines selben auf einen Bordstein auffahrenden Rades zu zwei unterschiedlichen Zeitpunkten gemäß einer bevorzugten Ausführungsform des erfindungsgemäßen Verfahrens, und 8 ein Flussdiagramm mit Schritten hinsichtlich einer bevorzugten Ausführungsform des erfindungsgemäßen Verfahrens.

It shows

• 1 a schematic top view of an approaching vehicle in a road traffic system with right-hand traffic parallel to a curb according to a first preferred embodiment of the method according to the invention,
• 2 one on 1 next step after the vehicle has detected its environmental data and has passed a curb parking lot,
• 3 one on 2 next step before the vehicle overcomes the curb,
• 4th one on 3 next step, whereby the vehicle drives onto the curb with a rear, passenger-side wheel,
• 5 two on 4th alternatively, the next steps, whereby the vehicle tries to drive onto the curb with at least one front wheel on the passenger side,
• 6th one on 5b next step, whereby the vehicle has overcome the curb with all four wheels and is in its curb parking lot,
• 7th a schematic side view of the same wheel approaching a curb at two different times according to a preferred embodiment of the method according to the invention, and 8th a flow chart with steps with regard to a preferred embodiment of the method according to the invention.

The 1 shows a schematic plan view of a along a direction of travel F. moving vehicle 2 with four wheels ( 3 , 4th , 5 , 6th ) in a road traffic system with right-hand traffic parallel to a curb 1 according to a first preferred embodiment of the method according to the invention. An initial detection of environmental data takes place 10 , with a sensor system, comprising data from a curb parking lot 7th and the curb 1 . With a double arrow is the distance of the vehicle 2 to another, parked vehicle. According to the exemplary embodiment shown, the data of the surrounding obstacles, and in particular third-party vehicles, are also detected.

According to 2 a target parking position of the vehicle is determined 2 in the curb parking lot 7th 20th , being the number of on the curb parking lot 7th bikes to be parked 3 , 4th , 5 , 6th is determined. A parking trajectory is also determined E. 25th based on the detected environmental data, the parking trajectory E. a variety of target positions of the vehicle 2 having. Determining the steps 20th and 25th can be done simultaneously or offset from one another.

According to 3 a driving process of the vehicle is started 2 30th , at least including steering and movement maneuvers, for parking along the parking trajectory E. .

According to 4th the curb is overcome 1 with a first bike 6th 40a , namely the rear, right wheel 6th . Depending on the process of overcoming the curb 1 with a first bike 6th 40a can, for example, under the influence of moisture or black ice, the vehicle 2 different than calculated on the curb parking lot 7th come to a standstill.

The 5a and 5b show two different states of the vehicle 2 , each with a second wheel 4th to the curb 1 adjoins. In the representation after 5a is an on 4th The following driving state, as expected according to the state of the art, is shown, with an actual position of the vehicle 2 by negotiating the curb 1 deviates from the target position in such a way that the second wheel 4th on the curb 1 blocked and no longer steered. A planned continuation of the parking maneuver along the parking trajectory E. is because of the wheel preventing steering 4th not possible. In the representation after 5b is an on 4th following and to 5a alternative driving condition shown. To achieve this are following the step after 4th perform method steps according to the invention, namely a detection of an actual position of the vehicle 2 50a , with the sensor system, after a Overcoming the curb 1 with the first bike 6th . Then, a comparison of the actual position of the vehicle 2 with the target position of the vehicle 2 60a for the detection of an odometry error, with a computing unit, after overcoming the curb 1 with the first bike 6th . In the next step, the steering and / or movement maneuvers of the vehicle to be carried out are updated 2 70a to compensate for the detected odometry error around the vehicle 2 along the parking trajectory E. to park.

In 6th is a self 5b subsequent parking state shown, which represents that the parking process of the vehicle 2 along the parking trajectory E. is complete, so the vehicle 2 in the curb parking lot 7th is in the intended target parking position.

7th shows an exemplary situation of how an odometry error can occur when a wheel 3 , 4th , 5 , 6th a curb 1 overcomes. This takes place in particular after overcoming the curb 1 with at least one wheel 3 , 4th , 5 , 640 , where present, according to the 1 to 6th , overcoming the curb 1 with the first bike 6th 40a is shown. So can the first bike 6th while overcoming the edge of the curb 1 spinning, for example in wet conditions or black ice. However, this spinning is caused by the vehicle 2 incorrectly identified or interpreted as a normal route instead of spinning. According to the state of the art, this misinterpretation leads to a deviation of the actual position from the target position. In contrast, according to the invention, this odometry error is corrected.

• Initialdetektieren von Umgebungsdaten 10, mit einem Sensorsystem, umfassend Daten eines Bordsteinparkplatzes 7 und des Bordsteins 1;
• Bestimmen einer Zielparkposition des Fahrzeugs 2 auf dem Bordsteinparkplatz 7 20 wobei die Anzahl der auf dem Bordsteinparkplatz 7 zu parkenden Räder 3, 4, 5, 6 bestimmt wird, und Bestimmen einer Einparktrajektorie E 25 basierend auf den detektierten Umgebungsdaten, wobei die Einparktrajektorie E eine Vielzahl von Soll-Positionen des Fahrzeugs 2 aufweist;
• Starten eines Fahrvorgangs des Fahrzeugs 2 30, zumindest umfassend Lenk- und Bewegungsmanöver, zum Parken entlang der Einparktrajektorie E;
• Überwinden des Bordsteins 1 mit mindestens einem Rad 3, 4, 5, 6 40; Detektieren einer Ist-Position des Fahrzeugs 2 50, mit dem Sensorsystem, nach einem Überwindungsvorgang des Bordsteins 1 mit mindestens einem Rad 3, 4, 5, 6; Vergleichen der Ist-Position des Fahrzeugs 2 mit der Soll-Position des Fahrzeugs 2 60 zur Detektion eines Odometriefehlers, mit einer Recheneinheit, nach einem Überwindungsvorgang des Bordsteins 1 mit mindestens einem Rad 3, 4, 5, 6; und Aktualisieren der auszuführenden Lenk- und/oder Bewegungsmanöver des Fahrzeugs 2 70 zum Kompensieren des detektierten Odometriefehlers, um das Fahrzeug 2 entlang der Einparktrajektorie E zu parken.

In essence, the invention thus relates to a method for parking one on a curb 1 approaching vehicle 2 with a variety of wheels 3 , 4th , 5 , 6th . The vehicle 2 comprises a vehicle-integrated driving support system for carrying out the method, having the following steps:

• Initial detection of environmental data 10 , with a sensor system, comprising data from a curb parking lot 7th and the curb 1 ;
• Determining a target parking position of the vehicle 2 in the curb parking lot 7th 20th being the number of on the curb parking lot 7th bikes to be parked 3 , 4th , 5 , 6th is determined, and determining a parking trajectory E. 25th based on the detected environmental data, the parking trajectory E. a variety of target positions of the vehicle 2 having;
• Starting a driving process of the vehicle 2 30th , at least including steering and movement maneuvers, for parking along the parking trajectory E. ;
• Overcoming the curb 1 with at least one wheel 3 , 4th , 5 , 6th 40 ; Detecting an actual position of the vehicle 2 50 , with the sensor system, after overcoming the curb 1 with at least one wheel 3 , 4th , 5 , 6th ; Compare the actual position of the vehicle 2 with the target position of the vehicle 2 60 for the detection of an odometry error, with a computing unit, after overcoming the curb 1 with at least one wheel 3 , 4th , 5 , 6th ; and updating the steering and / or movement maneuvers of the vehicle to be carried out 2 70 to compensate for the detected odometry error around the vehicle 2 along the parking trajectory E. to park.

Depending on how many bikes 3 , 4th , 5 , 6th in the curb parking lot 7th parking are especially the steps 40 , 50 , 60 and 70 to be repeated for each overcoming process. For example, a curb for two 1 right wheels to be overcome 4th , 6th of a vehicle 2 as in the 1 to 6th present, a flow chart is schematically shown in 8th shown. Unlike in the 1 to 6th overcome in the flow chart 8th not four 3, 4, 5, 6, but two wheels 4th , 6th the curb 1 . The use of the reference signs with the addition of a or b has no significant influence on the teaching of the invention and can also apply to the teaching of the invention without these additions. The additions a and b only apply as an example for driving maneuvers with a first or second wheel.

• Initialdetektieren von Umgebungsdaten 10, mit einem Sensorsystem, umfassend Daten eines Bordsteinparkplatzes 7 und des Bordsteins 1;
• Bestimmen einer Zielparkposition des Fahrzeugs 2 auf dem Bordsteinparkplatz 7 20 wobei beispielsweise zwei auf dem Bordsteinparkplatz 7 zu parkenden Räder 4, 6 bestimmt werden, und Bestimmen einer Einparktrajektorie E 25 basierend auf den detektierten Umgebungsdaten, wobei die Einparktrajektorie E eine Vielzahl von Soll-Positionen des Fahrzeugs 2 aufweist;
• Starten eines Fahrvorgangs des Fahrzeugs 2 30, zumindest umfassend Lenk- und Bewegungsmanöver, zum Parken entlang der Einparktrajektorie E;
• Überwinden des Bordsteins 1 mit mindestens einem ersten Rad 640a;
• Detektieren einer Ist-Position des Fahrzeugs 2 50a, mit dem Sensorsystem, nach einem Überwindungsvorgang des Bordsteins 1 mit dem ersten Rad 6;
• Vergleichen der Ist-Position des Fahrzeugs 2 mit der Soll-Position des Fahrzeugs 2 60a zur Detektion eines Odometriefehlers, mit einer Recheneinheit, nach einem Überwindungsvorgang des Bordsteins 1 mit dem ersten Rad 6; und Aktualisieren der auszuführenden Lenk- und/oder Bewegungsmanöver des Fahrzeugs 2 70a zum Kompensieren des detektierten Odometriefehlers, um das Fahrzeug 2 entlang der Einparktrajektorie E zu parken;
• Überwinden des Bordsteins 1 mit einem zweiten Rad 4 40b;
• Detektieren einer Ist-Position des Fahrzeugs 2 50b, mit dem Sensorsystem, nach einem Überwindungsvorgang des Bordsteins 1 mit dem zweiten Rad 4;
• Vergleichen der Ist-Position des Fahrzeugs 2 mit der Soll-Position des Fahrzeugs 2 60b zur Detektion eines Odometriefehlers, mit einer Recheneinheit, nach einem Überwindungsvorgang des Bordsteins 1 mit dem zweiten Rad 4; und Aktualisieren der auszuführenden Lenk- und/oder Bewegungsmanöver des Fahrzeugs 2 70b zum Kompensieren des detektierten Odometriefehlers, um das Fahrzeug 2 entlang der Einparktrajektorie E zu parken;
• sodass das Fahrzeug 2 mit beiden auf dem Bordsteinparkplatz 7 zu parkenden Rädern 4, 6 auf dem Bordsteinparkplatz 7 geparkt ist 80.

So in 8th a method of parking one on a curb 1 approaching vehicle 2 with two wheels 4th , 6th and with a vehicle-integrated driving support system for performing the method, comprising the following steps:

• Initial detection of environmental data 10 , with a sensor system, comprising data from a curb parking lot 7th and the curb 1 ;
• Determining a target parking position of the vehicle 2 in the curb parking lot 7th 20th for example, two in the curb parking lot 7th bikes to be parked 4th , 6th can be determined, and determining a parking trajectory E. 25th based on the detected environmental data, the parking trajectory E. a variety of target positions of the vehicle 2 having;
• Starting a driving process of the vehicle 2 30th , at least including steering and movement maneuvers, for parking along the parking trajectory E. ;
• Overcoming the curb 1 with at least one first wheel 640a ;
• Detecting an actual position of the vehicle 2 50a , with the sensor system, after overcoming the curb 1 with the first bike 6th ;
• Compare the actual position of the vehicle 2 with the target position of the vehicle 2 60a to Detection of an odometry error, with a computing unit, after overcoming the curb 1 with the first bike 6th ; and updating the steering and / or movement maneuvers of the vehicle to be carried out 2 70a to compensate for the detected odometry error around the vehicle 2 along the parking trajectory E. to park;
• Overcoming the curb 1 with a second wheel 4th 40b ;
• Detecting an actual position of the vehicle 2 50b , with the sensor system, after overcoming the curb 1 with the second wheel 4th ;
• Compare the actual position of the vehicle 2 with the target position of the vehicle 2 60b for the detection of an odometry error, with a computing unit, after overcoming the curb 1 with the second wheel 4th ; and updating the steering and / or movement maneuvers of the vehicle to be carried out 2 70b to compensate for the detected odometry error around the vehicle 2 along the parking trajectory E. to park;
• so the vehicle 2 with both of them in the curb parking lot 7th to parked bikes 4th , 6th in the curb parking lot 7th is parked 80 .

• Überwinden des Bordsteins 1 mit mindestens einem Rad 3, 4, 5, 6 40;
• Detektieren der Ist-Position des Fahrzeugs 2 50;
• Vergleichen der Ist-Position des Fahrzeugs 2 mit der Soll-Position des Fahrzeugs 2 60 zur Detektion des Odometriefehlers, und
• Aktualisieren der auszuführenden Lenk- und/oder Bewegungsmanöver des Fahrzeugs 2 70 zum Kompensieren des detektierten Odometriefehlers, um das Fahrzeug 2 entlang der Einparktrajektorie E zu parken,
• bis das Fahrzeug 2 mit der bestimmten Anzahl der auf dem Bordsteinparkplatz 7 zu parkenden Räder 3, 4, 5, 6 auf dem Bordsteinparkplatz 7 geparkt ist 80.

A repetition of the steps is thus provided in particular

• Overcoming the curb 1 with at least one wheel 3 , 4th , 5 , 6th 40 ;
• Detecting the actual position of the vehicle 2 50 ;
• Compare the actual position of the vehicle 2 with the target position of the vehicle 2 60 to detect the odometry error, and
• Updating the steering and / or movement maneuvers to be carried out by the vehicle 2 70 to compensate for the detected odometry error around the vehicle 2 along the parking trajectory E. to park,
• up the vehicle 2 with the certain number of on the curb parking lot 7th bikes to be parked 3 , 4th , 5 , 6th in the curb parking lot 7th is parked 80 .

In particular, it can be provided that the target parking position of the vehicle is determined 2 in the curb parking lot 7th 20th , and determining the parking trajectory E. 25th take place assuming a flat base.

It can also be provided that the target parking position of the vehicle is determined 2 in the curb parking lot 7th 20th , and determining the parking trajectory E. 25th take place in such a way that the driving process of the vehicle to be carried out is carried out by the driving support system 2 is simulated, with for each wheel 3 , 4th , 5 , 6th that is the curb 1 should overcome, at least one influencing factor is taken into account. Optionally, it can be provided for this purpose that while overcoming the curb 1 of each wheel 3 , 4th , 5 , 6th Slippage, ground deviations and / or a height of the curb 1 is at least one influencing factor.

A driving maneuver between those shown 3 and 4th can provide that overcoming the curb 1 with at least one wheel 3 , 4th , 5 , 6th 40a , 40b is done in such a way that the curb 1 wheel to be overcome 3 , 4th , 5 , 6th so adjacent to the curb 1 It is driven up until an increased resistance is detected on the motor side, so that the respective wheel 3 , 4th , 5 , 6th with increased torque to overcome the curb 1 is applied.

Furthermore, it can be provided that in the case of one on the curb 1 adjacent wheel 3 , 4th , 5 , 6th , an intensity of a motor resistance and / or a steering angle of the wheel 3 , 4th , 5 , 6th to the curb 1 in addition to detecting the actual position of the vehicle 2 is used.

It can also be provided that the initial detection of environmental data 10 , with a sensor system, comprises at least one snapshot.

Furthermore, it can be provided that the detection of an actual position of the vehicle 2 50a , 50b takes place with a sensor system and comprises at least one snapshot.

It can also be provided that the parking trajectory is determined E. 25th each with simulated snapshots of the target positions of the vehicle 2 takes place in such a way that additional braking points along the parking trajectory and respective target positions of the vehicle 2 be determined at these braking points.

It can also be provided that the actual position of the vehicle is compared 2 with the target position of the vehicle 2 60a , 60b for the detection of the odometry error takes place with the computing unit in such a way that a reference object is determined from the environmental data, so that after the process of overcoming the curb 1 with at least one wheel 3 , 4th , 5 , 6th an actual distance of the vehicle 2 to the reference object is compared with a target distance to the reference object in order to derive the odometry error from a distance difference.

Furthermore, it can be provided that the odometry error is taken into account by taking into account the difference in distance from the parking trajectory E. and / or an expected braking point along the parking trajectory E. is derived. The odometry error can be derived from the difference in distance from the parking trajectory E. and / or from an expected braking point along the parking trajectory E. can be derived. The odometry error can also be derived from the difference in distance from the parking trajectory E. can be derived.

Furthermore, it can be provided that the updating of the steering and / or movement maneuvers of the vehicle to be carried out 2 70a , 70b takes place in such a way that first a movement maneuver and then a steering maneuver takes place.

List of reference symbols

1

Curb

2

vehicle

3

Front, driver-side wheel

4th

Front passenger-side wheel

5

Rear, driver-side wheel

6

Rear, passenger-side wheel

7th

Curb parking

10

Initial detection of environmental data

20th

Determining a target parking position of the vehicle in the curb parking lot

25th

Determining a parking trajectory

30th

Starting a driving process of the vehicle

40

Overcoming the curb with at least one wheel

40a

Overcoming the curb with a first bike

40b

Crossing the curb with a second bike

50

Detecting an actual position of the vehicle

50a

Detecting a first actual position of the vehicle

50b

Detecting a second actual position of the vehicle

60

Compare the actual position of the vehicle with the target position of the vehicle

60a

Comparing the first actual position of the vehicle with the first target position of the vehicle

60b

Comparing the second actual position of the vehicle with the second target position of the vehicle

70

Updating the steering and / or movement maneuvers to be carried out of the vehicle after comparing the actual position of the vehicle with the target position of the vehicle

70a

Updating the steering and / or movement maneuvers to be carried out of the vehicle after comparing the first actual position of the vehicle with the first target position of the vehicle

70b

Updating the steering and / or movement maneuvers to be carried out of the vehicle after comparing the second actual position of the vehicle with the second target position of the vehicle

80

The vehicle is parked in the curb parking lot with the specific number of wheels to be parked in the curb parking lot

F.

Direction of travel

E.

Parking trajectory

Claims (18)

Method for parking a vehicle (2) driving onto a curb (1) with a plurality of wheels (3, 4, 5, 6) and with a vehicle-integrated driving support system for carrying out the method, comprising the following steps: - Initial detection of environmental data (10) with a sensor system, comprising data of a curb parking lot (7) and the curb (1); - Determining a target parking position of the vehicle (2) on the curb parking lot (7) (20), the number of wheels (3, 4, 5, 6) to be parked on the curb parking lot (7) being determined, and determining a parking trajectory (E. ) (25) based on the detected environmental data, the parking trajectory (E) having a plurality of target positions of the vehicle (2); - Starting a driving process of the vehicle (2) (30), at least including steering and movement maneuvers, for parking along the parking trajectory (E); - Overcoming the curb (1) with at least one wheel (3, 4, 5, 6) (40a, 40b); - Detecting an actual position of the vehicle (2) (50a, 50b) with the sensor system after overcoming the curb (1) with at least one wheel (3, 4, 5, 6); - Comparing the actual position of the vehicle (2) with the target position of the vehicle (2) (60a, 60b) for the detection of an odometry error, with a computing unit, after overcoming the curb (1) with at least one wheel (3, 4, 5, 6); - Updating the steering and / or movement maneuvers to be carried out of the vehicle (2) (70a, 70b) in order to compensate for the detected one Odometry error to park the vehicle (2) along the parking trajectory (E). Procedure according to Claim 1 characterized by repeating the steps - overcoming the curb (1) with at least one wheel (3, 4, 5, 6) (40a, 40b); - Detecting the actual position of the vehicle (2) (50a, 50b); - comparing the actual position of the vehicle (2) with the target position of the vehicle (2) (60a, 60b) to detect the odometry error, and - updating the steering and / or movement maneuvers of the vehicle (2) (70a) to be carried out 70b) to compensate for the detected odometry error in order to park the vehicle (2) along the parking trajectory (E) until the vehicle (2) has the specific number of wheels (3, 4, 5) to be parked on the curb parking lot (7) 6) is parked in the curb parking lot (7) (80). Procedure according to Claim 1 or 2 , characterized in that the determination of the target parking position of the vehicle (2) on the curb parking lot (7) (20), and the determination of the parking trajectory (E) (25) take place assuming a flat surface. Method according to at least one of the preceding claims, characterized in that the determination of the target parking position of the vehicle (2) on the curb parking lot (7) (20) and the determination of the parking trajectory (E) (25) take place in such a way that the driving assistance system enables the The driving process of the vehicle (2) to be carried out is simulated, at least one influencing factor being taken into account for each wheel (3, 4, 5, 6) that is to overcome the curb (1). Method according to the preceding claim, characterized in that while overcoming the curb (1) of a respective wheel (3, 4, 5, 6), slip, ground deviations and / or a height of the curb (1) is at least one influencing factor. Method according to at least one of the preceding claims, characterized in that the curb (1) is overcome with at least one wheel (3, 4, 5, 6) (40a, 40b) in such a way that the wheel to be overcome the curb (1) (3, 4, 5, 6) is approached so adjacent to the curb (1) until an increased resistance is detected on the engine side, so that the respective wheel (3, 4, 5, 6) with increased torque to overcome the curb (1) is applied. Method according to at least one of the preceding claims, characterized in that in the case of a wheel (3, 4, 5, 6) adjoining the curb (1), an intensity of a motor resistance and / or a steering angle of the wheel (3, 4, 5 , 6) to the curb (1) is used in addition to detecting the actual position of the vehicle (2). Method according to at least one of the preceding claims, characterized in that the initial detection of environmental data (10) with a sensor system comprises at least one snapshot. Method according to at least one of the preceding claims, characterized in that the detection of an actual position of the vehicle (2) (50a, 50b) with a sensor system comprises at least one snapshot. The method according to at least one of the preceding claims, characterized in that the determination of the parking trajectory (E) (25) with respectively simulated snapshots of the target positions of the vehicle (2) takes place in such a way that additional braking points along the parking trajectory (E) and the respective target -Positions of the vehicle (2) are set at these braking points. Method according to at least one of the preceding claims, characterized in that the comparison of the actual position of the vehicle (2) with the target position of the vehicle (2) (60a, 60b) for the detection of the odometry error takes place with the computing unit in such a way that from a reference object is set based on the environmental data, so that after overcoming the curb (1) with at least one wheel (3, 4, 5, 6) an actual distance from the vehicle (2) to the reference object is compared with a target distance to the reference object to derive the odometry error from a distance difference. Method according to the preceding claim, characterized in that the odometry error is derived by taking into account the difference in distance from the parking trajectory (E) and / or an expected braking point along the parking trajectory (E). Method according to at least one of the preceding claims, characterized in that the updating of the steering and / or movement maneuvers of the vehicle (2) (70a, 70b) to be carried out takes place in such a way that first a movement maneuver and then a steering maneuver takes place. Driving support system with means for parking a vehicle (2) driving onto a curb (1) and having a plurality of wheels (3, 4, 5, 6) for performing at least one step of the method according to at least one of the preceding claims. Vehicle (2) with a driving support system according to the preceding claim. Computer program, comprising instructions which, when the computer program is executed by a computer, cause the computer to carry out a method according to at least one of the preceding claims. Data carrier signal transmitted by the computer program according to the preceding claim. Computer-readable medium, comprising instructions which, when executed by a computer, cause the computer to carry out a method according to at least one of the preceding claims.

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