DE102019125066A1 - Dynamic automatic maneuvering - Google Patents

Abstract

A method is provided for automatically parking a motor vehicle in which a parking space trajectory is determined on the basis of directly recorded data about the motor vehicle environment and additionally on the basis of data relating to information about the motor vehicle environment and determined while the motor vehicle is moving to the parking position and were stored on a storage device of the motor vehicle. Furthermore, a motor vehicle and a system for carrying out the method are provided.

Description

The invention relates to a method for automatically parking a motor vehicle and a motor vehicle and a system for carrying out the method.

In modern motor vehicles, systems for supporting a parking and exit process, or parking assistance systems for short, are often used. There are parking assistance systems that can carry out the entire parking process automatically. With the appearance of autonomous vehicles, automatic parking assistance systems will also appear more frequently. Parking assistance systems can support a parking process by taking over the steering (semi assisted parking, SAP) or carry it out completely by taking over steering, acceleration, braking and shifting (fully assisted parking, FAP). The driver has a monitoring function within the motor vehicle and holds down, for example, a button associated with parking, which he can use to stop the parking process immediately by releasing it.

Another possibility is parking with remote control, which corresponds to the FAP, but is controlled by the driver from outside the motor vehicle, for example by means of a smartphone on which a corresponding app is installed. For example, a button associated with parking or a field on a touchscreen is also pressed, via which the driver can immediately stop the parking process by letting go. The most common uses for parking with remote control is parking in and out of parking spaces that are too narrow for easy opening of the motor vehicle doors. In this way, you can get on and off at a different, convenient place. Remote control parking is described in the pamphlets, for example US 2016/240080 A1 , US 7,053,795 B2 and US 8,558,690 B2 disclosed. The pamphlets US 2016/152258 A1 and EP 2 687 410 A1 In addition, disclose methods by means of which it is possible to react to obstacles in the planned trajectory, especially when pulling out of a parking space with remote control. The object is to improve the methods of the prior art.

This object is achieved by a method with the features according to claim 1 and by a motor vehicle according to claim 12 and a system according to claim 13. Further advantageous embodiments and refinements of the invention emerge from the secondary and subclaims, the figures and the exemplary embodiments. The embodiments of the invention can be combined with one another in an advantageous manner.

• - Erteilen eines ersten Steuerungsbefehls zum Bewegen des Kraftfahrzeugs aus einer aktuellen Parkposition in eine Zielposition,
• - Erfassen der Umgebung des Kraftfahrzeugs, die für eine Bewegung des Kraftfahrzeugs aus der Parkposition relevant ist,
• - Erteilen eines zweiten Steuerungsbefehls zur Auswahl der Bewegungsrichtung und des Bewegungswinkels aus der Parkposition,
• - Ermitteln mindestens einer ersten Trajektorie für eine Ausparkbewegung aus der Parkposition in die Zielposition,
• - Starten der Ausparkbewegung.

A first aspect of the invention relates to a method for automatically parking a motor vehicle, with the following steps:

• - Issuing a first control command for moving the motor vehicle from a current parking position to a target position,
• - Detecting the surroundings of the motor vehicle that is relevant for a movement of the motor vehicle out of the parking position,
• - Issuing a second control command to select the direction of movement and the angle of movement from the parking position,
• - Determining at least one first trajectory for a movement out of the parking position into the target position,
• - Start of the parking maneuver.

The method is characterized in that the first trajectory is additionally determined on the basis of data that relate to information about the motor vehicle environment and was determined while the motor vehicle was moving to the parking position and stored on a memory device of the motor vehicle. In other words, information currently obtained and, if possible, stored information flow into the calculation of the first trajectory.

The method according to the invention is advantageous because it enables predictive planning of a trajectory for automatically leaving a parking space of a remotely controlled motor vehicle. The information is recorded in particular by radar, ultrasound, lidar and / or a camera, without being restricted thereto. Furthermore, the method enables dynamic adaptation to obstacles that have already emerged in the trajectory that has already been taken. The method is preferably started, monitored and ended via an intelligent operating device, e.g. a smartphone, on which a corresponding app is installed.

The first trajectory is preferably divided into several partial trajectories. This is particularly advantageous in the vicinity of an intersection area, where it is necessary to maneuver back and forth several times in order to counteract the risk of a collision with other road users. However, it is also advantageous in the area of other obstacles or when the road is narrow. The planned partial trajectories can be shown to the driver (user of the method) on a display, whereby he can determine the maximum number of movements and the time to leave a parking space. The number of partial trajectories and the time of the parking maneuver are preferably limited. This advantageously does not unnecessarily impede potential traffic. Furthermore, the driver can choose from several positions Selection are made on which the motor vehicle is to come to a stop.

The information about the surroundings of the motor vehicle preferably relates to the width of the lane on which the motor vehicle is being moved. This information has advantageously been recorded because the lane widths can change along the length, i.e., for example, they can be wider in the immediately visible area than in the targeted area in which the motor vehicle comes to a stop at the end of the maneuvering out of a parking space. In the method, this information has already been stored advantageously before parking.

The information about the surroundings of the motor vehicle preferably relates to the distance to an intersection area of the lane on which the motor vehicle is being moved. In this way, the trajectory for exiting a parking space can advantageously be planned in advance without getting into or too close to the intersection area. As described above, the out-of-parking trajectory can be planned in several sub-trajectories with several changes of direction, e.g. to avoid the intersection area.

A ring memory is preferably used as the memory device in the method. The information is stored over a certain period of time and / or a certain route traveled. The data in the ring memory are particularly preferably overwritten on a non-volatile memory device when the motor vehicle is switched off. As a result, the information can advantageously be accessed when the motor vehicle is in the parking position beyond the specific period of time. Non-volatile storage devices are, for example, hard drives in the motor vehicle or operating device or a cloud.

Information about further motor vehicles which move into the area of the first trajectory preferably flows into the method. In this way, movements of motor vehicles that are already moving in a certain direction into the planned trajectory can be recognized. Furthermore, information about planned movements of another motor vehicle in a certain direction can also be recognized, e.g. via activated blinkers and / or vehicle-to-vehicle communication. The information can come directly from the user, who in certain situations has a better overview of the traffic situation than can be achieved with the devices of the user's motor vehicle. A blocking of the path of the other motor vehicle or a potential collision is advantageously counteracted in a proactive manner.

In addition to the first trajectory, at least one second trajectory is preferably determined and one of the said trajectories is selected by a user. The direction, the angle of movement for driving out of the parking space relative to the boundaries of the parking space (e.g. other vehicles, walls or curbs) as well as the desired lane and / or target position and orientation can advantageously be selected as is convenient for the user. The above remarks on the first trajectory then apply accordingly to the other selected trajectories.

A second aspect of the invention relates to a motor vehicle with at least one detection device for detecting the surroundings of the motor vehicle, selected from the group comprising radar, ultrasound, lidar and a camera, a storage device and a control device. The control device is configured to control a method according to the invention. The advantages of the motor vehicle correspond to the advantages of the method according to the invention.

A third aspect of the invention relates to a system comprising a motor vehicle according to the invention and an intelligent device with an app that enables remote control for starting and processing a method according to the invention.

• 1 eine schematische Darstellung einer Ausführungsform des erfindungsgemäßen Kraftfahrzeugs
• 2 ein Fließdiagramm einer Ausführungsform des erfindungsgemäßen Verfahrens.
• 3 eine schematische Darstellung eines Parkraummanövers.
• 4 eine schematische Darstellung eines weiteren Parkraummanövers.
• 5 eine schematische Darstellung eines weiteren Parkraummanövers.
• 6 eine schematische Darstellung eines weiteren Parkraummanövers.

The invention is explained in more detail with reference to the figures. Show it

• 1 a schematic representation of an embodiment of the motor vehicle according to the invention
• 2 a flow diagram of an embodiment of the method according to the invention.
• 3 a schematic representation of a parking space maneuver.
• 4th a schematic representation of another parking space maneuver.
• 5 a schematic representation of another parking space maneuver.
• 6th a schematic representation of another parking space maneuver.

In 1 is a first motor vehicle 1 shown. The car 1 exhibits a motor vehicle front 11 , a motor vehicle rear 12th and two sides 13th on. In the area of the front of the vehicle 11 , the rear of the vehicle 12th and / or the pages 13th are each at least one detection device 20th arranged for the detection of obstacles and for distance measurement, for example a radar, ultrasound, camera 21 or lidar can be, but not limited to.

The first motor vehicle 1 furthermore has a storage device 22nd on, which is formed, information from that of the detection device 20th to receive and store. The storage device 22nd is designed as a ring memory. The first motor vehicle 1 furthermore has a control device 23 on, which is formed, information from the detection device 20th to receive, process and control commands to the steering of the wheels 11 to apply the brakes, the gearbox or the engine of the motor vehicle. In addition, the control device 23 also information from the storage device 22nd query and process accordingly. The control device can also request information from an external memory, for example a cloud.

Furthermore, the first motor vehicle 1 a receiving device 24 on, which is designed, control commands of a remote control device 25th to recieve. The remote control device 25th can a smartphone 25th on which an app is installed, what the driver of the first motor vehicle 1 (or another user) can issue commands to carry out a parking space maneuver and, if necessary, intervene.

In a method for automatically parking the first motor vehicle 1 is according to 2 in a first step S1, a first control command for moving the first motor vehicle 1 from a current parking position P in a target position Z granted. In a second step S2, the detection device 20th the surroundings of the first motor vehicle 1 detected, which is relevant for a movement of the motor vehicle from the parking position in the selected direction. This information is sent to the control device 23 transmitted. In step S2, information also flows in that was recorded during the outward journey to the parking space, so that an image of the surroundings of the parking space can be created that is directly from the facilities of the first motor vehicle 1 viewable area.

In a third step S3, a second control command is received from the driver of the first motor vehicle 1 via an app on the smartphone 25th granted. The driver selects the direction in which the motor vehicle is to pull out of a parking space. The first motor vehicle is in the 3 - 6th each in a parking space between a second motor vehicle 2 and a third motor vehicle 3 that can be too narrow to get in and out of which the first motor vehicle 1 should automatically pull out of parking spaces. In a step-by-step selection, for example by selecting alternatives from a list, it is determined in three sub-steps whether the motor vehicle 1 forward ( 3 , 4th and 5 each up) or backwards ( 3 , 4th and 5 in each case below) should leave the parking space (substep 1 ) and in which orientation (substep 2 ) - straight out of the parking space ( 3 ), to the left ( 4th ) or to the right ( 5 ), and at what angle (substep 3 ). Alternatively, the direction can also be selected in one step by swiping or tapping a selection of alternatives shown in a graphical representation on a touchscreen of the smartphone 25th is selected. Only the directions that can be reached are offered.

The control device 23 determines a first trajectory in a fourth step S4 on the basis of the instruction received in S1 and the information obtained in step S2 T1 for a parking maneuver. The first trajectory T1 corresponds to a projected route from a parking position P in a target position Z . The control device 23 transmitted according to the trajectory T1 Control commands to the steering, brakes, the transmission and the drive of the first motor vehicle 1 . Several trajectories can also be determined from which the driver of the first motor vehicle 1 can choose one. Furthermore, for example, obstacles are also recognized and accordingly a single possible trajectory is proposed, e.g. if the movement is restricted, for example by a wall 30 (or a house wall or similar) ( 5 , above). In the vicinity of an intersection area, the first trajectory T1 be subdivided into several partial trajectories when the first trajectory touches the intersection area. The driver can see a display on the smartphone screen 25th select the number and direction of the partial trajectories.

When pulling out of a parking lane 31, which has several lanes 32 ( 6th ), can be the target position Z Depending on the selected trajectory, it can be at different distances from the parking position. The lane to be parked in can be selected by the driver, so that he can, for example, by touching the touchscreen of the smartphone 25th the second trajectory T2 or the third trajectory T3 elects. Alternatively, for example, on the basis of map information about a planned route, the optimal directional lane can be selected automatically.

In a fifth step S5, the maneuvering out of a parking space is carried out along the selected trajectory, for example the first trajectory T1 started and executed. The start is carried out by the driver using the remote control 25th given start signal. The potential route is along the first trajectory T1 by the detection device 20th detected. If an obstacle appears, especially in the form of another motor vehicle or other road user, the movement is stopped. If the obstacle disappears, the movement is along the first trajectory T1 continued. Alternatively, in front of the control device 23 an evasive trajectory is determined and executed, which bypassing the obstacle in the target position Z leads.

The obstacle can also appear indirectly. For example, by means of the detection device 20th a set indicator of another motor vehicle can be recognized, which indicates a movement in a certain direction that would cross the selected trajectory. An intended movement of a motor vehicle can also be conveyed through motor vehicle-to-vehicle communication. In either case, the movement of the first motor vehicle would be 1 in the selected trajectory T1 stopped until it is clear that the route is clear and will remain clear.

List of reference symbols

1

first motor vehicle

2

second motor vehicle

3

third motor vehicle

11

Vehicle front

12th

Vehicle rear

13th

Vehicle side

20th

Detection device

21

camera

22nd

Storage facility

23

Control device

24

Receiving device

25th

Sending facility

P

Parking position

Z

Target position

T1

first trajectory

T2

second trajectory

T3

third trajectory

QUOTES INCLUDED IN THE DESCRIPTION

This list of the documents listed by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent literature cited

• US 2016240080 A1 [0003]
• US 7053795 B2 [0003]
• US 8558690 B2 [0003]
• US 2016152258 A1 [0003]
• EP 2687410 A1 [0003]

Claims (13)

Method for automatically parking a first motor vehicle (1), with the following steps: - Issuing a first control command to move the motor vehicle (1) from a current parking position (P) to a target position (Z), - Detecting the surroundings of the motor vehicle (1) that is relevant for a movement of the motor vehicle out of the parking position (P), - Issuing a second control command to select the direction of movement and the movement angle from the parking position (P), - Determining at least one first trajectory (T1) for a movement out of the parking position (P) into the target position (Z), - starting the parking maneuver, characterized in that the first trajectory (T1) is additionally determined on the basis of data relating to information about the motor vehicle environment and while the motor vehicle (1) is moving the parking position (P) was determined and stored on a memory device (22) of the motor vehicle (1). Procedure according to Claim 1 , wherein the first trajectory (T1) is divided into several partial trajectories. Procedure according to Claim 2 , whereby the number of partial trajectories and the time of the parking maneuver are limited. Method according to one of the preceding claims, wherein the information about the surroundings of the motor vehicle relates to the width of the lane (31) on which the motor vehicle (1) is being moved. Method according to one of the preceding claims, wherein the information about the surroundings of the motor vehicle relates to the distance to an intersection area of the roadway (31) onto which the motor vehicle (1) is being moved. Method according to one of the preceding claims, wherein a ring memory is used as the storage device (22). Procedure according to Claim 6 , wherein when the motor vehicle (1) is switched off, the data on the ring memory (22) are overwritten on a non-volatile memory device. Method according to one of the preceding claims, wherein information about further motor vehicles which move into the area of the first trajectory (T1) also flows in. Method according to one of the preceding claims, wherein the method is started by means of a remote control (25). Method according to one of the preceding claims, wherein in addition to the first trajectory (T1) at least one second trajectory (T2) is determined and one of said trajectories (T1, T2) is selected. Procedure according to Claim 10 , one of said trajectories (T1, T2) being automatically preselected. Motor vehicle (1) with at least one detection device for detecting the surroundings of the motor vehicle (20), selected from the group comprising radar, ultrasound, lidar and a camera (21), a storage device (22) and a control device (23), characterized in that that the control device (23) is configured, a method according to one of Claims 1 - 11 to control. System from a motor vehicle according to Claim 12 and an intelligent device with an app that has a remote control for starting and processing a method with the features according to one of the Claims 1 - 11 enables.

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