DE102020210762A1 - Method for carrying out a parking space detection - Google Patents

Abstract

The invention relates to a method for carrying out a parking space detection in a parking aid (2) of a vehicle (1), the following steps being carried out: - carrying out a detection (101) of a vehicle speed (201), - carrying out a comparison (102) of the detected Vehicle speed (201) with at least one speed threshold (202) in order to determine that the vehicle speed (201) exceeds the speed threshold (202),- activating (103) an active gas pedal (3) of the vehicle (1) as a function of the Comparison (102) in order to inform a driver of the vehicle (1) that the limit has been exceeded.

Description

The present invention relates to a method for carrying out a parking space detection. Furthermore, the invention relates to a system for carrying out a parking space detection.

Active gas pedals for vehicles are known from the prior art, which can give a driver haptic feedback, depending on the traffic situation, by vibration or counter-pressure.

Furthermore, parking aids for vehicles are known from the prior art, which enable at least partially automatic parking. In addition to displaying the distance, such parking aids can completely take over the steering maneuvers required when parking. Furthermore, a distinction can be made between active parking aids, in which only the steering is taken over and the driver has to operate the accelerator and brake himself (hereinafter also referred to as park steering assistant, PLA for short), and those, which automatically take over the acceleration and braking (hereinafter also referred to as parking assistants). Intelligent Parking Assist, or IPA for short). For this purpose, the parking aids use a sensor system of the vehicle, such as ultrasonic sensors, cameras and/or a radar system.

From the FR 2 855 481 A1 a parking aid is known, which can initiate feedback via an active gas pedal during a parking process.

Before the actual parking process, the environment is usually recorded and parking spaces are identified. For this purpose, the sensors can be evaluated as part of a search drive by the parking aid. After activating the parking aid (e.g. by pressing a button or falling below a certain speed), the sensor system measures the parking space, in particular perpendicular to the direction of travel, while driving past the parking space. If the parking space is large enough for parking, this can be displayed to the driver. The driver can then stop at the parking space and start the parking process. As described above, the parking aid can control the turning and counter-steering into the parking space and, if necessary, also the movement of the vehicle.

However, the detection of parking spaces is only possible if a specified maximum speed is not exceeded. If this maximum search speed for parking spaces is exceeded during an active search drive, this can be communicated to the driver by displaying a corresponding text message or by a pictogram. This display occurs z. B. in the instrument cluster or in the infotainment system.

The problem can arise that the display is not always noticed by the driver and the exceeding of the maximum speed thus remains unnoticed. The reliability of an automatic parking maneuver is thus reduced.

It is therefore an object of the present invention to at least partially eliminate the disadvantages described above. In particular, it is an object of the present invention to provide improved implementation of the parking space detection.

The above object is achieved by a method having the features of claim 1 and by a system having the features of claim 10. Further features and details of the invention result from the respective subclaims, the description and the drawings. Features and details that are described in connection with the method according to the invention naturally also apply in connection with the system according to the invention and vice versa, so that the disclosure of the individual aspects of the invention is or can always be referred to reciprocally.

• - Durchführen einer Erfassung einer (aktuellen) Fahrzeuggeschwindigkeit, bspw. durch ein Empfangen eines Geschwindigkeitswertes von einem Tachometer des Fahrzeuges,
• - Durchführen eines Vergleichs der erfassten Fahrzeuggeschwindigkeit (insbesondere des Geschwindigkeitswertes) mit wenigstens einer Geschwindigkeitsschwelle (insbesondere einem vordefinierten Schwellenwert), um ein Überschreiten der Geschwindigkeitsschwelle durch die Fahrzeuggeschwindigkeit festzustellen, insbesondere dadurch, dass anhand eines Ergebnisses des Vergleiches festgestellt wird, wenn der Geschwindigkeitswert größer ist als der Schwellenwert,
• - Durchführen einer Ansteuerung eines aktiven Gaspedals des Fahrzeuges in Abhängigkeit von dem Vergleich, um einem Fahrer des Fahrzeuges das festgestellte Überschreiten mitzuteilen, wobei die Ansteuerung insbesondere dann erfolgt, wenn das Überschreiten der Geschwindigkeitsschwelle durch die Fahrzeuggeschwindigkeit festgestellt wird.

The task is solved in particular by a method for carrying out a parking space detection with a parking aid of a vehicle. In particular, it is provided that the following steps are carried out, preferably one after the other in the specified order, whereby the steps can also be carried out repeatedly:

• - Carrying out a detection of a (current) vehicle speed, e.g. by receiving a speed value from a speedometer of the vehicle,
• - Carrying out a comparison of the detected vehicle speed (in particular the speed value) with at least one speed threshold (in particular a predefined threshold value) in order to determine whether the vehicle speed has exceeded the speed threshold, in particular by using a result of the comparison to determine if the speed value is greater as the threshold
• - Carrying out an activation of an active gas pedal of the vehicle depending on the comparison in order to inform a driver of the vehicle that the excess has been determined, The actuation takes place in particular when it is determined that the vehicle speed has exceeded the speed threshold.

In this way, the method according to the invention makes it possible to give a driver of a vehicle more reliable feedback that the speed threshold has been exceeded. The speed threshold is z. B. executed as a maximum search speed of the parking aid, so that when the vehicle speed exceeds the speed threshold, it is no longer possible to detect parking spaces and/or the parking space detection or the parking aid is suspended or deactivated.

It is also conceivable that the speed threshold is designed as a maximum search speed for parking space detection. Alternatively or additionally, if a parking space is successfully detected, automated parking into the parking space can be provided by the parking aid. When it is determined that the vehicle speed has exceeded the speed threshold, the parking space detection can be deactivated, in particular suspended, until the vehicle speed falls below the speed threshold again. This has the advantage that the parking space is only detected if this is possible with sufficient reliability given the current vehicle speed.

Furthermore, it is conceivable that the at least one speed threshold includes at least two different speed thresholds that are specific to different functional states of the parking aid. In other words, at least a first and a second and possibly also at least one further functional state can be provided. The first functional state is, for example, a standby state in which the parking space detection is suspended. The second functional state can be an inactive state of the parking aid, in which the parking aid remains deactivated until it is next activated. The next activation can be, for example, an (exclusively) manual activation by the driver. Each of the functional states can have its own speed thresholds assigned to it.

It can preferably be provided within the scope of the invention that when the vehicle speed exceeds a first speed threshold, the parking aid changes to a first functional state in which a detection of parking spaces is temporarily deactivated, i. H. exposed, will. In the first functional state, the parking space detection can be automatically reactivated when the vehicle speed falls below the first speed threshold again. It can also be possible that when the vehicle speed exceeds a second speed threshold, the parking aid changes to a second functional state. In the second functional state, the automatic reactivation of the parking space detection may be deactivated. In the second functional state, the parking aid can also remain deactivated until the next (possibly manual) activation. Furthermore, the second speed threshold can be higher than the first speed threshold. A multi-stage functional design is thus also possible, so that at least two, but possibly also further, functional states can be provided. This increases the flexibility and reliability of the parking aid.

The control of the gas pedal can be designed to communicate the functional states to the driver in different ways. In other words, each of the functional states can be communicated to the driver by a separate parameterization of the control, so that the driver can also use the control to identify the specific current functional state. The parking aid can have, for example, two or three functional states in relation to the vehicle speed. In a first functional state, a "standby" mode, ie a readiness mode of the parking aid, can be present. In the first functional state, therefore, no parking space detection can be carried out, but the parking space detection can be reactivated automatically if the vehicle speed falls below the first speed threshold again. This downstream speed range for the first functional state can be provided for vehicle speeds of, for example, 41 km/h to 50 km/h. If the second speed threshold is exceeded by the vehicle speed, the first functional state can be exited and a transition can be made to a second functional state. In the second functional state (i.e. above the standby range), the parking aid can be switched off. A display of the parking aid and/or an automatic reactivation of the parking space detection can then no longer take place, in contrast to the first functional state. In addition, at least one further functional state can be provided. In another functional state z. B. carried out an active gap search of a parking space. Provision can be made for the additional functional state to be present when the vehicle speed falls below the first speed threshold. For this purpose, the first speed threshold z. B. 41 km / h gen, so that the further functional state is present in the range from 0 km/h to 40 km/h. The triggering thresholds according to the speed thresholds (e.g. 41 km/h as the first speed threshold and 51 km/h as the second speed threshold) can be designed to be parameterizable in order to achieve a variable design of the functional states and associated speed ranges. Accordingly, the values for the speed thresholds can be stored in a non-volatile memory such that they can be changed and, if necessary, can be read out by a processing device of the parking aid. The functional states can also be referred to as system states or functional areas of the parking aid, in particular a PLA or IPA.

• - Initiieren wenigstens eines Rückmeldeimpulses, welcher wenigstens eine Bewegung und/oder einen Vibrationsimpuls des Gaspedals und/oder einen Gegendruckimpuls des Gaspedals umfassen kann, insbesondere um dem Fahrer eine haptische Rückmeldung zur Mitteilung des festgestellten Überschreitens bereitzustellen.

In a further possibility, it can be provided that the control (of the gas pedal) includes the following step:

• - Initiating at least one feedback impulse, which can include at least one movement and/or a vibration impulse of the accelerator pedal and/or a counter-pressure impulse of the accelerator pedal, in particular in order to provide the driver with haptic feedback to notify the detected exceeding.

The driver can thus also receive haptic feedback, for example in the form of a vibration of the accelerator pedal, on the current functional status of the parking aid. This haptic feedback from the control can be used to prompt the driver to brake if the parking space detection is to be continued.

• - Durchführen einer Parametrisierung des (wenigstens einen) Rückmeldeimpulses in Abhängigkeit von einem Funktionszustand der Einparkhilfe.

It may also be possible for the control to be carried out to include the following step:

• - Carrying out a parameterization of the (at least one) feedback pulse depending on a functional state of the parking aid.

For example, at least one feedback pulse can be initiated with a first parameterization when the first speed threshold is exceeded by the vehicle speed, and a feedback pulse with a second parameterization can be initiated when the second speed threshold is exceeded by the vehicle speed. The first and second parameterization can be B. differ in terms of a duration of the feedback pulse and / or a number of feedback pulses and / or a distance between the feedback pulses and / or an intensity of the feedback pulse.

Furthermore, it is conceivable that at least two different speed thresholds are provided and that the parameterization can take place differently, in particular depending on the determination of which of the speed thresholds has been exceeded. This means that the driver can see from the activation and in particular from the feedback pulse on the gas pedal which functional state is currently present.

As a further advantage, it can be provided that the parameterization takes place with regard to a pulse duration and/or a pulse number and/or an intensity of the vibration pulses. It can thus be possible that the number of vibration pulses for the different speed thresholds can be parameterized separately. The parameter of the number of vibration pulses or, in general, the parameterization contributes to the differentiation of the functional states. Alternatively or additionally, the intensity of the vibration pulses can be parameterized differently for both speed thresholds in order to be able to also achieve a haptic distinction between the functional states. It can also be possible that, alternatively or additionally, the duration of the vibration pulse and/or the duration between the vibration pulses can be parameterized. In this way, the distinction between the functional states can be further refined.

For example, it can be provided that, in addition to the activation of the gas pedal, a message for the driver is displayed as a function of the comparison. The information can, for example, be displayed in text form or graphically as a pictogram (for example a brake foot symbol) or the like. The display can, for example, take place in an instrument cluster and/or through an infotainment system of the vehicle, e.g. B. in the area of the center console. Actuation of the gas pedal ensures that even if the driver overlooks this display, the exceeding of the speed threshold is reliably reported. The driver thus receives haptic feedback in addition to visual feedback.

The invention also relates to a system, preferably a parking aid for a vehicle, having a (in particular electronic) processing device for carrying out the steps of a method according to the invention. The system according to the invention thus brings with it the same advantages as have been described in detail with reference to a method according to the invention. The processing device comprises e.g. B. at least one processor and / or microcontroller.

A parking aid refers in particular to a system (according to the invention), preferably a driver assistance system, of a vehicle which is designed to carry out a parking process at least partially automatically. For this purpose, the parking aid z. B. have at least one control unit (in particular with the processing device), which automatically takes over steering maneuvers and/or braking maneuvers and/or acceleration maneuvers of the vehicle for parking. For this purpose, the parking aid can use at least one sensor of the vehicle in order to detect the surroundings of the vehicle and, on the basis of this detection of the surroundings, to control the steering and/or braking and/or acceleration of the vehicle. The parking aid can be designed as a parking steering assistant or intelligent parking assistant. Before the parking process is carried out, parking spaces can be detected, also referred to as parking space detection or search drive within the scope of the invention. For this purpose, the parking aid can measure possible parking spaces based on the detection of the environment and/or recognize obstacles that prevent parking.

The vehicle is particularly suitable as a land vehicle and/or motor vehicle, e.g. B. as a passenger car or truck executed. In particular, the vehicle can be designed as an electric vehicle and alternatively or additionally have an internal combustion engine for locomotion. The vehicle can have a sensor system to support parking.

• - wenigstens einen Ultraschallsensor, insbesondere ein Ultraschall-Sensorsystem, bevorzugt angeordnet am Stoßfänger des Fahrzeuges,
• - ein Radarsystem des Fahrzeuges,
• - wenigstens eine Kamera, insbesondere ein Kamerasystem des Fahrzeuges.

It is possible that the at least one sensor of the vehicle, i.e. the sensor system of the vehicle used for detecting the parking space, includes at least one of the following sensors:

• - at least one ultrasonic sensor, in particular an ultrasonic sensor system, preferably arranged on the bumper of the vehicle,
• - a radar system of the vehicle,
• - At least one camera, in particular a camera system of the vehicle.

• 1 eine schematische Darstellung zu Visualisierung eines erfindungsgemäßen Verfahrens,
• 2 eine schematische Darstellung eines erfindungsgemäßen Systems,
• 3 eine schematische Darstellung zur Visualisierung von unterschiedlichen Geschwindigkeitsschwellen und
• 4 eine schematische Darstellung zur Visualisierung von unterschiedlichen Parametrisierungen.

Further advantages, features and details of the invention result from the following description, in which exemplary embodiments of the invention are described in detail with reference to the drawings. The features mentioned in the claims and in the description can each be essential to the invention individually or in any combination. Show it:

• 1 a schematic representation for visualizing a method according to the invention,
• 2 a schematic representation of a system according to the invention,
• 3 a schematic representation for the visualization of different speed thresholds and
• 4 a schematic representation for the visualization of different parameterizations.

In the following figures, the same reference numbers are used for the same technical features of different exemplary embodiments.

In 1 the method steps of a method according to the invention for carrying out a parking space detection in a parking aid 2 of a vehicle 1 are shown.

In 2 the corresponding system according to the invention is shown with a processing device 5 for carrying out the method steps. According to a first method step, a vehicle speed 201 is detected 101. A comparison 102 of the detected vehicle speed 201 with at least one speed threshold 202 is then carried out in order to determine whether the (detected) vehicle speed 201 has exceeded the speed threshold 202. An activation 103 of an active gas pedal 3 of the vehicle 1 is then carried out as a function of the comparison 102 in order to inform a driver of the vehicle 1 that the limit has been exceeded.

The at least one speed threshold 202 can include at least two different speed thresholds 202a, 202b, which are specific to different functional states of the parking aid 2. this is in 3 and 4 clarified with more details. If the vehicle speed 201 exceeds a first speed threshold 202a, the parking aid 2 can switch to a first functional state in which a detection of parking spaces is temporarily deactivated and automatically reactivated if the vehicle speed 201 falls below the first speed threshold 202a again. Furthermore, if the vehicle speed 201 exceeds a second speed threshold 202b, the parking aid 2 can switch to a second functional state in which the automatic reactivation of the parking space detection is deactivated, with the second speed threshold 202b being higher than the first speed threshold 202a. Carrying out the control 103 can be a little initiating include at least one feedback pulse 210 depending on the functional state of the parking aid 2. Furthermore, the parameterization can take place with regard to a pulse duration 211 and/or a pulse number 212 and/or a pulse intensity 213 and/or a pulse pause 214 of the vibration pulses 210 . Thus, as in 4 is shown, different vibration pulses 210a, 210b can be provided for different functional states.

In 3 it is shown that when the vehicle speed 201 exceeds the first speed threshold 202a, the feedback pulses 210, in particular vibration pulses 210, with a first pulse intensity 213a and a first pulse duration 211a for the first functional state are initiated by means of the control 103. In the first functional state, the parking aid 2 can be in standby mode, and the search drive for parking space detection can be ended or suspended. In the case of parking space detection, for example, parking spaces are measured using the sensors of vehicle 1 and a check is made as to whether the parking space is suitable for parking. However, this can no longer be reliably possible from the first speed threshold 202a. This is communicated by the feedback pulses 210. Then, when the vehicle speed 201 exceeds the second speed threshold 202b, the feedback pulses 210 with a second pulse intensity 213b and a second pulse duration 211b for the second functional state can be initiated by means of the control 103 . This communicates that the parking aid 2 is ended.

In 4 it is shown that other parameters of the feedback pulses 210 can also be varied. For this purpose, the pulse intensity 213 is shown over time t. When changing to the first functional state, first feedback pulses 210a can be initiated, which have a lower pulse intensity 213a and/or shorter pulse duration 211a and/or a lower number of pulses 212a and/or longer pulse pauses 214a than the second feedback pulses 210b, which occur when changing to the second Functional state are initiated. For example, three feedback pulses 210b can be provided for the second functional state according to the number of pulses 212b, and only two feedback pulses 210a can be provided for the first functional state according to the number of pulses 212a. The pulse intensity 213b for the second functional state can also be higher than for the first functional state. The pulse pause 214b for the second functional state, on the other hand, can be shorter and the pulse duration 211b longer.

The above explanation of the embodiments describes the present invention exclusively in the context of examples. It goes without saying that individual features of the embodiments can be freely combined with one another, insofar as this makes technical sense, without departing from the scope of the present invention.

Reference List

1

vehicle

2

parking assistance

3

active gas pedal

5

processing device

101

capture

102

comparison

103

control

201

vehicle speed

202

speed threshold

202a

first speed threshold

202b

second speed threshold

210

Feedback pulse, vibration pulse

210a

Feedback pulses for the first functional status

210b

Feedback pulses for the second functional status

211

pulse duration

211a

Pulse duration for the first functional state

211b

Pulse duration for the second functional state

212

number of pulses

212a

Number of pulses for the first functional state

212b

Number of pulses for the second functional state

213

pulse intensity

213a

Pulse intensity for the first functional state

213b

Pulse intensity for the second functional state

214

impulse pause

214a

Pulse pause for the first functional state

214b

Pulse pause for the second functional state

t

Time

QUOTES INCLUDED IN DESCRIPTION

This list of documents cited 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

• FR 2855481 A1 [0004]

Claims (10)

Method for carrying out a parking space detection in a parking aid (2) of a vehicle (1), the following steps being carried out: - performing a detection (101) of a vehicle speed (201), - Carrying out a comparison (102) of the detected vehicle speed (201) with at least one speed threshold (202) in order to determine that the vehicle speed (201) exceeds the speed threshold (202), - Carrying out an activation (103) of an active gas pedal (3) of the vehicle (1) as a function of the comparison (102) in order to inform a driver of the vehicle (1) that the limit has been exceeded. procedure after claim 1 , characterized in that the speed threshold (202) is designed as a maximum search speed for parking space detection, with a successful detection of a parking space an automated parking in the parking space is provided by the parking aid (2), with the determination of exceeding the speed threshold ( 202) the parking space detection is deactivated by the vehicle speed (201) until the vehicle speed (201) falls below the speed threshold (202) again. procedure after claim 1 or 2 , characterized in that the at least one speed threshold (202) comprises at least two different speed thresholds (202) which are specific to different functional states of the parking aid (2). Method according to one of the preceding claims, characterized in that when the vehicle speed (201) exceeds a first speed threshold (202), the parking aid (2) changes to a first functional state in which detection of parking spaces is temporarily deactivated, and automatically again is reactivated when the vehicle speed (201) falls below the first speed threshold (202) again, and that when the vehicle speed (201) exceeds a second speed threshold (202), the parking aid (2) changes to a second functional state in which the automatic reactivation of the parking space detection is deactivated, the second speed threshold (202) being higher than the first speed threshold (202). Method according to one of the preceding claims, characterized in that carrying out the activation (103) comprises the following step: - Initiating at least one feedback pulse (210) which comprises at least one movement and/or one vibration pulse (210) of the gas pedal (3). to provide the driver with haptic feedback to notify them that the limit has been exceeded. procedure after claim 5 , characterized in that the implementation of the control (103) comprises the following step: - performing a parameterization of the feedback pulse (210) depending on a functional state of the parking aid (2). procedure after claim 6 , characterized in that at least two different speed thresholds (202) are provided, and the parameterization takes place differently depending on the determination of which of the speed thresholds (202) has been exceeded. Procedure according to one of Claims 5 until 7 , characterized in that the parameterization takes place with regard to a pulse duration (211) and/or a pulse number (212) and/or an intensity of the vibration pulses (210). Method according to one of the preceding claims, characterized in that in addition to the actuation (103) of the gas pedal (3) depending on the comparison (102), a message for the driver is displayed. System, comprising a processing device (5) for carrying out the steps of a method according to one of Claims 1 until 9 .

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