DE102021103680A1 - METHOD OF OPERATING A PARKING ASSISTANCE SYSTEM, COMPUTER PROGRAM PRODUCT, PARKING ASSISTANCE SYSTEM AND VEHICLE WITH A PARKING ASSISTANCE SYSTEM - Google Patents

Abstract

A method for operating a parking assistance system (110) for a vehicle (100) is proposed. The method includes: a) receiving (S1) a sensor signal (SIG) indicative of an environment (200) of the vehicle (100) during a manually performed parking maneuver for parking the vehicle (100) in a parking position (PP),b) determining ( S2) a position and/or an orientation of the vehicle (100) parked in the parking position (PP) as a function of the received sensor signal (SIG), c) determining (S3) a number of driving maneuvers to get the vehicle (100) out of the parking position (PP) park out, depending on the determined position and / or orientation,d) selecting (S4) one of the determined driving maneuvers, unde) parking out (S5) the vehicle (100) from the parking position (PP) on the basis of the selected driving maneuver in one automatic driving operation.

Description

The invention relates to a method for operating a parking assistance system, a computer program product, a parking assistance system and a vehicle with a parking assistance system.

Parking assistance systems are known which have an automatic parking space function, by means of which a vehicle that is parked in a parking space can automatically park out of the parking space. However, there may be times when the parking assist system does not recognize parking spaces, such as in poor weather conditions, or the parking assist system may deem a parking space too narrow to perform an automatic parking maneuver, or the vehicle's driver has parked the vehicle manually. In these cases, the parking assistance system cannot automatically park the vehicle out of the parking space, which is unsatisfactory.

Furthermore, parking assistance systems are known which store a trajectory covered during a parking maneuver. By reversing the stored trajectory, it may be possible to park the vehicle out of the parking space provided the environment has not changed too much in the meantime, providing an alternative function to parking out of a parking space. However, storing the trajectory takes up a lot of memory, and steering the vehicle exactly along the reverse trajectory is very demanding. This method therefore requires many sensors and high computing power, which makes the vehicle and the parking assistance system even more complex.

DE 10 2018 131 598 A1 discloses a parking assistance system with a parking space function for automated parking with at least automated lateral guidance from a parking space. The parking assistance system is set up to detect a parking space before a manual parking maneuver using an environment sensor system. After the driver has carried out a manual parking process, the parking assistance system can determine that the motor vehicle was parked in the detected parking space while fulfilling one or more positioning conditions in a manual parking process. Before the motor vehicle is automatically parked out of the parking space, the system decides whether the parking space function can be activated as a function of the detected parking in the detected parking space. In the event of a positive decision about the ability to activate the parking space function, the parking space function for automated parking space is activated.

It is an object of the present invention to improve the operation of a parking assistance system for a vehicle.

1. a) Empfangen eines für eine Umgebung des Fahrzeugs indikativen Sensorsignals während eines manuell durchgeführten Parkmanövers zum Parken des Fahrzeugs in einer Parkposition,
2. b) Ermitteln einer Position und/oder einer Orientierung des in der Parkposition geparkten Fahrzeugs in Abhängigkeit des empfangenen Sensorsignals,
3. c) Ermitteln einer Anzahl an Fahrmanövern, um das Fahrzeug aus der Parkposition auszuparken, in Abhängigkeit der ermittelten Position und/oder Orientierung,
4. d) Auswählen eines der ermittelten Fahrmanöver, und
5. e) Ausparken des Fahrzeugs aus der Parkposition auf Basis des ausgewählten Fahrmanövers in einem automatischen Fahrbetrieb.

According to a first aspect, a method for operating a parking assistance system for a vehicle is proposed. The procedure includes:

1. a) receiving a sensor signal indicative of an environment of the vehicle during a manually performed parking maneuver to park the vehicle in a parking position,
2. b) determining a position and/or an orientation of the vehicle parked in the parking position as a function of the received sensor signal,
3. c) determining a number of driving maneuvers to park the vehicle out of the parking position, depending on the determined position and/or orientation,
4. d) selecting one of the determined driving maneuvers, and
5. e) Parking the vehicle out of the parking position based on the selected driving maneuver in an automatic driving mode.

This method has the advantage that the parking assistance system can also offer an automatic parking function if the vehicle was parked manually, ie the vehicle was not automatically parked in the parking lot by the parking assistance system. In particular, it is therefore not a requirement that the vehicle is parked in a parking space that has been recognized as a parking space by the parking assistance system, rather the vehicle can also be parked next to a recognized parking space and/or next to other parked vehicles. Furthermore, the proposed method is based on comparatively simple arithmetic operations and therefore does not require high computing power and no high memory capacity.

The sensor signal indicative of the surroundings can be received, for example, from a camera, a lidar, a radar, an ultrasonic sensor and the like, which are arranged on the vehicle and set up to record the surroundings based on their respective means. The sensor signal indicative of the surroundings can also have pre-processed data, for example it can have a map of the surroundings that is provided by a map unit as a function of the sensor signals received from the sensors. The environment map can be a representation of detected objects, such as obstacles, lines existing on the ground, detected parking spaces and the like.

Preferably, the sensor signal indicative of the environment is continually updated as the vehicle moves. Alternatively, the sensor signal is only continuously updated when the vehicle is traveling at a speed below a predetermined limit, such as 30, 20 or 10 km/h, since a manual parking maneuver is very likely to be performed at such low speeds. As an alternative to this, the sensor signal can also only be constantly updated if the driver of the vehicle activates a corresponding function of the parking assistance system. In particular, the term "continuously updated" means that a current sensor signal is received at certain points in time, such as once per second, or ten times per second, or even more frequently. The current sensor signal is indicative of the vehicle's current position in the environment and changes as the vehicle moves.

Determining the position and/or the orientation of the parked vehicle as a function of the received sensor signal includes, for example, analyzing the received sensor signal to detect lines present on the ground, objects in the area and/or other features of the area. The received sensor signal preferably includes a map of the surroundings that contains representations of detected objects, in particular detected parking spaces.

The position and/or orientation of the vehicle that is determined here includes the position and/or orientation of the vehicle relative to specific features in the environment, such as other objects, parking lots, road markings, and the like.

For example, the received sensor signal includes a representation of a vertical parking space. The orientation of the vehicle relative to the vertical parking space essentially determines the orientation of the vehicle relative to the street, since the vertical parking space is known to be oriented perpendicular to the street. This means that it is determined, for example, that the vehicle is oriented parallel to the vertical parking space, is oriented perpendicular to the vertical parking space, or is oriented at any angle to the vertical parking space, and based on this the orientation of the vehicle relative to the Street to be determined. In addition, whether the vehicle is parked forward or backward can be determined based on the relative orientation of the vertical parking space.

Depending on the determined position and/or orientation, the parking assistance system can determine a number of driving maneuvers in order to park the vehicle out of the parking position. The term “driving manoeuvre” can also be referred to as “manoeuvre” for short below and describes a movement of the vehicle according to a specific sequence of steps that can be determined by a trajectory. A driving maneuver may include at least one of the following: drive forward, reverse, steer left, steer right, change speed, and/or change direction of travel. Different driving maneuvers may involve a different sequence of steps. In particular, different driving maneuvers can end at different positions. For example, a first maneuver may end on a first side of the road with the vehicle oriented along a first direction, and a second maneuver may end on a second side of the road with the vehicle oriented along a second direction that is inverse of the first direction. For example, it can be determined that the only possible driving maneuver is perpendicular-forward-right, ie the vehicle must drive forward from a perpendicular parking position and then make a right turn of approximately 90° onto the roadway.

After the possible driving maneuvers have been determined, one of them must be selected. For example, if only one maneuver is determined, that maneuver is automatically selected. In many situations, however, there may be more than one possible maneuver. For example, in the example given above, it may be possible to turn left instead of right. In this case, the parking assistance system can be set up to offer the driver of the vehicle the possible maneuvers to choose from, with the driver selecting the desired maneuver. As an alternative to this, the parking assistance system can, for example, select one of the multiple maneuvers depending on specific specifications.

After the maneuver is selected, the vehicle is parked out of the parking position according to the selected maneuver in an automatic driving mode. The automatic driving mode can include semi-automatic or fully automatic driving of the vehicle. Semi-automatic includes, for example, automatic control of a steering and a transmission of the vehicle. Fully automatic, for example, also includes automatic control of the vehicle's accelerator and brakes.

According to one embodiment of the method, the parking position is outside of one of the Area recognized as a parking space by the parking assistance system.

This means that the vehicle was parked manually by the driver in a parking position that was not recognized as a parking space by the parking assistance system.

• Ausgeben der Anzahl ermittelter Fahrmanöver an einen Fahrer der Fahrzeugs, und
• Empfangen eines Auswahlsignals zum Auswählen eines der ermittelten Fahrmanöver.

According to a further embodiment of the method, step d) comprises:

• Outputting the number of determined driving maneuvers to a driver of the vehicle, and
• Receiving a selection signal for selecting one of the determined driving maneuvers.

For example, the maneuvers determined are displayed to the driver on a screen, in particular a touch-sensitive screen, and the driver selects one of the maneuvers displayed.

• Ermitteln der Anzahl an Fahrmanövern basierend auf einer Mehrzahl vorbestimmter Fahrmanöver.

According to a further embodiment of the method, step c comprises):

• Determining the number of driving maneuvers based on a plurality of predetermined driving maneuvers.

In this embodiment, all possible driving maneuvers are predetermined. The plurality of predetermined driving maneuvers includes, for example, all possible combinations of the different parking orientations, such as vertical parking, parallel parking or diagonal parking, the different options for how the vehicle can park out of each of these, such as forwards or backwards and to the right or left, and the different options how the vehicle may be positioned on the road after parking (i.e. which lane it stops in).

For example, parallel-forwards-left or parallel-backwards-left can be parked from a parallel parking position to the right of the road. That is, after exiting the parking space, the vehicle is oriented parallel to the parking space (and parallel to the lane) and the parking space is to the right of the vehicle.

As another example, a perpendicular parking position to the right of the road can be exited forward-to-left, forward-to-right, backward-to-left, or backward-to-right depending on the orientation of the vehicle (forward or backward). After exiting the parking space, the vehicle is oriented perpendicular to the parking space and parallel to the lane, lanes in either direction being eligible.

Overall, the plurality of predetermined driving maneuvers can include at least 16 different driving maneuvers.

• Erfassen zumindest eines Parkplatzes in der Nähe des Fahrzeugs in Abhängigkeit des empfangenen Sensorsignals, wobei die Position und/oder Orientierung des Fahrzeugs in Abhängigkeit des zumindest einen erfassten Parkplatzes ermittelt wird.

According to a further embodiment of the method, step b) comprises):

• Detecting at least one parking space in the vicinity of the vehicle as a function of the received sensor signal, the position and/or orientation of the vehicle being determined as a function of the at least one detected parking space.

The term "near the vehicle" means an area adjacent to the vehicle, for example within a maximum distance of the vehicle, such as five meters or ten meters. The term can also include an area around the vehicle, as the vehicle along the last few feet before the vehicle was parked. That is, the term "near the vehicle" includes an area within a predetermined maximum distance from a trajectory of the vehicle during the manual parking process.

This has the advantage that parking spaces which are recognized as such by the parking assistance system but which the driver drove past when parking the vehicle can be used when determining the position and/or the orientation of the vehicle. Furthermore, parking spaces that have been classified as unsuitable for parking by the parking assistance system, for example because they are smaller than a predetermined lower threshold value or because they are located in a position that is ignored by the parking assistance system, can still be used to determine the position and/or orientation of the vehicle can be used to park the vehicle.

According to a further embodiment of the method, detecting the at least one parking space includes detecting a parking space type, the position and/or the orientation of the vehicle being determined as a function of the detected parking space type of the at least one parking space.

The parking lot type of the at least one parking lot includes a parallel parking lot, a perpendicular parking lot, and an inclined parking lot.

According to a further embodiment of the method, detecting the at least one parking space includes detecting a relative position of the at least one parking space relative to a trajectory of the vehicle during the manually performed parking maneuver, the position and/or the orientation of the vehicle is determined as a function of the detected relative position of the at least one parking space.

Detecting a relative position of the at least one parking space relative to a trajectory of the vehicle means in particular that it is detected whether the parking space was on the right side or on the left side of the vehicle when it was driven past.

• Erfassen zumindest einer auf dem Boden in der Nähe des Fahrzeugs vorhandenen Linie in Abhängigkeit des empfangenen Sensorsignals.

According to a further embodiment of the method, step b) comprises):

• detecting at least one line present on the ground in the vicinity of the vehicle as a function of the received sensor signal.

It may be determined that the detected line is a parking lot boundary line or a road marking such as a side boundary line or a center line. Such lines aid in determining the orientation of the vehicle relative to the road.

• Empfangen eines weiteren, für die Umgebung des Fahrzeugs indikativen Sensorsignals, wenn das Fahrzeug in der Parkposition geparkt ist, und
• Erfassen von Objekten in der Umgebung des Fahrzeugs in Abhängigkeit des empfangenen weiteren Sensorsignals, wobei
• das Ermitteln der Anzahl von Fahrmanövern zusätzlich in Abhängigkeit der erfassten Objekte erfolgt.

According to a further embodiment of the method, step c) also comprises:

• Receiving a further sensor signal indicative of the surroundings of the vehicle when the vehicle is parked in the parking position, and
• Detection of objects in the area surrounding the vehicle as a function of the further sensor signal received, wherein
• the number of driving maneuvers is also determined as a function of the detected objects.

The further sensor signal is preferably received shortly before the driver wants to leave the parking position. That is, it is a current sensor signal that is indicative of the current state of the environment. This ensures that the current surrounding situation is taken into account, since the situation may have changed since the vehicle was parked in the parking position. For example, other vehicles have parked next to the vehicle and/or objects have been moved. A collision with an object can thus be avoided. In addition, a simpler driving maneuver could possibly also be determined, such as pulling out of a parking space forwards instead of backing out, if the area in front of the vehicle has become clear.

• Empfangen des für die Umgebung indikativen Sensorsignals zu einer Mehrzahl unterschiedlicher Zeitpunkte während des manuell durchgeführten Parkmanövers zum Parken des Fahrzeugs in der Parkposition, und wobei der Schritt b) ferner umfasst:
  • Speichern der Mehrzahl empfangener Sensorsignale, und
• Ermitteln der Position und/oder der Orientierung des in der Parkposition geparkten Fahrzeugs in Abhängigkeit der Mehrzahl gespeicherter Sensorsignale.

According to a further embodiment of the method, step a) also comprises:

• receiving the sensor signal indicative of the environment at a plurality of different points in time during the manually performed parking maneuver for parking the vehicle in the parking position, and wherein step b) further comprises:
  • storing the plurality of received sensor signals, and
• Determining the position and/or the orientation of the vehicle parked in the parking position as a function of the plurality of stored sensor signals.

This embodiment has the advantage that many stored sensor signals are available in order to determine the position and/or the orientation of the vehicle. In particular, an area of the environment that is not present in the sensor signals last received, for example because it is outside the range of the sensors and/or the detection means are covered by objects in the environment, can be analyzed and the position and/or the Orientation can be determined with greater accuracy and reliability.

According to a second aspect, a computer program product is proposed which comprises instructions which, when the program is executed by a computer, cause the latter to execute the method according to the first aspect.

A computer program product, such as a computer program means, can be made available or supplied by a server in a network, for example, as a storage medium such as a memory card, USB stick, CD-ROM, DVD, or in the form of a downloadable file. This can be done, for example, in a wireless communication network by transferring a corresponding file with the computer program product or the computer program means.

• eine Empfangseinheit zum Empfangen eines für eine Umgebung des Fahrzeugs indikativen Sensorsignals während eines manuell durchgeführten Parkmanövers zum Parken des Fahrzeugs in einer Parkposition,
• eine Ermittlungseinheit zum Ermitteln einer Position und/oder einer Orientierung des in der Parkposition geparkten Fahrzeugs in Abhängigkeit des empfangenen Sensorsignals, und zum Ermitteln einer Anzahl an Fahrmanövern, um das Fahrzeug aus der Parkposition auszuparken, in Abhängigkeit der ermittelten Position und/oder Orientierung,
• eine Auswahleinheit zum Auswählen eines der ermittelten Fahrmanöver, und
• eine Steuereinheit zum Ausparken des Fahrzeugs aus der Parkposition auf Basis des ausgewählten Fahrmanövers in einem automatischen Fahrbetrieb.

According to a third aspect, a parking assistance system for a vehicle is proposed. The parking assistance system has:

• a receiving unit for receiving a sensor signal indicative of the surroundings of the vehicle during a manually performed parking maneuver for parking the vehicle in a parking position,
• a determination unit for determining a position and/or an orientation of the vehicle parked in the parking position as a function of the received sensor signal, and for determining a number of driving maneuvers to park the vehicle out of the parking position, depending on the determined position and/or orientation,
• a selection unit for selecting one of the determined driving maneuvers, and
• a control unit for parking the vehicle out of the parking position based on the selected driving maneuver in an automatic driving mode.

This parking assistance system has the same advantages that are explained for the method according to the first aspect. The features and embodiments that are described for the method according to the first aspect apply accordingly to the proposed parking assistance system.

The safety controller can be implemented in terms of hardware and/or software. In the case of a hardware implementation, the respective unit can be embodied, for example, as a computer or as a microprocessor. In the case of a software implementation, the respective unit can be designed as a computer program product, as a function, as a routine, as an algorithm, as part of a program code or as an executable object.

The respective unit can be implemented in terms of hardware and/or software. In the case of a hardware implementation, the respective unit can be designed, for example, as a computer or as a microprocessor, such as a CPU (central processing unit), an ASIC (application specific integrated circuit) or a PLC (programmable logic controller). In the case of a software implementation, the respective unit can be designed as a computer program product, as a function, as a routine, as an algorithm, as part of a program code or as an executable object. Furthermore, each unit can be designed as part of a higher-level control unit of the vehicle, such as an engine control unit (ECU, engine control unit) or the like.

According to a fourth aspect, a vehicle is proposed with at least one sensor unit for detecting and outputting a sensor signal indicative of the surroundings of the vehicle, and with a parking assistance system according to the third aspect.

According to a further aspect, a vehicle is proposed with at least one sensor unit for detecting and outputting a sensor signal indicative of an environment of the vehicle, a processing unit for determining and providing an environment map corresponding to the environment as a function of the sensor signal and with a parking assistance system according to the third aspect.

The vehicle is, for example, a passenger car such as an automobile, or a truck or the like. The sensor unit preferably comprises at least one camera, preferably an all-round camera arrangement, and/or a lidar.

Further possible implementations of the invention also include combinations of features or embodiments described above or below with regard to the exemplary embodiments that are not explicitly mentioned. The person skilled in the art will also add individual aspects as improvements or additions to the respective basic form of the invention.

• 1 zeigt eine schematische Ansicht eines Fahrzeugs;
• 2A und 2B zeigen eine erste Parksituation;
• 3A und 3B zeigen eine zweite Parksituation;
• 4A bis 4C zeigen eine dritte Parksituation;
• 5 zeigt eine vierte Parksituation;
• 6 zeigt ein schematisches Blockdiagramm eines Beispiels für ein Parkassistenzsystem; and
• 7 zeigt ein schematisches Blockdiagramm eines Beispiels für ein Verfahren zum Betreiben eines Parkassistenzsystems.

Further advantageous refinements and aspects of the invention are the subject matter of the dependent claims and of the exemplary embodiments of the invention described below. The invention is explained in more detail below on the basis of preferred embodiments with reference to the enclosed figures.

• 1 shows a schematic view of a vehicle;
• 2A and 2 B show a first parking situation;
• 3A and 3B show a second parking situation;
• 4A until 4C show a third parking situation;
• 5 shows a fourth parking situation;
• 6 shows a schematic block diagram of an example of a parking assistance system; other
• 7 shows a schematic block diagram of an example of a method for operating a parking assistance system.

In the figures, the same elements are identified with the same reference numbers unless otherwise indicated.

1 shows a schematic view of a vehicle 100, for example a car, which is located in an environment 200. FIG. The car 100 has a parking assistance system 110 . The parking assist system may be co-integrated with an engine control unit (ECU) and/or may share resources such as a CPU, RAM, and the like with an ECU or other processing devices of the car 100 . The car 100 also includes a number of sensors 120, 130. For example, the sensors 120 are optical sensors, such as a camera, a radar and/or a lidar or the like. The optical sensors 120 are set up to take an image of the To capture the environment 200 of the car, preferably comprising depth information, and to output the captured image as an optical sensor signal. The sensors 130 are, for example, ultrasonic sensors that are set up to determine a distance from objects 300 arranged in the vicinity of the car 100 (see FIG 2 - 5 ) and to output the detected distance as an ultrasonic sensor signal. Except the ones in the 1 In addition to the sensors 120, 130 shown, the vehicle 100 can have additional and/or other sensors, such as a microphone, an acceleration sensor, a wheel speed sensor, a steering angle sensor, an antenna for receiving electromagnetic data signals and the like.

In preferred specific embodiments, vehicle 100 includes a processing unit (not shown), which is set up to determine a map of the surroundings as a function of the sensor signals, for example using sensor fusion. The environment map corresponds to a digital representation of the actual environment 200 of the vehicle 100.

The parking assistance system 110 is, for example, as shown in FIG 6 described and is set up to carry out processing as described below with reference to FIG 2 - 5 to carry out as described. It should be noted that the examples of 2 - 5 relate to right-hand traffic. However, the parking assistance system 110 can also be adapted to carry out the corresponding methods for left-hand traffic.

2A and 2 B schematically show a first parking situation. 2A shows the parking process manually performed by the driver of vehicle 100 . The vehicle 100 is, for example, as shown in FIG 1 vehicle described formed. The driver drove the vehicle 100 along the trajectory TR0 in order to park the vehicle 100 in the parking position PP next to the object 300 . There are two free vertical parking spaces 310, which are marked by corresponding boundary lines 320. Nevertheless, the driver has chosen to park the vehicle 100 outside of the parking spaces 310 . The street is bounded by a side line 320 below the parking lots 310 and has a center line 320 (see Fig 2 B) that separates two lanes with opposite directions of travel.

During manual parking, parking assistance system 110 receives a sensor signal SIG (see 6 ), which is indicative of the 200 environment. The sensor signal preferably includes an all-round view image and/or a map of the surroundings. The parking assistance system 110 then determines the orientation of the vehicle 100 in the parking position PP as a function of the received sensor signal SIG. For this purpose, the parking assistance system 110 detects, for example, each of the features of the environment 200 specified above. In this example, the parking assistance system 110 determines that the vehicle 100 is arranged parallel to the vertical parking spaces 310, which means that it is arranged perpendicular to the road. The parking assistance system 110 also determines that the vehicle 100 is parked forward in the parking position PP, as indicated by the directional arrow DIR.

Based on this, the parking assistance system 110 determines possible driving maneuvers in order to park the vehicle 100 out of the parking position PP, as in FIG 2 B is shown. In this example, parking assistance system 110 determines two possible driving maneuvers, which are represented by trajectories TR1A and TR1B. The two driving maneuvers end in different end positions, which are marked as A and B here. In both driving maneuvers, the vehicle 100 must back out of the parking position PP since the forward direction is limited by the side line 320 of the road.

The first trajectory TR1A comprises a right turn (relative to the orientation of the vehicle) and ends in the position A on the right lane of the road on which the vehicle 100 was driving before parking. This driving maneuver can be briefly described as perpendicular-backward-right.

The second trajectory TR1B includes a left turn (relative to the orientation of the vehicle) and ends in position B on the left lane of the road, with the vehicle 100 oriented in the opposite direction than in position A. That is, the vehicle 100 is arranged in such a way that it can go back to where it originally came from on the other side of the street. This driving maneuver can be briefly described as perpendicular-backward-left.

The parking assistance system 110 can automatically select one of the two maneuvers, for example depending on priority information and/or depending on route information, in order to get to the next destination, or it can output the possible maneuvers to the driver of the vehicle 100 so that he or she can choose the preferred one. The parking assistance system 110 can cause the vehicle 100 to automatically park out of the parking position PP according to the selected driving maneuver.

It should be noted that in cases where the driver manually parks the vehicle 100 in the parking spaces 310 in such a way that the vehicle 100 is not arranged completely within one of the two parking spaces 310, conventional methods for determining a driving maneuver for parking the vehicle 100 would fail. This problem is solved by using the proposed method.

3A and 3B show a second parking situation. The environment 200 is identical to the example in FIG 2A and 2 B , however, the driver has parked the vehicle 100 parallel to the road and next to the object 300, with the rear of the vehicle 100 facing the object 300.

The parking assistance system 110 determines the position and orientation of the vehicle 100 in the parking position PP based on the sensor signal SIG, as shown in FIG 2A and determines that the vehicle 100 is parked parallel to the road and rearwardly adjacent to the object 300 .

The parking assistance system 110 then determines the possible parking maneuvers from the parking position PP. In this example, the vehicle 100 must move forward to avoid colliding with the object 300 and must turn left to get back in the lane of the road. It should be noted that if the road is wide enough for this, the vehicle 100 could also make a 180° turn to enter the opposite lane in the correct orientation (not shown). This is not possible in this example, which is why the only possible maneuver for leaving a parking space is through trajectory TR1 (see 3B) maneuver is determined. This maneuver can also be referred to as parallel-forward-left.

4A until 4C show a third parking situation. In this example, some other vehicles 300 are parked parallel to the road. The driver of the vehicle 100 parked the vehicle 100 in front of the other parked cars 300 . This position can be referred to as a virtual end parking slot. It should be noted that the parking assistance system recognizes the parking position PP as a possible parking space, but is configured not to offer automatic parking in this parking space.

In this example, the parking assistance system 110 determines the position and/or the orientation of the vehicle 100 in the parking position PP based on the position and the orientation of the cars 300 parked in the parallel parking spaces. It is determined that vehicle 100 is aligned parallel to vehicles 300 and therefore also parallel to the road.

Like in the 4B shown, in which the situation is unchanged, the parking assistance system 110 determines the maneuver represented by TR1 as a possible parking maneuver to get out of the parking position PP, which is similar to that based on FIG 3B is described, which can also be described as parallel-forward-left.

However, if the situation has changed since the vehicle 100 was parked, as in FIG 4C is shown, parking assistance system 110 receives another sensor signal indicative of surroundings 200 and determines that a car 300 is now parked in front of vehicle 100, but on the other hand there is also a free area behind vehicle 100. Therefore, on the basis of the changed situation, parking assistance system 110 determines a different driving maneuver, which is shown as TR1, which can also be briefly referred to as parallel-backward-left.

5 FIG. 14 shows a fourth parking situation in which there are sloping parking spaces indicated by boundary lines 320 on the ground. There are four parking spaces in total 5 shown. The first two parking spaces are occupied by other cars 300 . The third and fourth parking spaces are blocked by a larger vehicle 300, such as a bus, which is not parked as indicated by lines 320. In this example, the driver of the vehicle 100 has parked the vehicle 100 as illustrated using the trajectory TR0, using the direction of the lines 320 for orientation, but standing somewhat next to the predetermined parking area. Vehicle 100 is standing on one of boundary lines 320.

In this situation, the parking assistance system 110 determines the position and/or the orientation of the vehicle 100 on the basis of the lines 320 present on the ground, recognizing that these lines 320 are intended to delimit sloping parking spaces. Therefore, it is determined that the vehicle 100 is oriented in accordance with the sloping parking spaces. As possible maneuvers, the parking assistance system 110 determines, for example, a first maneuver in which the trajectory TR0 is essentially driven backwards, and for example a second maneuver that includes crossing the right lane of the road and turning by about 135 degrees to a similar Position like the position B of 2 B to end. Furthermore, if the line 320 were not present in front of the vehicle 100, further maneuvers in which driving forward out of the parking position PP could be determined.

6 shows a schematic block diagram of an example of a parking assistance system 110, for example the parking assistance system 110 of the vehicle 100 one of 1 - 5 . The parking assistance system 110 includes a receiving unit 112 for receiving an environment 200 (see 1 - 5 ) of the vehicle 100 indicative sensor signal SIG during a manually performed parking maneuver to park the vehicle 100 in a parking position PP (see 2 - 5 ), a determination unit 114 for determining a position and/or an orientation of vehicle 100 parked in parking position PP as a function of the received sensor signal SIG, and for determining a number of driving maneuvers to park vehicle 100 out of parking position PP, depending on the determined position and/or orientation, a selection unit 116 for selecting one of the determined driving maneuvers, and a control unit 118 for initiating automatic driving operation for parking vehicle 100 out of the parking position PP according to the selected driving maneuver.

7 shows a schematic block diagram of an example of a method for operating a parking assistance system 110 for a vehicle 100, for example the parking assistance system 110 of FIG 1 or the 6 , and the vehicle 100 one of 1 - 5 . In a first step S1, an environment 200 (see 1 - 5 ) of the vehicle 100 indicative sensor signal SIG 8see 6 ) during a manually performed parking maneuver to park the vehicle 100 in a parking position PP (see 2 - 5 ) receive. In a second step S2, a position and/or an orientation of vehicle 100 parked in parking position PP is determined as a function of received sensor signal SIG. In a third step S3, a number of driving maneuvers to park vehicle 100 out of the parking position PP is determined as a function of the determined position and/or orientation. In a fourth step S4, one of the determined driving maneuvers is selected. In a fifth step S5, vehicle 100 is parked out of parking position PP on the basis of the selected driving maneuver in an automatic driving mode.

Although the present invention has been described using exemplary embodiments, it can be modified in many ways.

reference list

100

vehicle

110

parking assistance system

112

receiving unit

114

investigation unit

116

selection unit

118

control unit

120

sensor

130

sensor

200

vicinity

300

object

310

parking spot

320

line

A

position

B

position

TO YOU

Direction

pp

parking position

S1

process step

S2

process step

S3

process step

S4

process step

S5

process step

SIG

sensor signal

TR0

trajectory

TR1

trajectory

TR1A

trajectory

TR1 B

trajectory

QUOTES INCLUDED IN DESCRIPTION

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Patent Literature Cited

• DE 102018131598 A1 [0004]

Claims (13)

Method for operating a parking assistance system (110) for a vehicle (100), the method comprising: a) receiving (S1) a sensor signal (SIG) indicative of an environment (200) of the vehicle (100) during a manually performed parking maneuver for parking the vehicle (100) in a parking position (PP), b) determining (S2) a position and/or an orientation of the vehicle (100) parked in the parking position (PP) as a function of the received sensor signal (SIG), c) determining (S3) a number of driving maneuvers to park the vehicle (100) out of the parking position (PP), depending on the determined position and/or orientation, d) selecting (S4) one of the determined driving maneuvers, and e) parking (S5) the vehicle (100) out of the parking position (PP) on the basis of the selected driving maneuver in an automatic driving mode. procedure after claim 1 , characterized in that the parking position (PP) is outside of an area recognized by the parking assistance system (110) as a parking space. procedure after claim 1 or 2 , characterized in that step d) comprises: outputting the number of determined driving maneuvers to a driver of the vehicle (100), and receiving a selection signal for selecting one of the determined driving maneuvers. Method according to one of the preceding claims, characterized in that step c) comprises: determining the number of driving maneuvers based on a plurality of predetermined driving maneuvers. Method according to one of the preceding claims, characterized in that step b) comprises: detecting at least one parking space (310) in the vicinity of the vehicle (100) as a function of the received sensor signal (SIG), the position and/or orientation of the vehicle (100) is determined as a function of the at least one detected parking space (310). procedure after claim 5 , characterized in that detecting the at least one parking space (310) includes detecting a parking space type, the position and/or the orientation of the vehicle (100) being determined as a function of the detected parking space type of the at least one parking space (310). becomes. procedure after claim 5 or 6 , characterized in that the detection of the at least one parking space (310) includes detecting a relative position of the at least one parking space (310) relative to a trajectory (TR0) of the vehicle (100) during the manually performed parking maneuver, the position and / or the orientation of the vehicle (100) is determined as a function of the detected relative position of the at least one parking space (310). Method according to one of the preceding claims, characterized in that step b) comprises: detecting at least one line (320) present on the ground in the vicinity of the vehicle (100) as a function of the received sensor signal (SIG). Method according to one of the preceding claims, characterized in that step c) further comprises: receiving a further sensor signal indicative of the surroundings (200) of the vehicle (100) when the vehicle (100) is parked in the parking position (PP). , And detecting objects (300) in the area (200) of the vehicle (100) as a function of the further sensor signal received, the determination of the number of driving maneuvers also being carried out as a function of the detected objects (300). Method according to one of the preceding claims, characterized in that step a) further comprises: receiving the sensor signal (SIG) indicative of the surroundings (200) at a plurality of different times during the manually performed parking maneuver for parking the vehicle (100) in the Parking position (PP), and wherein step b) further comprises: storing the plurality of received sensor signals (SIG), and determining the position and/or the orientation of the vehicle (100) parked in the parking position (PP) as a function of the plurality of stored sensor signals (SIG). Computer program product, which comprises instructions which, when the program is executed by a computer, cause it to carry out the method according to one of Claims 1 until 10 to execute. Parking assistance system (110) for a vehicle (100), with: a receiving unit (112) for receiving an area (200) of the vehicle (100) indicative sensor signal (SIG) during a manual parking maneuvers carried out to park the vehicle (100) in a parking position (PP), a determination unit (114) for determining a position and/or an orientation of the vehicle (100) parked in the parking position (PP) as a function of the received sensor signal (SIG) , and for determining a number of driving maneuvers to park the vehicle (100) out of the parking position (PP), depending on the determined position and/or orientation, a selection unit (116) for selecting one of the determined driving maneuvers, and a control unit (118 ) for parking the vehicle (100) from the parking position (PP) on the basis of the selected driving maneuver in an automatic driving mode. Vehicle (100) with at least one sensor unit (120, 130) for detecting and outputting a sensor signal (SIG) indicative of the area (200) of the vehicle (100), and with a parking assistance system (110). claim 12 .

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