EP2608185B1 - Device and method for the provision of a parking aid in a vehicle - Google Patents
Device and method for the provision of a parking aid in a vehicle Download PDFInfo
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- EP2608185B1 EP2608185B1 EP20120008441 EP12008441A EP2608185B1 EP 2608185 B1 EP2608185 B1 EP 2608185B1 EP 20120008441 EP20120008441 EP 20120008441 EP 12008441 A EP12008441 A EP 12008441A EP 2608185 B1 EP2608185 B1 EP 2608185B1
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
Definitions
- the present invention relates to a method and apparatus for providing a parking aid in a vehicle.
- a method and apparatus for providing a parking aid in a vehicle In the method according to the invention, at least one parking space in the surroundings of the vehicle is detected and the surroundings of the vehicle with the at least one parking space are displayed by means of a graphical representation.
- Parking assist devices are known in the art and typically include suitable sensors to detect the environment of the vehicle. In particular, the distances from the own vehicle to obstacles located in the vicinity of the vehicle are detected, e.g. parked vehicles, trees, walls or pillars.
- Such Einpark Anlagenvorraumen further include known to display and control concepts to visualize the driver of the vehicle on the one hand, the parking situation, on the other hand, but also to enable a situation-appropriate interaction with the vehicle.
- specific parking suggestions can be made on the system side and / or system-side driving supports can be offered, which at least partially reduce the driver's driving task during the parking process.
- the parking time can be reduced, which benefits the occupants of the vehicle to be parked and likewise the road users in the vicinity of the vehicle to be parked. Furthermore, the risk of typical shunting damage, such as Collisions with objects in the blind spot can be reduced.
- the DE 102 57 722 A1 describes a parking aid for a vehicle for detecting parking spaces that are sensed during the passage of the vehicle.
- Information about the parking spaces, such as the distance to the vehicle and the length and width of the parking space can be displayed via an output unit.
- the DE 10 2010 010 652 A1 describes a method and apparatus for parking assistance of a vehicle based on the sensory detection of the environmental conditions of the vehicle. Both a Vorholicrteinparken and a Ruganteinparken is supported for a transverse gap and the driver if necessary, a suggestion and a suitable Einparkbahn displayed.
- the WO 20091118098 A1 describes a method for selecting a parking space in which a complex parking situation is detected by a camera-based method and each possible parking space is evaluated by means of specific selection criteria.
- the complex parking situation includes in particular longitudinal gaps, cross gaps, parking markings and / or parked vehicles.
- the DE 10 2009 046 726 A1 relates to a method for detecting parking spaces and selecting a parking space.
- the possible parking areas are shown for further selection on a preferably touch-sensitive screen and can be selected by tapping.
- a parking trajectory can be displayed and / or a fully or semi-automatic parking can be triggered.
- a method and a device for parking assistance is described in which a plurality of parking spaces are sensed and displayed on a display unit. It can be distinguished between longitudinal gaps, cross gaps and oblique parking spaces. For a parking space selected via a rotary press or a touch or proximity-sensitive surface of the display unit, parking assistance is provided to the driver
- a generic parking aid is also from the EP 1 462 342 A2 known.
- the inventive method is characterized in that at least two parking modes are defined, which differ by the Einparkart in the parking spaces and / or the gap type of parking spaces, one of the parking modes is selected and the nature of the graphical representation of the environment with the at least one parking space in Depending on the selected parking mode is done.
- the provision of two or more parking modes, which differ by the Einparkart and / or the gap type, improves the ability to display the parking situation situation. Depending on the parking situation, this can contribute to a better overview for the driver.
- a type of gap is understood in particular to mean the location and orientation of a parking space in a parking situation.
- longitudinal gaps which are aligned parallel to the vehicle or the road and are defined for the parking operation by front and rear boundaries
- transverse gaps which are aligned perpendicular to the vehicle or the roadway and are defined by lateral boundaries.
- a gap that is not substantially parallel or perpendicular to the vehicle or the roadway is classified, in particular, as a slant gap.
- Criteria for the Einparkart include in particular the possibility or the requirement that can be parked forwards or backwards or should.
- an oblique or mallmaschinertiges parking can be defined.
- a matching parking space need not necessarily have been identified. But if at least one parking space was found, it is possible to switch to the corresponding parking mode.
- this parking space is then highlighted relative to the parking spaces that do not belong to the selected parking mode. In particular, all parking spaces associated with the selected parking mode are highlighted. In this way, a selective search for a specific type of gap can be simplified and a contribution to speedy parking can be made.
- a highlighted representation is made, for example, in a manner known per se. All parking spaces are displayed and the parking spaces associated with the selected parking mode are highlighted by a differentiation of the display color, the display pattern and / or the degree of transparency. The parking spaces that do not belong to the selected parking mode are displayed or hidden in a variant.
- the gap proportions do not have to be to scale and the environment of the vehicle does not reflect the actual objects that make up the boundaries of the parking spaces.
- an approximately proportionate representation of at least the parking spaces and the distances between the vehicle and a parking space is advantageous.
- the surroundings of the vehicle include parking spaces bounding objects and possibly other objects and that the objects delimiting the parking spaces and possibly the other objects are displayed as a function of the selected parking mode. They are displayed differently in particular for each parking mode.
- the environment is displayed in a different way.
- Such a representation has no claim and no purpose to correspond to reality.
- the objects bounding the parking spaces, e.g. parked vehicles in this case only shown as this corresponds to the selected parking mode.
- the environment of a parking space in parking mode for transverse parking is then e.g. visualized as a cross-parked vehicle, the environment of a parking space in parking mode for longitudinal parking accordingly as langsparkendes vehicle.
- the change between the two parking modes is intuitively more understandable for the driver and the driver finds the desired parking mode faster. It is assumed here that the driver of the vehicle makes the parking situation shown graphically to him plausible by the real image he sees and, if necessary, compensates.
- the activation of the parking aid can be done in a known per se. It takes place e.g. automatically when the vehicle has fallen below a certain speed limit and / or when a distance image of the environment is detected, with which a typical parking situation is associated. Alternatively or additionally, a manual activation by a user input is possible. After activating the parking aid then, for example, a neutral search image is displayed first.
- the assignment of the detected parking spaces to the defined parking modes is evaluated by means of an evaluation algorithm and the selection of the parking mode is carried out automatically as a function of the result of this evaluation. It can therefore be assessed how useful the automatic allocation of the parking spaces to the individual parking modes in the given situation.
- the graphic representation of the parking mode can now be displayed immediately, which is considered to be most likely on the system side. At the beginning of the parking task, the driver does not have to worry about the actual selection of the parking mode. This is particularly time-saving.
- the evaluation is carried out in a manner known per se, for example via a penalty system or bonus point system, in which for each detected parking space it is quantified to what extent it is suitable as a type of gap of the respective parking modes. Quantification allows the selection to be made on a traceable basis.
- the criteria can be particularly configurable Eg by driver-specific a particular parking mode is upgraded via bonus points and thus more likely automatically comes to choose from.
- the driver can still set the desired parking mode manually. If, in a complex parking situation, it turns out to be difficult for the system to find the suitable parking mode, the driver can, according to a variant, predefine the parking mode by a user input, whereby an automatic selection of the parking mode is suppressed. This is e.g. helpful in situations in which the driver prefers a certain Einparkart, but the system is not recognizable. For example, the driver wants to park forward because of a cargo to be unloaded or because of his preferences, but on the system side, better chances of parking rear-end parallel parking are found.
- User inputs may be made by various modalities, e.g. via a voice interface or via manually operated controls. If the graphic display is provided on a display surface with an approximate or touch-sensitive surface, a so-called touch screen, user inputs can also be made by manual interaction with the display objects of the graphical representation itself. Alternatively, an approach or touch-sensitive surface can be provided for the operation, which is arranged spatially separated from the display surface (so-called touchpad).
- the activation and / or the selection of the parking mode takes place by means of a gesture which is executed on or in front of the approach or touch-sensitive surface.
- This can be advantageously used for multifunction displays when the display area is used for other image outputs before parking.
- the activation and / or selection of the parking mode can then be carried out quickly and intuitively.
- graphics data for a graphic representation of the environment are respectively calculated for the at least two parking modes.
- the calculated graphic data is displayed as a change image depending on the selected parking mode, the graphic representation for the selected parking mode being displayed as the main picture and the graphic representation for the non-selected parking modes as a sub picture.
- the main image is a graphic representation that is the fastest and most noticeable upon a cursory inspection of the overall graphical representation of the parking aid.
- the main image is displayed in particular in the foreground and / or centrally. For example, it partially obscures the subimages in the background and / or displays them larger than the subimages.
- the graphics data for the subimages must be calculated in a partial concealment of the sub-images only to the extent that they are actually graphically represent at the time. However, it is also possible to calculate in advance for each of the individual parking modes, the graphics data for a main image and possibly to generate graphics data for a sub picture. When changing the parking mode so possibly the image structure of the newly displayed graph can be done faster.
- the change picture comprises a ticket-like representation with the main picture as overhead file card.
- the sub-images are associated with the underlying index cards and these can be selected via prominent tabs tab, whereby the parking mode is changed accordingly.
- An index card display has the advantage that the available display area can be used almost completely for the main picture and the content of the main picture is detected quickly.
- the subimages are completely or partially obscured, in particular with the exception of the tabs of the main picture.
- the change picture comprises a ring shown in perspective, whose main picture is displayed at a position which lies in the perspective foreground.
- the secondary images are distributed cyclically on the perspective ring.
- an operating action of the ring shown in perspective is controllable such that a carousel-like rotation of a sub-picture can be brought into the perspective foreground, whereby the parking mode is changed accordingly.
- Such a representation can be operated intuitively.
- a displayed sub-picture of a parking mode corresponds to a miniaturization of that graphic that would be displayed as a main picture if the corresponding parking mode had been selected.
- the sub picture is partially obscured in a carousel representation, for example.
- the change picture comprises a planar arrangement of the main picture and at least one sub-picture, wherein the sub-pictures are each displayed smaller than the main picture and the parking mode is changed by selecting the corresponding sub-picture.
- a planar arrangement can not be displayed overlapping or partially overlapping.
- Such a representation is simple and graphically easy to implement. It is particularly advantageous if the parking mode to be selected can not be clearly determined, so that a visual compromise is achieved between a clear selection of a main image and several equivalent images.
- the driver When using change pictures, the driver is advantageously signaled meaningful alternatives to the selected parking mode. In doing so, e.g. allocates a parking space to a gap type that does not belong to the selected parking mode.
- the sub-picture belonging to the parking mode to which the gap type is assigned is visually differentiated from the other sub-pictures. In the case of the index card display, e.g. the tab in question is highlighted in green. Similarly, the sub-pictures of the other change-picture representations can be visually highlighted. As a result, the driver can quickly locate those who found usable parking spaces, especially among several non-selected parking modes.
- a subarea of the graphical representation of the surroundings pertaining to a parking mode is masked as a function of the gear selection and / or the position of the turn signal. As a result, the required display area for the graphical representation can be reduced.
- a park information in particular a graphic representation of a road sign valid for the respective parking spaces, can then be displayed at the position of the hidden subarea.
- the graphical representation is restricted situation-specific and the thus obtained disused area on the display area is used for the representation of situation-specific information.
- the parking or holding conditions for the respective parking spaces are displayed to the driver, e.g. whether a hold is only permitted for entry or exit or loading or unloading or if the side strips are to be used during parking.
- a parking instruction can also be displayed independently of whether a partial area of the graphical representation has previously been hidden.
- Such an indication is e.g. displayed in a free corner of the graphical representation, for example obliquely below a sub-picture in a perspective ring representation.
- the inventive device for providing a parking aid in a vehicle comprises means for detecting parking spaces in the vicinity of the vehicle and a Display area for displaying the surroundings of the vehicle with at least one parking space by means of a graphical representation. It further comprises a control unit, which is connected to the means for detecting parking spaces and the display surface, for controlling the display area in dependence on the detected parking spaces.
- the inventive device is characterized in that by means of the control unit at least two parking modes are definable, which differ by the Einparkart in the parking spaces and / or the gap type of parking spaces and that the selection of one of the parking modes can be detected.
- the displayed on the display surface type of graphical representation of the environment with the at least one parking space is then displayed in dependence on the selected parking mode.
- the device according to the invention is particularly suitable for carrying out the method according to the invention. It therefore also has the advantages of the method according to the invention.
- a vehicle is equipped with such a device for providing a parking aid.
- FIG. 1 the view of the cockpit of a vehicle 1 is shown, which is provided with a device 2 for providing a parking aid according to the FIG. 2 equipped according to an embodiment of the invention.
- the device 2 comprises a display 3, which is arranged in the upper region of the center console, so that it can be well viewed by the driver and front passenger and possibly operated.
- the display 3 can also be arranged elsewhere in the vehicle 1, z. B. in the so-called instrument cluster or in a head-up display.
- the graphical representations of the various parking modes can be displayed on the display 3.
- the display 3 comprises an approximation or touch-sensitive surface, so that the display contents can be directly manipulated via input gestures.
- User inputs can also be entered via a manual control element 5, which is designed, for example, as a rotary pushbutton, joystick or as a touchpad, or via a voice interface (not shown).
- a parking mode can be selected via the user inputs.
- the device 2 for providing a parking aid further comprises a control unit 4, which is connected to the display 3 and controls the graphical representations on the display 3 in response to detected parking spaces.
- a control unit 4 which is connected to the display 3 and controls the graphical representations on the display 3 in response to detected parking spaces.
- criteria regarding the parking spaces are defined for different parking modes, as will be described in more detail below in connection with the method according to the invention.
- a rating unit 6 is integrated, by means of which the parking situation can be evaluated in dependence on the detected parking spaces.
- an evaluation algorithm is stored for this purpose, by means of which the assignment of the detected parking spaces to the defined parking modes can be evaluated and an automatic selection of the parking mode can be made depending on the result of this evaluation. It can therefore be assessed how useful the automatic allocation of the parking spaces to the individual parking modes in the given situation.
- the control unit 4 is connected via the data bus 7 in the vehicle with a plurality of parking sensors 8.
- the parking sensors 8 acquire data of the surroundings of the vehicle 1 when a maneuvering or parking situation has been detected by the system or entered by the driver.
- the parking sensors 8 are advantageously arranged in the front and rear bumpers of the vehicle 1 and are e.g. automatically activated when the speed drops below a minimum speed or when a low gear or reverse gear is engaged.
- the data of the surroundings of the vehicle 1 are transmitted to the control unit 4 in a manner known per se and evaluated there. In particular, information about parking spaces is then extracted from them, and the corresponding graphics data are generated for the parking modes.
- GPS Global Positioning System
- a parking situation was detected for the vehicle 1.
- the parking situation has been automatically recognized, because via the navigation device 10, the approach to the navigation target and a decrease in the travel speed of the vehicle 1 below a set threshold, e.g. 30 km / h, was detected.
- the driver has called the parking aid via a user input. For this he has e.g. made a selection on the control element 5 or by means of a write gesture, the letter "P" on the touch-sensitive surface of the display 3 entered.
- the previous display content of e.g. was generated by an infotainment, is then interrupted and provided an initial image for the parking aid.
- the parking sensors 8 Upon detection of a parking situation, the parking sensors 8 are activated so that first data on the surroundings of the vehicle 1 can be detected while driving by. Of Further, 9 additional data are supplied to the environment in support of the camera system. The acquired data are collected in the control unit 4 and form the basis for the detection of the parking spaces and possibly relevant parking instructions for the further procedure.
- a first parking mode concerns longitudinal parking, i. that the parking space is aligned substantially parallel to the direction of travel and is defined by the front and rear boundary.
- a second parking mode is transverse parking, i. that the parking space is oriented substantially perpendicular to the direction of travel and is defined by the lateral boundaries.
- a third parking mode concerns oblique parking in which the parking space is inclined at an angle, e.g. is aligned between 20 ° and 70 ° to the direction of travel. For each parking mode, a restriction to the respective lane side can be made so that only parking spaces are displayed on the right half. Further parking modes, if implemented, then take into account further parking spaces and / or a differentiation as to whether forward or reverse parking is possible, reasonable or even prescribed.
- parking spaces are identified on the basis of the acquired data.
- a parking space identified in this way is allocated to a parking mode or several parking modes according to the defined criteria. For example, a relatively large parking space can meet the criteria of several parking modes. It can be there for example be parked longitudinally or transversely.
- graphic data for a graphical representation can then be generated, by means of which the surroundings of the vehicle 1 with the identified parking spaces can be displayed.
- a parking mode is selected automatically either by the system or by a user input.
- the selection of the parking mode by the driver takes place.
- the driver can either cyclically change the defined parking modes by means of the control element, so that the graphic representations of the respective parking modes are displayed one after the other.
- the selection of the parking mode is initially automatic.
- the assignment of the detected parking spaces to the defined parking modes becomes evaluated by means of an evaluation algorithm in the evaluation unit 6 in terms of how advantageous the respective parking mode is in the specific situation.
- For each parking mode bonus points for each found parking space are distributed, which is assigned to this parking mode. Further bonus points or penalty points (negative bonus points) can be awarded for other criteria, for example, that transverse parking compared to longitudinal parking is assessed as disadvantageous and charged with penalty points.
- the selection of the parking mode then takes place automatically depending on the result of this evaluation, ie that the parking mode with the most bonus points is selected.
- the automatic selection of the parking mode can still be suppressed on the driver side.
- the system-side suggestion of the parking mode may be objectively advantageous in certain situations, it may appear to be subjective and situation-related but inappropriate.
- the driver recognizes that the traffic flow and / or objects to be unloaded in his vehicle transverse parking is unfavorable and he looks best for a longer parking space gap. In this case, the driver can set the parking mode firmly, thus temporarily switching off the automatic selection.
- FIG. 3 2 a graphical representation 20 of the surroundings of the vehicle 1 is shown with parking spaces 30A, 30B, 30C of various types of gaps.
- the own vehicle 1 is symbolized as a graphic object 40 and the surroundings by longitudinally-spaced vehicles 41.
- the received data was evaluated and possible longitudinal gaps 30A, transverse parking spaces 30B and oblique parking spaces 30C were identified.
- Graphs 20A-20C are cyclically interchangeable by user input.
- a graph 20A is displayed in which the transverse parking space 30A is visually highlighted.
- the parking space is displayed in a bright or green light so that it quickly catches the eye of the driver, even at a glance at the display 3.
- the other parking spaces 30B, 30C are preferably displayed semi-transparently or not at all to direct the full attention of the driver to the parking spaces associated with the particular selected parking mode.
- the graph 20B in which the parking space 30B is visually highlighted is displayed, and when selecting an oblique parking mode, the graph 20C in which the parking space 30C is visually highlighted is displayed. If no suitable parking space was found for one of the parking modes, the corresponding graphic is displayed during cyclic switching Skipped presentation and immediately selected the next parking mode for which a parking space was found.
- FIG. 16 is a graph 20D for a parking mode for longitudinal parking based on the graph 20 of FIG. 3 shown.
- the associated parking spaces 30A, 30B or 30C are visually highlighted, as described with reference to FIG FIG. 4 has been described.
- the turn signal has been set to the right, whereupon the left half of the graphical representation 20 is hidden.
- the vacated area is now used for the presentation of park information sign 50.
- the driver is advised in this case that he is in a no-parking zone, so the vehicle is not allowed to leave and leave.
- a corresponding traffic sign for the parking prohibition zone was detected by the camera system 9.
- the graphic representation according to further embodiments of the invention takes place as alternating pictures.
- the calculated graphics data are displayed in dependence on the selected parking mode such that the graphical representation for the selected parking mode as the main picture and the graphic representation for the non-selected parking modes as a sub picture are displayed.
- the sub-images are optionally sorted according to the bonus points obtained during the automatic evaluation, so that they are first displayed in this order during the cyclic switching.
- a card-like representation 21 A - 21 D is shown, which consists of a main image 2 1 A as overhead card and several sub-images 21 B - 21 D as underlying index cards.
- the sub-picture 21 B - 21 D can be selected via tab shown tabs.
- the overhead tab 21A shows a parked longitudinal mode as previously described. For example, a suitable longitudinal parking space 31 was found, and then the parked mode was automatically selected. By selecting another tab 21B - 21D, the parking mode can now be changed. For example, if a parking space is found that belongs to the parking mode with the representation 21C, the index card tab of the sub-picture 21C is visually of the tabs of the other sub-picture 21 B and 21 D differentiated, eg highlighted in green. In this way, the driver recognizes even with a glance at the display 3 that other suitable parking options are available to him. If appropriate, he can select the sub-picture 21C, so that this is now displayed as the main picture and is changed accordingly in the associated parking mode.
- FIG. 7 is an alternative to that in the FIG. 6 2, the change image from a planar arrangement with the main image 22A and the subimages 22B, 22C.
- a suitable Querparkparklücke 32 was found and then automatically selected the Querparkmodus.
- the sub-images 22B, 22C are each displayed smaller than the main image 22A.
- the selection of the parking mode can be changed.
- the sub-picture 22B is a suitable longitudinal parking space 31 and in the sub-picture 22C a suitable oblique parking space 33 is shown.
- FIG. 8 is an alternative to those in the FIGS. 6 and 7 Representations shown, the alternating image from a perspective ring shown, the main image 23 A is displayed at a position that is in the front perspective and the side images 23 B, 23 C are cyclically distributed on the perspective ring. It was again, as already related to the FIG. 6 was executed, found a suitable transverse parking space 32 and selected the transverse park mode.
- a suitable transverse parking space 32 In the sub-picture 23B is a suitable longitudinal parking space 31 and in the sub-picture 23C a suitable oblique parking space 33 is shown.
- the parking spaces 31 - 33 limiting obstacles as parked vehicles 41 - 43 are displayed symbolized.
- longitudinal parking mode longitudinally parked vehicles 41, vehicles parked transversely for the transverse parking mode 42 and vehicles parked obliquely for the oblique parking mode 43 are shown. This representation is very intuitive for the driver to grasp. It recognizes at a glance which type of parking or which type of gap it is.
- the schematically illustrated environment does not usually correspond to the actual environmental situation. This has several advantages.
- the driver can normally detect the general parking situation faster than would be possible via the parking sensors 8.
- the driver recognizes, for example, that only longitudinal parking is possible on an arterial road.
- the driver by his appearance, a system side wrong classified parking space or a parking space unsuitable for parking as such at all. It recognizes, for example, system-side errors in which smaller obstacles such as shut-off posts were not recognized, or whether the detected free space is a driveway in which it is not allowed to park.
- the driver can now compare the parking situation shown graphically with the real picture seen by him and optionally select the desired parking mode.
- the driver again has the option to select the individual parking modes in succession by means of an operating action by means of cyclical changes.
- an operating action the driver can control the ring such that a carousel-like rotation of one of the side images 23B, 23C in the perspective foreground can be brought, whereby the parking mode is changed accordingly.
- a neutral display 24 is also provided, which can also be cyclically displayed as the main image for display.
- the neutral display 24 includes, depending on the embodiment, no display contents or display contents for configuring the parking aid. Alternatively, for example, a moving image captured by the camera system 9 can also be displayed.
- FIG. 9 is still visible from the sub pictures, which parking mode is thus displayed.
- FIG. 10 are the side images reduced to a wing representation 25, so that only the perspective ring is indicated as such, but is no longer recognizable to which of the secondary images is. If a suitable parking space was found for a non-selected parking mode, the respective wing representation is again visually highlighted, eg marked green, so that the driver quickly recognizes possible parking alternatives.
Description
Die vorliegende Erfindung betrifft ein Verfahren und eine Vorrichtung zum Bereitstellen einer Einparkhilfe in einem Fahrzeug. Bei dem erfindungsgemäßen Verfahren wird wenigstens eine Parklücke in der Umgebung des Fahrzeugs erfasst und es wird die Umgebung des Fahrzeugs mit der wenigstens einen Parklücke mittels einer graphischen Darstellung angezeigt.The present invention relates to a method and apparatus for providing a parking aid in a vehicle. In the method according to the invention, at least one parking space in the surroundings of the vehicle is detected and the surroundings of the vehicle with the at least one parking space are displayed by means of a graphical representation.
Einparkhilfevorrichtungen sind aus dem Stand der Technik bekannt und umfassen typischerweise geeignete Sensoren, um die Umgebung des Fahrzeugs zu erfassen. Insbesondere werden die Abstände vom eigenen Fahrzeug zu in der Umgebung des Fahrzeugs befindlichen Hindernissen erfasst, z.B. geparkte Fahrzeuge, Bäume, Mauern oder Pfeiler. Solche Einparkhilfevorrichtungen umfassen des Weiteren bekanntermaßen geeignete Anzeige- und Bedienkonzepte, um dem Fahrer des Fahrzeugs einerseits die Parksituation zu visualisieren, andererseits ihm aber auch eine situationsgerechte Interaktion mit dem Fahrzeug zu ermöglichen. Dabei können systemseitig auch konkrete Einparkvorschläge erfolgen und/oder es können systemseitige Fahrunterstützungen angeboten werden, die dem Fahrer während des Einparkvorgangs die Fahraufgabe wenigstens teilweise abnehmen. Auf diese Weise kann die Einparkzeit verringert werden, was den Insassen des einzuparkenden Fahrzeugs und gleichermaßen den Verkehrsteilnehmern in der Umgebung des einzuparkenden Fahrzeugs zu Gute kommt. Ferner kann die Gefahr typischer Rangierschäden wie z.B. Kollisionen mit Gegenständen im toten Winkel verringert werden.Parking assist devices are known in the art and typically include suitable sensors to detect the environment of the vehicle. In particular, the distances from the own vehicle to obstacles located in the vicinity of the vehicle are detected, e.g. parked vehicles, trees, walls or pillars. Such Einparkhilfevorrichtungen further include known to display and control concepts to visualize the driver of the vehicle on the one hand, the parking situation, on the other hand, but also to enable a situation-appropriate interaction with the vehicle. In this case, specific parking suggestions can be made on the system side and / or system-side driving supports can be offered, which at least partially reduce the driver's driving task during the parking process. In this way, the parking time can be reduced, which benefits the occupants of the vehicle to be parked and likewise the road users in the vicinity of the vehicle to be parked. Furthermore, the risk of typical shunting damage, such as Collisions with objects in the blind spot can be reduced.
Die
Die
Die
Die
In der
Eine gattungsgemäße Einparkhilfe ist zudem aus der
Es ist die Aufgabe der vorliegenden Erfindung, ein Verfahren und eine Vorrichtung zum Bereitstellen einer Einparkhilfe in einem Fahrzeug bereitzustellen, welche dem Fahrer eine gute und schnelle Übersicht über die bestehende Parksituation ermöglicht und welche eine schnelle und intuitive Bedienung der Einparkhilfe erlaubt.It is the object of the present invention to provide a method and a device for providing a parking aid in a vehicle, which allows the driver a good and quick overview of the existing parking situation and which allows a quick and intuitive operation of the parking aid.
Diese Aufgabe wird erfindungsgemäß durch ein Verfahren mit den Merkmalen des Anspruchs 1 sowie durch eine Vorrichtung mit den Merkmalen des Anspruchs 10 gelöst. Vorteilhafte Aus- und Weiterbildungen ergeben sich aus den abhängigen Ansprüchen.This object is achieved by a method having the features of
Das erfindungsgemäße Verfahren ist dadurch gekennzeichnet, dass mindestens zwei Einparkmodi definiert werden, welche sich durch die Einparkart in die Parklücken und/oder die Lückenart der Parklücken unterscheiden, einer der Einparkmodi ausgewählt wird und die Art der graphischen Darstellung der Umgebung mit der wenigstens einen Parklücke in Abhängigkeit von dem ausgewählten Einparkmodus erfolgt. Die Bereitstellung zweier oder auch mehrerer Einparkmodi, welche sich durch die Einparkart und/oder die Lückenart unterscheiden, verbessert die Möglichkeit, die Parksituation situationsgerechter anzuzeigen. Je nach Parksituation kann dies zu einer besseren Übersicht für den Fahrer beitragen.The inventive method is characterized in that at least two parking modes are defined, which differ by the Einparkart in the parking spaces and / or the gap type of parking spaces, one of the parking modes is selected and the nature of the graphical representation of the environment with the at least one parking space in Depending on the selected parking mode is done. The provision of two or more parking modes, which differ by the Einparkart and / or the gap type, improves the ability to display the parking situation situation. Depending on the parking situation, this can contribute to a better overview for the driver.
Unter einer Lückenart wird im Sinne der Erfindung insbesondere die Lage und Ausrichtung einer Parklücke in einer Parksituation verstanden. Beispielsweise wird zwischen Längslücken, welche parallel zum Fahrzeug oder der Fahrbahn ausgerichtet sind und für den Einparkvorgang durch vordere und hintere Begrenzungen definiert sind, und Querlücken, welche senkrecht zum Fahrzeug oder der Fahrbahn ausgerichtet sind und durch seitliche Begrenzungen definiert sind, unterschieden. Eine Lücke, die nicht im Wesentlichen parallel oder senkrecht zum Fahrzeug oder der Fahrbahn ausgerichtet ist, wird insbesondere als Schräglücke klassifiziert. Ferner besteht die Möglichkeit, nach in Fahrtrichtung vorausliegenden oder zurückliegenden Parklücken zu unterscheiden. Kriterien für die Einparkart umfassen insbesondere die Möglichkeit oder die Vorgabe, dass vorwärts bzw. rückwärts eingeparkt werden kann oder soll. Bei Fahrzeugtypen mit lenkbaren Vorder- und Hinterrädern kann auch ein schräges oder seitwärtiges Einparken definiert werden.For the purposes of the invention, a type of gap is understood in particular to mean the location and orientation of a parking space in a parking situation. For example, a distinction is made between longitudinal gaps, which are aligned parallel to the vehicle or the road and are defined for the parking operation by front and rear boundaries, and transverse gaps, which are aligned perpendicular to the vehicle or the roadway and are defined by lateral boundaries. A gap that is not substantially parallel or perpendicular to the vehicle or the roadway is classified, in particular, as a slant gap. Furthermore, it is possible to differentiate in the direction of travel ahead or past parking spaces. Criteria for the Einparkart include in particular the possibility or the requirement that can be parked forwards or backwards or should. For types of vehicles with steerable front and rear wheels also an oblique or seitwärtiges parking can be defined.
Für den ausgewählten Einparkmodus muss nicht unbedingt eine dazu passende Parklücke identifiziert worden sein. Wenn aber wenigstens eine Parklücke gefunden wurde, besteht die Möglichkeit, in den entsprechenden Einparkmodus zu wechseln. Gemäß einer Ausgestaltung des erfindungsgemäßen Verfahrens wird, wenn eine Parklücke zum ausgewählten Einparkmodus gehört, diese Parklücke dann gegenüber den Parklücken, die nicht zum ausgewählten Einparkmodus gehören, hervorgehoben dargestellt. Insbesondere werden alle zum ausgewählten Einparkmodus gehörigen Parklücken hervorgehoben dargestellt. Auf diese Weise kann ein selektives Suchen nach einer bestimmten Lückenart vereinfacht werden und ein Beitrag zu einem zügigen Einparken geleistet werden.For the selected parking mode, a matching parking space need not necessarily have been identified. But if at least one parking space was found, it is possible to switch to the corresponding parking mode. According to one embodiment of the method according to the invention, when a parking space belongs to the selected parking mode, this parking space is then highlighted relative to the parking spaces that do not belong to the selected parking mode. In particular, all parking spaces associated with the selected parking mode are highlighted. In this way, a selective search for a specific type of gap can be simplified and a contribution to speedy parking can be made.
Eine hervorgehobene Darstellung erfolgt beispielsweise auf an sich bekannte Art. Es werden z.B. alle Parklücken dargestellt und die dem ausgewählten Einparkmodus zugehörigen Parklücken werden durch eine Differenzierung der Darstellungsfarbe, des Darstellungsmusters und/oder des Transparenzgrades hervorgehoben. Die Parklücken, die nicht zum ausgewählten Einparkmodus gehören, werden in einer Variante transparent dargestellt bzw. ausgeblendet.A highlighted representation is made, for example, in a manner known per se. all parking spaces are displayed and the parking spaces associated with the selected parking mode are highlighted by a differentiation of the display color, the display pattern and / or the degree of transparency. The parking spaces that do not belong to the selected parking mode are displayed or hidden in a variant.
Bei der Anzeige einer graphischen Darstellung der Umgebung des Fahrzeugs im Sinne der Erfindung muss nicht unbedingt eine realitätsnahe Visualisierung der Umgebung des Fahrzeugs erfolgen. Insbesondere müssen die Lückenproportionen nicht maßstabsgerecht sein und die Umgebung des Fahrzeugs nicht die tatsächlichen Gegenstände widerspiegeln, die die Begrenzungen der Parklücken bilden. Eine annährend proportionsgetreue Darstellung wenigstens der Parklücken sowie der Abstände zwischen dem Fahrzeug und einer Parklücke ist jedoch vorteilhaft.When displaying a graphical representation of the surroundings of the vehicle in the sense of the invention, it is not absolutely necessary for a realistic visualization of the environment of the vehicle to take place. In particular, the gap proportions do not have to be to scale and the environment of the vehicle does not reflect the actual objects that make up the boundaries of the parking spaces. However, an approximately proportionate representation of at least the parking spaces and the distances between the vehicle and a parking space is advantageous.
In einer vorteilhaften Ausgestaltung des erfindungsgemäßen Verfahrens ist vorgesehen, dass die Umgebung des Fahrzeugs Parklücken begrenzende Objekte und gegebenenfalls weitere Objekte umfasst und dass die die Parklücken begrenzenden Objekte und gegebenenfalls die weiteren Objekte in Abhängigkeit vom ausgewählten Einparkmodus angezeigt werden. Sie werden insbesondere für jeden Einparkmodus unterschiedlich angezeigt. Bei einem Wechsel des Einparkmodus wird dann die Umgebung in veränderter Weise dargestellt. Eine solche Darstellung hat nicht den Anspruch und nicht den Zweck, der Realität zu entsprechen. Insbesondere werden die die Parklücken begrenzenden Objekte, z.B. geparkte Fahrzeuge, in diesem Fall nur so dargestellt, wie dies dem ausgewählten Einparkmodus entspricht. Die Umgebung einer Parklücke im Einparkmodus für Querparken wird dann z.B. als querparkendes Fahrzeug visualisiert, die Umgebung einer Parklücke im Einparkmodus für Längsparken entsprechend als längsparkendes Fahrzeug. Der Wechsel zwischen beiden Einparkmodi ist für den Fahrer intuitiv verständlicher und der Fahrer findet den gewünschten Einparkmodus schneller. Es wird dabei davon ausgegangen, dass der Fahrer des Fahrzeugs die ihm graphisch dargestellte Parksituation durch das von ihm gesehene reale Bild plausibilisiert und gegebenenfalls abgleicht.In an advantageous embodiment of the method according to the invention, it is provided that the surroundings of the vehicle include parking spaces bounding objects and possibly other objects and that the objects delimiting the parking spaces and possibly the other objects are displayed as a function of the selected parking mode. They are displayed differently in particular for each parking mode. When changing the parking mode, the environment is displayed in a different way. Such a representation has no claim and no purpose to correspond to reality. In particular, the objects bounding the parking spaces, e.g. parked vehicles, in this case only shown as this corresponds to the selected parking mode. The environment of a parking space in parking mode for transverse parking is then e.g. visualized as a cross-parked vehicle, the environment of a parking space in parking mode for longitudinal parking accordingly as langsparkendes vehicle. The change between the two parking modes is intuitively more understandable for the driver and the driver finds the desired parking mode faster. It is assumed here that the driver of the vehicle makes the parking situation shown graphically to him plausible by the real image he sees and, if necessary, compensates.
Die Aktivierung der Einparkhilfe kann auf an sich bekannte Art erfolgen. Sie erfolgt z.B. automatisch, wenn das Fahrzeug eine bestimmte Geschwindigkeitsgrenze unterschritten hat undloder wenn ein Abstandsbild der Umgebung erfasst wird, mit welchem eine typische Einparksituation assoziiert wird. Alternativ oder auch zusätzlich ist eine manuelle Aktivierung durch eine Nutzereingabe möglich. Nach der Aktivierung der Einparkhilfe wird dann beispielsweise zunächst ein neutrales Suchbild angezeigt.The activation of the parking aid can be done in a known per se. It takes place e.g. automatically when the vehicle has fallen below a certain speed limit and / or when a distance image of the environment is detected, with which a typical parking situation is associated. Alternatively or additionally, a manual activation by a user input is possible. After activating the parking aid then, for example, a neutral search image is displayed first.
Gemäß einer Ausgestaltung des erfindungsgemäßen Verfahrens ist vorgesehen, dass die Zuordnung der erfassten Parklücken zu den definierten Einparkmodi mittels eines Bewertungsalgorithmus bewertet wird und die Auswahl des Einparkmodus automatisch in Abhängigkeit von dem Ergebnis dieser Bewertung erfolgt. Es kann also bewertet werden, wie brauchbar die automatische Zuordnung der Parklücken zu den einzelnen Einparkmodi in der gegebenen Situation ist. Nach der Aktivierung der Einparkhilfe kann somit sofort die graphische Darstellung des Einparkmodus angezeigt werden, welcher systemseitig als am wahrscheinlichsten gilt. Der Fahrer muss sich somit beim Beginn der Einparkaufgabe zunächst nicht um die konkrete Auswahl des Einparkmodus kümmern. Dies ist besonders zeitsparend.According to one embodiment of the method according to the invention, it is provided that the assignment of the detected parking spaces to the defined parking modes is evaluated by means of an evaluation algorithm and the selection of the parking mode is carried out automatically as a function of the result of this evaluation. It can therefore be assessed how useful the automatic allocation of the parking spaces to the individual parking modes in the given situation. After activating the parking aid, the graphic representation of the parking mode can now be displayed immediately, which is considered to be most likely on the system side. At the beginning of the parking task, the driver does not have to worry about the actual selection of the parking mode. This is particularly time-saving.
Die Bewertung erfolgt auf an sich bekannte Art z.B. über ein Penalty-System oder Bonuspunktesystem, bei dem für jede erfasste Parklücke quantifiziert wird, inwiefern sie sich als Lückenart der jeweiligen Einparkmodi eignet. Die Quantifizierung erlaubt es, dass die Auswahl auf eine nachvollziehbare Basis gestellt wird. Die Kriterien können insbesondere konfigurierbar sein, indem z.B. fahrerspezifisch ein bestimmter Einparkmodus über Bonuspunkte aufgewertet wird und somit wahrscheinlicher automatisch zur Auswahl kommt.The evaluation is carried out in a manner known per se, for example via a penalty system or bonus point system, in which for each detected parking space it is quantified to what extent it is suitable as a type of gap of the respective parking modes. Quantification allows the selection to be made on a traceable basis. The criteria can be particularly configurable Eg by driver-specific a particular parking mode is upgraded via bonus points and thus more likely automatically comes to choose from.
Sollte systemseitig nicht der gewünschte Einparkmodus ausgewählt worden sein, kann der Fahrer immer noch den gewünschten Einparkmodus manuell einstellen. Sollte es sich in einer komplexen Einparksituation systemseitig als schwierig herausstellen, den passenden Einparkmodus zu finden, kann der Fahrer gemäß einer Variante den Einparkmodus durch eine Nutzereingabe fest vorgegeben, wobei eine automatische Auswahl des Einparkmodus unterdrückt wird. Dies ist z.B. in solchen Situation hilfreich, in denen der Fahrer eine bestimmte Einparkart bevorzugt, dies aber systemseitig nicht erkennbar ist. Beispielsweise will der Fahrer wegen einer auszuladenden Fracht oder wegen seiner Vorlieben vorwärts längs einparken, systemseitig werden aber bessere Einparkchancen für rückwärts Längsparken gefunden.If the desired parking mode has not been selected on the system side, the driver can still set the desired parking mode manually. If, in a complex parking situation, it turns out to be difficult for the system to find the suitable parking mode, the driver can, according to a variant, predefine the parking mode by a user input, whereby an automatic selection of the parking mode is suppressed. This is e.g. helpful in situations in which the driver prefers a certain Einparkart, but the system is not recognizable. For example, the driver wants to park forward because of a cargo to be unloaded or because of his preferences, but on the system side, better chances of parking rear-end parallel parking are found.
Nutzereingaben können mittels verschiedener Modalitäten erfolgen, z.B. mittels einer Sprachschnittstelle oder über manuell bedienbare Bedienelemente. Falls die graphische Darstellung auf einer Anzeigefläche mit einer annäherungs- oder berührungsempfindlichen Oberfläche ausgestattet ist, einem sogenannten Touchscreen, können Nutzereingaben auch durch manuelle Interaktionen mit den Anzeigeobjekten der graphischen Darstellung selber erfolgen. Alternativ dazu kann für die Bedienung auch eine annäherungs- oder berührungsempfindliche Fläche bereitgestellt werden, welche von der Anzeigefläche räumlich getrennt angeordnet ist (sogenanntes Touchpad).User inputs may be made by various modalities, e.g. via a voice interface or via manually operated controls. If the graphic display is provided on a display surface with an approximate or touch-sensitive surface, a so-called touch screen, user inputs can also be made by manual interaction with the display objects of the graphical representation itself. Alternatively, an approach or touch-sensitive surface can be provided for the operation, which is arranged spatially separated from the display surface (so-called touchpad).
In einer Ausgestaltung des erfindungsgemäßen Verfahrens ist vorgesehen, dass die Aktivierung und/oder die Auswahl des Einparkmodus mittels einer Geste erfolgt, die auf oder vor der annäherungs- oder berührungsempfindlichen Oberfläche bzw. Fläche ausgeführt wird. Dies kann vorteilhafterweise für Multifunktionsdisplays eingesetzt werden, wenn die Anzeigefläche vor dem Einparkvorgang für andere Bildausgaben verwendet wird. Die Aktivierung und/oder Auswahl des Einparkmodus kann dann schnell und intuitiv durchgeführt werden.In one embodiment of the method according to the invention, it is provided that the activation and / or the selection of the parking mode takes place by means of a gesture which is executed on or in front of the approach or touch-sensitive surface. This can be advantageously used for multifunction displays when the display area is used for other image outputs before parking. The activation and / or selection of the parking mode can then be carried out quickly and intuitively.
Bei dem erfindungsgemäßen Verfahren ist vorgesehen, dass für die mindestens zwei Einparkmodi jeweils Graphikdaten für eine graphische Darstellung der Umgebung berechnet werden. Die berechneten Graphikdaten werden in Abhängigkeit von dem ausgewählten Einparkmodus als Wechselbild dargestellt, wobei die graphische Darstellung für den ausgewählten Einparkmodus als Hauptbild und die graphische Darstellung für die nicht ausgewählten Einparkmodi als Nebenbild angezeigt werden. Durch die Darstellung eines solchen Wechselbildes wird die Existenz der verschiedenen Einparkmodi für den Fahrer leicht nachvollziehbar dargestellt. Ferner liefert ein solches Wechselbild auch Hinweise, auf welche Weise zwischen den Einzelbildern hin- und hergewechselt werden kann. Dies macht die graphischen Darstellungen für den Fahrer schneller verfügbar und trägt somit für einen zügigen Einparkvorgang bei.In the method according to the invention, it is provided that graphics data for a graphic representation of the environment are respectively calculated for the at least two parking modes. The calculated graphic data is displayed as a change image depending on the selected parking mode, the graphic representation for the selected parking mode being displayed as the main picture and the graphic representation for the non-selected parking modes as a sub picture. By the representation of such a change picture the existence of the different Einparkmodi for the driver is represented easily comprehensible. Furthermore, such a change picture also provides clues on how to switch back and forth between the frames. This does the graphical representations for the driver faster available and thus contributes to a speedy parking.
Das Hauptbild ist eine graphische Darstellung, die bei flüchtigem Betrachten der graphischen Gesamtdarstellung der Einparkhilfe am schnellsten und besten wahrnehmbar ist. Das Hauptbild wird insbesondere im Vordergrund und/oder zentral dargestellt. Es verdeckt beispielsweise die Nebenbilder im Hintergrund teilweise und/oder wird größer als die Nebenbilder dargestellt. Die Graphikdaten für die Nebenbilder müssen bei einer teilweisen Verdeckung der Nebenbilder nur insoweit berechnet werden, wie sie zum jeweiligen Zeitpunkt tatsächlich graphisch darzustellen sind. Es ist aber auch möglich, für jeden der einzelnen Einparkmodi die Graphikdaten für ein Hauptbild vorab zu berechnen und daraus gegebenenfalls Graphikdaten für ein Nebenbild zu erzeugen. Bei einem Wechsel des Einparkmodus kann so ggf. der Bildaufbau der neu anzuzeigenden graphischen Darstellung schneller erfolgen.The main image is a graphic representation that is the fastest and most noticeable upon a cursory inspection of the overall graphical representation of the parking aid. The main image is displayed in particular in the foreground and / or centrally. For example, it partially obscures the subimages in the background and / or displays them larger than the subimages. The graphics data for the subimages must be calculated in a partial concealment of the sub-images only to the extent that they are actually graphically represent at the time. However, it is also possible to calculate in advance for each of the individual parking modes, the graphics data for a main image and possibly to generate graphics data for a sub picture. When changing the parking mode so possibly the image structure of the newly displayed graph can be done faster.
In einer ersten Ausgestaltungsvariante umfasst das Wechselbild eine karteikartenartige Darstellung mit dem Hauptbild als obenliegende Karteikarte. Dabei sind die Nebenbilder den darunterliegenden Karteikarten zugeordnet und diese sind über hervorstehend dargestellte Karteikartenreiter auswählbar, wodurch der Einparkmodus entsprechend geändert wird. Eine Karteikartendarstellung hat den Vorteil, dass der zur Verfügung stehende Anzeigebereich fast komplett für das Hauptbild verwendbar ist und der Inhalt des Hauptbildes schnell erfasst wird. Die Nebenbilder sind insbesondere mit Ausnahme der Karteikartenreiter vom Hauptbild ganz oder teilweise verdeckt.In a first embodiment variant, the change picture comprises a ticket-like representation with the main picture as overhead file card. In this case, the sub-images are associated with the underlying index cards and these can be selected via prominent tabs tab, whereby the parking mode is changed accordingly. An index card display has the advantage that the available display area can be used almost completely for the main picture and the content of the main picture is detected quickly. The subimages are completely or partially obscured, in particular with the exception of the tabs of the main picture.
In einer zweiten Ausgestaltungsvariante umfasst das Wechselbild einen perspektivisch dargestellten Ring, dessen Hauptbild an einer Position angezeigt wird, die im perspektivischen Vordergrund liegt. Die Nebenbilder sind dabei zyklisch auf dem perspektivischen Ring verteilt. Durch eine Bedienaktion ist der perspektivisch dargestellte Ring derart steuerbar, dass durch eine karussellartige Drehung ein Nebenbild in den perspektivischen Vordergrund bringbar ist, wodurch der Einparkmodus entsprechend geändert wird. Eine solche Darstellung lässt sich intuitiv bedienen. Ein angezeigtes Nebenbild eines Einparkmodus entspricht beispielsweise einer Miniaturisierung derjenigen graphischen Darstellung, die als Hauptbild anzeigt werden würde, wenn der entsprechende Einparkmodus ausgewählt worden wäre. Das Nebenbild wird in einer Karusselldarstellung z.B. teilweise verdeckt. In einer Ausführungsvariante ist es soweit verdeckt, dass nur noch der die Existenz des Nebenbildes, nicht aber ein graphischer Inhalt sichtbar ist. Dies vermittelt dem Nutzer die Existenz des jeweiligen Einparkmodus, der durch dieses Nebenbild repräsentiert wird. Es bleibt aber mehr Anzeigefläche für das Hauptbild und die Berechnung der Graphikdaten für das Nebenbild werden reduziert.In a second embodiment variant, the change picture comprises a ring shown in perspective, whose main picture is displayed at a position which lies in the perspective foreground. The secondary images are distributed cyclically on the perspective ring. By an operating action of the ring shown in perspective is controllable such that a carousel-like rotation of a sub-picture can be brought into the perspective foreground, whereby the parking mode is changed accordingly. Such a representation can be operated intuitively. For example, a displayed sub-picture of a parking mode corresponds to a miniaturization of that graphic that would be displayed as a main picture if the corresponding parking mode had been selected. The sub picture is partially obscured in a carousel representation, for example. In one embodiment, it is so far hidden that only the existence of the sub picture, but not a graphical content is visible. This gives the user the existence of the respective parking mode, which is represented by this sub picture. However, more display area remains for the main picture and the calculation of the graphics data for the sub-picture is reduced.
In einer dritten Ausgestaltungsvariante umfasst das Wechselbild eine flächige Anordnung des Hauptbildes und wenigstens eines Nebenbildes, wobei die Nebenbilder jeweils kleiner als das Hauptbild angezeigt werden und der Einparkmodus durch Auswahl des entsprechenden Nebenbildes verändert wird. Eine solche flächige Anordnung kann nichtüberlappend oder auch teilüberlappend angezeigt werden. Eine solche Darstellung ist schlicht und graphisch leicht umzusetzen. Sie ist insbesondere dann vorteilhaft, wenn der auszuwählende Einparkmodus nicht klar bestimmt werden kann, sodass visuell ein Kompromiss zwischen einer klaren Auswahl eines Hauptbildes und mehreren gleichwertigen Bildern erzielt wird.In a third embodiment variant, the change picture comprises a planar arrangement of the main picture and at least one sub-picture, wherein the sub-pictures are each displayed smaller than the main picture and the parking mode is changed by selecting the corresponding sub-picture. Such a planar arrangement can not be displayed overlapping or partially overlapping. Such a representation is simple and graphically easy to implement. It is particularly advantageous if the parking mode to be selected can not be clearly determined, so that a visual compromise is achieved between a clear selection of a main image and several equivalent images.
Bei der Verwendung von Wechselbildern werden dem Fahrer vorteilhafterweise sinnvolle Alternativen zu dem ausgewählten Einparkmodus signalisiert. Dabei wird z.B. eine Parklücke einer Lückenart zugeordnet, die nicht zum ausgewählten Einparkmodus gehört. Dasjenige Nebenbild, das zu dem Einparkmodus gehört, welchem die Lückenart zugeordnet ist, wird visuell von den anderen Nebenbildern differenziert. Im Fall der Karteikartendarstellung wird z.B. der betreffende Karteikartenreiter grün hervorgehoben. Auf ähnliche Weise können die Nebenbilder der anderen Wechselbilddarstellungen visuell hervorgehoben werden. Hierdurch kann der Fahrer insbesondere unter mehreren nicht ausgewählten Einparkmodi denjenigen schnell ausfindig machen, zu dem brauchbare Parklücken gefunden wurden.When using change pictures, the driver is advantageously signaled meaningful alternatives to the selected parking mode. In doing so, e.g. allocates a parking space to a gap type that does not belong to the selected parking mode. The sub-picture belonging to the parking mode to which the gap type is assigned is visually differentiated from the other sub-pictures. In the case of the index card display, e.g. the tab in question is highlighted in green. Similarly, the sub-pictures of the other change-picture representations can be visually highlighted. As a result, the driver can quickly locate those who found usable parking spaces, especially among several non-selected parking modes.
Gemäß einer weiteren Ausgestaltung des erfindungsgemäßen Verfahrens wird ein Teilbereich der zu einem Einparkmodus gehörenden graphischen Darstellung der Umgebung in Abhängigkeit von der Gangwahl und/oder der Stellung des Blinkers ausgeblendet. Hierdurch lässt sich die benötigte Anzeigefläche für die graphische Darstellung reduzieren.According to a further refinement of the method according to the invention, a subarea of the graphical representation of the surroundings pertaining to a parking mode is masked as a function of the gear selection and / or the position of the turn signal. As a result, the required display area for the graphical representation can be reduced.
An der Position des ausgeblendeten Teilbereichs kann dann ein Parkhinweis, insbesondere eine graphische Darstellung eines für die jeweiligen Parklücken gültiges Verkehrsschild, angezeigt werden. Die graphische Darstellung wird situationsspezifisch eingeschränkt und der so gewonnene nicht mehr genutzte Bereich auf der Anzeigefläche wird für die Darstellung situationsspezifischer Informationen verwendet. Dem Fahrer werden insbesondere die Park- oder Haltebedingungen für die jeweiligen Parklücken angezeigt, z.B. ob ein Halten nur zum Ein- oder Aussteigen bzw. Be- oder Entladen gestattet ist oder ob beim Parken der Seitenstreifen mitzubenutzen ist. Ein solcher Parkhinweis kann aber auch unabhängig davon angezeigt werden, ob zuvor ein Teilbereich der graphischen Darstellung ausgeblendet wurde. Ein solcher Hinweis wird z.B. in einer freien Ecke der graphischen Darstellung angezeigt, beispielsweise schräg unterhalb eines Nebenbildes bei einer perspektivischen Ringdarstellung.A park information, in particular a graphic representation of a road sign valid for the respective parking spaces, can then be displayed at the position of the hidden subarea. The graphical representation is restricted situation-specific and the thus obtained disused area on the display area is used for the representation of situation-specific information. In particular the parking or holding conditions for the respective parking spaces are displayed to the driver, e.g. whether a hold is only permitted for entry or exit or loading or unloading or if the side strips are to be used during parking. However, such a parking instruction can also be displayed independently of whether a partial area of the graphical representation has previously been hidden. Such an indication is e.g. displayed in a free corner of the graphical representation, for example obliquely below a sub-picture in a perspective ring representation.
Die erfindungsgemäße Vorrichtung zum Bereitstellen einer Einparkhilfe in einem Fahrzeug umfasst Mittel zum Erfassen von Parklücken in der Umgebung des Fahrzeugs und eine Anzeigefläche zum Anzeigen der Umgebung des Fahrzeugs mit wenigstens einer Parklücke mittels einer graphischen Darstellung. Sie umfasst des Weiteren eine Steuereinheit, die mit den Mitteln zum Erfassen von Parklücken und der Anzeigefläche verbunden ist, zum Steuern der Anzeigefläche in Abhängigkeit von den erfassten Parklücken. Die erfindungsgemäße Vorrichtung ist dadurch gekennzeichnet, dass mittels der Steuereinheit mindestens zwei Einparkmodi definierbar sind, welche sich durch die Einparkart in die Parklücken und/oder die Lückenart der Parklücken unterscheiden und dass die Auswahl einer der Einparkmodi erfassbar ist. Die auf der Anzeigefläche angezeigte Art der graphischen Darstellung der Umgebung mit der wenigstens einen Parklücke ist dann in Abhängigkeit von dem ausgewählten Einparkmodus anzeigbar. Die erfindungsgemäße Vorrichtung ist insbesondere geeignet zum Ausführen des erfindungsgemäßen Verfahrens. Sie weist somit auch die Vorteile des erfindungsgemäßen Verfahrens auf.The inventive device for providing a parking aid in a vehicle comprises means for detecting parking spaces in the vicinity of the vehicle and a Display area for displaying the surroundings of the vehicle with at least one parking space by means of a graphical representation. It further comprises a control unit, which is connected to the means for detecting parking spaces and the display surface, for controlling the display area in dependence on the detected parking spaces. The inventive device is characterized in that by means of the control unit at least two parking modes are definable, which differ by the Einparkart in the parking spaces and / or the gap type of parking spaces and that the selection of one of the parking modes can be detected. The displayed on the display surface type of graphical representation of the environment with the at least one parking space is then displayed in dependence on the selected parking mode. The device according to the invention is particularly suitable for carrying out the method according to the invention. It therefore also has the advantages of the method according to the invention.
Erfindungsgemäß ist ein Fahrzeug mit einer solchen Vorrichtung zum Bereitstellen einer Einparkhilfe ausgestattet.According to the invention, a vehicle is equipped with such a device for providing a parking aid.
Die Erfindung wird nun anhand von Ausführungsbeispielen mit Bezug zu den Figuren näher erläutert.
Figur 1- zeigt die Ansicht des Cockpits eines Fahrzeugs, das mit einer Vorrichtung zum Bereitstellen einer Einparkhilfe gemäß einem Ausführungsbeispiel der Erfindung ausgestattet ist,
Figur 2- zeigt schematisch eine Vorrichtung zum Bereitstellen einer Einparkhilfe gemäß einem Ausführungsbeispiel der Erfindung,
Figur 3- zeigt eine graphische Darstellung der Umgebung des Fahrzeugs mit Parklücken verschiedener Lückenarten,
Figur 4- zeigt graphische Darstellungen für verschiedene Einparkmodi basierend auf der graphischen Darstellung der
Figur 3 , wobei die dem jeweils ausgewählten Einparkmodus zugeordneten Parklücken gemäß einem Ausführungsbeispiel der Erfindung visuell hervorgehoben sind, Figur 5- zeigt eine graphische Darstellung für einen Einparkmodus zum Längsparken basierend auf der graphischen Darstellung der
Figur 3 , wobei gemäß einem Ausführungsbeispiel der Erfindung in Abhängigkeit von der Stellung des Blinkers eine Hälfte der graphischen Darstellung ausgeblendet wurde, - die Figuren 6 - 8
- zeigen Wechselbilder mit einem Hauptbild und mehreren Nebenbildern für verschiedene Einparkmodi gemäß Ausführungsbeispielen der Erfindung und
- die Figuren 9 -10
- zeigen graphische Darstellungen für verschiedene Einparkmodi basierend auf der graphischen Darstellung der
Figur 8 , welche zyklisch durchwechselbar sind.
- FIG. 1
- shows the view of the cockpit of a vehicle, which is equipped with a device for providing a parking aid according to an embodiment of the invention,
- FIG. 2
- shows schematically an apparatus for providing a parking aid according to an embodiment of the invention,
- FIG. 3
- shows a graphical representation of the surroundings of the vehicle with parking spaces of different types of gaps,
- FIG. 4
- shows graphs for various parking modes based on the graphical representation of
FIG. 3 wherein the parking spaces assigned to the respectively selected parking mode are visually highlighted according to an embodiment of the invention, - FIG. 5
- FIG. 12 is a graph showing a parking mode for longitudinal parking based on the graph of FIG
FIG. 3 , wherein according to an embodiment of the invention in dependence was hidden from the position of the turn signal half of the graph, - FIGS. 6-8
- show changing pictures with a main picture and a plurality of subsidiary pictures for different parking modes according to embodiments of the invention and
- Figures 9-10
- show graphs for various parking modes based on the graphical representation of
FIG. 8 , which are cyclically interchangeable.
In der
Die Vorrichtung 2 zum Bereitstellen einer Einparkhilfe umfasst des Weiteren eine Steuereinheit 4, die mit dem Display 3 verbunden ist und die graphischen Darstellungen auf dem Display 3 in Abhängigkeit von erfassten Parklücken steuert. In der Steuereinheit 4 sind Kriterien bezüglich der Parklücken für verschiedene Einparkmodi definiert, wie dies weiter unten im Zusammenhang mit dem erfindungsgemäßen Verfahren noch näher beschrieben wird.The
In der Steuereinheit 4 ist eine Bewertungseinheit 6 integriert, mittels derer die Parksituation in Abhängigkeit von den erfassten Parklücken bewertet werden kann. In der Bewertungseinheit 6 ist dazu ein Bewertungsalgorithmus gespeichert, mittels dessen die Zuordnung der erfassten Parklücken zu den definierten Einparkmodi bewertbar ist und eine automatisch Auswahl des Einparkmodus in Abhängigkeit des Ergebnisses dieser Bewertung erfolgen kann. Es kann also bewertet werden, wie brauchbar die automatische Zuordnung der Parklücken zu den einzelnen Einparkmodi in der gegebenen Situation ist.In the
Die Steuereinheit 4 ist über den Datenbus 7 im Fahrzeug mit einer Vielzahl von Einparksensoren 8 verbunden. Die Einparksensoren 8 erfassen Daten der Umgebung des Fahrzeugs 1, wenn eine Rangier- oder Einparksituation systemseitig erfasst oder durch den Fahrer eingegeben wurde. Die Einparksensoren 8 sind vorteilhafterweise in den vorderen und hinteren Stoßfängern des Fahrzeugs 1 angeordnet und werden z.B. automatisch bei Unterschreiten einer Mindestgeschwindigkeit oder bei Einlegen eines niedrigen Gangs oder des Rückwärtsgangs aktiviert. Die Daten der Umgebung des Fahrzeugs 1 werden nach an sich bekannter Art an die Steuereinheit 4 übermittelt und dort ausgewertet. Aus ihnen werden dann insbesondere Informationen zu Parklücken extrahiert und für die Einparkmodi die entsprechenden Graphikdaten erzeugt.The
Über den Datenbus 7 empfängt die Steuereinheit 4 optional weitere Daten zu der Umgebung über ein Kamerasystem 9, mittels dessen nicht nur Informationen zu Parklücken, sondern auch Verkehrsschilder erfasst und zugeordnet werden können. Weitere Informationen zu den allgemein gültigen Verkehrsbedingungen, insbesondere bezüglich einem Park- und Halteverbot sowie die Verfügbarkeit von Parkhäusern in der Nähe des Fahrzeugs 1, können beispielsweise über eine Navigationseinrichtung 10 mit einem GPS-Empfänger 11 (GPS = Global Positioning System) erfasst werden und ebenfalls über den Datenbus 7 an die Steuereinheit 4 übermittelt werden.Via the
Das erfindungsgemäße Verfahren zum Bereitstellen einer Einparkhilfe wird nun anhand von Ausführungsbeispielen mit Bezug zu den
Als Ausgangssituation wurde für das Fahrzeug 1 eine Einparksituation erfasst. Die Einparksituation wurde z.B. automatisch erkannt, weil über die Navigationseinrichtung 10 die Annäherung an das Navigationsziel und eine Absinken der Fahrtgeschwindigkeit des Fahrzeugs 1 unterhalb eines festgesetzten Grenzwerts, z.B. 30 km/h, erkannt wurde. Alternativ hat der Fahrer die Einparkhilfe über eine Nutzereingabe aufgerufen. Dazu hat er z.B. eine Auswahl über das Bedienelement 5 getroffen oder mittels einer Schreibgeste den Buchstaben "P" auf der berührungsempfindlichen Oberfläche des Displays 3 eingegeben. Der bisherige Anzeigeinhalt der z.B. von einer Infotainmenteinrichtung erzeugt wurde, wird daraufhin unterbrochen und ein Einstiegsbild für die Einparkhilfe bereitgestellt.As a starting situation, a parking situation was detected for the
Auf die Erfassung einer Einparksituation werden die Einparksensoren 8 aktiviert, sodass bereits im Vorbeifahren erste Daten zu der Umgebung des Fahrzeugs 1 erfasst werden können. Des weiteren werden unterstützend von dem Kamerasystem 9 weitere Daten zu der Umgebung geliefert. Die erfassten Daten werden in der Steuereinheit 4 gesammelt und bilden für das weitere Verfahren die Basis für die Erfassung der Parklücken und ggf. relevanter Parkhinweise.Upon detection of a parking situation, the parking sensors 8 are activated so that first data on the surroundings of the
In der Steuereinheit 4 sind Kriterien für drei oder mehr Einparkmodi gespeichert. Die Kriterien sind zunächst werksseitig fest vorgegeben, können aber über Nutzereingaben ggf. veränderbar sein. Ein erster Einparkmodus betrifft das Längsparken, d.h. dass die Parklücke im Wesentlichen parallel zur Fahrtrichtung ausgerichtet ist und durch die vordere und hintere Begrenzung definiert ist. Ein zweiter Einparkmodus betrifft das Querparken, d.h. dass die Parklücke im Wesentlichen senkrecht zur Fahrtrichtung ausgerichtet ist und durch die seitlichen Begrenzungen definiert ist. Ein dritter Einparkmodus betrifft das Schrägparken, bei dem die Parklücke in schrägem Winkel, z.B. zwischen 20° und 70° zur Fahrtrichtung ausgerichtet ist. Für den jeweiligen Einparkmodus kann eine Einschränkung auf die jeweilige Fahrbahnseite erfolgen, sodass nur Parklücken auf der rechten Hälfte angezeigt werden. Weitere Einparkmodi, falls implementiert, berücksichtigen dann weitere Parklücken und/oder eine Differenzierung dahingehend, ob ein Vorwärts- bzw. ein Rückwärtseinparken möglich, sinnvoll oder sogar vorgeschrieben ist.In the
In der Steuereinheit 4 werden auf der Basis der erfassten Daten Parklücken identifiziert. Eine so identifizierte Parklücke wird einem Einparkmodus oder mehreren Einparkmodi gemäß den festgelegten Kriterien zugeordnet. Eine relativ große Parklücke kann beispielsweise den Kriterien mehrerer Einparkmodi genügen. Es kann dort z.B. längs oder auch quer eingeparkt werden. Für jeden Einparkmodus können dann Graphikdaten für eine graphische Darstellung erzeugt werden, mithilfe derer die Umgebung des Fahrzeugs 1 mit den identifizierten Parklücken anzeigbar ist.In the
Für alle folgenden Ausführungsbeispiele besteht die Möglichkeit, dass entweder systemseitig automatisch oder durch eine Nutzereingabe ein Einparkmodus ausgewählt wird.For all following embodiments, there is the possibility that a parking mode is selected automatically either by the system or by a user input.
Gemäß einer Ausführungsform erfolgt dabei die Auswahl des Einparkmodus durch den Fahrer. Der Fahrer kann dabei die definierten Einparkmodi mittels des Bedienelements entweder zyklisch durchwechseln, sodass nacheinander die graphischen Darstellungen der jeweiligen Einparkmodi angezeigt werden. Alternativ kann er durch Ausführen einer vorbestimmten Geste auf oder vor dem Display 3 zu der graphischen Darstellung des jeweiligen Einparkmodus gelangen.According to one embodiment, the selection of the parking mode by the driver takes place. The driver can either cyclically change the defined parking modes by means of the control element, so that the graphic representations of the respective parking modes are displayed one after the other. Alternatively, by executing a predetermined gesture on or in front of the
Gemäß einer anderen Ausführungsform erfolgt die Auswahl des Einparkmodus zunächst automatisch. Die Zuordnung der erfassten Parklücken zu den definierten Einparkmodi wird mittels eines Bewertungsalgorithmus in der Bewertungseinheit 6 dahingehend bewertet, wie vorteilhaft der jeweilige Einparkmodus in der spezifischen Situation ist. Für jeden Einparkmodus werden z.B. Bonuspunkte für jede gefundene Parklücke verteilt, die diesem Einparkmodus zuzuordnen ist. Es können weitere Bonuspunkte oder Strafpunkte (negative Bonuspunkte) für andere Kriterien vergeben werden, z.B. dass Querparken gegenüber Längsparken als nachteilig bewertet und mit Strafpunkten beaufschlagt wird. Die Auswahl des Einparkmodus erfolgt dann automatisch in Abhängigkeit von dem Ergebnis dieser Bewertung, d.h. dass der Einparkmodus mit den meisten Bonuspunkten ausgewählt wird.According to another embodiment, the selection of the parking mode is initially automatic. The assignment of the detected parking spaces to the defined parking modes becomes evaluated by means of an evaluation algorithm in the
Durch eine Nutzereingabe kann die automatische Auswahl des Einparkmodus aber fahrerseits immer noch unterdrückt werden. Der systemseitige Vorschlag des Einparkmodus kann in bestimmten Situationen zwar objektiv vorteilhaft sein, subjektiv und situationsbezogen aber unpassend erscheinen. Beispielsweise erkennt der Fahrer, dass durch den Verkehrsfluss und/oder zu entladende Gegenstände in seinem Fahrzeug ein Querparken unvorteilhaft ist und er am besten eine längere Längsparklücke sucht. In diesem Fall kann der Fahrer den Einparkmodus fest vorgeben und somit die automatische Auswahl vorübergehend ausschalten.By a user input, the automatic selection of the parking mode can still be suppressed on the driver side. Although the system-side suggestion of the parking mode may be objectively advantageous in certain situations, it may appear to be subjective and situation-related but inappropriate. For example, the driver recognizes that the traffic flow and / or objects to be unloaded in his vehicle transverse parking is unfavorable and he looks best for a longer parking space gap. In this case, the driver can set the parking mode firmly, thus temporarily switching off the automatic selection.
In der
Basierend auf der
In der
In den
In der
Die obenliegende Karteikarte 21 A zeigt einen Längsparkmodus wie zuvor beschrieben. Es wurde beispielsweise eine geeignete Längsparklücke 31 gefunden und daraufhin automatisch der Längsparkmodus ausgewählt. Durch die Auswahl einer anderen Karteikarte 21B - 21D kann nun der Einparkmodus geändert werden. Wird beispielsweise eine Parklücke gefunden, die zum Einparkmodus mit der Darstellung 21C gehört, so wird der Karteikartenreiter des Nebenbildes 21C visuell von den Karteikartenreitern der anderen Nebenbilder 21 B und 21 D differenziert, z.B. grün hervorgehoben. Auf diese Weise erkennt der Fahrer auch mit flüchtigem Blick auf das Display 3, dass ihm andere geeignete Einparkmöglichkeiten zur Verfügung stehen. Wenn es ihm angebracht scheint, kann er das Nebenbild 21C auswählen, sodass dies nun als Hauptbild dargestellt wird und entsprechend in den dazugehörigen Einparkmodus gewechselt wird.The
In der
In der
In den mit Bezug zu den
Die schematisch dargestellte Umgebung entspricht dabei in der Regel nicht der tatsächlichen Umgebungssituation. Dies hat mehrere Vorteile. Einerseits kann der Fahrer die allgemeine Parksituation normalerweise schneller erfassen, als dies über die Einparksensoren 8 möglich wäre. Der Fahrer erkennt beispielsweise, dass an einer Ausfallstraße nur Längsparken möglich ist. Andererseits kann der Fahrer durch seinen Augenschein eine systemseitig falsch klassifizierte Parklücke oder einen zum Parken ungeeigneten Freiraum als solchen überhaupt erkennen. Er erkennt z.B. systemseitige Fehler, bei denen kleinere Hindernisse wie Absperrpfeiler nicht erkannt wurden, oder ob es sich bei dem erfassten Freiraum um eine Zufahrt handelt, in der nicht geparkt werden darf. Der Fahrer kann nunmehr die ihm graphisch dargestellte Parksituation mit dem von ihm gesehenen realen Bild abgleichen und gegebenenfalls den gewünschten Einparkmodus auswählen.The schematically illustrated environment does not usually correspond to the actual environmental situation. This has several advantages. On the one hand, the driver can normally detect the general parking situation faster than would be possible via the parking sensors 8. The driver recognizes, for example, that only longitudinal parking is possible on an arterial road. On the other hand, the driver by his appearance, a system side wrong classified parking space or a parking space unsuitable for parking as such at all. It recognizes, for example, system-side errors in which smaller obstacles such as shut-off posts were not recognized, or whether the detected free space is a driveway in which it is not allowed to park. The driver can now compare the parking situation shown graphically with the real picture seen by him and optionally select the desired parking mode.
Der Fahrer hat zu den letztgenannten Ausführungsbeispielen wiederum die Möglichkeit, durch eine Bedienaktion mittels zyklischem Durchwechseln nacheinander die einzelnen Einparkmodi auszuwählen. Dies wird im Folgenden mit Bezug zu den
In der
- 11
- Fahrzeugvehicle
- 22
- Einparkhilfeparking aid
- 33
- Displaydisplay
- 44
- Steuereinheitcontrol unit
- 55
- Bedienelementoperating element
- 66
- Bewertungseinheitassessment unit
- 77
- Datenbusbus
- 88th
- EinparksensorenParking Sensors
- 99
- Kamerasystemcamera system
- 1010
- Navigationseinrichtungnavigation device
- 1111
- GPS-EmpfängerGPS receiver
- 2020
- EinparkdarstellungEinparkdarstellung
- 20A - 20D20A-20D
- Einparkdarstellung in Abhängigkeit von EinparkmodusParking depiction depending on parking mode
- 21A - 21C21A-21C
- Einparkdarstellung in Abhängigkeit von EinparkmodusParking depiction depending on parking mode
- 22A - 22C22A-22C
- Einparkdarstellung in Abhängigkeit von EinparkmodusParking depiction depending on parking mode
- 23A - 23C23A-23C
- Einparkdarstellung in Abhängigkeit von EinparkmodusParking depiction depending on parking mode
- 2424
- Neutralanzeigeneutral display
- 2525
- Flügeldarstellungwing view
- 30A - 30C30A-30C
- ParklückendarstellungParking space representation
- 31 - 3331 - 33
- ParklückendarstellungParking space representation
- 4040
- Darstellung eigenes FahrzeugPresentation of own vehicle
- 41 - 4341 - 43
- Umgebungsdarstellungenvironment representation
- 5050
- ParkhinweiszeichenPark flag
Claims (10)
- Method for providing a parking aid in a vehicle (1), in which- at least one parking space (30 - 33) is sensed in the surroundings of the vehicle (1),- the surroundings of the vehicle (1) with the at least one parking space (30 - 33) are displayed by means of a graphical representation (20 -23),- at least two parking modes are defined that are distinguished by the type of parking in the parking spaces (30 - 33) and/or the type of space for the parking spaces (30 - 33),- one of the parking modes is selected and- the type of graphical representation (20 - 23) of the surroundings (41 - 43) with the at least one parking space (30 - 33) is effected on the basis of the selected parking mode,characterized in that- a respective graphical representation (20 - 23) of the surroundings is displayed for the at least two parking modes, wherein the graphical representations (21A - 21D; 22A - 22C; 23A - 23C) are presented as an alternating image on the basis of the selected parking mode, with the graphical representation for the selected parking mode being displayed as a main image (21A; 22A; 23A) and the graphical representation for the unselected parking modes being displayed as a secondary image (21B, 21C, 21D; 22B, 22C; 23B, 23C).
- Method according to Claim 1,
characterized
in that when a parking space (30 - 33) is part of the selected parking mode, this parking space (30 - 33) is presented in highlight in comparison with the parking spaces that are not part of the selected parking mode. - Method according to Claim 1 or 2,
characterized in that- the surroundings of the vehicle (1) comprise objects (41 - 43) that bound parking spaces, and- the objects (41 - 43) that bound the parking spaces are displayed on the basis of the selected parking mode. - Method according to one of the preceding claims,
characterized in that- the association of the sensed parking spaces (30 - 33) with the defined parking modes is rated by means of a rating algorithm, and- the parking mode is selected automatically on the basis of the result of this rating. - Method according to one of the preceding claims,
characterized in that- respective graphics data for graphical representation (21A - 21D; 22A - 22C;'23A - 23C) of the surroundings are calculated for the at least two parking modes. - Method according to one of the preceding claims,
characterized in that the alternating image- comprises an index-card-like representation with the main image (21A) as the top index card, wherein the secondary images (21B - 21D) are associated with the underlying index cards and can be selected using prominently shown index card tabs, as a result of which the parking mode ins changed accordingly, or- comprises a perspectively shown ring, the main image (23A) of which is displayed at a position that is in the perspective foreground, wherein the secondary images (23B, 23C) are distributed cyclically on the perspective ring and an operator control action allows the perspectively shown ring to be controlled such that a secondary image (23B, 23C) can be brought into the perspective foreground by means of a carousel-like rotation, as a result of which the parking mode is changed accordingly, or- comprises a two-dimensional arrangement of the main image (22A) and at least one secondary image (22B, 22C), wherein the secondary images (22B, 22C) are each displayed smaller than the main image, and the parking mode is altered by means of selection of the corresponding secondary image (22B, 22C). - Method according to one of the preceding claims,
characterized in that- a parking space (31 - 33) is assigned to a type of space that is not part of the selected parking mode, and- that secondary image (21B, 21C, 21D; 22B, 22C; 23B, 23C) that is part of the parking mode with which the type of space is associated is visually distinguished from the other secondary images (21B, 21C, 21D; 22B, 22C; 23B, 23C). - Method according to one of the preceding claims,
characterized
in that a sub-region of the graphical representation (20D) of the surroundings that is part of a parking mode is masked out on the basis of the gear selection and/or the condition of the indicator. - Method according to one of the preceding claims,
characterized
in that parking advice, particularly a graphical representation (50) of a road sign that is valid for the respective parking spaces, is displayed. - Apparatus (2) for providing a parking aid in a vehicle (1), comprising- means (8, 9) for sensing parking spaces in the surroundings of the vehicle (1),- a display panel (3) for display of the surroundings of the vehicle (1) with at least one parking space (30 - 33) by means of a graphical representation (20 - 23) and- a control unit (4), which is connected to the means (8, 9) for sensing parking spaces (30 - 33) and to the display panel (3), for controlling the display panel (3) on the basis of the sensed parking spaces (30 - 33), wherein the control unit (4) can be used- to define at least two parking modes that are distinguished by the type of parking in the parking spaces (30 - 33) and/or the type of space for the parking spaces (30 - 33), to sense the selection of one of the parking modes and to display the type of graphical representation (20 - 23) of the surroundings (41 - 43) that is displayed on the display panel (3) with the at least one parking space (30 - 33) on the basis of the selected parking mode,characterized in that- a respective graphical representation (20 - 23) of the surroundings can be displayed for the at least two parking modes, wherein the graphical representations (21A - 21D; 22A - 22C; 23A - 23C) can be presented as an alternating image on the basis of the selected parking mode, with the graphical representation for the selected parking mode being able to be displayed as a main image (21A; 22A; 23A) and the graphical representation for the unselected parking modes being able to be displayed as a secondary image (21B, 21C, 21D; 22B, 22C; 23B, 23C).
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DE102011122616A DE102011122616A1 (en) | 2011-12-23 | 2011-12-23 | Method and device for providing a parking aid in a vehicle |
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EP2608185A1 EP2608185A1 (en) | 2013-06-26 |
EP2608185B1 true EP2608185B1 (en) | 2014-11-05 |
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DE102013221201A1 (en) | 2013-10-18 | 2015-05-07 | Robert Bosch Gmbh | Method for assisting a driver when parking |
US9592826B2 (en) | 2015-02-13 | 2017-03-14 | Ford Global Technologies, Llc | System and method for parallel parking a vehicle |
DE102015203619A1 (en) * | 2015-02-28 | 2016-09-01 | Bayerische Motoren Werke Aktiengesellschaft | Parking assistance system with detection of a universal parking space |
KR102327345B1 (en) * | 2015-07-14 | 2021-11-17 | 주식회사 만도모빌리티솔루션즈 | Parking controlling system and method thereof |
DE102015010135B3 (en) * | 2015-08-01 | 2017-01-12 | Audi Ag | Method for selecting an evaluation object for a function in a motor vehicle and motor vehicle |
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DE102006037156A1 (en) * | 2006-03-22 | 2007-09-27 | Volkswagen Ag | Interactive operating device and method for operating the interactive operating device |
JP4432929B2 (en) * | 2006-04-25 | 2010-03-17 | トヨタ自動車株式会社 | Parking assistance device and parking assistance method |
DE102008060684B4 (en) | 2008-03-28 | 2019-05-23 | Volkswagen Ag | Method and device for automatic parking of a motor vehicle |
DE102008019759A1 (en) | 2008-04-18 | 2009-10-22 | Volkswagen Ag | Driver assisting method for use during parking of vehicle i.e. motor vehicle such as car, involves converting data, marking determined parking space, determining parking spaces and selecting parking space using input unit |
DE102009032409B4 (en) * | 2009-07-09 | 2019-06-06 | Volkswagen Ag | Method and apparatus for assisting a driver of a vehicle |
DE102009046726A1 (en) | 2009-11-16 | 2011-05-19 | Robert Bosch Gmbh | Method for detecting and selecting e.g. longitudinal parking spaces, for aiding driver of car for transporting persons or materials, involves displaying surfaces as possible parking spaces, and selecting suitable parking spaces |
DE102010010652A1 (en) | 2010-03-09 | 2011-09-15 | Valeo Schalter Und Sensoren Gmbh | A method for assisting a driver when parking a vehicle in a transverse parking space and driver assistance device |
DE102010022716A1 (en) * | 2010-06-04 | 2011-12-08 | Volkswagen Ag | Method for selecting e.g. function for assisting forward parking of motor car into transverse parking space, involves selecting one group of assistance functions based on ignition switching state and reverse travel distance of car |
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DE102011122616A1 (en) | 2013-06-27 |
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