EP2637907A1 - Procédé pour sélectionner un emplacement de stationnement en présence de plusieurs emplacements de stationnement convenant pour le stationnement - Google Patents

Procédé pour sélectionner un emplacement de stationnement en présence de plusieurs emplacements de stationnement convenant pour le stationnement

Info

Publication number
EP2637907A1
EP2637907A1 EP11764786.7A EP11764786A EP2637907A1 EP 2637907 A1 EP2637907 A1 EP 2637907A1 EP 11764786 A EP11764786 A EP 11764786A EP 2637907 A1 EP2637907 A1 EP 2637907A1
Authority
EP
European Patent Office
Prior art keywords
parking
parking space
driver
motor vehicle
vehicle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP11764786.7A
Other languages
German (de)
English (en)
Inventor
Marcus Schneider
Volker Niemz
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP2637907A1 publication Critical patent/EP2637907A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/0285—Parking performed automatically
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Definitions

  • the invention relates to a method for determining a parking space for a possible parking operation, as well as a computer program and a computer program product for carrying out the same according to the preamble of the independent claims.
  • driver assistance systems for supporting a parking process, for example park pilots who calculate a trajectory for a parking operation and give each driver driving instructions for carrying out the parking procedure.
  • driver assistance systems use, for example, systems for parking space measurement (PLV), which determine, for example by means of ultrasonic sensors or radar sensors, the width and the relative position of a parking space to the own vehicle and perform a possible parking depending on the width of the own vehicle and possibly the required trajectory.
  • PLV parking space measurement
  • AI parking assistance is known in which by means of sensors parameters of possible parking spaces determined and the driver grave be represented phically.
  • the parameter set can be designed such that the respectively last detected parking space is displayed to the driver. The driver can then make a selection or correction of a parking space shown.
  • the procedure according to the invention with the characterizing features of the independent claims has the advantage that in a parking situation in which more than a parkable parking space was detected, an independent selection of a parking space is made to perform a fully or semi-automatic parking operation in this parking space.
  • parking space is selected independently, which allows a driver of a motor vehicle after the initiation of the fully or semi-automatic parking operation a traceable for the driver and / or the rest of traffic parking.
  • a comprehensible parking operation means, for example, that no longer distances are covered to the parking space, for example, twice the width of a parkable parking space, and / or that no frequent corrections of a calculated for the parking trajectory are necessary.
  • an adaptive parking space measurement takes place, whereby the fully or semi-automatic parking process is adapted for further parking operations to the parking behavior of the driver. This may, for example, only take place if the parking behavior of the driver is good, in the sense of, for example, straight alignment within the parking space.
  • Another advantage of the method is an improved alignment of the motor vehicle within a parking space. Thus, an angle of the motor vehicle is prevented and / or a possible collision with an obstacle when opening a vehicle door is taken into account by the parking operation.
  • ultrasound, radar and / or infrared sensors, capacitive sensors, LIDAR sensors (light detection and ranging) and / or environment cameras with a higher measurement accuracy can be used to detect the at least one sensor signal, which further optimizes the parking process allow, for example by determining other boundary conditions such as possible obstacles in a parking space.
  • the method according to the invention can be implemented both for return and for pre-parking operations and is not dependent on a rectangular shape of the parking space. Even obliquely arranged or trapezoidal parking spaces represent parking-dependent parking spaces depending on the vehicle dimensions for this method.
  • the parking procedure can also be started if, for example, the vehicle is traveling slowly without the vehicle having to completely stand still.
  • control unit and / or a computer separate from the control unit preferably contain at least one electrical memory in which the method steps are stored as a computer program.
  • the computer program according to the invention provides that all steps of the method according to the invention are carried out when it runs in a control unit and / or a computer separate from the control unit.
  • the computer program product according to the invention with a program code stored on a machine-readable carrier executes the method according to the invention when the program is stored in a control unit and / or a control unit of the Control unit separate computer expires.
  • Figure 1 shows an example of a parking situation with two parking spaces
  • Figure 2 shows another example of a parking situation with two parking spaces
  • FIG. 3 shows an example of a parking situation with only one parking space
  • FIG. 4 shows a flow chart of an embodiment of the method according to the invention.
  • Figure 5 shows an embodiment of a device suitable for carrying out the method according to the invention.
  • the parking situation shown in Figure 1 shows a vehicle (2), a parking space (5) and a parking space (6) between two parked vehicles (7) and (8) or (7) and (9) on a road ( F) are located.
  • the vehicle (2) has at least one control unit (10) and at least one sensor.
  • a possible sensor (3) can detect, for example, a steering angle, a wheel pulse counter signal and / or a GPS signal.
  • As a further possible sensor (4) for example, an ultrasound, radar, infrared, LIDAR (light detection and ranging) and / or a capacitive sensor, for example.
  • a rotation rate sensor, and / or an environment camera is used.
  • the sensor (4) is installed at at least one point in at least one bumper of the motor vehicle, however this can also be attached to another advantageous positions of the motor vehicle.
  • parking spaces On the basis of the passed when passing by the at least one sensor (3) and / or (4) sensor data parking spaces can be detected and a parking space geometry, for example, be determined based on the detected width. On the basis of the supplied sensor data and the parking space geometry determined therefrom, it is determined whether the parking space for the vehicle (2) is parkable.
  • each of these parking spaces (5) and (6) is assigned an orientation (5a) and (6b).
  • the alignment includes, for example, the beginning of the parking space and / or the orientation to the road and / or the passing vehicle (2).
  • the position and orientation (A) of the vehicle (2) to the parked vehicles can be determined by means of the sensors (3) and / or (4).
  • the position and orientation (A) of the vehicle are determined, for example, based on a steering angle signal and / or a distance to a vehicle.
  • the vehicle (2) has covered a distance (LI) since detection of the parkable parking space (5) and a distance (L2) since detection of the parking space (6).
  • a distance (LI) since detection of the parkable parking space (5)
  • a distance (L2) since detection of the parking space (6).
  • T1 and (T2) are calculated for a possible parking process in the parking spaces (5) or (6).
  • the distances traveled (LI) and (L2) can be calculated as shown in Figure 1 from the beginning of the parking space to the rear of the vehicle, but they can also be calculated, for example, from the end of the parking space to the center of the vehicle (2).
  • the control unit (10) Based on the calculated trajectories is selected by the control unit (10) which of the at least two trajectories (Tl) or (T2) is used for a possible parking operation or which parking space is offered to the driver.
  • that trajectory is independently selected by the control unit (10), which enables a driver of a motor vehicle after the initiation of the fully or semi-automatic parking process a parking operation that can be traced for the driver and / or the rest of the traffic.
  • a comprehensible parking operation means, for example, that no longer distances (LI) or (L2) are covered up to the parking space, for example a distance longer than twice the width of a recognized parkable parking space, and / or that no frequent corrections of one calculated for the parking operation Trajectory are necessary.
  • the maximum permissible route length can be, for example, firmly defined and / or dependent on the parking space geometry. Thus, an exclusion criterion for the selection of a trajectory can be an exceeding of a specific route length.
  • FIG. 2 The parking situation shown in Figure 2 similar to the parking situation shown in Figure 1, a vehicle (2), a parking space (5) and a parking space (6) between two parked vehicles (7) and (8) or (7) and (9) are located on a carriageway (F).
  • the parking situation illustrated in FIG. 3 shows a vehicle (2), a parking space (5) which is located between two parked vehicles (5) and (7) on a carriageway (F).
  • the parking space (6) is assigned an orientation (6a).
  • the orientation includes, for example, the beginning of the parking space and / or the orientation to the road and / or the passing vehicle (2).
  • the position and orientation (A) of the vehicle (2) to the parked vehicles can be done using the sensors (3) and / or (4).
  • the position and orientation (A) of the vehicle for example, based on a steering angle signal (3) and / or a distance (4) is determined to a vehicle.
  • the distance (L2) traveled since the last detected vehicle (7) is taken into account, for example, on the side (6a) of the vehicle (7) facing away from the last parking space.
  • the vehicle (2) has covered a distance (LI) since the detection of the parkable parking space (5).
  • the distance covered (LI) since the last detected parkable parking space (6) exceeds a defined maximum length, for example, a trajectory (T) for a possible parking process in the parking space (6) is also calculated. Therefore, the parking space is still offered for parking and thus increases the number of parking spaces offered for parking.
  • FIG. 4 shows a flow chart of the method according to the invention. If, for example, the travel speed of the vehicle is within predefinable threshold values, the process for parking space measurement is started in a step (10).
  • step (20) sensor data are continuously recorded while driving. This process is carried out until either the driving stops or faster than the threshold to which a parking space measurement takes place.
  • step (40) If no parkable parking space is detected in a step (30) during the parking space measurement, then a further test takes place in step (40). If the vehicle continues to move during the test in step (40), the parking space measurement is continued in step (20). If the car continues to travel, but faster than the threshold to which a parking space measurement takes place, then the process is completed in a step (50).
  • step (30) If a parkable parking space is detected in step (30), then the further procedure takes place via a step (60) and a step (70).
  • the parkable parking space detected in step (30) is stored in the further step (60).
  • the width of the parking space and the position are stored to the vehicle.
  • step (70) it is checked whether the vehicle stops, for example, to start a parking operation or whether the vehicle continues, then the parking space detection is continued in step (20).
  • step (80) after the detected stop of the vehicle in step (70), it is checked in a step (80) whether none, one parkable or more than two parking spaces which can be parked have been stored. If no parkable parking space has been stored or the parking procedure has not been started, then the method is terminated in a step (90).
  • step (110) If a parkable parking space has been found, then a trajectory is calculated and the method continues in step (110).
  • a step (100) at least two trajectories are calculated for a possible parking procedure.
  • the control unit automatically decides which trajectory is used for a fully or semi-automatic parking process.
  • a query is made to the driver in a step (110) as to whether he wishes to carry out a parking operation, for example by means of acoustic, optical and / or graphic signals. If the driver confirms in step (110) that he would like to park in this parking space, then in a step (130) the parking procedure is carried out on the basis of the independently determined parking space on the basis of the calculated trajectory. If the driver does not confirm that he wishes to park, then the method is terminated, for example, after a predeterminable time or after the vehicle has left the vehicle in a step (120).
  • step (140) After the successful parking or abort, for example, by the driver of the process in step (140) is completed.
  • step (60) the driver can already be given an indication by acoustic, optical and / or graphic signals that a parkable parking space is available for a possible parking operation and / or the calculation of the trajectory for this detected parking space is performed.
  • the driver in step (130) all parkable parking spaces are displayed and he can choose in which of these parking spaces he wants to park.
  • the driver can also be signaled, which parking space was selected by the control unit, for example. As the optimal parking space.
  • FIG. 5 shows a technical environment of the method according to the invention.
  • a vehicle 300 there is at least one control unit 301.
  • the control unit 301 is provided with data from at least one sensor 302.
  • the sensor data can be transmitted to the controller 301 directly via an interface or alternatively via a bus system such as the CAN bus.
  • the controller includes at least one memory 306 for storing and processing the sensor data.
  • the controller 301 controls at least one actuator 305.
  • Other actuators 305 (1), 305 (2),... 305 (m) may be, for example, an accelerator pedal, a brake pedal, a steering wheel.
  • the vehicle 300 or control unit 301 may also have further interfaces 307, for example for interacting with the driver in the form of queries and confirmations.

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

L'invention concerne un procédé pour une manœuvre d'entrée en stationnement dans un emplacement de stationnement pour un véhicule automobile comprenant au moins un capteur, des données de détection d'un emplacement de stationnement étant acquises continuellement à l'aide dudit capteur lors du passage à côté et, en cas de détection d'un emplacement de stationnement dans lequel le stationnement est possible, une décision étant prise automatiquement par un contrôleur au moyen de la trajectoire calculée concernant l'emplacement de stationnement qui est sélectionné pour une possible manœuvre d'entrée en stationnement.
EP11764786.7A 2010-11-11 2011-10-07 Procédé pour sélectionner un emplacement de stationnement en présence de plusieurs emplacements de stationnement convenant pour le stationnement Withdrawn EP2637907A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102010043742A DE102010043742A1 (de) 2010-11-11 2010-11-11 Verfahren zur Auswahl einer Parklücke bei mehreren zum Einparken geeigneten Parklücken
PCT/EP2011/067579 WO2012062517A1 (fr) 2010-11-11 2011-10-07 Procédé pour sélectionner un emplacement de stationnement en présence de plusieurs emplacements de stationnement convenant pour le stationnement

Publications (1)

Publication Number Publication Date
EP2637907A1 true EP2637907A1 (fr) 2013-09-18

Family

ID=44759715

Family Applications (1)

Application Number Title Priority Date Filing Date
EP11764786.7A Withdrawn EP2637907A1 (fr) 2010-11-11 2011-10-07 Procédé pour sélectionner un emplacement de stationnement en présence de plusieurs emplacements de stationnement convenant pour le stationnement

Country Status (4)

Country Link
EP (1) EP2637907A1 (fr)
CN (1) CN103209875B (fr)
DE (1) DE102010043742A1 (fr)
WO (1) WO2012062517A1 (fr)

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Also Published As

Publication number Publication date
CN103209875A (zh) 2013-07-17
CN103209875B (zh) 2016-10-12
WO2012062517A1 (fr) 2012-05-18
DE102010043742A1 (de) 2012-06-06

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