GB2491719A

GB2491719A - Parking assistance method and system

Info

Publication number: GB2491719A
Application number: GB1210186.1A
Authority: GB
Inventors: Christian Pampus; Volker Niemz; Andreas Gruetzmann
Original assignee: Robert Bosch GmbH
Current assignee: Robert Bosch GmbH
Priority date: 2011-06-10
Filing date: 2012-06-07
Publication date: 2012-12-12
Anticipated expiration: 2032-06-07
Also published as: FR2976244A1; DE102011077417B4; DE102011077417A1; FR2976244B1; GB201210186D0; GB2491719B

Abstract

The invention relates to a method for providing parking assistance of a parking assistance system 2 for a vehicle 1 for carrying out a parking procedure and to a parking assistance system for a vehicle 2, the vehicle 1 having a sensor system 3 and the parking assistance system being designed to provide parking assistance for the vehicle 1 for carrying out a parking procedure in accordance with the method. The method includes notification to the driver that parking assistance or automatic parking to a space 30 is available, wherein the space 30 and its parameters have been determined by the system 2. Braking may occur if an obstacle is subsequently identified.

Description

Method for providing parking assistance of a parking assistance system for a vehicle and parking assistance system The present inrention relates to a method for providin parking assistance of a parking assistance system for a vehicle for carrying out a parking procedure and to a parking assistance system for a vehicle.

PRIOR ART

It is known, in principle, to provide the users of vehicles, in particular the users of passenger vehicles, with a parking assistance system. Such a parking assistance system includes parking assistance which can assist the user when parking his vehicle in a parking space. Assisted parking, both in parking spaces parallel to the direction of travel and in parking spaces transverse to the direction of travel, is thus possible. The parking assistance system uses a sensor system of the vehicle in order to detect the.

environment of the vehicle and thus obtain the necessary data for calculating a parking trajectory. Thus, for example, a device for environment detection of a vehicle with which a three-dimensional distance ptofile for the environment of the vehicle can be determined is known from DE 10 2009 007 408 Al. In the case of the known parking assistance systems, accurate detection of the environment of the vehicle, in particular the parking space in which the vehicle is to be parked, is required, already in advance, that is to say before the beginning of the parking procedure. In particular, in the case of the known parking assistance systems, it is necessary to drive past the chosen.parking space with the vehicle in order to be.able to measure the required data by means of the vehicle's sensor system. With parking spaces where such driving past

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* is not possible and/or not desired by the user, known parking assistance systems cannot provide parking * assistance. Moreover, with known parking assistance systems, it is not possible for a pa}king procedure already begun by the user to be completed by the parking assistance system.

It is the object of the present invention to overcome the aforementioned disadvantages. In particular, it is the object of the present invention to enable simplified parking for the user of a vehicle. Furthermore, it is the object of the invention to provide parking assistance also in situations where it is not possible to sUrvey the parking space beforehand, in particular by driving past the parking space, for example if the local conditions do not allow it or when the user has already begun a parking procedure.

The aforementioned object is achieved by a method having the features of independent Claim I and by a parking assistance system having, the features of Claim 9.' Futher features and details of the invention emerge from the subclaims, description and drawings. Features and details which are described in connection with the method according to the invention apply here, of course, alsQ in connection with the parking assistance system according to the invention and in each case vice versa, :so that reference is or can be made always reciprocally with regard t6 the discipsure of the individual aspects of the invention.

DISCLOSURE OF THE INVENTION

According to a first aspect of the invention, the object is achieved by a method for providing parking assistance of a parking assistance system for a vehicle for carrying óut a parking procedure. The method according tb the invention is distinguished by the followin steps: * a) beginning of a procedure of parking the vehicle in a parking space selected by the user, initiated.by the user of the vehicle, b) surveying of the environment of the vehicle by the parking assistance system by means of a sensor system of the vehicle, c) creation of an environment map of the selected parking space by the parking assistance system based on the measurement data acquired in the surveying of the environment by the sensor system, ci) determination of parameters of the parking space by the parking assistance system, e) calculation of a parking trajectory for the particular parking space by the parking assistance system, f) feedback by the parking assistance system to the user of the vehicle about the availability of the parking assistance for assisted continuation of the jirocedure of parking in the particular parking space, g) carrying out of the procedure of parking in the particular parking space by the parking assistance system and/or the user of the vehicle.

In accordance with the method accbrding to the invention, the user of the vehicle initiates the parking procedure, in particular by beginning the parking procedure, that is to say, for example by a first driving into the selected * parking space. The parking spaces in question may be, for example, parking spaces parallel to the direction of travel of the vehicle or parking spaces transverse to the direction of travel of the vehicle. In particular, forward driving into a transverse parking space is also a possible beginning of a parking procedure in the context of the method according to the invention.

After the beginning of the parking procedure of the vehicle, the parking assistance system uses the measurement data of a sensor system of the vehicle in order to detect the environment of the vehicle. The sensor system can be designed as part of the parking assistance system. The use of a sensor system which is already present in the vehicle and supplies data for other vehicle systems independent of the parking assistance systems is also conceivable.

The measurement data acquired in the surveying of the environment by the sensor system are evaluated by the parking assistance system in order to create an environment map for the selected parking space. In such an environment map, in particular distances to obstacles and/or parking-space boundaries for example, can be stored. The envionment of the vehicle is thus virtually reproduced in the parking assistance system by the environment map.

Parameters of the parking.pace are determined by the parking assistance system based on the environment map.

Through the determination of parameters, that is to say characteristic quantities specified in advance, it is possible to classify the parking space and thus recognise what kind of a parking space it is.

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For the parking space thus determined, a parking trajectory for, the movement of the vehicle into a final parking position in the particular parking space is subsequently calculated by the parking assistance system. This parking S trajectory includes the required driving pth from the current position of the vehicle into the final parking position provided for this particular parking space by the parking assistance system. Both steering angles of the vehicle and changes of the direction of travel of the vehicle may be required here to follow the parking traj ectory.

After the calculation of the parking trajectory by the parking assistance system, the latter issues an acknowledgement to thE user of the vehicle in order to inform the user about the availability of the parking assistance for assisted continuation of the procedure of parking in the particular parking space. The user of the vehicle thus receives the information about the state of the parking assistance system. Moreover, he has the Possibility of deciding about the further course of the parking procedure, that is to say whether he wishes to make use of the parking assistance of the parking assistance system or whether he wishes to complete the parking procedure independently. The communication between the user of the vehicle and the parking assistance system of the * vehicle can take pThce here via an output and input device or a HMI (Human Machine Interface). Finally, the procedure of parking in the particular parking space is completed by the parking assistance system and/or the user of the vehicle and thus finally carried out. * H " The method according to the invention for providing parking assistance of a parking assistance system thus makes it easier for the user of the vehicle to carry out a parking procedure in that it can offer assistance to the user, in particular in problematic parking scenarios, also during a parking procedure that has begun. Accordinly, the user does not have to decide before the beginning of the parking procedure whether he wishes to make use of the parking assistance of the parking assistance systemor not.

Moreover, a method according to the invention can also provide parking assistance of a parking assiStance system when, for example, it is not possible and/or not desired to drive past the chosen parking space beforehand. This may be the case in particular in indoor car parks where space is very limited or on desired forward parking in a transverse parking space. -It may be advantageous when the surveying of the environment of the vehicle and the creation of the environment map are carried out repeatedly. Repetition of the surveying of the environment and the creation of the * environment map means that the generated environment map is always up-to-date, so that, for example, also newly appearin obstacles can be detected in a timely fashion and included in the environment map. The quality of the -environment map, that is to say the correspondence of the generated environment map with the actual, current environment of the vehicle, is thereby significantly increased. The repetitions here may be chosen to be cyclic, that is to say at equal time intervals. Unequal time intervals of.the repetitions are, however, also conceivable. In partiular, it may be advantageous to repeat the surveying of the environment of the vehicle and the creation of the environment map several times per second. -Furthermore, in a method according to the invention, it may be provided that the sensor system uses at least one laser sensor, ultrasonic sensor, radar sensor and/or at least one * camera. Each of these possible sensor elements of a sensor * system can be used in each case individually to measure sufficient data from an environment map. Any possible combination of the different sensor elements*is, however, also conceivable. The use of a plurality of different sensor elements results in an increase in the accuracy of *the environment map generated on the basis of the measurement data of the sensor-elements.

A further advantage may be when, in a method according to * the invention, additionally data of the sensor system which have been measured before the beginning of the parking procedure are used for the creation ofthe environment map.

The use of additional measurement data of the sensor system.

enlarges the calculation basis employed for creation of the environment map. As a result, the accuracy with which the environment map reflects the actual environment of the vehicle i increased. The use of measurement data which have been measured before the beginning of the parking procedure, in particular when searching for a parking sace for example, can also result in a quicker creation of an environment map and hence an overall quicker proision of the parking assistance by the parking assistance system. * *

* Furthermore, in a method according to the invention, it may be provided that the type of parking space, the size and/or the geometry of the parkng *space are determined in the determtnation of the parameters of the parking space. The type of parking space here may be a parallel parking space, that is to say parallel to the direction of travel of the vehicle, or for example a transverse parking space, that is to say transverse, in particular perpendicular, to the direction of travel of the vehicle. The type of parking space determines in particular a parking scenario which is chosen to calculate the parking trajectory. Possible parking scenarios here are, for example the parking in the rearward direction in a parallel parking Space or thefl parking in a transverse parking space in the rearward or.

-forward direction. The size of the parking space, in particular the width and depth of the parking space, enables in particular the assessment as to whether parking in the chosen parking space is possible at all, that is to say whether the available space is sufficient for the vehicle. In this respect, the parking assistance system can, in such a case where the chosen parking space is too small for the vehicle, also suggest that the user abortthe parking procedure. The geometry of the parking space may determine the choice of the parking scenario where the parking space is not a rectangular parking space: This may be the case. in particular with, for example, parking spaces oblique to the direction of travel of the vehicle, which are generally of parallelogram-like shape.

may, furthermore, be advantageous in a method according to the invention that the determination of the parameters of the parking space, in particular of the type of parking space, is effected automatically or semi-automatically by the parking assistance system. In an automatic determination of the parameters, the Parking assistrice system determines the parameters of the parking space on the basis of predetermkned diagrams, that is to say the parking space depicted by the envirànment map is compared with stored parking-space diagrams and classified accordingly. In particular, the type of parking space, whether it is a parallel or transverse parking space for example, can thus be determined. In a semi-automatic determination of the parameters of the parking space, the result of the determination of the parameters of the parking space by the parking assistance system can be output to the user via an output device, whereupon the user can confirm the determination of the parameters. In particular, it may be provided that the user confirms the type of parking spacewhich has been determined by the parking assistance system. As a result, in particular lii difficult parking situations, an error in the determination of the parameters can be avoided.

Furthermore, in a method according to the invention it may be provided that the parking assistance system provides assisting, semi-automatic or automatic parking assistnce.

The different parking assistances here differ in the extent to which the parking assistance system assists the user of the vehicle. In an assisting parking assistance, for example, the user can be informed via an output device, in particular a screen, of the optimum steering angle, while the execution of the steering movement and the acceleration in the forward or rearward direction is t}je responsibility of the user of the vehicle himself. In a semi-automatic parking assistance, for example, the steering can be taken H over by the parking assistance system, the user then merely controlling the acceleration in the forward or rearward direction. An automatic parking assistance takes over all steering and acceleration measures in order to carry out the parking procedure. Assistance of the user of the vehicle and thus a simplification of the parking procedure is achieved by each of the three Possibilities.

Advantageously, in a method according to the invention, it may be provided that braking, in particular emergency braking, of the vehicle is performed on detection of an obstacle in the direction of travel of the vehicle during the parkin procedure. Such a characteristic of the method according to the invention makes it possible to increase the safety, both of the user of the vehicle and of the vehicle itself and the environment of the vehicle.

Collisions with obstacles, in particular with obstacles overlooked by the user and/or obstacles which suddenly appear, can thus be avoided.

According to a second aspect of the invention, the object can be achieved by a parking assistance system for a vehicle, the vehicle having a sensor system, the parking assistance system being designed to provide parking assistance fr the vehicle for carrying out a parking procedure in accordance with a method haviflg the features of the first aspect of the invention. All advantages which are shown for a method according to the invention apply, of course, also to a vehicle according to the invention.

PREFERRED EXEMPLARY EMBODIMENTS

Further measures which improve the invention are described in more detail below, toqether with the description of 30.pref erred exemplary embodiments of the invention, with reference to the figures. The terms "left", "right", "top" and "bottom" used therein refer to an orientation of the drawing figures with normally readable reference symbols.

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* Elements which have the same function and effect are in each case provided with the same reference symbols in Figures 1 to 4, in which in each case schematically: Figure 1 shows a first application example.of a method according to the invention or of a vehicle according to the invention; Figure 2 shows a second application example of a method according to the invention or of a vehicle according to the. invention; Figure 3 shows a third application example of a method according to the invention or of a vehicle according to the invention and Figure 4 shows a fourth application example of a method * according to the invention or of a rehicle according to the invention.

In Figure 1, a firstapplication example of a method according to the invention or of a vehicle 1 according to the invention is shown. The planned parking procedure is in this case the rearward parking in a transverse parking space 30, which is bounded by a wall 20 on the left-hand side. A vehicle 10 which is already parked and a parking-space boundary 21, for example a kerbstone, constitute the.

bottom and right-hand boundary of the parking space 30. The orientation 4 of the vehicles 1, 10 is in each case marked by an arrow, the, head of the arrow pointing towards the front of the respective vehicle 1, 10. It is not possible tO drive past the transverse parking space 30 in order to survey it. before beginning the parking procedure, owing to the fact that it is locally bounded by the wall 20. The user of the vehicle 1 according to the invention thus begins the parking procedure independently. The user is, however, provided withor offered parking assistance durihg the parking procedure by a parking assistance system 2 implemented in the vehicle 1 according to the invention. iio * this end, the parking assistance system 2 surveys the environment of the vehicle 1 by means of a sensor System 3 of the vehicle 1 and creates an environment map of the selected parking space 30 based on the acquired measurement data. By determination of parameters of the parking space 3D, for example the distance of the parked vehicle 10 from the wall 20 or the course of the parking-space boundary 21, the parking space 30 is characterised and a parking trajectory 5 for this particular parking space 30 is calculated based on this characterisation Parking assistance is thus provided by the paiking assistance system 2. This is indicated to the user of-the vehicle 1, who can then decide whether he wishes to complete the parking procedure independently or assisted by the parking assistance of the parking assistance system 2. It is thus possible, also in cases in which previous surveying of the *parking space 30 by driving past the parking space 30 is not possible, *to provide the user of the vehicle 1 with parking assistance of a parking essistance system 2.

Figure 2 shows a further application example of a method according tQ the invention or of a vehicle 1 according to the invention. The user of the vehicle 1 is planning to park forwards in a transverse parking space 30 formed, in this case, by two parked vehicles 10 and a parking-space boundary 21. It would be possible to drive past the parking space beforehand in order to survey ié but this is

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considered unnecessary by the user. The us.er therefore begins the parking procedure independently bSi driving forwards into the transverse parking space 30. Analogously to the description with regard to Fig. 1, in this case too it is possible to offer the user.of the vehicle 2 parking assistance by the parking assistance system 2 even during the parking procedure. The user's satisfaction is thereby increased, since parking Sssistance can be provided for a -procedure of parking forwards in a transverse parking space 30 as well.

Figure 3 shows a similar scehario to that in Figure 1, the parking procedure here being parallel parking, the left-hand boundary of the paxallel parking space 31 being formed here by a wall 20. In this case, it is likewise not possible to drive past the entire parking space 31 in advance of the parking procedure. Here too, parking assistance can be offered by a parking assistance system 2 or by a vehicle 1. according to the invention, as described above with regard to Fig. 1, after the proéedure of parking in the parking gap 31 has already begun.

Figure 4 shows a further application example of a method ccording to the tnvention or of a vehicle 1 according to the invention. The user of the vehicle 1 has begun a -procedure of parking rearwards in a parallel parking space 32. In doing so, he has manoeuvred the vehicle 1 into a position in which it is no longer possible for him to carry out the parking procedure acceptably. In such a case too, analogously to the. description with regard to Fig. 1, parking assistance can be offered by the parking assistance system 2 or bya vehicle 1 according tothe invention, I, * 14 thereby enabling the user of the vehicle I. to complete the parking procedure successfully.

The aforementioned embodiments describe the present invention within the context of examples. It is, of -course, possible to combine features of the individual embodiments freely with one, another where technically feasible, without departing fromthe scope of the present invention. 15.