GB2491720A

GB2491720A - Method for determining a parking trajectory

Info

Publication number: GB2491720A
Application number: GB1210187.9A
Authority: GB
Inventors: Stefan Nordbruch
Original assignee: Robert Bosch GmbH
Current assignee: Robert Bosch GmbH
Priority date: 2011-06-08
Filing date: 2012-06-07
Publication date: 2012-12-12
Also published as: ITMI20120889A1; GB201210187D0; DE102011077173A1; CN102815297A; IN2012DE01714A; FR2976245A1

Abstract

A method is proposed for determining a parking trajectory (36a, 36b see fig 3) of a vehicle 10 into a transverse parking space 14. The method includes a step for the detection of data of an environment of the vehicle 10 and the detection of at least one object 12, 16, 18 defining at least one longitudinal side of the transverse parking space 14. A target parking position for the vehicle 10 in the transverse parking space 14 is determined by including at least one defined safe distance 30 for opening a driver's door 28. The method also includes the identification of a parking trajectory (36a, 36b) for reaching the determined target parking position and the production of an output for the implementation of the parking trajectory (36a, 36b) to the driver or to a subordinate system also being included in the invention. The method is aimed at ensuring that there is enough space for the driver to enter and exit the vehicle 10 when parked.

Description

Method for determining a parking trajectory

Prior art

The invention relates to a method for determining a parking trajectory of a vehicle into a transverse parking space by taking into account the defined safe distance for opening at least the driver's door, as well as a driver assistance device.

Parking assistance systems which assist the procedure of parking vehicles in parking spaces are known, a differentiation being made between longitudinal parking spaces aligned substartially parallel to the road, the kerb or the edge of the road and so-called transverse parking spaces in which the vehicle, is oriented transversely cr substantially perpendicular to the road. Parking assistance systems are known which measure a parking space when a suitable sensor system is driven past, calculate a corresponding parking trajectory into a parking space which is deemed suitable and guide the driver into the parking space into a parked position, the implementation thereof being able to be carried out passively or actively. With passive implementation, predetermined steering angles and starting-off commands and stop commands are conveyed to the driver cYia a user interface in order to achieve a parking position which is as ideal as possible. In active implementation, the driver initiates the parking procedure, the system undertaking all actions entirely automatically.

Moreover, embodiments are known with the driver simply undertaking the starting-off and braking procedures, whilst the steering procedure is undertaken by the system.

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During a procedure of parking in a transverse parking space, the detection of the environment of the parking space is particularly important. DE 10 2008 058 652 Ai discloses a method for calculating a parking trajectory of a motor vehicle in a transverse parking space, which is based on measurement data detected by ultrasound sensors, said data being processed using the anticipated measurement data. The anticipated measurement data comprise characteristic widths and/or lengths of motor vehicles, dimensions of external mirrors and symmetry of shape, as well as characteristib dimensions of spaces. The parking trajectory is determined such that the vehicle adopts an ideal parking position in the centre of the parking space.

A parking assistance system is disclosed in DE 60 2004 006 797 T2 which permits the user to establish a target parking frame in a parking frame detected by the system. In this case, the target parking frame may be selected to be of any kind so that, for example, the vehicle is not parked in the centre but closer to one side of the current parking frame or is positioned obliquely telative to the centre line, it being possible to drive around an obstacle or a vehicle door being able to be opened or closed without hindrance.

Moreover, a method for parking assistance is disclosed in DE 10 2006 046 827 Al, the actualdinensions of the parking space being determined when the positioning of the vehicle in a parking space is not yet complete. Due to the specific actual data, a trajectory is determined which also takes into consideration a target position, which takes account of the occupancy of the vehicle. Accordingly, it is possible for the target position not to be in the centre of

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the parking space but offset to the side, so that a required safe distance from the adjacent vehicles is maintained.

Advantages of the invention The method according to the invention for determining a parking trajectory of a vehicle into a transverse parking space comprises the detection of data of an environment of the vehicle and at least one object defining at least one longitudinal side of the transverse parking space, a target parking position in the transverse parking space being determined, said target parking position taking into account a defined safe distance for opening the driver's door. Moreover, the invention comprises the identification of a parking trajectory and the transmission of corresponding directions to the driver or vehicle assistance system foi moving along the parking trajectory.

A corresponding driver assistance system may carr/ out a parking procedure autonomously or semi-automatically, The defined safe.distance is thus the distance which permits the opening of atleast the driver's door without danger or damage to the driver's door and/or an obstruction lOcatedin the pivoting region of the driver's door, said distance being sufficiently far away that comfortable boarding and disembarking is possible.

It is advantageous that the determined parking trajectory for positioning the vehicle in a target parking position in the transverse parking space takes into account the environment of the parking space, so that in the target

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parking position a sufficiently defined safe distance for opening at least the driver's door is maintained. Thus the vehicle is actively or passively guided into an ideal parking position, advantageously the direction of approach S and the vehicle alignment in the transverse parkifg space also being determined by the method in order to achieve an ideal target parking position, in particular in narrow transverse parking spaces. In an ideal target parking position, in particular, a sufficiently defined safe distance is maintained on the driver's side of the vehicle to be parked, which is sufficient in order to open the driver's door safely. Also, a distance which has to be maintained from adjacent parked vehicles for opening a driver's door is taken into consideration.

The method for determining a parking trajectory of a vehicle in a transverse parking space, i.e. the parking path from the current position of the vehicle to a desired parking position, is based on data detected when the vehicle is driven past. By "transverse parking spaces" is understood those spaces which are arranged transversely or at least obliquely relative to the direction of travel, and which are defined at least entirely or partially by lines, for example parking bays in car parks or even parking spaces in garages, garage entrances or the like. The data provide information about the parking frame available to the vehicle, said parking frarñe being able to be surrounded by defining and/or non-defining objects. Defining objects, in particular on at least one longitudinal side of the transverse parking space may, for example, be parked vehicles, walls or hedges or markings of a more or less closed parking bay. Non-defining objects may be drinks cans

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or puddles, whibh in theory can be driven, over and thus do not necessarily have to be considered.

The detection of the data may be carried out via at least one detection unit, by way of example a contactless sensor, for example an ultrasound sensor, PMD sensor, lidar sensor or radar sensor or a camera or.a combination of different contactless sensors being used. The detected data may, for example, be processed further in order to obtain an environment model of the parking space. In this case, the detected data may provide a three-dimensional image of the environment of the parking space, the objects detected in the envirpnrnent being able tobe classified further into planar objects which could be driven over and non-planar objects which represent a defining object which is not able to be driven over.

The determination of a parking trajectory for the vehicle in a transverse parking space is based on the detected data, it being taken into account when an object defining the transverse parking space is detected, for example, on at least one longitudinal side of the transverse parking space. The parking trajectory may thus provide that the vehicle is guided from, its current position with a straight movement into'the transverse parking space into a target parking position or with a curved movement, a so-called transverse movement. A plurality of car park situations are differentiated from one another, said car park situations guiding the vehicle along a correspondingly adapted parking trajectory into a correspondingly adapted target parking position of the vehicle.

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If the transverse parking space is not surrounded on parallel longitudinal sides by defining objects but, for example, marked by a parking frame applied to the ground, the parking trajectory may be determined so that the S vehicle reaches an ideal target parking position in the centre of the marked transverse parking space.

If the transverse parking space, however, is defined on at least one. longitudinal side by at least one object, for example an adjacent parked *vehicle or a wall or a hedge, the parking trajectory is determined by taking into account the detected objects. Thus a parking trajectory, in which the vehicle is positioned in the target parking position such that sufficient space is available to the driver to open the driver's door, may be specified to the driver. In particular, it is possible for the vehicle nt to be parked in the centre of the defined transverse parking space but the target parking position may be of fâet laterally from the centre. When determining the parking trajectory, the longitudinal side on which the at least one defining object is present as well as the orientation and alignment of the object are taken into consideration. For example, the alignment of an adjacent parked vehicle and, in particular, the position of the driver's door of said parked vehicle is detected. Moreover, a direction for driving into the parking space may be proposed to the driver and/or the system by means of the parking trajectory, in particular.

whether the driving into the transverse parking space takes place in the forward direction or rearward direction, so that the vehicle is parked oriented in the forward or rearward direction. In this case, it is taken into account that, for the driver of the vehicle to be parked in the

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target parking position reached, sufficient space is available for opening the actual driver's door.

Moreover, it is taken into consideration, in particular when the at least one defining object is a parked vehicle, that a corresponding space is also available relative to this vehicle for opening the driver's door.

The method according to the invention is of particular importance in the case of small transverse parking spaces * with a parking frame surrounded on two parallel longitudinal sides by defining objects, in particular adjacent vehicles. The target parking position adopted by the vehicle in the defined transverse parking space is determined by the method according to the invention such that the defining objects, their position and possibly their orientation in the environment is taken into consideration. If the defining objects are vehicles, in an embodiment of the method according to the invention the parking alignment of said parked vehicles iseither detected by the driver or by a corresponding detection unit. Thus there is the possibility of determining the adapted parking trajectory to be identified of the vehicle tp be parked, not only by considering the space required for opening the actual driver's door but also the space requirement which is intended to be maintained for safety reasons in the event of the potential opening of at least the driver's doors of adjacent parked vehicles. Thus it is no1 only possible for a target parking position which is laterally offset relative to the centre of the adjacent parking frame to be communicated to the driver, but also

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the most advantageous parking direction i.e. in the forward or rearward direction, may be indicated to the driver.

If the transverse parking space which is determined as suitable by the system is only defined on one longitudinal side by a vehicle positioned there, the parking trajectory which is adapted and determined according to the method according to the invention provides an ideal target parking position, in particular the orientation of the vehicle to be parked being adapted to the parking direction of the already parked adjacent vehicle. If the drivers door in the already parked adjacent vehicle is opened in the direction of the desIred transverse parking space, the target parking position is offset to the side from the centre of the transverse parking space, so that the distance between the adjacent vehicles is increased.

* Moreover, an orientation of the vehicle to be parked is determined, which provides an opposing direction relative to the already parked vehicle. If,'however, the drivers door of the adjacent parked vehicle is not opened in the direction of the desired transverse parking space, the target parking position is offset from the centre in the direction of the parked vehicle, when the vehicle tobe parked drives into the transverse parking space in an opposing direction. Thus a distance for comfortably leaving the vehicle is available to the driver of the vehicle to be parked. However, if for example it is apparent that driving into the transverse parking space is more favourable in a direction which corresponds to the adjacent parked vehicle, the adapted parking trajectory provides that the vehicle to be parked reaches a target parking position in ihich the distance between adjacent vehicles is increased.

If the target transverse parking space is located between two parking bays already occupied by vehicles, according to the invention an adapted parking trajectory is determined which optimizes both the direction, i.e. in the forward or rearward orientation, of the vehicle to be parked, and also a target parking position which is possibly displaced relative to the centre line of the desired transverse parking space. In this case, in particular, it is considered that when a specific direction for driving into the desired transverse parking space is preferred by the environmental conditiOns, the specific parking trajectory is adapted such that a sufficient distance exists between adjacent vehicles whIch permits easy opening of the respective driver's door. It is preferable that the driver's door of each adjacent vehicle does not oppose the other in the same plane, but they are offset relative to one another and accordingly open parallel to one another.

Brief description of the drawings

Exemplary embodiments of the invention are shown in the drawings and described in more detail in the following

description, in which:

Figure 1 shOws a vehicle in a parking situation in a transverse parking space according to the

prior art;

Figure 2 shows a vehicle in aparking situation in a transverse parking space accordihg to the method according to the invention; Figure 3 shows a vehicle in a parking situation in a garage; Figures 4a show a vehicle in a parking situation in a & 4b transverse parking space according to the method according to the invention with two vehicles parked adjacent to one another.

Embodiments of the invention A vehicle 10 which is parked in a transverse parking space 14 defined by lines 12 is shown in Figure 2, a centre line of the transverse parking space 14 being denoted by the reference numeral 15. Vehicles 16, 18 are parked in adjacent parking bays. A width 20 which is available for parking in the transverse parking space 14 may be measured by means of a suitable sensor system which is provided on the vehicle 10. By means of the sensor system, the environment of the vehicle is detected( for example ultrasound sensors being able to be u'sed on all sides of the vehicle for measuring the distance from defining objects. Moreover, markings may be determined and evaluated by a video system. For example, infrared sensors, PMD sensors, radar sensors, lidar sensors or video distance.

measurement may also be used. Due to the determined width of the transverse parking space 14, a parking trajectory 22 is determined for the parking procedure. In the example shown in Figure 2 of the prior art, the parking trajectory 22 extends along a path which is subdivided into a plurality of portions. In particular, straight and/or curved portions are provided, along which the vehicle 10 is guided in a forward movement or rearward movement into its target parking position. In the example shown in Figure 1, the target parking position is in the centre'of the transverse parking space 14, i.e. a main axis 24 of the S vehicle 10 is at the same distance from the defining lines 12 of the transverse parking space 14 and/or the main axis 24 is, in each case at a distance 26 from the edge of the * possible parking space which corresponds to half the width 20. The centre line 15 of the transverse parking space 14 coincides with the main axis 24.

The vehicle 10 positioned in the transverse parking space 14 is, for example, driven in the forward direction along the parking trajectory 22. For opening a driver's door 28, a defined safe distance 30 is required which should be sufficient for the driver to be able to leave the vehicle comfortably. It is possible for a potential passenger to disembark before the actual parking procedure so that, in particular with narrow transverse parking spaces 14, the defined safe distance 30 on the driver's side of the vehicle 10 is important. Accordingly, a required width 20 of the transverse parking space 14 is obtained for the vehicle 10 from the sum of a vehicle width 32 and the defined safe distance 30 for safe opening of the driver's door 28. In the target parking position it should be ensured that the defined safe distance 30 is provided for opening the driver's door 28. In the example shown in Figure 1, in which according to the prior art the vehicle is positioned in the centre of the transverse parking space 14, a parking space distance 34 remaining on the driver's side is shorter than the defined safe distance 30 which might be necessary to open the driver's door 28 sufficiently in order to be able to leave the vehicle 10 comfortably.

In the exemplary embodiment shown in Figure 2 of a parking situation according to the method according to the invention, the same elements are denoted by the reference numerals used in Figure 1. The vehicle 10, parked in the transverse parking space 14 having the width 20, is surrounded by the vehicles 16, 18 parked in adjacent parking bays. As may be derived from Figure 2, the parking trajectory which would lead to a central target parking position according to the prior art is shown at 22, the main axis 24 of the vehicle 10 being located on the centre line 15 of the transverse parking space 14. in contrast thereto, an adapted parking trajectory is denoted by 36, which results in a lateral target parking position displaced in this case to the right, the main axis 24 of the vehicle 10 not being located' in the centre of the transverse parking space 14 but offset relative to the centre line 15. The width between the main axis 24 of the vehicle 10 from the limit of the possible parking space, in this case the adjacent parked vehicle 18, 16, is provided as the distance 38 which includes the defined safe distance for the safe opening of the driver's door 28. For opening the vehicle door 28, accordingly the distance 38 relative to the main axis 24 remains on the driver's side, a defined safe di,stance 30 being available to the driver which permits the driver to leave the vehicle 10 comfortably.

In Figure 3, a parking situation is shown in which the vehicle 10 is positioned in a transverse parking space 14

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defined by walls 40, for example in a garage. Moreover, it may be derived from Figure 3 that adaptive parking by, considering the defined safe distance 30 for opening at least the driver's door 28 is possible along the adapted parking trajectory 36a, 3Gb by means of a transverse movement i.e. approaching from the left 36a or from the right 36b of the transverse parking space 14 or by means of a straight movement 37. Accordingly, the adapted parking trajectory 36a, 36b, 37 comprises corresponding curved portions and/or straight portions. In the exemplary embodiment shown, the vehicle 10 is guided in the forward direction along the adapted parking trajectory 36a, 3Gb,, 37 into its target parking position, so that said target parking position is displaced to the right laterally relative to the centre line l5of the transverse parking space 14. Thus thedistance 38 is obtainec relative to the main axis 24 on the left-hand vehicle side, the defined safe distance 30 for opening the driver's door being available. Also, it is possible for the vehicle 20 to be guided in a rearward movement along the adapted parking trajectory 36a, 36b, 37, the corresponding distance 38 being maintained on the vehicle side. In the case of a right-hand drive vehicle, the distance 38 comprising the defined safe distance 30 is considered on the right-hand vehicle side and determined according to the parking trajectory 36a, 3Gb, 37.

In Figures 4a and 4b, parking situations are shown of a vehicle 10 which is positioned in the transverse parking space 14. The transverse parking space 14 is located between further parking bays in which the vehicles 16 and 18 are parked. In an embodiment of the method according to the invention, the orientation of the adjacent parked vehicles 16 and 18 is determined, for example, via a video- based system and/or by the driver. -In the parking situation shown in Figure 4a, the vehicles 16 and 18 are positioned in the forward direction in their parking bays. It is also possible for both vehicles 16, 18 to be positioned in a rearward direction. In the forward direction with a left-hand drive vehicle, a driver of the vehicle 16 opens a driver's door 42 to the left in the direction of the vehicle 10 tobe parked in the transverse parking space 14. On the vehicle 18 a door 44 also opens on the driver's side to the left and thus not in the direction of the vehicle 10 to be parked in thetransverse parking space 14. According to the invention an adapted parking trajectory 36 is proposed, the vehicle 10 in the exemplary embodiment shown in Figure 4a preferably adopting a rearward direction in the target parking position, i.e. the vehicle moves along the adapted parking trajectory 36 with a rearward movement. flith an opposing orientation of the vehicles 16, 18, a forward movement would be proposed.

Moreover, the adapted parking trajectory 36 provides a target parking position displaced to the left, relative to the centre line 15 of the transvere parking space 14. Thus the driver of the vehicle 10 has a sufficient distance 38 for opening the driver's door 28, and at the same time when the driver's door 42 of the vehicle 16 is opened, which takes place in the direction of the vehicle 10 to be parked, the situation is avoided where said distance falls below a defined safe distance 30 In Figure 4b, a parking situation is shown in which the vehicle 16 oriented in one direction and the vehicle 18 oriented in an opposing direction are parked in the parking bays adjacent to the transverse parking space 14. According to the invention, an adapted parking trajectory 36 is transmitted to the driver of the vehicle 10, which indicates a laterally offset target parking position relative to the centre line 15 of the transverse parking space 14. The side of the displacement of the adapted parking trajectory 36 is determined such that driverrs doors of adjacent vehicles 10, 16, 18 do not oppose one another in one plane but are offset relative to one another and open parallel to one andther. The side on which the target parking position is displaced relative to the centre line 15 of the transverse parking space 14, depends on which direction the vehicle 10 drives into the transverse parking space 14, i.e. in the forward or rearward direction. Ifa forward direction is preferred, the target parking position is displaced to the right! If a rearward direction is preferred, the target parking position is displaced to the left. *

Claims

* Claims 1. Method for determining a parking trajectory (36a, 36b, 37) of a vehicle (10) into a transverse parking space (14) comprising the following steps: a) the detection of data of an environment of the vehicle (10) and the detection of at least one object (12, 16, 18) defining at least one longitudinal side of the transverse parking space (14); b) the determination of a target parking position for the vehicle (10) in the transverse parking space (14) by including at least one defined safe distance (30) for opening a driver's door (28) of the vehicle (10); c) the identification of a parking trajectory (36a, *36b, 37) for reaching the target parking position determined in step b); d) the output for the implementation of the parking trajectory (36a, 36b, 37) to the driver or to a driver assistance system for implementing the method.
2. Method according to Claim 1, characterised in that the target parking position of the vehicle (10) is laterally offset relative to a centre line (15) of the transverse parking space (14).
3. Method according to Claim 1 or 2, characterised in that in the target parking position of the vehicle (10), at least on the driver's side, the defined safe

Sdistance (30) from the defining objects (12, 16, 18) is available for opening the driver's door (28) *
4. Method according to one of Claims 1 to 3, characterised in that the vehicle moves along the parking trajectory (36a, 3Gb, 37) with a forward movement.
5. Method according to one of Claims 1 to 3, characterised in that the vehicle (10) moves along the parking trajectory (36a, 3Gb, 37) with a rearward movement.
6. Method according to one of Claims 1 to 5, characterised in that the vehicle moves along the parking trajectory (36a, 3Gb, 37).with a straight movement or a transverse movement.
7. Method according to one of Claims 1 to 6, characterised in that the at least one object (12, 16, 18) defining at least one longitudinal side of the transverse parking space (14) is a vehicle (16, 18), the parking direction thereof and the direction for opening a driver's door (42, 44) of the vehicles (16, 18) being determined.
8. Method according to Claim 7, characterised in that the parking direction of the at least one vehicle (16, 18) is determined by the driver of the vehicle (10) . S 18
9. Method according to Claim 7, characterised in that the parking direction of the at least one vehicle (16, 18) is determined by a detection unit.
10. Method according to Claims 7 to 9, characterised in that the parking direction of the at least one vehicle (16, 18) is taken into account when determining the target parking position of the vehicle (10)
ii. Method according to Claim 10, characterised in that the parking direction of th at least one vehicle (16, 18) is taken into account when determining the parking trajectory (36a, 36b, 37), the defined safe distance (30) for opening the door of the vehicle (10) being taken into account when determining the parking trajectory (36a, 36b, 37)
12. Driv!r assistance device for assisting a procedure for parking a vehicle (10) in a transverse parking space (14) comprising at least one detection unit for detecting data of an environment of the vehicle (10), with a unit for determining a parking trajectory (36a, 36b, 37) to a target parking position according to a method according to one of Claims 1 to 11, and an output unit for the output of information about the target parking position and driver directions for parking or for automatic control of the parking.
13. A method as hereinbefore described with reference to and as shown in the accompanying drawings.S14. A driver assistance device as hereinbefore described with reference to and as shown in the accompanying drawings.