GB2595271A - A method for an automated parking of motor vehicle, as well as an assistance system - Google Patents

A method for an automated parking of motor vehicle, as well as an assistance system Download PDF

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Publication number
GB2595271A
GB2595271A GB2007514.9A GB202007514A GB2595271A GB 2595271 A GB2595271 A GB 2595271A GB 202007514 A GB202007514 A GB 202007514A GB 2595271 A GB2595271 A GB 2595271A
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Prior art keywords
camera
motor vehicle
neural network
assistance system
display device
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Withdrawn
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GB2007514.9A
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GB202007514D0 (en
Inventor
Reyes Anthony
Winkler Thomas
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Mercedes Benz Group AG
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Daimler AG
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Publication date
Application filed by Daimler AG filed Critical Daimler AG
Priority to GB2007514.9A priority Critical patent/GB2595271A/en
Publication of GB202007514D0 publication Critical patent/GB202007514D0/en
Publication of GB2595271A publication Critical patent/GB2595271A/en
Withdrawn legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/002—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles specially adapted for covering the peripheral part of the vehicle, e.g. for viewing tyres, bumpers or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • 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
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computing arrangements based on biological models
    • G06N3/02—Neural networks
    • G06N3/08—Learning methods
    • 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
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/60—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/60—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective
    • B60R2300/602—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective with an adjustable viewpoint
    • B60R2300/605—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective with an adjustable viewpoint the adjustment being automatic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/70—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by an event-triggered choice to display a specific image among a selection of captured images
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/806—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for aiding parking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/06—Automatic manoeuvring for parking

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Computing Systems (AREA)
  • Mathematical Physics (AREA)
  • Data Mining & Analysis (AREA)
  • Evolutionary Computation (AREA)
  • General Health & Medical Sciences (AREA)
  • Molecular Biology (AREA)
  • Biophysics (AREA)
  • General Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Computational Linguistics (AREA)
  • Software Systems (AREA)
  • Artificial Intelligence (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Traffic Control Systems (AREA)

Abstract

Display device 16 of autonomous vehicle 10 displays vehicle surroundings 14 during a current autonomous parking manoeuvre. The surroundings are captured by vehicle camera 20. Electronic computing device 22 of assistance system 12 adjusts a displayed angle 26 and/or zoom 28 of the camera on the display device according to a decision made by a trained neural network model 24. The assistance system may comprise a further camera and the neural network may decide which angle or zoom of which of the cameras to display and adjust. The displayed angle or zoom may also be manually adjustable on the display device. The neural network model may be trained depending on multiple earlier autonomous and/or manual parking manoeuvres of different users – e.g. using data indicating motor vehicle states (e.g. gear selection and direction of travel) and manual changes to camera properties. The user may use the display to manually monitor vehicle surroundings during an autonomous or automatic parking manoeuvre.

Description

A method for an automated parking of motor vehicle, as well as an assistance system
FIELD OF THE INVENTION
[0001] The present disclosure relates to the field of automobiles. More specifically, the present disclosure relates to a method for displaying the surroundings of an at least partially autonomous motor vehicle on a display device of the motor vehicle during a current autonomous parking maneuver of the motor vehicle, as well as a corresponding assistance system.
BACKGROUND INFORMATION
[0002] According to the state of the art there are many buttons on a head unit of a motor vehicle for monitoring surroundings of the motor vehicle for a user of the motor vehicle during a current parking maneuver. During the act of parking, the user of the motor vehicle has to manually monitor the surroundings during the automated/autonomous parking maneuver. The user also has to manually touch the head unit, which may be a display device with a touchscreen, and turn around the three-dimensional visual representation of the vehicle.
[0003] CN 107745710 B discloses a machine vision and machine learning-based automated parking method and system. Images are collected via cameras arranged all around an automobile body, and a three-dimensional image of the surrounding environment and a distance between the automobile body and an object in the surrounding environment can be obtained; parking lines can be identified according to a machine vision technology; the automobile is parked when an effective image is identified and an automated driving mode is started; in the automated driving mode, an optimal scheme is selected from preset parking lines according to a relative position between the current automobile and a parking lot; and the automobile is parked by using a steering wheel, an accelerator and a brake pedal, which are controlled by an electronic control device. Based on a preset database and a reinforced machine learning, improvements are continuously made during the parking process so that less data input is guaranteed upon more application conditions; low demand is required for a parking position of the parking lot; forward and backward operations can be conducted; a wide application range is provided; and by the use of the machine vision and machine learning-based automated parking method and system parking speed is accelerated and the related parking process is performed.
[0004] According to the state of the art manually monitoring the surroundings of a motor vehicle is dangerous for a user as it requires the user's attention. Therefore, there is a need in the art for a more efficient method to monitor the surroundings of the motor vehicle.
SUMMARY OF THE INVENTION
[0005] It is an object of the present invention to provide a method as well as an assistance system, by which an autonomous parking maneuver may be realized in a safer way.
[0006] This object is solved by a method as well as an assistance system according to the independent claims of the present invention. Advantageous embodiments are presented in the dependent claims.
[0007] One aspect of the invention relates to a method for displaying the surroundings of an at least partially autonomous a motor vehicle, in particular an autonomous motor vehicle, on a display device of the motor vehicle during a current autonomous parking maneuver of the motor vehicle performed by an assistance system of the motor vehicle, wherein the surroundings of the motor vehicle are captured by at least one camera of the motor vehicle, and depending on a decision criterion, at least one displayed angle of the camera and/or at least one displayed zoom of the camera is adjusted on the display device of the motor vehicle by an electronic computing device of the assistance system.
[0008] It is envisaged that depending on at least one displayed angle of the camera and/or at least one displayed zoom of the camera, which were manually adjusted during an autonomous parking maneuver in the past, a neural network of the electronic computing device is trained and the trained neural network decides which at least one angle of the camera and/or at least one zoom of the camera is automatically adjusted on the display device during the current autonomous parking maneuver.
[0009] Therefore, an autonomous parking maneuver may be realized, this in return, increases a customer satisfaction and user trust with automated/autonomous systems across all car lines that offer automated parking functionality.
[0010] In more details, the invention describes a solution for automatically moving a virtual camera's position and zoom, in particular on the display device of a motor vehicle, which may be a head unit of the motor vehicle, in a virtual scene and for automatically deciding which outward facing camera angles are to be displayed to the user of the motor vehicle.
[0011] In an embodiment of the invention the assistance system comprises at least one further camera, and the neural network decides which of the at least one angle of the camera and/or the further camera and/or which of the at least one zoom of the camera and/or the further camera is displayed and adjusted on the display device.
[0012] In another embodiment, the neural network is trained depending on a plurality of autonomous parking maneuvers in the past.
[0013] In another embodiment, the neural network is trained depending on a plurality of autonomous parking maneuvers of a plurality of different users in the past.
[0014] In a further embodiment, the at least one displayed angle and/or the at least one displayed zoom is manually adjustable by the user by adjusting the at least one displayed angle and/or the at least one displayed zoom on the display device.
[0015] Another aspect of the invention relates to an assistance system for displaying the surroundings of an at least partially autonomous motor vehicle on a display device of the motor vehicle during a current autonomous parking maneuver of the motor vehicle, comprising at least a display device, a camera, and an electronic computing device with a neural network, wherein the assistance system is configured to perform a method according to the preceding aspect. In particular, the method is performed by the assistance system.
[0016] Another aspect of the invention relates to a motor vehicle with an assistance system. The motor vehicle is at least partially autonomous.
[0017] Advantageous forms of the method are to be regarded as advantageous forms of the assistance system, wherein the assistance system comprises features allowing to perform the method.
[0018] Further advantages, features, and details of the invention derive from the following description of preferred embodiments as well as from the drawing. The features and feature combinations previously mentioned in the description as well as the features and feature combinations mentioned in the following description of the figure and/or shown in the figure alone may be employed not only in the respectively indicated combination but also in any other combination or taken alone without leaving the scope of the invention.
BRIEF DESCRIPTION OF THE DRAWING
[0019] The novel features and characteristics of the disclosure are set forth in the independent claims. The accompanying drawing, which is incorporated in and constitutes part of this disclosure, illustrates an exemplary embodiment and together with the description, serves to explain the disclosed principles. The same reference signs are used throughout the figure to refer to identical features and components. Some embodiments of the system and/or method in accordance with embodiments of the present subject-matter are now described below, by way of example only and with reference to the accompanying figure.
[0020] The figure Fig. 1 shows a schematic view of an embodiment of an assistance system.
[0021] In the figure same elements or elements having the same function are indicated by the same reference signs.
DETAILED DESCRIPTION
[0022] In the present document, the word "exemplary" is used herein to mean "serving as an example, instance, or illustration." Any embodiment or implementation of the present subject-matter described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.
[0023] While the disclosure is susceptible to various modifications and alternative forms, a specific embodiment thereof has been shown by way of example in the drawing and will be described in detail below. It should be understood, however, that it is not intended to limit the disclosure to the particular form disclosed, but on the contrary, the disclosure is to cover all modifications, equivalents, and alternatives falling within the scope of the disclosure.
[0024] The terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a setup, device, or method that comprises a list of components or steps does not include only those components or steps but may include other components or steps not expressly listed or inherent to such setup or device or method. In other words, one or more elements in a system or apparatus preceded by "comprises" or "comprise" does not or do not, without more constraints, preclude the existence of other elements or additional elements in the system or method.
[0025] In the following detailed description of the embodiments of the disclosure, reference is made to the accompanying drawing that forms part hereof, and in which is shown by way of illustration specific embodiments in which the disclosure may be practiced. These embodiments are described in sufficient detail to enable those skilled in the art to practice the disclosure, and it is to be understood that other embodiments may be utilized and that changes may be made without departing from the scope of the present disclosure. The following description is, therefore, not to be taken in a limiting sense.
[0026] Fig. 1 shows a schematic view of a motor vehicle 10 with an assistance system 12. The assistance system 12 is configured for displaying a surroundings 14 of the at least partially autonomous motor vehicle 10 on a display device 16 of the motor vehicle 10 during a current autonomous parking maneuver 18 of the motor vehicle 10, wherein the assistance system 12 comprises at least the display device 16, a camera 20, and an electronic computing device 22 equipped with a neural network model 24.
[0027] A method for automatically parking the motor vehicle 10 comprises: displaying the surroundings 14 of the at least partially autonomous motor vehicle 10 on the display device 16 of the motor vehicle 10 during the current autonomous parking maneuver 18 by capturing the surroundings 14 of the motor vehicle 10 by the at least one camera 20. In more details, the at least camera 20 captures the surrounding 14 using the at least one displayed angle 26 of the camera 20 and/or the at least one displayed zoom 28 of the camera 20. The captured surrounding 14 further is adjusted on the display device 16 of the motor vehicle 10 by the electronic computing device 22 of the assistance system 12.
[0028] In an embodiment, the at least one displayed angle 26 of the camera 20 and/or the at least one displayed zoom 28 of the camera 20, which were manually adjusted during an autonomous parking maneuver in the past, the neural network model 24 is trained. The trained neural network model 24 decides which of the at least one angle 26 of the camera 20 and/or the at least one zoom 28 of the camera 20 is automatically adjusted on the display device 16 during the current autonomous parking maneuver 18.
[0029] In an embodiment, the assistance system 12 may comprise at least one further camera 30, for example, to create a top view of the motor vehicle 10. The neural network model 24 decides which of the at least one angle 26 of the camera 20 and/or the further camera 30 and/or which of the at least one zoom 28 of the camera 20 and/or the further camera 30 is displayed or adjusted on the display device 16. Therefore, in a first step, the neural network model 24 decides which camera is used for displaying. In a further step, when the camera is chosen, the neural network model 24 decides which at least one zoom 28 and/or which at least one angle 26 is displayed or adjusted. Therefore, different views from different cameras may be displayed. Furthermore, the neural network model 24 is trained depending on a plurality of autonomous parking maneuvers in the past. The neural network model 24 may also be trained depending on a plurality of autonomous parking maneuvers of a plurality of different users in the past.
[0030] It should be appreciated that although, the at least one displayed angle 26 and/or the at least one displayed zoom 28 may be manually adjustable by the user by adjusting the at least one displayed angle 26 and/or the at least one displayed zoom 28 on the display device 16. Therefore, the display device 16 may comprise touchable buttons 32 for manually adjusting the displayed angle 26 and/or the displayed zoom 28.
[0031] In more details, Fig. 1 shows how the assistance system 12 decides which angles 26 or positions of the camera 20 or zoom levels are displayed to the user for a given state of the system. The assistance system 12 may collect data from all users who are interacting with the head unit during a parking maneuver, wherein the user may, for example, manually change the properties of the camera 20, together with data about the motor vehicle state, like gear selection, the direction of the motor vehicle travel, and this data is then used to train the neural network 24. The input of the neural network 24 is the data described above and the output is, for example, the information that the virtual camera x/y/set-position of the camera 20 and the view directions of the camera 20 may be adjusted. For an outward-facing camera, for example, the further camera 30, a decision on which camera view is to be displayed to the user may be made. During an automated/autonomous parking maneuver, in particular, during the end of the maneuver, the output of the neural network 24 is then used to visualize the scene accordingly. If a user decides to manually change the viewport, this action is used to further globally train the neural network 24.
[0032] In particular, Fig. 1 shows a camera animation during an autonomous vehicle parking maneuver.
Reference Signs motor vehicle 12 assistance system 14 surroundings 16 display device 18 current autonomous parking maneuver camera 22 electronic computing device 24 neural network model 26 angle 28 zoom further camera 32 buttons

Claims (6)

  1. CLAIMS1. A method for an automated parking of an at least partially autonomous motor vehicle (10) with displaying surroundings on a display (16) of the motor vehicle (10) during a current autonomous parking maneuver (18) of the motor vehicle (10) by an assistance system (12) of the motor vehicle (10), wherein the surroundings (14) of the motor vehicle (10) are captured by at least one camera (20) of the motor vehicle (10) and depending on a decision criterion of at least one displayed angle (26) of the camera (20) and/or at least one displayed zoom (28) of the camera (20) is adjusted on the display device (16) by an electronic computing device (22) of the assistance system (12), characterized in that, a neural network model (24) of the electronic computing device (22) is trained and the trained neural network model (24) decides which of the at least one angle (26) of the camera (20) and/or which of the at least one zoom (28) of the camera (20) is automatically adjusted on the display device (16) during the current autonomous parking maneuver (18).
  2. 2. The method according to claim 1, characterized in that the assistance system (12) comprises at least one further camera (30), and the neural network decides (24), which of the at least one angle (26) of the camera (20) and/or the further camera (30) and/or which of the at least one zoom (28) of the camera (20) and/or the further camera (30) is displayed and adjusted on the display device (16).
  3. 3. The method according to claim 1 or 2, characterized in that the neural network model (24) is trained depending on a plurality of autonomous parking maneuvers in the past and/or trained depending on a plurality of manual parking maneuvers in the past.
  4. 4. The method according to any one of claims 1 to 3, characterized in that the neural network (24) is trained depending on a plurality of autonomous parking maneuvers of a plurality of different users in the past and/or trained depending on a plurality of manual parking maneuvers in the past of a plurality of different users in the past.
  5. 5. The method according to any one of claims 1 to 4, characterized in that the at least one displayed angle (26) and/or the at least one displayed zoom (28) is manually adjustable by the user by adjusting the at least one displayed angle (26) and/or the at least one displayed zoom (28) on the display device (16).
  6. 6. An assistance system (12) for displaying the surroundings (14) of an at least partially autonomous motor vehicle (10) on a display device (16) of the motor vehicle (10) during a current autonomous parking maneuver (18) of the motor vehicle (10), comprising at least a display device (16), a camera (20) and an electronic computing device (22) with a neural network (24), wherein the assistance system (12) is configured to perform a method according to any one of claims 1 to 5.
GB2007514.9A 2020-05-20 2020-05-20 A method for an automated parking of motor vehicle, as well as an assistance system Withdrawn GB2595271A (en)

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CN113525357B (en) * 2021-08-25 2022-12-09 吉林大学 Automatic parking decision model optimization system and method

Citations (5)

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Publication number Priority date Publication date Assignee Title
US20130169792A1 (en) * 2010-08-12 2013-07-04 Valeo Schalter Und Sensoren Gmbh Method for assisting in a parking operation for a motor vehicle, driver assistance system and a motor vehicle
US20160196823A1 (en) * 2015-01-02 2016-07-07 Atieva, Inc. Voice Command Activated Vehicle Camera System
US20180334100A1 (en) * 2017-05-22 2018-11-22 Panasonic Automotive Systems Company Of America, Division Of Panasonic Corporation Of North America Rear view display image view positioning and zoom effect system and method
WO2019020637A1 (en) * 2017-07-28 2019-01-31 Connaught Electronics Ltd. Customizable representation of an environment of a motor vehicle by a driver assistance device
US20200139888A1 (en) * 2018-09-06 2020-05-07 Aisin Seiki Kabushiki Kaisha Vehicle periphery display device

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20130169792A1 (en) * 2010-08-12 2013-07-04 Valeo Schalter Und Sensoren Gmbh Method for assisting in a parking operation for a motor vehicle, driver assistance system and a motor vehicle
US20160196823A1 (en) * 2015-01-02 2016-07-07 Atieva, Inc. Voice Command Activated Vehicle Camera System
US20180334100A1 (en) * 2017-05-22 2018-11-22 Panasonic Automotive Systems Company Of America, Division Of Panasonic Corporation Of North America Rear view display image view positioning and zoom effect system and method
WO2019020637A1 (en) * 2017-07-28 2019-01-31 Connaught Electronics Ltd. Customizable representation of an environment of a motor vehicle by a driver assistance device
US20200139888A1 (en) * 2018-09-06 2020-05-07 Aisin Seiki Kabushiki Kaisha Vehicle periphery display device

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