JP2022501742A - How to plan a parking process supported by a parking assist system - Google Patents

Abstract

The present invention is a method for planning a parking process supported by a parking assist system of a vehicle (1), comprising the following steps:-at least one parking scenario in the peripheral area of the vehicle (1). Step to capture (S10);-The parking track (PT) between the start position (SP) and the target position (ZP) of the vehicle (1) follows a path plan based on the rules for the captured parking scenario. (1) Planning using the planning method (S11); -Determining at least one section of the parking track (PT) between the start position (SP) and the target position (ZP) using the first planning method. Step (S12) to check if the vehicle has been completed; -At least one section of the parking track (PT) between the start position (SP) and the target position (ZP) of the vehicle (1) is the first planning method. If not planned by, at least one section of the parking track (PT) between the start position (SP) and the target position (ZP) of the vehicle (1) is planned by the generic second planning method. (S13).

Description

The present invention relates to a method of planning a parking process for a vehicle supported by a parking assist system, a parking assist system, and a vehicle equipped with the parking assist system.

Parking assist systems for semi-automatically or fully-automatically planning and implementing parking processes are also known from conventional techniques. At that time, the general vehicle is steered to the parking position on the parking track calculated in the planning phase by the parking assist system.

A deterministic planning method that attempts to determine a parking track by a geometric method based on a calculation rule for planning a parking track is known from the prior art. Such a deterministic planning method has one or more sets of calculation rules, each set of calculation rules for a particular parking scenario, for example, back-running parking in a longitudinal parking situation. Represents. The disadvantages of the deterministic planning method are that it is very inflexible to deviations from the underlying parking scenario and is flexible to changing parking conditions (for example, an object has entered a parking track). The parking plan often fails because it cannot be dealt with.

Further, a general-purpose planning method that can be adopted for various parking scenarios without being limited to a specific parking scenario and can calculate a parking track even in a complicated and changing parking scenario is disclosed. The disadvantage of the general-purpose planning method is that it is computationally intensive, that is, it requires high processor power and a large amount of memory area. In addition, if the parking situation changes even slightly, the general-purpose planning method will show a completely different parking behavior, but this is a disadvantage because the driver expects the parking assist system to have a constant parking behavior. I feel there is. Furthermore, the general-purpose planning method does not distinguish between multiple parking scenarios in order to calculate the parking track, and always uses the same algorithm in any parking scenario, so each driver sets it in the general-purpose planning method. It is difficult to maintain the properties that are in place.

The problem of the present invention starting from these problems is parking supported by a parking assist system that is highly tolerated by the driver and enables time-efficient and highly flexible parking track calculation with a low planning failure rate. It is to provide a way to plan the process.

This task is accomplished by a method having the characteristics of the independent claim 1. A preferred embodiment is the subject of the dependent claims. The parking assist system is the subject of the parallel claim 11, and the vehicle equipped with such a parking assist system is the subject of the parallel claim 12.

According to the first aspect, the present invention relates to a method of planning a parking process supported by a parking assist system. Here, the general method involves the following steps:

First, at least one parking scenario is captured in the area surrounding the vehicle. Preferably, the classification of the recognized parking scenarios is performed, i.e., for example, what kind of parking process belongs to (forward / backward, vertical / diagonal / right angle, etc.) is recognized.

The parking track between the vehicle's start position and target position is then planned using a first planning method that follows a rule-based path planning for the captured parking scenario. At that time, it is preferable that the first planning method is a planning method tailored to each type of parking scenario (forward / backward, vertical / diagonal / right angle, etc.). The first planning method is preferably a deterministic planning method in which a parking track is constructed using geometric curves with computational rules adapted to a specially captured parking scenario. It is preferable that the curve can be uniquely described by a mathematical formula.

After planning the parking track using the first planning method, it is checked whether at least one section of the parking track between the start position and the target position could be determined. In other words, the first planning method first attempts to plan at least one segment of the entire orbit.

If at least one section of the parking track between the vehicle's start position and target position cannot be planned by the first planning method, then at least that of the parking track between the vehicle's start position and target position. One section is planned by the generic second planning method. In other words, the remaining sections, or-if even one segment could not be planned by the first planning method-the entire parking track is planned using the second planning method. The second planning method is preferably a planning method capable of freely planning a parking track without depending on a specific parking scenario. In other words, the second planning method is a planning method that is effective in any case and can be applied to various parking scenarios.

A significant advantage of the method according to the present invention is the combination of the first and second planning methods so that the first planning method cannot be planned from the beginning or due to changes during the planning phase or implementation phase. Even in a situation, the parking track can be planned by using the general-purpose second planning method, so that high calculation efficiency can be achieved while reducing the probability of planning failure.

According to one embodiment, the first planning method provides a set of calculation rules, each set of calculation rules arranged for each recognized parking scenario. By using one set of calculation rules for each, at least one section of the parking track can be determined by joining multiple track segments uniquely defined by each analysis. A set of computational rules can be joined together to form at least one section of the parking track, particularly preferably to define geometric curves such as straight lines, arc segments, and / or clothoids. can.

According to one embodiment, one set of calculation rules is used based on the captured parking scenario. Depending on what kind of parking scenario (forward / backward, vertical / diagonal / right angle, etc.) is recognized, one set of calculation rules can be selected and the parking track index can be attempted accordingly. ..

According to one embodiment, the first planning method is a geometry that is analytically determined using one or more mathematical formulas / functions for a parking track plan divided into segments that include multiple parking track segments. Perform based on the geometric curve. In doing so, it is preferable that the analytical indexing of the geometric curve takes into account the perimeter objects recognized in each parking situation (eg, by perimeter capture). Using analytical procedures in this way, at least one section of the parking track can be attempted to save computational power and more meet the requirements in the same or essentially the same parking scenario. It is preferable because it can contribute to obtaining the obtained parking behavior.

According to one embodiment, the geometric curve includes straight lines, arc segments, and / or clothoids. By using these curves, many normal parking scenarios can be covered.

According to one embodiment, each calculation rule determines one or more parking track segments. For example, a calculation rule reproduces the transition of a geometric curve in a two-dimensional space. Therefore, by using a set of calculation rules, it is possible to analytically determine a parking track divided into segments in which a plurality of parking track segments are connected in order to calculate a parking track.

According to one embodiment, the parking track is planned segment by segment, the first part of the parking track is determined by the first planning method and the second part of the parking track is determined by the second planning method. At least a partial result of orbital planning performed under the first planning method, eg, one or more already calculated orbital segments, continued to be used and could not be determined by the first planning method. It is preferable to try to determine the remaining part of the parking track by the second planning method. As a result, the computing power can be limited even in a parking situation where the calculation capacity is complicated and cannot be completely calculated by the first planning method.

According to one embodiment, the second planning method employs a computational algorithm that does not depend on the captured planning scenario and / or includes a plurality of different parking scenarios. At this time, "independent of the captured planning scenario" means that the calculation algorithm is not adapted to a specific planning scenario, but depends on the peripheral part of the recognized vehicle to carry out free track planning. Means to do. This makes it possible to find an appropriate parking track even in a complicated parking situation or a changed parking situation.

According to one embodiment, the method comprises, as a further step, at least a semi-automated implementation of the parking process using a parking assist system. If a change occurs in the parking scenario during the parking process, a new parking track is planned between the vehicle's current position and the target position, but here in the first step, at least one section of the parking track. Cannot be indexed based on the first planning method and at least one section of the parking track between the vehicle's current position and the target position cannot be planned based on the first planning method (ie, whatever by the first planning method). If the parking track is also (or only one section of it can be determined), then at least one section of the parking track is planned by the second planning method, and so on. As a result, even when the parking process is carried out, that is, even after the parking track plan is completed, even if the parking situation changes, the plan can be carried out again.

According to one embodiment, the parking track is planned from the vehicle's start position to the planned target position, or from the planned target position to the start position. The planning direction can be adapted, for example, to a recognized parking scenario or a recognized peripheral area. By selecting the planning direction, it can be achieved that at least one section of the parking track is preferably determined by the first planning method.

According to a further aspect, the invention relates to a parking assist system that controls the parking process of a vehicle. The parking assist system includes:
-A capture unit for capturing at least one parking scenario in the area surrounding the vehicle;
-A computational unit configured to plan the parking track between the vehicle's start position and target position using the first planning method, provided that the first planning method is for the captured parking scenario. Based on a rule-based path plan;
-A computational unit configured to find out if at least one section of the parking track between the start position and the target position can be determined using the first planning method;
-If at least one section of the parking track between the vehicle's start position and target position cannot be planned by the first planning method, then at least one of the parking tracks between the vehicle's start position and target position. A compute unit configured to plan two sections with a generic second planning method.

According to a further aspect, the invention relates to a vehicle equipped with one of the parking assist systems described above.

The "parking process" in the present invention is interpreted as a process in which a vehicle is guided forward, backward, sideways, and diagonally into one parking space. The driver can be inside the vehicle or outside the vehicle (remote parking process) during the general parking process. The expression "parking process" used here can be the process of parking a vehicle or the process of starting a parked vehicle.

The "parking assist system" according to the present invention is any system that can support the driver during the parking process and at least semi-automatically enable the parking process.

The expressions "approximately," "substantially," or "abbreviated" in the present invention have an error of +/- 10%, preferably within +/- 5%, respectively, from the exact value, and / Alternatively, it is interpreted as an error that is not significant for the function.

The developments, advantages, and scope of application of the present invention are illustrated by the following description of examples and drawings. In doing so, all described and / or illustrated features are, respectively, and in any combination, independent of each claim or combination with its reference source. It is the object of the invention. The content of the claim is also a component of the specification.

Hereinafter, the present invention will be described in detail with reference to the drawings and examples.

It schematically illustrates a parking situation in which one parking position is vacant in a longitudinal parking situation; Similar to Figure 1, however, it schematically illustrates a parking situation where objects are present and require a more complex plan of the parking scenario; Illustrates a block diagram to illustrate the flow of how to plan a parking process supported by a parking assist system; It illustrates a flow chart illustrating the use of the first and second planning methods to plan the parking process supported by the parking assist system.

FIG. 1 shows one vehicle 1 in the vicinity of a longitudinal parking situation where the parking position P1 is vacant between the two vehicles. The vehicle 1 has a parking assist system that can be used to at least semi-automatically park the vehicle 1 in a vacant parking position P1.

In this parking process, the vehicle 1 is steered along the parking track PT by the parking assist system. Such a parking track PT is illustrated in FIG. One parking track PT can be composed of a plurality of segments. One segment can consist of, for example, a straight line or an arc segment. It is also possible to make the segment of clothoids to further improve the comfortable impression of the parking assist system. By using the clothoid, it is possible to balance or mitigate the change in curvature between two arc segments or between a straight line and an arc segment.

In the embodiment shown, the parking track includes five segments, but from the start position SP of vehicle 1 towards the target position ZP, for example, the following segments are used: in a straight line. A first segment S1, an arc segment second segment S2, a crossoid third segment S3, an arc segment fourth segment S4, and a straight fifth segment S5.

Such a parking situation can be completely solved by using the rule-based first planning method and determining the parking track based on the geometric method. At this time, the first planning method performs a plurality of calculations according to the recognized parking situation (parking in the longitudinal direction in the space in the lateral direction, parking in the lateral direction in the space in the lateral direction, parking at an angle, etc.). A deterministic algorithm containing a set of rules can be used, but each set of computational rules is adapted to the perceived parking situation. The parking assist system provides constant and predictable parking behavior, as deterministic certainty always reveals defined and reproducible conditions in each parking scenario.

FIG. 2 shows a slightly different parking situation in which the parking track PT is forced to be changed by the object O as compared with the parking situation of FIG. The object O may be, for example, one that has existed before the first plan of the parking track (PT), or unexpectedly (for example, an opened vehicle door) appears in the parking situation and is of the parking track (PT). It can be forced to re-plan (after the first plan has already been implemented).

With the object O, the parking situation was changed so that the appropriate parking track PT could not be determined, at least completely, by the first planning method. That is, it is not possible to find a set of calculation rules that could deterministically calculate an appropriate parking track PT.

If the parking track PT cannot be calculated by the deterministic first planning method, then at least one section of the parking track PT can be calculated by the second planning method, which is based on a general purpose planning model. In other words, the second planning method does not make a path plan that depends on each parking scenario, but the second planning method adopts the parking track PT in multiple different parking scenarios according to each recognized situation. Try to figure out with a general-purpose algorithm that can be used.

At this time, the entire parking track PT can be determined by using the second planning method, or both planning methods can be used to determine the entire parking track PT. In that case, the first part T1 of the parking track PT is used. Is calculated by the rule-based first planning method, and the second part T2 of the parking track PT is calculated by the general-purpose second planning method.

FIG. 2 shows an example of a parking track PT that can be determined by a combination of the first and second planning methods. The parking track PT is segment-by-segment, that is, the second segment (corresponding to the second portion T2) between the start position SP and the intermediate point A and the first segment (the first segment) between the intermediate point A and the target position ZP. Partially corresponds to T1). A general-purpose second planning method can be used for the second segment for avoiding the object O, while a deterministic first planning method can be used for the first segment. By combining both planning methods, it is attempted to calculate the parking track PT by the first planning method based on the rules as much as possible, so that the parking assist system can be understood by each driver of the vehicle. It is possible to preferably achieve that the behavior can be provided.

FIG. 3 shows a block diagram of a method according to the invention for planning a parking process supported by a parking assist system.

Here, in the first step (S10), a parking scenario in the peripheral portion of the vehicle is captured. Here, it is particularly preferable to determine which type of parking scenario (longitudinal parking in lateral space, lateral parking in lateral space, diagonal parking, etc.). .. Here, in the parking assist system of the vehicle 1, for example, it is attempted to classify a plurality of different parking scenario variations and assign the captured parking scenario to one parking scenario variation.

Subsequently, in the next step (S11), the parking track PT between the start position SP and the target position (ZP) of the vehicle 1 is the first plan based on the path plan based on the rules for the captured parking scenario. Planned or calculated using the method. The plan can be, in particular, a plan trial.

Subsequently, it is checked whether or not at least one section of the parking track PT between the start position SP and the target position ZP (section T1 in FIG. 2) could be determined using the first planning method (S12). ). In other words, it is possible to determine whether the parking track PT could be calculated completely or at least partially based on the first planning method.

If at least one section of the parking track PT between the start position SP and the target position ZP of the approximate vehicle 1 (section T2 in FIG. 2) cannot be planned by the first planning method, the start position of the vehicle 1 At least one section of the parking track PT between the SP and the target position ZP can be planned by the generic second planning method (S13).

FIG. 4 shows a flowchart for calculating a parking track PT based on the method according to the present invention.

First, as described above, each latest parking scenario is captured (S20).

Subsequently, the calculation rule of the first planning method is used to create the parking track PT (S21). At this time, the calculation rule can be selectively used for each parking scenario.

Subsequently, in step S22, whether or not all parking track PTs can be planned by the first planning method, in short, one parking track PT from the start position PT to the target position ZP of the vehicle 1 can be found. Whether or not it is checked is checked.

If the entire parking track PT can be planned by the first planning method, the method is terminated (S23).

If the entire parking track PT cannot be planned by the first planning method, the first planning method checks whether a part of the entire parking track PT can be continuously adopted (S24). In the example of FIG. 2, for example, the portion T1 of the parking track corresponds to this. By doing so, this section of the parking track PT for bypassing the object O can be calculated by the generic second planning method, while the other sections, especially the section after bypassing the object. , Can be calculated by the rule-based first planning method.

After checking the still available parking track segments calculated by the first planning method, the rest of the parking track PT (ie, the unplanned remaining sections, or-any parking track segment cannot be used. Case-all parking tracks) can be planned using the second planning method (S25).

Depending on the parking situation and / or parking scenario, the parking track PT can be planned from the start position SP to the target position ZP, but in the opposite direction, i.e. from the target position ZP to the start position SP. You can also.

The present invention has been described by the above examples. However, it goes without saying that many changes and variations are possible without departing from the claims.

1 Vehicle A Midpoint PT Parking track S1, S2, S3 Segment SP Start position ZP Target position

Claims (12)

A method for planning a parking process supported by the parking assist system of the vehicle (1), which comprises the following steps:
-A step (S10) of capturing at least one parking scenario in the peripheral area of the vehicle (1);
-Planning the parking track (PT) between the start position (SP) and the target position (ZP) of the vehicle (1) using the first planning method according to the rule-based path planning for the captured parking scenario. Step (S11);
-A step of checking whether at least one section of the parking track (PT) between the start position (SP) and the target position (ZP) could be determined using the first planning method (S12);
-If at least one section of the parking track (PT) between the start position (SP) and the target position (ZP) of the vehicle (1) cannot be planned by the first planning method, the start of the vehicle (1). A step (S13) of planning at least one section of the parking track (PT) between the position (SP) and the target position (ZP) by a generic second planning method. The first planning method provides a set of a plurality of calculation rules, wherein each set of calculation rules is arranged for each recognized parking scenario. The method described. The method of claim 2, wherein one set of calculation rules is applied according to the captured parking scenario. The first planning method divides a parking track plan into segments that include multiple parking track segments, based on a geometric curve that is analytically determined using one or more formulas / functions. The method according to any one of the prior claims, characterized in that it is carried out. The method of claim 4, wherein the geometric curve comprises a straight line, an arc segment, and / or a clothoid. The method of claim 4 or 5, wherein each calculation rule determines one or more parking track segments. The parking track (PT) is planned for each segment, but the first part (T1) of the parking track (PT) is by the first planning method and the second part (T2) of the parking track is by the second planning method. The method according to any one of the prior claims, characterized in that it is indexed. The method according to any one of the preceding claims, wherein the second planning method does not depend on the captured planning scenario and / or employs a computational algorithm comprising a plurality of different parking scenarios. .. The method comprises, as a further step, at least a semi-automated implementation of the parking process using a parking assist system, with the vehicle's current position if changes occur in the parking scenario during the parking process. A new parking track (PT) to and from the target position is planned, but in the first step, at least one section of the parking track is indexed based on the first planning method, and the vehicle (1) is currently If at least one section of the parking track between the position and the target position (ZP) cannot be planned based on the first planning method, then at least one section of the parking track (PT) is planned by the second planning method. The method according to any one of the prior claims, characterized in that it is carried out as described above. The parking track (PT) moves from the start position (SP) of the vehicle (1) to the planned target position (ZP), or from the planned target position (ZP) to the start position (SP) of the vehicle (1). ), The method according to any one of the prior claims. Parking assist system for vehicle (1) comprising:
-A capture unit for capturing at least one parking scenario in the peripheral area of vehicle (1);
-A calculation unit configured to plan the parking track (PT) between the start position (SP) and the target position (ZP) of the vehicle (1) using the first planning method, provided that the first. One planning method is based on rule-based path planning for captured parking scenarios;
-At least one section of the parking track (PT) between the start position (SP) and the target position (ZP) was configured to find out if it can be determined using the first planning method. Calculation unit;
-If at least one section of the parking track (PT) between the start position (SP) and the target position (ZP) of the vehicle (1) cannot be planned by the first planning method, the vehicle (1). A computational unit configured to plan at least one section of the parking track (PT) between the start position (SP) and the target position (ZP) of the vehicle by a generic second planning method. A vehicle including the parking assist system according to claim 11.

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