JPWO2021164830A5 - - Google Patents

Description

The invention relates to a parking assistant or a parking assistant system according to claim 1 and, in particular, to a method for controlling a parking process carried out by the parking assistant according to the invention. Furthermore, the invention provides a vehicle having a parking assist system according to the invention and/ or applying the method according to the invention for controlling the parking process, as well as a computer for implementing the method. The present invention relates to a portable, computer-readable storage medium having stored therein a program and a computer program for implementing the method.

Relevant vehicles, such as passenger cars, motorized goods vehicles and motorcycles, are equipped with the help of sensor systems to capture the surroundings, to recognize the traffic situation and to alert the driver, for example by braking or steering interventions. Driver assistance systems are increasingly being equipped which can be supported by optical, tactile or audible warnings. As a sensor system for capturing the surrounding area , a radar sensor, a lidar sensor, a camera sensor, an ultrasonic sensor, etc. are usually used. Subsequently, it is possible to perform inductive reasoning regarding the surrounding area from the sensor data determined by the sensors, and thereby, for example, it is possible to create a so-called surrounding model. Based on this, warnings/information to the driver or commands to carry out controlled steering, braking and acceleration can then be output. Assist functions that process sensor data and peripheral data in this way can support, or even take over completely (semi- or fully automated) driving tasks or vehicle maneuvering, e.g. It is possible to avoid accidents with other traffic participants and make complicated maneuvers easier. That is, the vehicle uses inductive cruise control or adaptive cruise control (ACC) that implements autonomous emergency braking (AEB) by using, for example, an emergency brake assistant (EBA). By using this, it is possible to perform speed adjustment and follow-up control, or by using a steering assistant, it is possible to keep the vehicle in its lane (LKA, Lane Keep Assist). In addition, the parking assistant can be used to carry out semi-automated or fully automated parking processes that support or represent the driver of a vehicle during parking in a parking lot. .

Such a parking assistant or parking assist system first captures a parking space using sensors that capture the surrounding area , and then determines the final position (target pose, etc.) of the ego vehicle (own vehicle) within the parking space. Alternatively , a target point/target position) can be defined, but the target point for the vehicle is usually defined in the center of the parking space. In addition, it is also possible to envisage other target points in order to adapt to special parking situations, for example when a vehicle is parked diagonally in an adjacent parking space. For example, it is also possible to assume relative positioning with respect to the parking space, for example, 30% of the free space of the parking space in front of the own vehicle, and 70% of the free space of the parking space behind the own vehicle. . Additionally, it is also possible to define the alignment of the vehicle at the target point with respect to other boundary landmarks, for example lines on the ground, corner stones, curbs or the like. .

In standard parking situations, simple rules (center positioning , relative positioning ) can be used to park the vehicle. However, such an adaptation to special situations may lead to counter-intuitive positioning within the parking space, or may be implemented additionally, resulting in a high computational load and, at program level, being very complex and maintenance-intensive. This can lead to difficult source code. Regarding the orientation of the own vehicle, the wrong orientation of another vehicle parked next to an empty parking space may lead to the wrong orientation of the own vehicle at the target point. In addition, parking maneuvers by Parking Assistant are terminated within specific safety areas against other vehicles, curbs, walls, and other tall and short objects to avoid collisions and damage to the vehicle. Should. Furthermore, when parking, the requirements for comfort must be met at the same time, such as ensuring that there is space for getting in and out of the trunk, and space for all passengers to get on and off the vehicle without any problems. be. Furthermore, it should be avoided that the orientation of the own vehicle at the target point causes other vehicles to be oriented incorrectly.

From DE 10 2014 206 235 A1 a method is known for evaluating an area for parking a vehicle in which a host vehicle is parked using an active parking assistant. The parking assistant then uses suitable sensors to identify, for example, parking spaces delimited by parked vehicles or objects such as curbs. The vehicle is then positioned, for example, in a central position between the vehicles and surrounding objects, typically curbs and/ or lanes. The disadvantage here is that the host vehicle is always parked in a central position and any comfort requirements of the driver are not taken into account. Drivers may still find themselves in difficult situations depending on the orientation of other vehicles that do not always stop straight, or may come into contact with the host vehicle when parking and starting.

DE 10 2014 206 235 A1

The problem to be solved by the present invention, which is based on the conventional technology, is to easily and inexpensively solve the drawbacks of the conventional technology, save or optimize space, and improve safety. The object of the present invention is to provide a method for improving related driver assistance systems to enable a more efficient parking process.

This object is solved by the overall teaching of claim 1 and the parallel independent claims. Advantageous embodiments of the invention are claimed in the dependent claims.

In the present invention, a parking assist system for a vehicle includes a control means for controlling a parking process in which the vehicle is guided to a destination within a parking space. In addition, the control means may have access to sensors for capturing the surroundings , recognizing objects around the parking space and evaluating or classifying the parking space based on the sensor data. can be determined . Further, the control means is configured to set or calculate a first minimum distance and a second minimum distance between the host vehicle and surrounding objects. The control means then sets a first parking area (e.g. maximum parking area to avoid contact) based on the first minimum spacing and sets a first parking area based on the second minimum spacing. Establishing two parking areas (eg, a comfortable parking area to meet comfort requirements). Subsequently, the control means can determine the target point by setting the target point within the first and/ or second parking area. As a result, multiple different requirements can be met by considering different ranges or spacings to surrounding objects, implementing human positioning , and also considering contact avoidance and comfort-enhancing aspects. The advantage is that only one covering parking concept is required. This makes it possible, in particular, to save space significantly in parking, ie to make more efficient use of space and to reduce the required space. In addition, the rate at which the driver of his own vehicle accepts the parking process carried out by the parking assistant and the target points defined thereby, is determined by the fact that the driver's comfort requirements are taken into account at the target points. It increases.

The first minimum distance is the distance that should exist or must exist between the host vehicle and surrounding objects in order to avoid contact between the host vehicle and the surrounding objects, i.e. , the minimum distance of a few centimeters or millimeters, preferably 1 to 5 decimeters, that allows collision with the host vehicle to be avoided. The safety of the parking process is thereby significantly improved.

It is particularly advantageous that the second minimum distance is the distance that exists or must exist in order to guarantee various comfort functions, such as e.g. boarding and disembarkation of all passengers and loading of the luggage compartment. be. Here sufficient spacing must be available. This distance is calculated, for example, from the geometrical shape of the host vehicle. For example, it is possible to select a distance that allows the door or trunk of the host vehicle to be opened without hindrance, ie, for example, a distance that has the length of the vehicle door. However, the distance can also be a fixed value, for example 30, 50, 80, 100 centimeters.

Furthermore, the second minimum interval is set to a value that is a certain percentage (certain percentage) larger than the first minimum interval, or to a value that is an integral multiple thereof, for example, 10% larger than the first minimum interval. It can also be set to a value 20%, 50%, 100%, 150%, 200%, 500% larger, or a value 5 times, 10 times, 50 times, 100 times, 500 times the first minimum interval. It is possible.

Advantageously, the first minimum distance and/ or the second minimum distance, depending on the geometry of the host vehicle , are the same size on all sides of the host vehicle or are different from side to side. may be different or may also include a range, i.e. the second minimum distance may range from 50 to 100 cm, depending on the surrounding objects, for example in the front area, in the lateral area, It may be in the range of 10 to 30 cm. For example , in order to make it easier to get in and out of the trunk or to access the engine compartment, as well as to park closer to the curb, you may want to take up more space on the front and rear sides of your vehicle , i.e. larger than the sides of the vehicle . Minimum spacing can be ensured. While increasing the safety of the parking process, it is also possible to reduce or optimize the parking space required by a single parked vehicle by adjusting the minimum distance accordingly. .

In addition to the first and second minimum distances , the control device may also define further minimum distances, for example one or more minimum distances as intermediate steps between the first and second minimum distances, so that , further parking areas are also defined accordingly, which can be used to determine the target point.

As sensor or sensors it is possible to equip at least one radar sensor, lidar sensor, camera sensor or ultrasonic sensor. Furthermore, it is also possible to combine the individual sensor data, for example in the control means, in order to further improve the peripheral acquisition.

It should be noted that the implementation of object classification is also suitable, in which the recognized object or objects surrounding the parking space are identified (e.g. vehicles, walls, trees, guardrails, curbs, road markings, signs, etc.). . Depending on the object classification and/ or the determined geometry (height, width, etc.) of surrounding objects, e.g. longitudinal parking spaces, lateral parking spaces, diagonal parking spaces, disabled parking A classification of parking spaces is implemented into spaces (wider than normal width and/ or traffic sign recognition, for example using cameras), two-way parking spaces, truck parking spaces, bus parking spaces, etc. This has the advantage that the minimum spacing or parking area can particularly preferably be defined or changed autonomously or automatically on the basis of the parking space classification. For example, if a longitudinal parking space is recognized, it will be easier to move closer to the side, and if the longitudinal parking space is on the side of the road, the vehicle will be parked along the curb. A wider space can be provided in the front and rear regions. Furthermore, in the case of a charging parking space, sufficient access to the charging plug of the charging station and/ or of the own vehicle can be ensured. In addition, in lateral and diagonal parking spaces, it is also possible to ensure a larger minimum distance to the sides of the vehicle than in the front and rear areas, in order to facilitate boarding and disembarkation. The object classification and/ or parking space classification may also be performed by means of a control means, in which the sensor data are evaluated by a classification means (particularly preferably implemented in software) or by another classification unit provided for this purpose. and processing.

Preferably, the orientation angle (orientation) of a vacant space or parking space is determined based on the following features, in particular (where applicable) the following priority: white lines marking parking spaces, curbs, parked vehicles. , other objects (e.g. corners of buildings, plants, traffic signs, etc.), and the orientation of the vehicle when passing in front of or beside a parking space.

It should be noted that it is convenient for the control means to have access to the actuators of the own vehicle in order to carry out the parking process autonomously. The actuator is usually assumed to be a brake, transmission, engine/motor, or steering system, but it is also possible to control other actuators of the vehicle.

Further, the present invention provides that the parking assist system activates the actuator after the driver has given an instruction to the driver (e.g., "steer left or right,""step on the accelerator,""apply the brakes," etc.). to fully or semi-automatically support the driver when parking, such that the parking process is carried out autonomously or automatically without any input from the driver; It also includes a vehicle that includes the parking assist system according to the present invention.

In parallel, the invention also claims a method for controlling the parking process of a vehicle, whereby the vehicle is guided onto a target point within a parking space. Therefore, sensor data from sensors suitable for capturing the surrounding area is used to determine the parking space by recognizing objects around the parking space. At this time, a first minimum distance and a second minimum distance from the host vehicle to surrounding objects are determined. Subsequently, the first minimum spacing is used to define a first parking area, and the second minimum spacing is used to define a second parking area. The target point of the own vehicle is determined by being defined within the first and/ or second parking area.

Advantageously, the method includes the following process steps:
- process step 1: determining the orientation angle of the vehicle at the target point according to the priorities of surrounding objects;
- process step 2: determining a first parking area and a second parking area by examining the surrounding area for the required minimum spacing and suitable comfort spacing;
- Process step 3: Selecting a point in the second parking area for positioning the vehicle in the orientation calculated in process step 1 , based on surrounding objects and markings (white lines, etc.).

According to a special embodiment of the method, a point in the first parking area can be selected in process step 3, so that no target point can be determined on the basis of the selected point in the second parking area. In this case, the target point of the host vehicle is also set by the selected one point in the first parking area. In other words, if it is not possible to set a comfortable parking area or if sufficient space cannot be secured for it, the parking area is moved to the first parking area, that is, to the maximum parking area. As a result, when the own vehicle cannot reach the comfortable parking area, or when the parking space is not wide enough to select the comfortable parking area, it has the advantage of autonomously parking in the maximum parking area. .

Furthermore, in the third process step, a point in the first parking area can also be selected, in which case the target point of the own vehicle is based on the selected point in the first and second parking areas. set at the same time.

In addition, the invention provides that the computer program implements the method according to the invention when executed in a computer or in any other programmable computing means known in the prior art. Also included is a computer program having program code for. In short, although the method can also be designed as a purely computer-implementable method, the term "computer-implementable method" according to the present invention means that it is realized by computational means or It is also used to describe operational planning or procedures to be carried out. The computing means may, for example, be a computer, a computer network, a programmable device known in the art (e.g., a computing device including a processor, a microcontroller, etc.), etc., using a programmable computing procedure. process the data.

Furthermore, the invention includes a storage medium which is readable by a computer and contains instructions for execution on the computer to carry out the method according to at least one of the claims.

The invention will now be explained in more detail by means of expedient examples .

FIG. 1 is a highly simplified schematic representation of a vehicle equipped with an assist system according to the invention; FIG. 2a is a simplified depiction of a traffic scenario in which a vehicle equipped with an assist system according to the invention acquires a parking space; FIG. 2b is a simplified depiction of a traffic scenario in which a vehicle equipped with an assist system according to the invention captures a parking space, however, a parking space demarcated by a white line indicating a parking bay and a curb; FIG. 3a is a simplified depiction of the traffic scenario shown in FIG. 2a, in which the vehicle has reached a target point in a parking space by means of the assistance system according to the invention; Figure 3b is an enlarged depiction of the traffic scenario shown in Figure 3a.

The code 1 in Fig. 1 shows various actuators (ECU, ECU, Electronic Control Unit Odcu, ASSISTED AND AUTOMATED DRIVING CONTROL UNIT). Vehicles with brakes 5) , a self-vehicle is shown, here, the (semi-) automatic control of the self-vehicle 1 can be implemented by the control means 2 accessing the actuator. Furthermore, the host vehicle 1 uses sensors (camera 6, lidar sensor 7, radar sensor 8, and ultrasonic sensor) for capturing the surrounding area whose sensor data is used for surrounding recognition and object recognition. 9a-9d), Parking Assistant, Electronic Brake Assistant (EBA), Adaptive Cruise Control (ACC), Lane Keeping Control, or Lane Keep Assistant (LKA). ), various assist functions can be implemented. In this case, the assist function is implemented by the control means 2 or an algorithm implemented therein.

FIG. 2a shows a traffic scenario in which the host vehicle 1 is traveling along a road whose right side is demarcated by a curb 11. FIG. Furthermore, two vehicles 12 and 13 are parked on the right side of the road, and there is a parking space or parking space 10 between them. The parking space 10 is a longitudinal parking space delimited by a plurality of limiting elements, namely parked vehicles 12, 13 and a curb 11 of the roadway or sidewalk. Furthermore, the parking space 10 may be marked by other limiting elements, such as a white line 10a (see FIG. 2b) denoting a parking space, or a road marking, wall, plant, fence or other undefined height/ It can also be partitioned by low objects or the like. At this time, the own vehicle 1 uses the control means 2 according to the present invention or the parking assist system according to the present invention, and the peripheral area where the own vehicle 1 can capture the surrounding area and the objects there . (not shown in FIGS . 2a/2b for clarity). Thereby, the own vehicle 1 can acquire the surrounding objects as well as the parking space 10 based on these as they pass through and start or carry out the parking process, but according to the method according to the invention , into range limits or space limits, both safety and comfort requirements can be considered in one concept.

In FIGS. 3a and 3b, the traffic scenario of FIG. 2a is shown, but the host vehicle 1 is on a target point within a parking space 10. In FIGS. The distance to surrounding objects is determined based on the first minimum distance, i.e. the shortest distance needed to avoid contact, and the second minimum distance, i.e. comfort requirements (e.g. getting in and out of the car, loading and unloading luggage, etc.) divided into comfort distances or comfort intervals required to meet the requirements. In FIG. 3b, the first minimum spacing or distances are represented by white arrows and the second minimum spacing or comfort distance by black arrows. Since each shortest distance must be maintained in order to avoid contact, these must not be violated or undershot when determining the target point. On the other hand, the comfort distance has enough space to maintain the comfort requirements, so if there is not enough space and the parking requirements are prioritized over the comfort requirements, these can be violated or It is possible to go below. This provides that, if parking spaces exist, two parking spaces 14, 15 based on the respective minimum spacing, i.e. a first parking space 14 with at least the required spacing relative to the surrounding objects; A second parking space 15 is identified that has a distance from surrounding objects that allows a comfortable use of the parking space. As a result, two virtual parking spaces or parking areas 14, 15 are calculated, the first parking having the required minimum spacing (first minimum spacing) to the surrounding objects. The area 14 can also be called the maximum parking space and the second parking area 15 with the comfort spacing (second minimum spacing) the comfort parking space. In this case, if there are multiple boundary elements or surrounding objects on one edge or one side of the host vehicle 1, the maximum required distance between the boundary elements or objects is the first and second. It is important on that side to determine the parking area 14,15.

It is expedient for the target point of the maximum parking space or comfortable parking space to be achieved by means of a (multi-stage) method step according to the invention. For example, as a first step, first determine the orientation angle of the target point, demarcate the parking space , or identify surrounding objects, e.g., in a priority list (the priorities include, for example, the following in order of importance: (marks on the road surface, curbs, captured objects, the orientation of the own vehicle during parking maneuvers) to select and determine or calculate by determining priorities, but using the orientation of surrounding objects. is also possible. The partitioning object is treated as "valid for that direction" only when the direction of the own vehicle 1 that occurs when passing through the parking space 10 does not exceed a threshold value for the direction of the own vehicle. The first existing and valid object in the priority list is then adopted. Subsequently, all other recognized vehicles parked in the same parking row can be used to define their orientation at the priority level (parked vehicles), and can be used to avoid misdirection. It is possible to further improve the robustness for vehicles that are Practically, the average orientation of all valid (“valid for that orientation” as defined above) parked vehicles can also be used to determine the orientation of the host vehicle 1 at the target point. . As a second step, an edge or point of a comfortable parking space is selected based on the positions of surrounding objects. Due to the given orientation angle , a position is defined within this edge without violating the boundaries of the comfortable parking space.

Furthermore, if step 2 fails, for example if the boundaries of the comfortable parking space have been violated or have fallen below, a position within the boundaries of the maximum parking space is defined. This position is defined by a longitudinal centering and a lateral centering between the periphery of the maximum parking space when the boundaries of the comfortable parking space are too small to be used in all directions. If positioning within a comfortable parking space is possible in one direction, it is also possible to use the second step only in that direction. The centering is then only carried out if the entire comfortable parking space is covered in the selected direction. This ensures a continuous change of the target point if the surrounding area is continuously changing.

In practice, the method according to the invention can be used to improve other driving and assist functions, for example in so-called "garage parking", in order to improve positioning in the garage. It is also used to improve the final positioning at the end of a learned route in "parking" or in a parking lot in so-called "boy parking". can do. Due to these advantageous features and the wide variety of applications, the invention plays a very important role in the field of driver assistance systems, in particular parking assistants.
Note that this application relates to the invention described in the claims, but includes the following as other aspects.
1.
A parking assist system for own vehicle (1),
comprising a control device (2) for controlling a parking process in which the host vehicle (1) is guided to a target point within the parking space (10);
The control device (2) has access to sensors for capturing the surrounding area, and uses sensor data by recognizing objects (10a, 11, 12, 13) around the parking space (10). The parking space (10) can be determined based on the
In the parking assist system,
The control device (2) is configured to set a first minimum interval and a second minimum interval of the host vehicle (1) to surrounding objects (10a, 11, 12, 13),
Furthermore, the control device (2) is configured to set a first parking area (14) based on the first minimum spacing and to set a second parking area (15) based on the second minimum spacing. has been
The control device (2) determines the target point by setting the target point within the first and/or second parking area (14, 15).
A parking assist system featuring:
2.
The first minimum interval must exist between the host vehicle (1) and surrounding objects to avoid contact between the host vehicle (1) and the surrounding objects (10a, 11, 12, 13). It is the interval that must be
The parking assist system according to item 1 above.
3.
The second minimum distance is the distance that should exist between the host vehicle (1) and surrounding objects (10a, 11, 12, 13) to ensure comfort functions.
The parking assist system according to item 1 or 2 above.
4.
The second minimum interval is set to be a certain percentage larger than the first minimum interval,
The parking assist system according to at least one of the above items 1 to 3, characterized in that:
5.
Said first minimum spacing and/or said second minimum spacing depending on the geometrical shape of the host vehicle (1) are the same size on all sides of the host vehicle (1) or are different from side to side. different to,
The parking assist system according to at least one of the above items 1 to 4, characterized in that:
6.
In addition to the first minimum interval and the second minimum interval, further minimum intervals and/or further parking areas are set;
The parking assist system according to at least one of items 1 to 5 above.
7.
At least one camera sensor (6), lidar sensor (7), radar sensor (8), or ultrasonic sensor (9a-9d) is provided as a sensor or sensors for capturing the peripheral area.
7. The parking assist system according to at least one of 1 to 6 above.
8.
A classification of said parking spaces (10) is performed and a minimum spacing or parking area (14, 15) is set based on this classification;
8. The parking assist system according to at least one of the above items 1 to 7.
9.
The orientation angle of said parking space (10) is determined by the following characteristics, in particular the following priorities:
Parking space mark (10a), curb (11), parked vehicles (11, 12), other objects, direction of own vehicle (1) when passing,
determined from,
The parking assist system according to at least one of the above items 1 to 8, characterized in that:
10.
The control device (2) has access to the actuators of the host vehicle (1) and automatically carries out the parking process.
10. The parking assist system according to at least one of 1 to 9 above.
11.
A method for controlling the parking process of own vehicle (1), comprising:
In this method, the own vehicle (1) is guided to a target point inside a parking space (10),
Sensor data of the sensors for capturing the surrounding area is used to determine the parking space (10) by recognizing objects (10a, 11, 12, 13) around the parking space (10). In the method,
A first minimum interval and a second minimum interval of the own vehicle (1) to surrounding objects (10a, 11, 12, 13) are set,
A first parking area (14) is set based on the first minimum interval, and a second parking area (15) is set based on the second minimum interval,
determining a target point by setting the target point within the first and/or second parking area (14, 15);
A method characterized by:
12.
The method comprises the following method steps:
- determining the orientation angle of the own vehicle (1) at the target point according to the priority order of surrounding objects (10a, 11, 12, 13);
- determining the first parking area (14) and the second parking area (15) by examining the surrounding area for the required minimum distance and appropriate comfort distance to the surrounding objects (10a, 11, 12, 13); ,and,
- selecting a point in the second parking area (15) for positioning the own vehicle (1) based on the orientation angle;
12. The method as described in 11 above, which comprises:
13.
A computer program, characterized in that the computer program comprises program code for implementing the method according to one of items 10 to 12 above when executed on a computer.
14.
13. A computer-readable storage medium, characterized in that it is executed by a computer and contains instructions for carrying out the method according to one of items 11 to 12 above.
15.
The parking assist system according to at least one of items 1 to 9 above, the computer program according to item 13 above, or the computer-readable storage medium according to item 14 above, and/or
A vehicle in which the parking process is controlled by the method according to one of 10 to 12 above,
A vehicle (1) comprising:

1 Own (EGO) vehicle 2 Control means 3 Steering system 4 Engine/motor 5 Brake 6 Camera 7 Lidar sensor 8 Radar sensor 9a-9d Ultrasonic sensor 10 Parking space 10a Parking space marking 11 Curb 12 Vehicle 13 Vehicle 14 First parking area 15 Second parking area

Claims (14)

A parking assist system for own vehicle (1),
comprising a control device (2) for controlling a parking process in which the host vehicle (1) is guided to a target point within the parking space (10);
The control device (2) has access to sensors for capturing the surrounding area, and is capable of recognizing objects (10a, 11 , 12, 13) around the parking space (10) and detecting objects (10a, 11, 12, 13 ) around the parking space (10). The orientation angle is determined so that a parking space (10) can be determined based on the sensor data .
In the parking assist system,
The control device ( 2 ) is configured to set a first minimum interval and a second minimum interval of the own vehicle (1) to surrounding objects (10a, 11, 12, 13) during parking assist. and
The first minimum interval must exist between the host vehicle (1) and surrounding objects to avoid contact between the host vehicle (1) and the surrounding objects (10a, 11, 12, 13). It is the interval that must be
The second minimum interval is the interval at which the door and trunk of the own vehicle (1) can be opened without being disturbed;
Furthermore, the control device (2) sets a first parking area (14) based on the first minimum interval, and sets a second parking area (15) based on the second minimum interval. It is composed of
The control device (2) determines the target point by setting the target point within the first and second parking areas (14, 15),
By selecting objects that define the parking space (10) or objects (10a, 11, 12, 13) surrounding the parking space (10), the target points of the first and second parking areas (14, 15) can be determined. The orientation angle is determined,
the orientation of surrounding objects (10a, 11, 12, 13) is used to determine the orientation angle of the target point;
A parking assist system featuring: The second minimum distance is the distance that should exist between the host vehicle (1) and surrounding objects (10a, 11, 12, 13) to ensure that front passengers can get on and off and that loading can be carried into the trunk. That is ,
The parking assist system according to claim 1, characterized in that: The second minimum interval is set to be a certain percentage larger than the first minimum interval ,
The parking assist system according to claim 1 or 2, characterized in that: The first minimum interval and/ or the second minimum interval are the same size on all sides of the host vehicle (1), or are different for each side .
The parking assist system according to any one of claims 1 to 3, characterized in that: In addition to the first minimum spacing and the second minimum spacing, a further minimum spacing is set as an intermediate step , thereby setting a further parking area that can be used to determine the target point. ,
Further minimum spacing and further parking areas are set based on the classification of parking spaces;
The classification of the parking spaces is carried out by evaluating and processing the sensor data by a classification means.
The parking assist system according to any one of claims 1 to 4, characterized in that: At least one camera sensor (6), lidar sensor (7), radar sensor (8), or ultrasonic sensor (9a-9d) is provided as the sensors for capturing the surrounding area . There is ,
The parking assist system according to any one of claims 1 to 5, characterized in that: The orientation angle of the parking space (10) is based on the surrounding objects (10a, 11, 12, 13) and has the following priority order:
Parking space mark (10a), curb (11), parked vehicles ( 12 , 13 ), and the direction of the own vehicle (1) when passing through the parking space ,
determined by
The parking assist system according to any one of claims 1 to 6 . The control device (2) has access to the actuators of the host vehicle (1) and automatically carries out the parking process .
The parking assist system according to any one of claims 1 to 7, characterized in that: A method for controlling the parking process of own vehicle (1), comprising:
In this method, the own vehicle (1) is guided to a target point inside a parking space (10),
The sensor data of the sensors for capturing the surrounding area recognizes objects (10a, 11, 12, 13) around the parking space (10) and determines the orientation angle of the parking space (10) . In the method used to determine a parking space (10),
At the time of parking assist, a first minimum interval and a second minimum interval of the own vehicle (1) to surrounding objects (10a, 11, 12, 13) are set ,
The first minimum interval must exist between the host vehicle (1) and surrounding objects to avoid contact between the host vehicle (1) and the surrounding objects (10a, 11, 12, 13). It is the interval that must be
The second minimum interval is the interval at which the door and trunk of the own vehicle (1) can be opened without being disturbed;
A first parking area (14) is set based on the first minimum interval, and a second parking area (15) is set based on the second minimum interval,
The target point is determined by setting the target point within the first and second parking areas (14, 15) ,
By selecting the objects that define the parking space (10) or the objects (10a, 11, 12, 13) surrounding the parking space (10), the target points of the first and second parking areas (14, 15) can be determined. The orientation angle is determined,
the orientation of surrounding objects (10a, 11, 12, 13) is used to determine the orientation angle of the target point;
A method characterized by: The method further comprises the following method steps:
- determining the orientation angle of the target point based on the surrounding objects (10a, 11, 12, 13) in the following priority order, said priority order being the parking space mark (10a); , the curb (11), the parked vehicles (12, 13), and the step, which is the direction of the own vehicle (1) when passing the parking space, and
- determining a first parking area (14 ) by examining the perimeter for a first minimum distance to surrounding objects (10a, 11, 12, 13) and determining a second parking area (15); , determining a second minimum distance to surrounding objects (10a, 11, 12, 13) by examining the surrounding area ;
10. The method of claim 9, comprising : A computer program product, characterized in that the computer program product contains program code for implementing the method according to claim 9 or 10 , when the computer program product is executed on a computer . 11. A computer- readable storage medium containing computer-executable instructions for carrying out the method of claim 9 or 10 . A parking assist system according to at least one of claims 1 to 8 , or a computer program according to claim 11 , or a computer-readable storage medium according to claim 12 .
A vehicle (1) comprising : Vehicle (1) in which the parking process is controlled by a method according to claim 9 or 10.