WO2011092062A1 - Procédé destiné à aider un conducteur d'un véhicule automobile à se garer - Google Patents

Procédé destiné à aider un conducteur d'un véhicule automobile à se garer Download PDF

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Publication number
WO2011092062A1
WO2011092062A1 PCT/EP2011/050496 EP2011050496W WO2011092062A1 WO 2011092062 A1 WO2011092062 A1 WO 2011092062A1 EP 2011050496 W EP2011050496 W EP 2011050496W WO 2011092062 A1 WO2011092062 A1 WO 2011092062A1
Authority
WO
WIPO (PCT)
Prior art keywords
parking
parking space
vehicle
trajectory
driver
Prior art date
Application number
PCT/EP2011/050496
Other languages
German (de)
English (en)
Inventor
Volker Niemz
Original Assignee
Robert Bosch Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Publication of WO2011092062A1 publication Critical patent/WO2011092062A1/fr

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Classifications

    • 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
    • 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

Definitions

  • the invention is based on a method for assisting a driver of a motor vehicle when parking in a parking space according to the preamble of claim 1.
  • driver assistance systems are offered. These also serve to increase the safety when driving the vehicle.
  • driver assistance systems are, for example, parking assistance systems that assist the driver of the vehicle when parking in parking spaces.
  • semi-automatic systems the driver is given information about necessary steering settings in order to optimally park the vehicle in a parking space.
  • the parking space is first measured when driving past a parking space and a suitable parking trajectory is calculated from the data of the parking space.
  • the driver receives information about steering movements in order to drive the vehicle along the parking trajectory into the parking space.
  • the instructions to the driver can be made, for example, by arrow displays and / or by displaying the parking trajectory.
  • a suitable actuator receives commands from the control unit of Einparkassistenzsys- Tems and takes over the steering of the vehicle for the driver.
  • the longitudinal guidance that is to say acceleration, deceleration and maintaining the speed of the vehicle are also adopted.
  • the entire parking process is performed automatically by the
  • the driver is no longer a monitoring function, so that the driver can, for example, leave the vehicle before parking.
  • these vehicles In order to provide further assistance, in particular in semi-automatic systems in which the driver takes over the longitudinal guidance, these vehicles generally also include distance-measuring systems which determine the distance to objects in the area of the vehicle and the driver information about the distance to these objects Give a timely warning to stop the vehicle before a collision threatens.
  • the instructions to the driver can be done optically and / or acoustically, for example.
  • An optical display takes place, for example, by a display on a screen of an on-board computer or usually also by LEDs. In this case, it is usual for an increasing number of LEDs to light up as they approach an object.
  • An additional warning to the driver can take place in that, for example, falls below a predetermined minimum distance LEDs in a different color, for example red.
  • An audible warning is usually given by the transmission of repetitive beeps. With decreasing distance, the distance between two tones usually also decreases in this case. When falling below a predetermined minimum distance, a stop warning sounds in the form of a
  • a parking assistance system in which the driver is assisted during parking is described, for example, in DE-A 10 2004 027 640.
  • Disadvantage of the known systems is that in each case only after the complete measurement of the parking space a parking trajectory is calculated from a predetermined starting position. An early parking or an earlier start of parking is not possible with the known systems. Disclosure of the Invention Advantages of the Invention
  • An inventive method for assisting a driver of a motor vehicle when parking in a parking space comprises the following steps:
  • step (b) determining a suitable parking space from the data collected in step (a) of the surroundings of the motor vehicle,
  • Parking spaces in the context of the present invention are longitudinal parking spaces and
  • Perpendicular parking spaces The length of the parking space is in each case the distance between two objects delimiting the parking space in the direction of driving by.
  • the invention is particularly suitable for longitudinal parking spaces.
  • a suitable parking space In order to be able to support the driver during the parking process, it is first necessary to detect whether a suitable parking space exists. In the case of a parking space gap, it must have a length sufficiently large enough for the vehicle to be able to park in the parking space.
  • suitable sensors are provided on the vehicle, with which the environment of the vehicle is detected. To detect whether a longitudinal parking space is present, in particular the area adjacent to the vehicle is to be detected for this purpose. Suitable sensors which can be used for this purpose are, for example, ultrasonic sensors, radar sensors, infrared sensors, LIDAR sensors or video-based systems, for example stereo video sensors. With the help of these sensors, the contour of a parking space can be detected.
  • a longitudinal parking space suitable for the vehicle It can then be determined from the data acquired in this way whether there is a longitudinal parking space suitable for the vehicle. If there is a longitudinal parking gap, this must have the appropriate minimum dimensions in the longitudinal and transverse directions. For example, the contour can be used to detect whether there is a parking space at all. In particular, it must continue to be determined whether there are also smaller objects in the area of the parking space which possibly could prevent the vehicle from parking. The detection of whether a transverse parking space exists, takes place accordingly. It is only the dimensions for length and depth to adjust so that the contemplatparkende vehicle can be parked transversely.
  • a parking trajectory is calculated into the parking space.
  • Such a parking trajectory usually comprises a fixed sequence of sections. The sections that make up the park trajectory are straight lines, clothoids, and sections of a circle. By means of a suitable sequence of these sections, a suitable parking garage is calculated, along which the vehicle can enter the parking space.
  • the parking in the parking space can be done with a train. In a short parking space, however, it may be necessary to provide multiple vehicles, that is, alternately forward and reverse trains, with which the vehicle is controlled in the parking space.
  • a parking trajectory is already calculated if, during the detection of the parking space, a length suitable for the vehicle for the parking space has been reached.
  • the vehicle in the event that the vehicle does not start the parking process when a first starting position is reached, the vehicle continues to travel along the parking space and the starting position for parking, which then shifts in the forward direction of travel of the vehicle, is the current one Starting position calculated a modified parking trajectory.
  • This has the advantage that it is possible to park from any starting position that follows the first possible starting position into the parking space, the parking in each case occurring along the parking trajectory which is optimal for the respective starting position.
  • the number of travel trains necessary for parking is also determined , In particular, it is advantageous if the number of necessary for parking necessary controls the driver is displayed.
  • the display of the necessary vehicles can be done for example via a screen of an on-board computer or via the screen of a navigation system. Alternatively, it is of course also possible to provide a separate display device for the parking assistance system. In order to keep the number of display devices in the cockpit of the vehicle low, however, it is preferred to use existing display devices such as the screen of an on-board computer or a navigation system for the parking assistance system.
  • the driver obtains steering hints for driving along the calculated parking trajectory.
  • the instructions which the driver receives for driving along the parking trajectory can be made, for example, by optical representation or also by haptics.
  • optical representation for example, it is possible to display in a suitable display device in the field of vision of the driver arrows indicating in which direction and how much the driver has to move the steering wheel.
  • a haptic display it is possible to apply a moment to the steering wheel that increases with a deviation from the parking trajectory, so that the driver steers in the right direction because of the increasing moment and follows the parking trajectory.
  • the steering movements are taken over by the parking assistance system and the steering movements necessary for driving along the parking trajectory are carried out automatically.
  • the steering movements are taken over by the parking assistance system and the steering movements necessary for driving along the parking trajectory are carried out automatically.
  • the control of the servomotor then takes place, for example, via a control unit of the parking assistance system.
  • distance sensors are preferably positioned in the front area and in the rear area of the vehicle, which detect the distance to objects in the driving range of the vehicle. On the basis of the distance to objects, the vehicle can then accelerate automatically, maintain speed or brake off. In order to avoid a collision, the braking takes place when approaching an object up to a standstill.
  • the longitudinal guide is not taken over by the vehicle but the driver is responsible for the longitudinal guidance, then it is also advantageous if distance sensors are provided to guide the driver over the distance
  • any distance sensors known to the person skilled in the art can be used as distance sensors, as they are already used today, for example, in distance-measuring systems.
  • the indicator for the Fahl s rer can optically and / or acoustically as in already known distance measuring systems.
  • the entire length of the parking space is used for subsequent trains.
  • a suitable end position for the vehicle can already be achieved, for example, in the case of a parking space with a long length in the second or third maneuvering train. The shorter the parking space, the more shunting trains are required
  • FIG. 1 shows by way of example a parking trajectory of a parking system with automatic steering wheel guidance
  • FIG. 2 shows a parking procedure with a late start position
  • 3 shows a parking operation with an early start position.
  • FIG. 1 shows by way of example a parking trajectory of a parking system with automatic steering wheel guidance.
  • a parking trajectory 1 describes a path that travels a vehicle 3 into a longitudinal parking space 5.
  • the parking trajectory 1 is usually the path that sweeps over the center 7 of the rear axle 9.
  • the parking trajectory 1 is usually calculated so that the vehicle 3 can park in a train in the longitudinal parking space 5.
  • a train means that it is not necessary to change gears to perform alternating forward and reverse maneuvers.
  • the parking takes place in a longitudinal parking space 5 backwards.
  • the vehicle travels with the center 7 of the rear axle 9 backwards along the parking trajectory 1.
  • the longitudinal parking space 5 in which the vehicle 3 is parked is generally limited by a rear boundary 11, a front boundary 13 and a lateral boundary 15.
  • the rear boundary 11 and the front boundary 13 are generally formed by vehicles. However, it is also possible for the rear boundary 11 and the front boundary 13 to be formed for example by flower tubs, plants, fences or any other objects.
  • the lateral boundary 15 is generally a curb. However, the lateral boundary 15 can also be formed by a wall, a corner or any other objects.
  • the parking trajectory 1 is calculated in such a way that, in the case of possible parking in a train, the vehicle is parallel to the direction of travel in the longitudinal parking space 5 at the end of the parking trajectory 1. If more than one train is necessary to park the vehicle 3 in the longitudinal parking space 5, the yaw angle of the vehicle 3 at the end of the first reverse train, which takes place along the parking trajectory 1, deviates from the parallel position of the vehicle 1 to the lateral boundary 15 , In addition to the longitudinal parking spaces 5, which have a front boundary 13 and a rear boundary 1 1, it is also possible that the longitudinal parking space 5 has only a rear boundary 1 1 or only a front boundary 13.
  • the driver In order to detect such a parking space, it is possible, for example, for the driver to inform the parking assistance system that the vehicle drives past a longitudinal parking space.
  • the message can be made, for example, by actuation of a suitable actuating means, for example a switch.
  • a suitable actuating means for example a switch.
  • the longitudinal parking space is the last parking space in a row, it is also possible that the system will be identified, for example, by a recorded pattern identifying objects adjacent to the vehicle alternately with short vacancies.
  • the parking space is the last parking space in a row and thus has no front boundary 13, the parking trajectory can be calculated in principle deviating from parking trajectory into a longitudinal parking space with a rear boundary 1 1 and a front boundary 13. This is possible in particular because no object has to be avoided, which forms the front boundary 13, in order to avoid a collision with this object.
  • a suitable longitudinal parking space 5 is generally carried out by measuring the parking space 5 while passing by the vehicle 3.
  • a sensor is mounted on the side of the vehicle 3, which detects the area next to the vehicle 3 and detected in this way, if a suitable longitudinal parking space 5 is present.
  • a longitudinal parking space 5 is suitable if its length is greater than the length of the vehicle, in particular, which is 1, 5 times the length of the vehicle 3.
  • the detection of the longitudinal parking space 5 is carried out by suitable, attached to the vehicle 3 sensors.
  • Suitable sensors are, for example, ultrasonic sensors, radar sensors, infrared sensors, capacitive sensors, LIDAR sensors or optical sensors, for example stereo video sensors.
  • the sensors detect the distance to objects laterally next to the vehicle. From the data thus acquired, a control system in the vehicle 3 can detect whether there is a longitudinal parking gap 5.
  • the parking trajectory 1 is calculated.
  • the parking trajectory 1 is generally composed of straight pieces, arcs and clothoids together.
  • the clothies each connect areas with a rigid but differing steering angle. For example, straight lines and circular arcs are each connected by a clothoid, but also circular arcs with different radii. Also, a transition from a right arc in a left arc is by a
  • the parking trajectory 1 illustrated in FIG. 1 is constructed from a first straight line section 17, along which the vehicle 3 is brought into a favorable position for the further parking operation.
  • a first clothoid 19, which adjoins the first straight section 17, the parking maneuver is initiated.
  • the vehicle While the vehicle is moving along the first clothoid 19, the steering wheel position and thus the position of the steerable wheels of the vehicle 3 are changed so that a first circular arc 21 adjoining the first clothoid 19 can be traversed.
  • the first circular arc 21 is followed by a second clothoid 23 and a third clothoid 25.
  • the second clothoid 23 and the third clothoid 25 is again a steering movement, that is in particular a change in the direction of the steerable wheels of the vehicle.
  • the change goes beyond a neutral position 27.
  • the steerable wheels are straight, that is, a vehicle with a position of the steerable wheels in that position can travel straight forward or backward.
  • the vehicle's path to be traveled changes from a left-hand bend to a right-hand bend.
  • the parking trajectory 1 can also have any other sequences of straight line sections, clothoids and circular arcs. These are in each case dependent on the geometry of the longitudinal parking gap and the starting position, from which the parking procedure is calculated according to the invention. The sequence is also dependent on the desired radius of the first circular arc 21, for example.
  • a suitable parking trajectory 1 as shown in Figure 1 composed.
  • a distinction between a second clothoid 23 and a third clothoid 25, which results from passing over the neutral position 27, is not absolutely necessary.
  • FIG. 2 shows by way of example a parking procedure with a late start position.
  • the rear boundary 11 of the parking space 5 is formed by a rear vehicle 31 and the front boundary 13 by a front vehicle 33.
  • a first start position 35 was selected so that the parking of the vehicle 3 in the longitudinal parking space 5 in a train along the parking trajectory 1 is possible.
  • the target position which reaches the vehicle 3 at the end of the parking process, is chosen so that the vehicle is parallel to the front of the boundary 13 and rear boundary 1 1 forming vehicles 31, 33.
  • a first reverse vehicle is shown at a second starting position lying further back.
  • the starting position for the exit of the parking process has been shifted from the first start position 35 to a second start position 37.
  • the second start position 37 lies in the direction of travel of the vehicle 3 behind the first start position 35.
  • the position of the second start position 37, the length that the vehicle 3 before colliding with the rear boundary 1 1, which is formed by the rear vehicle 31, can shorten, significantly shortened.
  • Moving the parking trajectory 1 without changing the individual straight line sections, clothoids and circular arcs leads to the vehicle having to be ended with a yaw angle that is different from the parallel position to the vehicles 31, 33 before reaching the end position to avoid a collision with the rear vehicle 31. This leads to the fact that ken can no longer be done in a train, but that several trains are necessary to reach the target position.
  • parking in a train will not be possible, but the vehicle will be terminated after completion of the first train in a yaw angle that is different from the parallel position to the vehicles 31, 33.
  • After the first reverse train along the parking trajectory 1 then alternately follow further forward and reverse trains until the vehicle has reached the final position with a parallel alignment with the vehicles 31, 33.
  • a parking trajectory 1 is calculated from the point in time at which parking in a parking space is possible.
  • the then calculated parking trajectory thus corresponds for example to a parking trajectory into a short parking space.
  • modified parking trajectories can be calculated.
  • the parking trajectories are preferably calculated in such a way that parking can take place with the minimum number of passenger trains required. For this reason, it is advantageous if, in addition to the parking trajectory, the number of travel trains necessary for parking is also determined. These may be displayed to the driver of the vehicle, for example. On the basis of the necessary number of vehicles, the driver can then decide, for example, whether he wants to use the starting position reached for the beginning of Einparkvorganges or even more advanced and thus changes the starting position and the resulting parking trajectory and number of trains.
  • the parking trajectories are calculated as would be the case for a parking space of the corresponding length.
  • additional vehicles adapted to the size of the parking space can be calculated, which may already result, for example, in a smaller number of necessary travels to reach the end position.
  • the method according to the invention can also be used for a parking operation in a transverse parking space.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un procédé destiné à aider un conducteur d'un véhicule automobile (3) à se garer dans une place de stationnement (5), comprenant les étapes consistant à : (a)détecter l'environnement du véhicule automobile (3), (b) déterminer une place de stationnement (5) appropriée à partir des données sur l'environnement du véhicule automobile (3) acquises lors de l'étape (a), (c) calculer une trajectoire de stationnement (1) dans la place de stationnement (5). Une trajectoire de stationnement (1) est calculée dès qu'une longueur minimale pour une place de stationnement (5) est atteinte lors de la détection de la place de stationnement (5).
PCT/EP2011/050496 2010-01-27 2011-01-17 Procédé destiné à aider un conducteur d'un véhicule automobile à se garer WO2011092062A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE201010001288 DE102010001288A1 (de) 2010-01-27 2010-01-27 Verfahren zur Unterstützung eines Fahrers eines Kraftfahrzeugs beim Einparken
DE102010001288.2 2010-01-27

Publications (1)

Publication Number Publication Date
WO2011092062A1 true WO2011092062A1 (fr) 2011-08-04

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PCT/EP2011/050496 WO2011092062A1 (fr) 2010-01-27 2011-01-17 Procédé destiné à aider un conducteur d'un véhicule automobile à se garer

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WO (1) WO2011092062A1 (fr)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2994550B1 (fr) 2012-08-14 2015-07-17 Renault Sa Strategie de parking automatique en creneau
DE102014207119A1 (de) * 2014-04-14 2015-10-15 Robert Bosch Gmbh Verfahren zum Bereitstellen von Informationen bei einem Parkvorgang eines Fahrzeugs und Vorrichtung zum Durchführen des Verfahrens
DE102021206708B4 (de) 2021-06-29 2023-05-11 Continental Autonomous Mobility Germany GmbH Verfahren zum Umplanen einer Parktrajektorie
DE102021214460A1 (de) 2021-12-15 2023-06-15 Volkswagen Aktiengesellschaft Verfahren zum autonomen Einparken eines Kraftfahrzeugs in eine Parkfläche

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102004027640A1 (de) 2004-06-05 2006-06-08 Robert Bosch Gmbh Verfahren und Vorrichtung zum unterstützten Einparken eines Kraftfahrzeuges
WO2006069976A2 (fr) * 2004-12-24 2006-07-06 Continental Teves Ag & Co. Ohg Procede pour diriger un vehicule dans une place de parking, et dispositif d'aide au stationnement
DE102005027165A1 (de) * 2005-06-13 2006-12-14 Robert Bosch Gmbh Verfahren und Vorrichtung zur Ausgabe von Einparkhinweisen
DE102007004972A1 (de) * 2007-01-26 2008-07-31 Valeo Schalter Und Sensoren Gmbh Verfahren zum rückwärtigen Einparken eines Fahrzeugs und Einparkhilfesystem hierfür
EP2011700A1 (fr) * 2006-04-25 2009-01-07 Toyota Jidosha Kabushiki Kaisha Dispositif et procede d'aide au stationnement
DE102008027689A1 (de) * 2008-06-11 2009-12-17 Valeo Schalter Und Sensoren Gmbh Verfahren zur Bahnplanung beim Einparken eines Fahrzeugs

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10250021A1 (de) * 2002-10-25 2004-05-13 Donnelly Hohe Gmbh & Co. Kg Verfahren zum Betrieb eines Darstellungssystems in einem Fahrzeug zum Auffinden eines Parkplatzes
DE502005004318D1 (de) * 2004-12-24 2008-07-10 Continental Teves Ag & Co Ohg Verfahren zum ermitteln der befahrbarkeit einer parklücke und einparkhilfe-einrichtung

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102004027640A1 (de) 2004-06-05 2006-06-08 Robert Bosch Gmbh Verfahren und Vorrichtung zum unterstützten Einparken eines Kraftfahrzeuges
WO2006069976A2 (fr) * 2004-12-24 2006-07-06 Continental Teves Ag & Co. Ohg Procede pour diriger un vehicule dans une place de parking, et dispositif d'aide au stationnement
DE102005027165A1 (de) * 2005-06-13 2006-12-14 Robert Bosch Gmbh Verfahren und Vorrichtung zur Ausgabe von Einparkhinweisen
EP2011700A1 (fr) * 2006-04-25 2009-01-07 Toyota Jidosha Kabushiki Kaisha Dispositif et procede d'aide au stationnement
DE102007004972A1 (de) * 2007-01-26 2008-07-31 Valeo Schalter Und Sensoren Gmbh Verfahren zum rückwärtigen Einparken eines Fahrzeugs und Einparkhilfesystem hierfür
DE102008027689A1 (de) * 2008-06-11 2009-12-17 Valeo Schalter Und Sensoren Gmbh Verfahren zur Bahnplanung beim Einparken eines Fahrzeugs

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