WO2012062517A1

WO2012062517A1 - Method for selecting a parking space from a plurality of parking spaces which are suitable for parking

Info

Publication number: WO2012062517A1
Application number: PCT/EP2011/067579
Authority: WO
Inventors: Marcus Schneider; Volker Niemz
Original assignee: Robert Bosch Gmbh
Priority date: 2010-11-11
Filing date: 2011-10-07
Publication date: 2012-05-18
Also published as: CN103209875B; CN103209875A; DE102010043742A1; EP2637907A1

Abstract

A method for a parking process in a parking space for a motor vehicle having at least one sensor, wherein when the vehicle drives past data for detecting a parking space are continuously collected using the said at least one sensor and when a parking space in which the vehicle can be parked is detected a control unit decides automatically which parking space is selected for a possible parking process on the basis of the calculated trajectory.

Description

Description title

Method for selecting a parking space in the case of several parking spaces suitable for parking

The invention relates to a method for determining a parking space for a possible parking operation, as well as a computer program and a computer program product for carrying out the same according to the preamble of the independent claims.

State of the art

Various driver assistance systems are known for supporting a parking process, for example park pilots who calculate a trajectory for a parking operation and give each driver driving instructions for carrying out the parking procedure. Such driver assistance systems use, for example, systems for parking space measurement (PLV), which determine, for example by means of ultrasonic sensors or radar sensors, the width and the relative position of a parking space to the own vehicle and perform a possible parking depending on the width of the own vehicle and possibly the required trajectory.

From DE 100 45 616 AI a method is known for automatically parking a vehicle. The vehicle environment is recorded by a video camera. The driver can select a desired parking space on a touchscreen.

From DE 10 2007 002 261 AI parking assistance is known in which by means of sensors parameters of possible parking spaces determined and the driver grave be represented phically. The parameter set can be designed such that the respectively last detected parking space is displayed to the driver. The driver can then make a selection or correction of a parking space shown.

Disclosure of the invention

Advantages of the invention

The procedure according to the invention with the characterizing features of the independent claims has the advantage that in a parking situation in which more than a parkable parking space was detected, an independent selection of a parking space is made to perform a fully or semi-automatic parking operation in this parking space.

Advantageously, that parking space is selected independently, which allows a driver of a motor vehicle after the initiation of the fully or semi-automatic parking operation a traceable for the driver and / or the rest of traffic parking. A comprehensible parking operation means, for example, that no longer distances are covered to the parking space, for example, twice the width of a parkable parking space, and / or that no frequent corrections of a calculated for the parking trajectory are necessary.

Further advantages are a low fuel consumption or tire wear, as well as a shortening of the parking time and / or less influence and endangerment of the remaining traffic.

It is also conceivable that during parking operations, which are performed by the driver, an adaptive parking space measurement takes place, whereby the fully or semi-automatic parking process is adapted for further parking operations to the parking behavior of the driver. This may, for example, only take place if the parking behavior of the driver is good, in the sense of, for example, straight alignment within the parking space. Another advantage of the method is an improved alignment of the motor vehicle within a parking space. Thus, an angle of the motor vehicle is prevented and / or a possible collision with an obstacle when opening a vehicle door is taken into account by the parking operation.

Further advantageous embodiments of the present invention are the subject of the dependent claims.

For example, ultrasound, radar and / or infrared sensors, capacitive sensors, LIDAR sensors (light detection and ranging) and / or environment cameras with a higher measurement accuracy can be used to detect the at least one sensor signal, which further optimizes the parking process allow, for example by determining other boundary conditions such as possible obstacles in a parking space.

The method according to the invention can be implemented both for return and for pre-parking operations and is not dependent on a rectangular shape of the parking space. Even obliquely arranged or trapezoidal parking spaces represent parking-dependent parking spaces depending on the vehicle dimensions for this method. The parking procedure can also be started if, for example, the vehicle is traveling slowly without the vehicle having to completely stand still.

The control unit and / or a computer separate from the control unit preferably contain at least one electrical memory in which the method steps are stored as a computer program.

The computer program according to the invention provides that all steps of the method according to the invention are carried out when it runs in a control unit and / or a computer separate from the control unit.

The computer program product according to the invention with a program code stored on a machine-readable carrier executes the method according to the invention when the program is stored in a control unit and / or a control unit of the Control unit separate computer expires.

Brief description of the figures

Embodiments of the invention are illustrated in the drawings and explained in more detail in the following description.

It shows:

Figure 1 shows an example of a parking situation with two parking spaces;

Figure 2 shows another example of a parking situation with two parking spaces;

FIG. 3 shows an example of a parking situation with only one parking space;

FIG. 4 shows a flow chart of an embodiment of the method according to the invention; and

Figure 5 shows an embodiment of a device suitable for carrying out the method according to the invention.

Detailed description of the embodiments

The parking situation shown in Figure 1 shows a vehicle (2), a parking space (5) and a parking space (6) between two parked vehicles (7) and (8) or (7) and (9) on a road ( F) are located. The vehicle (2) has at least one control unit (10) and at least one sensor. A possible sensor (3) can detect, for example, a steering angle, a wheel pulse counter signal and / or a GPS signal. As a further possible sensor (4), for example, an ultrasound, radar, infrared, LIDAR (light detection and ranging) and / or a capacitive sensor, for example. A rotation rate sensor, and / or an environment camera is used. Preferably, the sensor (4) is installed at at least one point in at least one bumper of the motor vehicle, however this can also be attached to another advantageous positions of the motor vehicle.

On the basis of the passed when passing by the at least one sensor (3) and / or (4) sensor data parking spaces can be detected and a parking space geometry, for example, be determined based on the detected width. On the basis of the supplied sensor data and the parking space geometry determined therefrom, it is determined whether the parking space for the vehicle (2) is parkable.

For at least two detected parking spaces (5) and (6), each of these parking spaces (5) and (6) is assigned an orientation (5a) and (6b). The alignment includes, for example, the beginning of the parking space and / or the orientation to the road and / or the passing vehicle (2).

The position and orientation (A) of the vehicle (2) to the parked vehicles can be determined by means of the sensors (3) and / or (4). For this purpose, the position and orientation (A) of the vehicle are determined, for example, based on a steering angle signal and / or a distance to a vehicle.

In FIG. 1, the vehicle (2) has covered a distance (LI) since detection of the parkable parking space (5) and a distance (L2) since detection of the parking space (6). On the basis of the sensor data and the boundary conditions determined therefrom, at least two trajectories (T1) and (T2) are calculated for a possible parking process in the parking spaces (5) or (6). The distances traveled (LI) and (L2) can be calculated as shown in Figure 1 from the beginning of the parking space to the rear of the vehicle, but they can also be calculated, for example, from the end of the parking space to the center of the vehicle (2).

Based on the calculated trajectories is selected by the control unit (10) which of the at least two trajectories (Tl) or (T2) is used for a possible parking operation or which parking space is offered to the driver. Advantageously, that trajectory is independently selected by the control unit (10), which enables a driver of a motor vehicle after the initiation of the fully or semi-automatic parking process a parking operation that can be traced for the driver and / or the rest of the traffic. A comprehensible parking operation means, for example, that no longer distances (LI) or (L2) are covered up to the parking space, for example a distance longer than twice the width of a recognized parkable parking space, and / or that no frequent corrections of one calculated for the parking operation Trajectory are necessary. The maximum permissible route length can be, for example, firmly defined and / or dependent on the parking space geometry. Thus, an exclusion criterion for the selection of a trajectory can be an exceeding of a specific route length.

Furthermore, it can be considered for the decision to select the trajectories, which of the two parking spaces (5) or (6) has a greater width, so that, for example, a more comfortable disembarkation of the driver can be implemented.

In FIG. 1, for example, the trajectory (T 1) for a parking process in the parking space

(5) selected. This calculated trajectory (Tl) allows a parking process, which minimizes an exiting on the opposite side and requires fewer steering movements than the calculated trajectory (T2).

The parking situation shown in Figure 2 similar to the parking situation shown in Figure 1, a vehicle (2), a parking space (5) and a parking space (6) between two parked vehicles (7) and (8) or (7) and (9) are located on a carriageway (F).

In FIG. 2, for example, the trajectory (T2) for a parking process in the parking space

(6) selected. Although this trajectory requires more steering movements, requires but a much shorter return journey, so that in this parking a lesser influence on the rest of the traffic is done as in a parking on the basis of the trajectory (Tl).

The parking situation illustrated in FIG. 3 shows a vehicle (2), a parking space (5) which is located between two parked vehicles (5) and (7) on a carriageway (F). Analogous to the parking situations shown in FIG. 1 and FIG. 2, the parking space (6) is assigned an orientation (6a). The orientation includes, for example, the beginning of the parking space and / or the orientation to the road and / or the passing vehicle (2).

The position and orientation (A) of the vehicle (2) to the parked vehicles can be done using the sensors (3) and / or (4). For this purpose, the position and orientation (A) of the vehicle, for example, based on a steering angle signal (3) and / or a distance (4) is determined to a vehicle.

In the illustrated parking situation close to the parking space (6), after the limiting vehicle (7) no further parking spaces. In order nevertheless to allow parking into the parking space (6), the distance (L2) traveled since the last detected vehicle (7) is taken into account, for example, on the side (6a) of the vehicle (7) facing away from the last parking space. In FIG. 3, the vehicle (2) has covered a distance (LI) since the detection of the parkable parking space (5). Although the distance covered (LI) since the last detected parkable parking space (6) exceeds a defined maximum length, for example, a trajectory (T) for a possible parking process in the parking space (6) is also calculated. Therefore, the parking space is still offered for parking and thus increases the number of parking spaces offered for parking.

FIG. 4 shows a flow chart of the method according to the invention. If, for example, the travel speed of the vehicle is within predefinable threshold values, the process for parking space measurement is started in a step (10).

In a further step (20), sensor data are continuously recorded while driving. This process is carried out until either the driving stops or faster than the threshold to which a parking space measurement takes place.

If no parkable parking space is detected in a step (30) during the parking space measurement, then a further test takes place in step (40). If the vehicle continues to move during the test in step (40), the parking space measurement is continued in step (20). If the car continues to travel, but faster than the threshold to which a parking space measurement takes place, then the process is completed in a step (50).

If a parkable parking space is detected in step (30), then the further procedure takes place via a step (60) and a step (70). The parkable parking space detected in step (30) is stored in the further step (60). For this purpose, for example, the width of the parking space and the position are stored to the vehicle.

In step (70), it is checked whether the vehicle stops, for example, to start a parking operation or whether the vehicle continues, then the parking space detection is continued in step (20). In a step (80), after the detected stop of the vehicle in step (70), it is checked in a step (80) whether none, one parkable or more than two parking spaces which can be parked have been stored. If no parkable parking space has been stored or the parking procedure has not been started, then the method is terminated in a step (90).

If a parkable parking space has been found, then a trajectory is calculated and the method continues in step (110).

If more than two parkable parking spaces have been stored, then in a step (100) at least two trajectories are calculated for a possible parking procedure. In this step, the control unit automatically decides which trajectory is used for a fully or semi-automatic parking process. After the decision in step (100), a query is made to the driver in a step (110) as to whether he wishes to carry out a parking operation, for example by means of acoustic, optical and / or graphic signals. If the driver confirms in step (110) that he would like to park in this parking space, then in a step (130) the parking procedure is carried out on the basis of the independently determined parking space on the basis of the calculated trajectory. If the driver does not confirm that he wishes to park, then the method is terminated, for example, after a predeterminable time or after the vehicle has left the vehicle in a step (120).

After the successful parking or abort, for example, by the driver of the process in step (140) is completed.

Alternatively, in step (60) the driver can already be given an indication by acoustic, optical and / or graphic signals that a parkable parking space is available for a possible parking operation and / or the calculation of the trajectory for this detected parking space is performed.

Alternatively, the driver in step (130) all parkable parking spaces are displayed and he can choose in which of these parking spaces he wants to park. For this purpose, the driver can also be signaled, which parking space was selected by the control unit, for example. As the optimal parking space.

FIG. 5 shows a technical environment of the method according to the invention. In a vehicle 300 there is at least one control unit 301. The control unit 301 is provided with data from at least one sensor 302. There may be other sensors 302 (1), 302 (2), ... 302 (n). The sensor data can be transmitted to the controller 301 directly via an interface or alternatively via a bus system such as the CAN bus. The controller includes at least one memory 306 for storing and processing the sensor data. The controller 301 controls at least one actuator 305. Other actuators 305 (1), 305 (2),... 305 (m) may be, for example, an accelerator pedal, a brake pedal, a steering wheel. The vehicle 300 or control unit 301 may also have further interfaces 307, for example for interacting with the driver in the form of queries and confirmations.

Claims

claims

1. A method for a parking operation in a parking space for a motor vehicle (2) with at least one sensor (4), wherein when driving by means of this at least one sensor (4) continuously data for detecting a parking space are detected are characterized in that at Detection of at least two parking spaces (5) and (6), at least two trajectories (T1) and (T2) depending on the respective parking space geometry of the parkable parking spaces (5) and (6), a position and orientation (A) of the motor vehicle (2 ) are determined for a possible fully or semiautomatic parking operation, and then it is automatically decided by a control unit (10), which parking space is selected for a possible parking operation on the basis of the calculated trajectory.

2. The method according to claim, characterized in that the calculation of the trajectories (Tl) and (T2) takes into account a minimization of the number of trains necessary for parking.

3. The method according to any one of the preceding claims, characterized in that the least possible bucking of the motor vehicle (2) on the other side of the road in the calculation of the trajectories (Tl) and (T2) is taken into account.

4. The method according to any one of the preceding claims, characterized in that during the parking operation on the basis of the selected trajectory (Tl) or (T2) an orientation of the motor vehicle (2) is made as parallel as possible to at least one side defining the parking space.

5. The method according to any one of the preceding claims, characterized in that a simple for a driver and / or passenger disembarkation is taken into account.

6. The method according to any one of the preceding claims, characterized in that in the detection of a parkable parking space an acoustic, optical and / or graphical indication is carried out.

7. The method according to any one of the preceding claims, characterized in that after calculation of the trajectories (Tl) and (T2) for the possible parking operation issued by acoustic, optical and / or graphical signals query to a driver and after confirmation by a Driver of the parking operation is carried out on the basis of automatically selected by the control unit (10) and / or by the driver trajectory (Tl) or (T2).

8. The method according to any one of the preceding claims, characterized in that during parking operations, which are performed by the driver, an adaptive parking space measurement takes place, whereby the parking process is adapted to the parking behavior of the driver.

9. Device according to one of the preceding claims, characterized in that for detecting the distance to the at least one object, an ultrasound, radar, infrared, LIDAR and / or a capacitive sensor and / or at least one environment camera is used.

10. A device for a parking operation in a parking space for a motor vehicle (2) with at least one sensor (4), wherein when passing by means of this at least one sensor (4) continuously data for detecting a parking space are detected are characterized in that at Detection of at least two parking spaces (5) and (6), are determined based on a position and orientation (A) of the motor vehicle (2) for a possible fully or semi-automatic parking operation, and then automatically by a control unit (10) is decided which Parking space is selected for a possible parking on the basis of the calculated trajectory.

A computer program comprising program code means adapted to perform all the steps of a method according to any one of claims 1 to 8 when the computer program is executed on a computer or a corresponding computing unit.

A computer program product comprising program code means stored on a computer-readable medium for carrying out all the steps of a method according to any one of claims 1 to 8 when a computer program according to claim 11 is executed on a computer or a corresponding computing unit.