WO2013072127A1 - Procédé permettant d'assister un conducteur lors d'une manœuvre de stationnement - Google Patents

Procédé permettant d'assister un conducteur lors d'une manœuvre de stationnement Download PDF

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Publication number
WO2013072127A1
WO2013072127A1 PCT/EP2012/069563 EP2012069563W WO2013072127A1 WO 2013072127 A1 WO2013072127 A1 WO 2013072127A1 EP 2012069563 W EP2012069563 W EP 2012069563W WO 2013072127 A1 WO2013072127 A1 WO 2013072127A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
parking
parking space
detected
driver
Prior art date
Application number
PCT/EP2012/069563
Other languages
German (de)
English (en)
Inventor
Marcus Schneider
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 WO2013072127A1 publication Critical patent/WO2013072127A1/fr

Links

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
    • B62D15/0285—Parking performed automatically
    • 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

Definitions

  • the invention relates to a method for assisting a driver of a
  • means for detecting the surroundings of the vehicle, means for calculating possible trajectories for performing the parking maneuver and means for output recognized parking spaces are provided.
  • DE 10 2005 037 468 A1 discloses a method and a device for assisting a driver of a vehicle when parking in a parking space arranged transversely to the vehicle.
  • the device comprises a sensor arrangement which is preferably mounted laterally on the vehicle in order to measure the parking spaces when passing the vehicle. Taking into account the given vehicle geometry data, possible parking lanes will subsequently be determined in the parking space.
  • possible parking lanes will subsequently be determined in the parking space.
  • these selection can also be made automatically, based on specifications and / or conditions stored in the device.
  • a parking path is selected so that it is particularly easy to drive by the driver of the vehicle.
  • Parking maneuver can be done by the driver himself, based on instructions generated by the device. It is also possible to design the device so that it performs the steering automatically and the activity of the driver is limited to the braking and acceleration of the vehicle and a monitoring function. Also possible is a fully automatic parking, in which the driver only has a monitoring function held.
  • the detection of possible parking spaces during a passage of the vehicle by means of laterally mounted on the vehicle sensors. In the case of longitudinal parking spaces, the vehicle is at the time of detection of the parking space in a position that would also select drivers without automatic parking system as the starting point for a parking maneuver.
  • the position of the vehicle at the time of detection of a parking space is clearly in front of a position which a driver would choose without an automatic parking system for the start of a parking maneuver. If, starting from the position at which the parking space was first detected, yet a parking maneuver started, the vehicle must be further reset and further excise than would be required in an optimally selected parking maneuver.
  • the method according to the invention for assisting a driver of a vehicle in a parking maneuver in a parking space arranged transversely to the vehicle comprises the following steps: a) detecting the environment and determining whether a detected gap is suitable as a parking space, b) determining possible trajectories, along derer the vehicle at a
  • Parking maneuver can be performed in the gap, the gap is issued to the driver as a parking space only if the vehicle remains within predetermined limits throughout the parking maneuver.
  • the limits specify the range in which the vehicle may move during the parking maneuver.
  • the environment of the vehicle is detected while driving via preferably mounted on the side of the vehicle sensors. Gaps between two vehicles and / or other objects are detected and checked for their suitability as a parking space. This review includes, inter alia, comparing the depth and length of the parking space with geometric data known about the vehicle. Furthermore, a detected gap is classified as a parking space and signaled to the driver only when a trajectory can be determined, along which the vehicle at a Parking maneuver in the parking space remains within the specified limits.
  • Signaling can be done optically, for example via light-emitting diodes or a screen, acoustically or haptically.
  • the trajectories are calculated so that a parking maneuver takes place in a maximum of three moves. The limits within which the vehicle is during the
  • Parking maneuver largely corresponds to a parking maneuver selected by a driver without assistance system. Furthermore, it is preferred if, in the calculation of the limits, further safety-relevant aspects, such as obstacles or a deflection of the vehicle into the opposite lane, are taken into account.
  • the predetermined limits are set so that in three trains, the position of the vehicle after the first train is not behind a rear boundary of the parking space. This measure, on the one hand, helps to ensure a natural-looking parking maneuver that is easily followed by the driver and, on the other hand, reduces the risk posed by subsequent vehicles. As in a driver-typical parking maneuver the driver tries everything to the parking space.
  • Parking maneuver in three moves the yaw angle of the vehicle in the position after the first train, based on the orientation of the parking space, is less than a predetermined value. It is preferred if the specification of this minimum yaw angle is adaptable,
  • the method can be easily adapted to the vehicle dimensions and to different types of parking spaces. Furthermore, it is conceivable to set the minimum yaw angle as a function of the surroundings of the vehicle. Further, it is preferred if the position of the vehicle after the first train, relative to the corner of the front boundary of the detected parking space facing the roadway, falls below a predetermined first lateral and / or orthogonal distance.
  • An important aspect of the invention is to limit the skipping of the vehicle. This is on the one hand important to enable a safe parking even in tight spaces, on the other hand, a Ausscherschi in the area of Avoid oncoming traffic. This is in a further preferred
  • Embodiment of the method according to the invention achieved in that the position of the vehicle after the second train does not exceed an allowable second lateral distance to the road side facing the front boundary of the detected parking space.
  • This allowable second lateral distance to the roadway facing corner of the front boundary of the detected parking space can be specified, for example, fixed.
  • the allowable second lateral distance to the roadway facing corner of the front boundary of the detected parking space is determined taking into account the parking space bounding objects, the opposite lane and / or curb.
  • the sensors in the vehicle are furthermore configured to detect not only the objects delimiting the parking space but also other objects in the surroundings of the vehicle, in particular moving objects, these data can likewise be used to calculate the permissible distances.
  • the permissible second lateral distance to the roadway facing corner of the front boundary of the detected parking space is determined on the basis of detected objects.
  • the device according to the invention comprises means for detecting the
  • the means for calculating possible trajectories for performing the parking maneuver and means for issuing detected parking spaces may include, for example, distance sensors based on radar, infrared, lidar and / or ultrasound and optical sensors, for example video cameras.
  • the trajectories for performing the parking maneuver can be determined, for example, by a control unit of the driver assistance system and / or an on-board computer of the vehicle.
  • the means for issuing detected parking spaces can be both optical and acoustic and / or haptic and, for example, screens, Include speakers and lights. In this case, for example, an already existing screen of a navigation system and / or on-board computer can be used.
  • the means for calculating the trajectories can be designed such that they generate instructions for the driver with whom he can follow the calculated trajectory for parking the vehicle. It is also possible to provide the device according to the invention with means for automatic control of the vehicle, which may include means for steering the vehicle and / or means for acceleration and / or deceleration of the vehicle. These funds include
  • connections to already existing in the vehicle control units for controlling the power steering, the brakes and / or the fuel supply are possible.
  • the inventive method and the device according to the invention for assisting a driver of a vehicle in a parking maneuver provide the driver with a
  • Parking space available which corresponds to the natural parking behavior of a driver. This increases the acceptance of the assistance system by the driver and avoids potential hazards due to atypical and far-reaching exhausts of the vehicle. This is achieved in that potential parking spaces detected when driving past the vehicle are not immediately reported to the driver, but only when a driver-typical parking maneuver can be offered, in which the vehicle remains within predetermined limits during the entire parking maneuver.
  • a driver-typical parking maneuver is understood as a parking maneuver, as a driver would do without a driver assistance system.
  • a detected parking space is not signaled to the driver directly after their recognition.
  • a parking space need not only meet criteria such as the geometric requirements with respect to the size of the car, it must also exist among the determined possible trajectories trajectory on which the vehicle can be led into the parking space without that Vehicle exceeds specified limits.
  • This approach means that only those are selected from the usually very large number of possible trajectories that allow a driver-typical parking maneuver without unnecessarily large outgrowth of the vehicle.
  • sweeping Ausscherterrorismen the vehicle which pose potential risks and / or obstruct oncoming traffic or subsequent vehicles.
  • Curb and any other objects located in the vicinity of the vehicle reduce the space requirement of the parking maneuver and ensure that other vehicles are not obstructed or represent a danger.
  • driver-typical endeavor is adjusted by the inventive method, by a targeted driving the parking bay, the rear of the vehicle in the
  • Driver assistance system by the driver contributes, by the specification of a
  • the yaw angle is the angle between the vehicle and the parking space.
  • the preferred adaptive specification of the minimum yaw angle for example in the form of parameters in a non-volatile memory, the method can be easily adapted to the vehicle dimensions and to different types of parking spaces.
  • the depth of immersion of the vehicle is predetermined based on the position of the corner of the road facing the front boundary of the detected parking space. The position of the vehicle after the first move must then refer to a lateral and / or orthogonal distance
  • FIG. 1 shows the detection of a transverse parking space caused by a passing vehicle.
  • FIG. 2 shows the detection of a longitudinal parking space by passing the vehicle
  • FIG. 3 shows a parking maneuver in three moves, starting from the position of
  • FIG. 4 shows a parking maneuver in a transverse parking space starting from the position at which the driver was informed of the parking space by the method according to the invention.
  • FIG. 1 shows a vehicle 10 which, when passing by means of laterally mounted distance sensors 12, detects a parking space 20 between two transversely parked vehicles 22 and 24.
  • the measuring range of the sensor is with the
  • Reference numeral 14 is shown. At the illustrated time when the parking space 20 is detected by the vehicle 10, the vehicle 10 is not in a position from where a driver would typically start a parking maneuver.
  • FIG. 2 shows a situation for the case of vehicles parked lengthwise.
  • the vehicle 10 again detects laterally mounted sensors 12 while driving past a parking space 20 between two longitudinally parked vehicles 22 and 24.
  • the vehicle 10 is at the time shown, in which the parking space 20 is detected, in one position from which a driver would typically start a parking maneuver. From a comparison of Figures 1 and 2 it can be seen that at
  • Transverse parking spaces in contrast to longitudinal parking spaces the parking space is already detected before the vehicle 10 has reached a position from which a driver-typical parking maneuver is possible.
  • FIG. 3 shows a parking maneuver guided by a driver assistance system according to the prior art in three lines, starting from the position 100 in which the parking space 20 was first detected.
  • the parking space 20 is through the two
  • the starting position of the vehicle 10 is designated by the reference numeral 100.
  • the position of the vehicle 10 is understood to mean the position of a reference point, which is arranged in the rear of the vehicle 10 in the examples shown here.
  • the vehicle 10 moves along the trajectory shown in dashed lines in FIG. 2 from the starting position 100 to the position 110 after the first train 105.
  • the reference point of the vehicle 10 in the rear thereby moves clearly over the rear Limit 30 of the parking space 20 addition, while the yaw angle of the vehicle 10 so the angle of the vehicle 10 is reduced only slightly with respect to the orientation of the parking space 20.
  • the vehicle 10 moves along the dashed line from the position 1 10 after the first train 105 to the position 120 after the second train 1 15.
  • the vehicle 10 shears far into the area of the opposite lane.
  • this proposed trajectory could be impracticable because the vehicle 10 could fall into the range of bounding objects, such as parked vehicles on the opposite side of the road.
  • the reference point of the vehicle moves from the position 120 to the second train 1 15 along the dashed line to the end position 130.
  • FIG. 4 again shows the vehicle 10, which detects a parking space 20 while passing by means of laterally mounted sensors.
  • the detected parking space 20, bounded by the two transverse parked vehicles 22 and 24, the driver of the vehicle 10 was not reported by the inventive device using the method according to the invention at the position 100 in which the parking space was first detected 20, but only at Reaching the second starting position 200 signals.
  • the vehicle 10 can perform a parking maneuver with the method according to the invention, in which the vehicle 10 moves during the entire movement exclusively within a predetermined range.
  • the position of the vehicle 10 is related to a reference position in the rear of the vehicle 10.
  • the vehicle 10 moves from the second starting position 200 along the dashed line to a position 210 after the first train 205.
  • the position 210 after the first train 205 is not allowed behind the rear Limit 30 of the parking space 20 are. As a result, an excessive shearing of the vehicle 10 is avoided to the rear.
  • the front boundary of the identified parking space 20 is given further conditions. These conditions may include that the position 210 after the first pull 205 must fall below a predetermined first lateral distance 45 and / or that the position 210 after the first pull 205 must fall below a predetermined orthogonal distance 35. Lateral distances mean, relative to the coordinate system drawn at the corner 50, a distance in the Y direction, while orthogonal distances, relative to the coordinate system drawn at the corner 50, denote a distance in the X direction.
  • the vehicle 10 moves along the dashed line from the position 210 after the first train 205 to the position 220 after the second train 215.
  • the position 220 after the second train 215 must remain within the predetermined by a second lateral distance 40 limit. This ensures that the vehicle 10 does not travel unnecessarily far into the area of the oncoming lane and / or into the area of vehicles parked on the other lane side into device.
  • the second lateral distance 40 is again referred to the corner of the roadway 50 facing the front boundary of the detected parking space.
  • the second lateral distance 40 can either be fixed or determined depending on the parking space 20 delimiting objects, the opposite lane and / or the curb.
  • the vehicle 10 is further configured to detect objects in the vicinity of the vehicle 10, in particular moving objects, this additional information can be used to calculate the first and the second lateral distance and / or the orthogonal distance.
  • this additional information can be used to calculate the first and the second lateral distance and / or the orthogonal distance.
  • the vehicle 10 moves along the dashed line from the position 220 to the second train 215 into the second end position 230.
  • the second end position 230 which is achieved after the parking maneuver has been carried out corresponds exactly to the first end position 130 which is reached after the parking maneuver according to the prior art. It is also clearly evident from FIG. 4 that in the parking maneuver according to the prior art, the vehicle 10 is set back considerably further to the rear and to the side in the direction of the vehicle
  • the parking maneuver according to the prior art with its position 1 10 offset greatly behind the first train 105, in which only a small part of the angular difference between the vehicle 10 and the orientation of the parking space 20 is reduced, does not correspond to a driver-typical parking behavior .
  • the proposed by the inventive trajectory 105, 1 15, 125 corresponds to a driver-typical driving maneuver and thus increases the acceptance of the

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

L'invention concerne un procédé permettant d'assister un conducteur d'un véhicule (10) lorsqu'il effectue une manœuvre de stationnement dans une place de stationnement (20) disposée transversalement au véhicule (10), et un dispositif permettant de mettre en œuvre le procédé. Le procédé consiste à détecter les zones environnantes, à déterminer si un espace libre détecté peut servir de place de stationnement (20) et à déterminer des trajectoires possibles le long desquelles le véhicule (10) peut être guidé dans l'espace libre lors de la manœuvre de stationnement, le conducteur ne pouvant visualiser l'espace libre comme une place de stationnement (20) que si le véhicule (10) reste à l'intérieur des limites prédéfinies (30, 35, 40, 45) pendant toute la manœuvre de stationnement.
PCT/EP2012/069563 2011-11-14 2012-10-04 Procédé permettant d'assister un conducteur lors d'une manœuvre de stationnement WO2013072127A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE201110086245 DE102011086245A1 (de) 2011-11-14 2011-11-14 Verfahren zur Unterstützung eines Fahrers bei einem Einparkmanöver
DE102011086245.5 2011-11-14

Publications (1)

Publication Number Publication Date
WO2013072127A1 true WO2013072127A1 (fr) 2013-05-23

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DE (1) DE102011086245A1 (fr)
WO (1) WO2013072127A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106004871A (zh) * 2015-03-08 2016-10-12 宝马股份公司 在泊车最终位置中车辆朝向车道的延伸尺寸的对齐

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DE102014220298A1 (de) * 2014-10-07 2016-04-07 Bayerische Motoren Werke Aktiengesellschaft Unfallvermeidung mit dem nachfolgenden Verkehr bei einem automatisierten Einparkvorgang in eine Querparklücke
DE102014221850A1 (de) 2014-10-27 2016-04-28 Ford Global Technologies, Llc Verfahren zur Unterstützung eines Einparkvorganges sowie Parkassistenzvorrichtung
DE102014221851B4 (de) 2014-10-27 2021-09-23 Ford Global Technologies, Llc Verfahren zur Unterstützung eines Einparkvorganges sowie Parkassistenzvorrichtung
DE102015201038A1 (de) * 2015-01-22 2016-07-28 Robert Bosch Gmbh Verfahren zur Bahnplanung des Einparkens eines Fahrzeugs in eine Parklücke
DE102015112312A1 (de) * 2015-07-28 2017-02-02 Valeo Schalter Und Sensoren Gmbh Verfahren zum zumindest semi-autonomen Manövrieren eines Kraftfahrzeugs mit Bordsteinüberfahrt, Fahrerassistenzsystem sowie Kraftfahrzeug
DE102015118468A1 (de) * 2015-10-29 2017-05-04 Valeo Schalter Und Sensoren Gmbh Verfahren zum zumindest semi-autonomen Manövrieren eines Kraftfahrzeugs in eine Parklücke mit Bordstein, Fahrerassistenzsystem sowie Kraftfahrzeug
DE102017200219A1 (de) * 2017-01-09 2018-07-12 Bayerische Motoren Werke Aktiengesellschaft Steuereinheit und Verfahren zur Ermittlung einer Trajektorie für ein Rückfahrassistenzsystem
CN111572536A (zh) * 2020-05-25 2020-08-25 安徽江淮汽车集团股份有限公司 多段化垂直泊车路径规划方法及装置
EP4177137A1 (fr) * 2021-11-02 2023-05-10 Ford Global Technologies, LLC Procédé d'assistance d'un processus de stationnement, système d'assistance au stationnement et programme informatique

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DE102005037468A1 (de) 2005-08-09 2007-02-15 Robert Bosch Gmbh Vorrichtung und Verfahren zur Unterstützung eines Einparkvorgangs eines Fahrzeugs
EP2226238A1 (fr) * 2009-03-02 2010-09-08 Aisin Seiki Kabushiki Kaisha Appareil d'assistance au parking
EP2234085A1 (fr) * 2007-12-18 2010-09-29 Honda Motor Co., Ltd. Dispositif de jugement de disponibilité de stationnement pour un véhicule, détecteur d'espace de stationnement pour un véhicule et détecteur de plage mobile pour un véhicule
DE102009024083A1 (de) * 2009-06-05 2010-12-09 Valeo Schalter Und Sensoren Gmbh Verfahren zum Durchführen eines zumindest semi-autonomen Parkvorgangs eines Fahrzeugs und Parkassistenzsystem für ein Fahrzeug
WO2011029693A1 (fr) * 2009-09-14 2011-03-17 Robert Bosch Gmbh Procédé pour garer un véhicule

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102005037468A1 (de) 2005-08-09 2007-02-15 Robert Bosch Gmbh Vorrichtung und Verfahren zur Unterstützung eines Einparkvorgangs eines Fahrzeugs
EP2234085A1 (fr) * 2007-12-18 2010-09-29 Honda Motor Co., Ltd. Dispositif de jugement de disponibilité de stationnement pour un véhicule, détecteur d'espace de stationnement pour un véhicule et détecteur de plage mobile pour un véhicule
EP2226238A1 (fr) * 2009-03-02 2010-09-08 Aisin Seiki Kabushiki Kaisha Appareil d'assistance au parking
DE102009024083A1 (de) * 2009-06-05 2010-12-09 Valeo Schalter Und Sensoren Gmbh Verfahren zum Durchführen eines zumindest semi-autonomen Parkvorgangs eines Fahrzeugs und Parkassistenzsystem für ein Fahrzeug
WO2011029693A1 (fr) * 2009-09-14 2011-03-17 Robert Bosch Gmbh Procédé pour garer un véhicule

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106004871A (zh) * 2015-03-08 2016-10-12 宝马股份公司 在泊车最终位置中车辆朝向车道的延伸尺寸的对齐

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