WO2014019875A1

WO2014019875A1 - Parking device and method for assisting a driver of a vehicle

Info

Publication number: WO2014019875A1
Application number: PCT/EP2013/065373
Authority: WO
Inventors: Volker Niemz
Original assignee: Robert Bosch Gmbh
Priority date: 2012-08-01
Filing date: 2013-07-22
Publication date: 2014-02-06
Also published as: DE102012213587A1

Abstract

The present invention relates to a parking device for assisting a driver of a vehicle (5), comprising a control unit which is configured to park the vehicle (5) in a parking space, at least one surrounding sensor, connected to the control unit, for detecting obstacles (8) in the surroundings, and at least one inclination sensor for determining the inclination (a) of the underlying surface, wherein the control unit is configured to adapt a parking process to the inclination (a) of the underlying surface.

Description

Description title

Parking device and method for assisting a driver of a vehicle

State of the art

The present invention relates to an apparatus and a method for assisting a driver of a vehicle in parking operations. Such systems are increasingly popular and therefore installed in increasing numbers in vehicles.

The operation of such systems is essentially identical. First, an environment sensor system of the vehicle scans the environment and searches for parking spaces that are suitable for the vehicle for parking. Should such a gap be found, the system informs the driver and at the same time calculates a parking trajectory that can be optimally parked in the parking space. The parking device can now support the driver by the vehicle is fully automatically parked in the parking space, or at least the steering task is removed from the driver. In the latter case, however, the driver must continue to accelerate and brake the vehicle.

Modern parking systems are also capable of multi-generous

Calculate parking trajectories. In such Einpark trajectories, however, the driver must change the direction of travel several times during parking. While this is not a problem on level surfaces, there is still the danger that the vehicle after changing the direction of travel from downhill to downhill due to too slow start of the driver a certain area downhill rolls before the direction of travel finally uphill changes. By such Unintentional rollback can cause collisions with the parking space

limiting obstacles.

This problem can be prevented, for example, with a hill start assist. However, such an assistant is relatively expensive and therefore not common in

To find vehicles.

Furthermore, various efforts are recognizable from the prior art, which reduce the risk of collision by unintentional downhill rolling during parking operations.

Thus, from DE 10 2008 062 342 A1 a vehicle with parking aid is known, which is intended to facilitate a rear parking on slopes. For this purpose, the vehicle has distance sensors at the rear, which determine the distance of the

Vehicle to an obstacle can determine. The driver of the vehicle is acoustically warned of these obstacles, which happens not only when the driver of the vehicle has engaged the reverse gear, but also when sensors on the wheels detect a backward movement of the vehicle. Thus, the driver is warned of unintentional rolling back of the vehicle in front of the obstacle.

From DE 10 2007 002 267 A1 a method for parking a

Motor vehicle is known in which a divided into different subareas parking trajectory is determined. The individual sections include a specific steering angle, which is set manually by the driver. Once a

Part of the trajectory is traversed, as long as a braking force is applied to the wheels of the vehicle until the new steering angle has been set by the driver. Also, according to the method described in this document, an automatic braking can be carried out when a collision with an obstacle is imminent. When parking on slopes is the

Monitors torque on the individual wheels and the brake only opened when the drivetrain a sufficiently large torque is provided so that the vehicle will move in the desired direction. This prevents, analogous to a hill start assistant, that the vehicle unintentionally rolls down the slope and thus avoids a collision with a downhill obstacle. Disclosure of the invention

The parking device according to the invention for assisting a driver of a vehicle comprises a control unit which is set up to park a vehicle in a parking space. Connected to the control unit is a

Obstacle sensor that can detect obstacles around the vehicle. The control device is thus able to scan the surroundings of the vehicle for obstacles and at the same time to detect parking spaces into which the vehicle can be parked. Furthermore, with the control unit a

Gradient sensor connected, which determines the inclination of the substrate. Thus, the control unit is possible to adapt the parking process to the inclination of the ground. The adaptation to the inclination of the ground preferably includes the consideration of unintentional rolling back of the vehicle, which, for example, due to too timid start of the

Driver can happen.

The invention further relates to a method for assisting a driver of a vehicle during parking operations. For this purpose, first parking spaces are found in the vicinity of the vehicle. Simultaneously or subsequently, the

Determines the inclination of the ground of the vehicle, so that finally a preferred mehrzügige parking trajectory can be created depending on the inclination of the ground. Thus, the inventive method also allows an individual adaptation of the parking trajectory to the current environment. The possibility of collision with the parking space limiting obstacles is therefore reduced.

The dependent claims show preferred developments of the invention. In a preferred embodiment of the invention, the control unit is set up to carry out a multi-level parking operation. Furthermore, the control device is preferably configured to determine a breakpoint at which a direction of travel of the vehicle is changed in such a way that a distance between the breakpoint and an obstacle bounding the parking space depends on the inclination of the ground. Therefore, the allowed

Parking device prefers customization of each Parking on the prevailing ground. Thus, the

Parking device according to the preferred embodiment help to avoid collisions with the parking space limiting obstacles. Preferably, the control unit is set up, the distance between a the

Parking space limiting obstacle and a breakpoint at which the

Direction of travel of the vehicle, preferably by the driver, is changed from uphill to downhill to choose such that it corresponds to the same value that the control device chooses even on a level surface. The parking process is not adjusted here with respect to the inclination of the ground, whereby the workload of the control unit is reduced. Nevertheless, there is no risk of collision with the parking space

limiting obstacle, because the obstacle is still uphill. The driver will therefore move his vehicle away from the obstacle by changing the direction of travel, which is further supported by the slope of the terrain. A collision with the obstacle is therefore excluded.

In an advantageous embodiment, the control unit is set up to change the distance of a breakpoint at which the direction of travel, preferably by the driver, in the uphill, the original direction of travel was preferably downhill to choose a greater obstacle to the parking gap, as a value chosen on flat plot. Preferably, the distance is chosen to be greater, the greater the inclination of the ground. In this embodiment, by changing the direction of travel from preferably downhill in the uphill the risk that the

Driver rolls with his vehicle due to, for example, too timid start down the slope and collides with the parking space limiting obstacle. By choosing a greater distance (compared to a level surface) this risk of collision is reduced, since the vehicle has more space to the obstacle available when changing the direction of travel, causing an unintentional downhill roll, ie in the direction of

Obstacle, can be intercepted.

Advantageously, the gradient sensor may be provided by a plurality of

Components can be realized: Preferably, the gradient sensor part of an existing in the vehicle antilock braking system, a GPS system in Connection with a stored map and / or a vehicle dynamics control. Likewise, the gradient sensor can also be realized by a video sensor, a tilt sensor and / or a longitudinal acceleration sensor. For the gradient sensor, it is preferable to make use of existing components in the vehicle, whereby both the assembly time and the

Significantly reduce the cost of a parking device according to the invention according to the preferred embodiment.

Preferably, the environmental sensor is an ultrasonic sensor or a radar sensor. These sensor types, which are already established in the vehicle sector, are simple and inexpensive to manufacture. Particularly preferably, recourse is made to existing sensors in the vehicle for the environmental sensor.

In a preferred embodiment, the method according to the invention is carried out such that a distance between a breakpoint at which the

Driver changes a direction of travel of the vehicle, and an obstacle is selected depending on the inclination of the ground. Adjusting the breakpoint to change the direction of travel is barely noticeable to the driver, so that it is not affected in his usual Einparkvorgängen. However, adjusting the breakpoint allows efficiently reducing the risk of collisions with the parking space limiting obstacles.

In a further advantageous embodiment, the inventive method is carried out by a distance between a breakpoint at which the driver changes a direction of travel of the vehicle in the downhill, the direction of travel of the vehicle was previously preferred uphill, and an obstacle of the same value is selected is chosen on a level surface. Thus, no computing capacity must be used to adjust the breakpoint and thus the multi-generational parking trajectory, if a

Risk of collision is excluded from the outset. In this case, the direction of travel is changed from uphill to downhill, so that a further uphill obstacle can never be touched. Such

Situation is therefore preferably recognized and equated to a situation as on a level surface. Furthermore, it is preferably provided that a distance between a

Breakpoint at which the driver sets a direction of travel of the vehicle

uphill, with the original direction of travel downhill, and an obstacle greater than a value chosen on a level surface. As a result, a collision with a downhill obstacle can be efficiently prevented by the driver of the

Vehicle is provided more space to perform the direction change. Should a driver start too timid, that is

Vehicle in downhill direction more space available to intercept a possible roll back. The position of the holding point is preferably selected such that with increasing inclination of the ground, an increasingly larger distance between the breakpoint and obstacle is present. Overall, therefore, the risk of collision with the obstacle can be significantly reduced.

Brief description of the drawings

Hereinafter, embodiments of the invention will be described in detail with reference to the accompanying drawings. In the drawing is:

Figure 1 is a schematic overview of the parking device

according to a preferred embodiment of the invention,

FIG. 2 shows a first example of a multi-level parking process,

FIG. 3 shows a second example of a multi-level parking procedure,

Figure 4 shows a mehrzügiger parking operation of a vehicle on a

Hillside according to the prior art, and

Figure 5 shows a mehrzügiger parking operation of a vehicle at one

Hillside according to a preferred embodiment of the present invention. Embodiments of the invention

Figure 1 shows schematically a parking device 1 according to a preferred embodiment of the invention. The parking device 1 comprises a

Control unit 2, which is connected to two other components. On the one hand, the control unit is connected to an environmental sensor 3, which is, for example, an ultrasonic sensor. In addition, the control unit 2 with a

Tilt sensor 4 connected, for example, in one

Antilock braking system of the vehicle existing longitudinal acceleration sensor is. In addition, the control unit 2 is designed to be connectable to a component of the vehicle, preferably to a control unit of the vehicle.

FIG. 2 shows a first example of a parking operation of a vehicle 5 in a parking space 6. In this case, the vehicle 5 follows a multi-lane

A parking trajectory 9, which in the first example comprises two trajectories, a first trajectory 91 and a second trajectory 92. As shown in FIG. 2, the vehicle 5 is currently at a position where it changes from the first trajectory 91 to the second trajectory 92. For this purpose, a direction of travel of the vehicle 5 must be changed. The vehicle 5 is therefore located at a breakpoint 7, wherein the breakpoint 7 is a point on the parking trajectory 9, which is achieved, for example, when it coincides with a front edge axis 50 of rear wheels 51 of the vehicle 5. Thus, the position of the breakpoint 7 is defined by the sum of the distance 10 between the vehicle rear 52 and the parking space 6 limiting obstacle 8 and the distance 1 1 between the leading edge axis 50 and the vehicle rear 52. Preferably, the vehicle 5 is with a

Parking device 1 equipped according to the present invention. Thus, the distance 10 is detected by the environmental sensor 3 and by the

Control unit 2 calculated. If the distance 10 reaches or falls below a set distance for a current slope of the ground, then the

Control unit 2 determines that the vehicle 5 is located at the breakpoint 7, so that the driver of the vehicle 5 now has to change the direction of travel of the vehicle 5 to move from the first Trajektorienteil 91 in the second Trajektorienteil 92. Figure 3 shows a parking operation according to a second example, wherein the vehicle 5 comes to an angle in this example obliquely to the parking space limiting obstacle 8. The distance 10 is therefore defined as the shortest distance between obstacle 8 and breakpoint 7, wherein the breakpoint 7 is here to be regarded as Lot on the direction of travel. In the second example, the driver of the vehicle 5, in order to get from the first Trajektorienteil 91 to the second Trajektorienteil 92, in addition to the direction of travel and the

Change the steering angle of the vehicle to park in the parking space 6. However, this represents an additional task for the driver, so that there is a risk that he loses the rear view of his vehicle. The parking device 1 according to the invention and / or the parking method according to the invention can therefore support it. The procedure is analogous as described in Figure 2. FIG. 4 shows a detail of a parking process in which a vehicle

5 parked on a tilted by the angle α underground. In this case, the vehicle 5 has a Einparkunterstützung according to the prior art. An obstacle 8 is located down the slope of the parking vehicle 5, so that the driver has to pay attention when parking. In a first step S1, the vehicle 5 reaches a stopping point 7 at which it has a predetermined position

Distance from the obstacle 8 has. At this breakpoint 7, the vehicle 5 is now to change its direction of travel in order to move from an original trajectory-oriented part to a new trajectory-oriented part. From step S2, however, it can be seen that the driver of the vehicle 5 moves too timidly after changing the direction of travel, so that continues to be a downhill direction of travel

100 sets. Due to the inclination α of the ground moves the

Vehicle 5 therefore on the vehicle 5 and collides with this. Only in a third step S3, the vehicle 5 has taken a direction of travel 200, which is directed uphill. However, the vehicle 5 has already collided with the obstacle 8.

Figure 5 shows the same steps S1, S2 and S3 as Figure 4, but with a vehicle 5, which is equipped with a parking device according to the invention, or for that the inventive method is performed. In the first step S1, the vehicle 5 in turn reaches the breakpoint 7 on the order of the

Angle α inclined ground. However, this time on the basis of the angle α of Holding point 7 placed at a location that is associated with a greater distance 10, compared to the example of Figure 4. Thus, in the second step S2, the rolling back of the vehicle 5, which continues to travel, for example, due to too timid start with the direction of downhill directed direction 100, collected, so that the vehicle 5 a minimum distance

1 1 to the obstacle 8 occupies. The distance 1 1 is a value greater than zero. Once in the third step S3, the vehicle 5, the uphill directed

Moving direction 200 has taken, it moves away from the obstacle 8 again, this time no collision with the obstacle 8 has taken place. It is therefore obvious that both the parking device according to the invention and the method according to the invention for assisting a driver of a vehicle significantly to increase the safety of mehrzügigen

Parking operations contributes.

Claims

claims

1 . Parking device (1) for assisting a driver of a vehicle (5), comprising:

a control unit (2) which is set up to park the vehicle (5) in a parking space (6),

at least one connected to the control unit (2)

Environmental sensor (3) for detecting obstacles (8) in the environment, and

at least one gradient sensor (4) for determining the inclination (a) of the ground,

wherein the control unit (2) is adapted to adapt a parking operation to the inclination (a) of the ground.

2. Parking device (1) according to claim 1, wherein the parking process is a mehrzügiger parking operation and the control unit (2) is adapted to the vehicle (5) mehrzügig in the parking space (6) einparken and a distance (10, 1 1) of a breakpoint (7) on which a direction of travel (100; 200) of the vehicle (5) is changed to an obstacle (8) delimiting the parking space (6) as a function of the inclination (a) of

Underground to choose.

3. parking device (1) according to one of the preceding claims, wherein the control unit (2) is arranged, the distance (10, 1 1) of a

Breakpoint (7), where the direction of travel is changed downhill, to select an obstacle (8) delimiting the parking space (6) as the same value chosen on level ground.

4. parking device (1) according to one of the preceding claims, wherein the control unit (2) is arranged, the distance (10, 1 1) of a

Breakpoint (7), where the direction of travel is changed uphill, to select an obstacle (8) limiting the parking space (6) greater than a value chosen on a level surface.

Parking device (1) according to one of the preceding claims, wherein the gradient sensor (4)

Part of an existing in the vehicle (5) anti-lock braking system, and / or

Part of an existing in the vehicle (5) vehicle dynamics control, and / or

Part of a present in the vehicle (5) GPS system in

Connection to a saved map, and / or

a video sensor, and / or

a tilt sensor, and / or

is a longitudinal acceleration sensor.

Parking device (1) according to one of the preceding claims, wherein the environmental sensor (3) is an ultrasonic sensor or a radar sensor.

A method of assisting a driver of a vehicle (5)

Parking operations, comprising the steps:

Locating a parking space (6) in an environment of the vehicle (5), determining the inclination (a) of the ground of the vehicle (5), and

Creating a, preferably multi-generational, parking trajectory (9) as a function of the inclination (a) of the subsurface.

A method according to claim 7, wherein a distance (10) between a stopping point (7) at which the driver changes a direction of travel of the vehicle (5) and an obstacle (8) is selected as a function of the inclination (a) of the ground.

Method according to one of claims 7 to 8, wherein for a distance (10, 1 1) between a breakpoint (7) at which the driver changes a direction of travel of the vehicle (5) in the downhill, and an obstacle (8) of the same value selected on a level surface.

10. The method according to any one of claims 7 to 9, wherein a distance (10, 1 1) between a breakpoint (7) at which the driver changes a direction of travel of the vehicle (5) in the uphill, and an obstacle (8) greater than a value is selected which is selected on a level surface.