WO2017182186A1

WO2017182186A1 - Method for assisting a driver of a vehicle, in particular during parking procedures

Info

Publication number: WO2017182186A1
Application number: PCT/EP2017/054790
Authority: WO
Inventors: Mathias Mueller; Stefan Buerger; Frederik SADOWSKI; Thomas Scheuerle
Original assignee: Robert Bosch Gmbh
Priority date: 2016-04-21
Filing date: 2017-03-01
Publication date: 2017-10-26
Also published as: DE102016206756A1

Abstract

The invention relates to a method for assisting a driver of a vehicle (1), comprising the steps of: detecting a parking area (2) which is suitable for parking the vehicle (1), determining if the vehicle (1) has occupants (8) and determining a parking position (4) within the parking area (2) in accordance with the determined occupancy of the vehicle (1).

Description

Description title

A method for assisting a driver of a vehicle, in particular during parking operations

State of the art

The present invention relates to a method for assisting a driver of a vehicle. In particular, the method relates to assistance of the driver during parking operations. Furthermore, the invention relates to a

Computer program product and a control unit of a vehicle.

From the prior art different methods for automated parking of a vehicle are known. Under automated parking is in particular such a process to understand in which the vehicle makes autonomous steering movements. Thus, a parking space is usually measured to indicate to the driver of the vehicle that there is a parking space in which the vehicle can park. The driver of the vehicle then selects the parking space for parking, whereupon an automated parking process takes place. The vehicle is usually parked in the middle of the parking space. Such a case is shown in FIG. In this case, a vehicle 1 is parked in a parking area 2. The parking area 2 is bounded by boundaries 7. The parking algorithm of the vehicle 1 selects a parking position 4 such that the vehicle 1 is centered between the vehicles

Limits 7 is positioned. Thus, in particular at the distance d shown between the boundaries 7, the parking position 4 is selected such that a distance of d / 2 is present for each boundary 7.

Disclosure of the invention

The method according to the invention makes it possible to park a vehicle while taking into account a subsequent exit procedure of at least one vehicle, in particular, all, occupants of the vehicle. Thus, in particular the parking position within the parking area is selected such that a comfortable getting off the occupant is made possible. In this way, on the one hand comfortable access to the vehicle is ensured, on the other hand, the risk of damage to the vehicle during boarding or while getting off is reduced. The inventive method comprises the following steps: First, a parking area is detected, which is suitable for parking the vehicle. This is preferably done by means of

Environmental sensors of the vehicle. The parking area is in particular a parking space or a designated parking space. Within the recognized

Parking area is determined an optimal parking position. For this purpose, first the determination of an occupancy of the vehicle by inmates takes place. In particular, it is determined whether in addition to the driver of the vehicle other occupants are present within the vehicle. The determination of occupants advantageously takes place by means of a camera within the vehicle and / or by means of sensors in the individual vehicle seats. Subsequently, a parking position within the parking area is determined as a function of the determined occupancy. Thus, in particular the parking position is selected such that a comfortable access to the vehicle is possible. After determining the parking position an automated parking operation is feasible. In this case, automated parking is to be understood in particular as meaning a state in which the vehicle independently assumes steering movements, while the driver is responsible for accelerating and braking the vehicle. In particular, however, the driver will be given advice on when to accelerate and when to slow down. The parking position includes

in particular, an orientation of the vehicle. different

Alignments of the vehicle are achieved in particular by carrying out a parking operation in forward motion or alternatively in reverse drive. The inventive method is used to determine a parking position for a completely autonomously parked vehicle, so that a contribution of the

Driver is not necessary. The driver can therefore be inside or outside the vehicle.

The dependent claims have preferred developments of the invention to the content. It is preferably provided that on the basis of the determined occupancy

Probability value is determined for each vehicle door of the vehicle with which the associated vehicle door will be opened. In particular, the probability value is increased when a seat of the vehicle assigned to the vehicle door is occupied by an occupant. In one embodiment, the

Probability value comprise only one bit, whereby the

Probability value depending on an occupancy of the vehicle door associated seating position either 0 or 1 is selected. Particularly preferably, the parking position is selected such that a distance between such a vehicle door, which has a high probability value for the opening, is maximized to a limit of the parking area. In this way, it is achieved in particular that the occupant can leave the vehicle comfortably. In particular, in the case where the vehicle is occupied such that the occupants leave the vehicle only on one side, thus preferably the parking position can not be selected centrally within the parking area, but the vehicle can with the side that for getting off the Inmates not needed, close to the

Parking area are parked. Maximizing the distance between the vehicle door and the boundary further allows a

Damage to the vehicle door when opening is prevented by collision with the boundary. The position of vehicle doors of adjacent vehicles can also be taken into account. Furthermore, it is particularly preferred that a pivoting range of such a vehicle door, which has a high probability value for the opening, is free of obstacles. Pivoting range is to be understood as the region through which the vehicle door swings when it is opened. Thus, especially in the case where an obstacle within the

Parking area is present, the parking position such selectable that the

Obstacle is not within the swivel range of the door. Advantageously, this can be achieved by parking the vehicle relative to the obstacle such that the obstacle lies within the pivoting range of such a door for which a low probability value of the opening has been determined. In this way it is further possible that occupants of the vehicle can get off comfortably, at the same time the risk of

Damage to the vehicle door is reduced by collision with the obstacle. Particularly advantageously, the parking area is limited by at least one boundary. In particular, the parking area is limited by at least two boundaries. A boundary may advantageously be a mark applied to a substrate. Alternatively, the limit may also be

Obstacle, in particular another parking vehicle, a wall or a curb. If several limitations limit the parking area, these limitations do not necessarily have to be identical. Rather, a parking area may also be bounded by a mark on one side and by another vehicle on another side.

Particularly advantageous is the optimization of the parking position when the limit is another vehicle. Thus, it is provided that the own vehicle is einparken next to the other vehicle. For this purpose, the parking position is selected such that a distance between the vehicle and the further vehicle is maximized. This allows on the one hand a comfortable leaving the vehicle by the occupants, on the other hand, the vehicle is also protected from damage that may be caused by opening the door of the other vehicle. In addition, in this way the boarding easier for occupants of the other vehicle.

In a further preferred embodiment, the limit is in turn another vehicle. It is provided that a position of a vehicle door, in particular a driver's door, of the other vehicle is detected. The detected position of the vehicle door of the other vehicle is advantageously in the

Determining the parking position taken into account, so that the step of determining the parking position within the parking area additionally takes place in dependence on the detected position of the vehicle door of the other vehicle. Thus, in particular, an overlap of pivoting ranges of vehicle doors of two adjacent parking vehicles is reduced or prevented.

In an advantageous embodiment, the method comprises the additional steps: First of all, it is determined that at least one vehicle door can not be completely opened in the specific parking position.

Subsequently, an indication of this to at least one occupant of

Vehicle issued. The note is advantageously issued to the driver of the vehicle. In particular, the reference comprises an optical and / or audible warning that one of the vehicle doors can not be fully opened. The note may in particular contain an indication of the vehicle door, which can not be fully opened. Alternatively or additionally, the opening of that vehicle door, which can not be fully opened, blocked or restricted.

Particularly advantageous is the output of the hint to the driver of the vehicle. Alternatively or additionally, the message includes a request to leave the vehicle and to initiate an autonomous parking procedure. This is particularly advantageous if an automated parking is planned. In this case, the driver can park the vehicle in front of you

Leave parking, so as to avoid the problem of not fully open letting the vehicle door. In particular, all other occupants can leave the vehicle together with the driver. This ensures that damage to the vehicle by collision of

Vehicle doors with obstacles that limit the parking area, is avoided.

Particularly advantageous method of the invention also includes querying other driver requests. In particular, it is possible to query whether certain vehicle doors should be opened independently of an occupant occupancy. The same applies to a trunk. The choice of

Parking position is thus dependent on the driver's request. Alternatively or additionally, it is provided that in addition to the determination of the occupancy of the vehicle by occupants, a determination of a trunk contents is performed. Thus, a probability value can be determined for the trunk to be opened. Should be a high

Probability value are determined, the parking position is determined such that the greatest possible distance between a boundary of the parking area or an obstacle and the trunk is present.

The invention further relates to a computer program product. The

Computer program product comprises a program code stored on a machine-readable medium. The program code is for carrying out the described method when the computer program product runs on a computing device. The computing device is advantageously a

Control unit of a vehicle. Finally, the invention relates to an arrangement for a vehicle. The

Arrangement comprises a control device and at least one environment sensor, at least one interior monitoring sensor and at least one

Output unit, all connected to the signal transmission control unit. The arrangement is for carrying out the method described above and / or for executing the program code described above

Computer program product trained. Thus, the arrangement allows a safe and reliable parking of the vehicle, while at the same time a comfortable access to the vehicle is possible. Of the

Interior monitoring sensor preferably comprises an interior camera and / or a seat pressure sensor. The output unit preferably comprises a loudspeaker and / or a display. The environmental sensor preferably comprises an imaging sensor or a distance measurement sensor.

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:

1 shows a schematic view of a parked vehicle according to the prior art,

Figure 2 is a schematic view of a vehicle, with a

A method according to a first embodiment of the invention has been parked,

Figure 3 is a schematic view of a vehicle, with a

A method according to a second embodiment of the invention has been parked, a schematic view of a vehicle, which was parked with a method according to a third embodiment of the invention,

Figure 5 is a schematic view of an arrangement according to

Embodiment of the invention, and FIG. 6 is a schematic view of a flowchart of the FIG

Method according to the second embodiment of the invention.

Embodiments of the invention

FIG. 2 schematically shows a vehicle 1 parked in a parking area 2. The vehicle 1 has an arrangement 14 according to an exemplary embodiment of the invention, wherein the arrangement 14 can automatically park the vehicle 1.

The assembly 14 is shown in FIG. The assembly 14 includes a

Control unit 1 1, wherein the control unit 11 is connected for signal transmission with an environmental sensor 12, an indoor monitoring sensor 13 and a display device 15. The display device 15 comprises a display on which hints can be output. The environment sensor 15 preferably comprises an imaging sensor for detecting and measuring an environment of the vehicle 1. The interior monitoring sensor 13 comprises a seat pressure sensor, with which it can be detected whether occupants are located on the seats of the vehicle 1.

In explaining the method according to the invention, reference is made to FIG. In this is a flow chart of the invention

Process according to a second embodiment shown. If the last two steps of the method according to the second exemplary embodiment of the invention are not carried out, then the method corresponds to the first one

Embodiment of the invention.

The parking area 2 is bounded by boundaries 7, wherein the

Limitations 7 are in particular markings on a substrate. In a first step, detection 100 of the parking area 2 takes place by means of

Environment sensors of the vehicle 1. In this case, the parking area 2 as the

Parking valued appropriately. Furthermore, there is only one occupant 8 within the vehicle 1. The only occupant 8 of the vehicle 1 is the driver of the vehicle 1. A determination 200 of the occupancy of the vehicle 1 by occupant 8 thus results in that only the driver within the

Vehicle 1 is present. Thus, only for a vehicle door on the Driver side of the vehicle 1 increases a probability value for an opening, for all other vehicle doors 5, this value is low. This results in a determination 300 of a parking position 4 of the vehicle 1 within the parking area 2 such that a passenger side 9 of the vehicle 1 is arranged close to one of the boundaries 7 of the parking area 2. To this

Way, the vehicle door 5, for the opening of which a high probability value has been determined, is arranged within the parking area 2 such that a distance between the vehicle door and one of the boundaries 7 of the vehicle door

Parking area 2 is maximized.

As can be seen from FIG. 2, the selected parking position 4 permits complete opening of the vehicle door 5, as a result of which the entire pivoting region 6 of the vehicle door 5, which must be pivoted through to open the vehicle door 5, lies inside the parking area 2. A collision of the vehicle door 5 with another vehicle or another element that limits the parking area 2 is thus excluded. This prevents on the one hand that the vehicle door 5 is damaged by such collisions, on the other hand, a comfortable getting in to the vehicle 1 and leaving the vehicle 1 by the occupant 8 is possible.

FIG. 3 schematically shows a vehicle 1 parked by a method according to a second exemplary embodiment of the invention. in the

In contrast to Figure 2 is located within the parking area 2, an additional obstacle 3 in the form of a post. In this case, all the steps of the first embodiment are carried out as described above, wherein before performing an automated parking operation, a step of

Detecting 400 takes place that at the selected parking position 4, a vehicle door 5 can not be fully opened without colliding with the obstacle 3. The vehicle door 5 preferably has an elevated

Probability value for opening. Subsequently, an output is made

400 of an indication to the driver that there is a risk of a collision between the vehicle door 5 and obstacle 3. Thus, the driver is informed that within the swivel range 6 of the vehicle door 5, the obstacle 3 is located. The driver of the vehicle 1 is thus required to make opening the vehicle door 5 careful to avoid damage to the vehicle door 5 by collision with the obstacle 3. Alternatively, the driver of the vehicle 1 is requested to leave the vehicle 1 before performing the automated parking procedure and instead to initiate an autonomous parking procedure. In this case, the vehicle 1 is automatically parked, that means without the driver's help, whereby the driver can leave the vehicle 1 before parking. Thus, a necessary opening of the vehicle door 5 is avoided within the parking position 4.

FIG. 4 shows a vehicle 1 parked according to a method according to a third exemplary embodiment of the invention. The third

Embodiment is in particular substantially identical to the first

Embodiment. FIG. 4 differs from FIG. 3 such that the particular parking area 2 is larger. Thus, can be within the parking area

2 determine a parking position 4, which allows opening of the vehicle door 5, without the obstacle 3 is within the pivoting range 6. Thus, in addition to the steps of the method according to the first

Embodiments described with reference to FIG. 2 carry out the following step: Since it is determined that only the vehicle door 5 on the driver's side has a high probability value for an opening, the parking position 4 within the parking area 2 is selected such that the swivel range 6 of the vehicle door 5 is free of the obstacle 3. The obstacle

3 thus does not disturb the opening of the vehicle door 5. Rather, the parking position 4 is selected such that the obstacle 3 is in the vicinity of such vehicle doors, which have a low probability value for the opening. Thus, in turn, damage to the driver's door 5, with a high

Probability value is opened, avoided by collision with the obstacle 3. At the same time a comfortable boarding and disembarking of the occupants 8 is guaranteed.

In a further embodiment, a driver request is preferably queried whether vehicle doors 5 or in particular a trunk 10 of the

Vehicle 1 must be achieved. Alternatively or additionally, a load detection of the trunk 10 of the vehicle 1 can take place. On the basis of the driver's request and / or the load detection is done selecting the parking position 4 within the parking area 2 to allow opening of the desired by the driver vehicle door 5 and / or the trunk 10 of the vehicle 1. In the exemplary embodiments described, the boundaries 7 were assumed to be markings on a substrate. It is also possible that the boundaries 7 represent other vehicles, curbs or other obstacles. In particular, in the case where the boundary 7 is another vehicle, it is also preferable to have a parking position 4 within the vehicle

Park area selected such that a distance to the other vehicle is maximized. Thus, the vehicle 1 is also present in particular

Damage protected when in the limiting vehicle 7 acting vehicle is a boarding or disembarking passengers. This ensures that damage to the vehicle 1 by opening doors of acting as a boundary 7 further vehicle are avoided.

Claims

claims

A method of assisting a driver of a vehicle (1),

comprising the steps:

- Detecting (100) a parking area (2) for parking the

Vehicle (1) is suitable,

- Determining (200) occupancy of the vehicle (1) by inmates (8) and

- Determining (300) a parking position (4) within the parking area (2) in dependence on the determined occupancy of the vehicle (1).

2. The method according to claim 1, characterized in that based on the determined occupancy of the vehicle (1) a probability value for each vehicle door (5) of the vehicle (1) is determined, with which the vehicle door (5) will be opened.

3. The method according to claim 2, characterized in that the

Parking position (4) is selected such that a distance between such a vehicle door (5) having a high probability value for the opening to a limit (7) of the parking area (2) is maximized.

4. The method according to claim 2 or 3, characterized in that the

Parking position (4) is selected such that a pivot region (6) of such a vehicle door (5) having a high probability value for the opening, free of obstacles (3).

5. The method according to any one of the preceding claims, characterized

characterized in that the parking area (2) by at least one

Limit (7), in particular by at least two boundaries (7) is limited.

6. The method according to claim 5, characterized in that the

Limit (7) is another vehicle, wherein the parking position (4) in such a way it is chosen that a distance between the vehicle (1) and the other vehicle is maximized.

A method according to claim 5, characterized in that the

Limit (7) is another vehicle, wherein a position of a vehicle door, in particular a driver's door of the other vehicle is detected, and wherein determining (300) the parking position (4) within the parking area (2) in addition depending on the detected position of Vehicle door of the other vehicle is done.

Method according to one of the preceding claims, characterized by the steps:

- determining (400) that at the particular parking position (4) at least one vehicle door (5) can not be fully opened, and

- Issuing (500) an indication thereof to at least one occupant of the vehicle (1).

A method according to claim 8, characterized in that the output of the hint to the driver of the vehicle (1) takes place and / or includes a request to leave the vehicle (1) and a

to initiate an autonomous parking process.

A computer program product comprising program code stored on a machine-readable medium for carrying out the method described above when the computer program product is run on a computing device.

Arrangement (1 1) for a vehicle (1) comprising a control unit (14) and at least one environmental sensor (12), at least one

Interior monitoring sensor (13) and at least one output unit (15), which are connected to the control unit (14) for signal transmission, wherein the arrangement (1 1) for carrying out the method according to one of claims 1 to 9 and / or for executing the program code of Computer program product according to claim 10 is formed.