WO2018177702A1

WO2018177702A1 - Parking assist system and method and a vehicle equipped with the system

Info

Publication number: WO2018177702A1
Application number: PCT/EP2018/055543
Authority: WO
Inventors: Shuai TANG; You LV; Aiyan ZHANG; Duo SUN
Original assignee: Audi Ag
Priority date: 2017-03-10
Filing date: 2018-03-07
Publication date: 2018-10-04
Also published as: CN108583568A; WO2018177702A9

Abstract

The present disclosure discloses a parking assist system and method and a vehicle equipped with the system. The method comprises: evaluating, at least partially based on sensor data regarding the at least one other vehicle, collisions of doors between the vehicle and the at least one other vehicle; determining, in response to evaluated collisions of doors, if at least some of the collisions can be avoided by adjusting posture of the vehicle; and taking an action based on the determination. Collisions between parked vehicles may thus be used and a driver may easily get on or off the vehicle.

Description

PARKING ASSIST SYSTEM AND METHOD AND A VEHICLE EQUIPPED

WITH THE SYSTEM

FIELD OF THE INVENTION

The present disclosure relates to automobile field, and more specifically, to a parking assist system for a vehicle and method thereof, and a vehicle equipped with the system.

BACKGROUNGD OF THE INVENTION

It may be difficult to properly park a vehicle in a public parking facility (e.g., a parking lot or an underground garage) when there has been other vehicles in adjacent spaces.

The driver may first have to determine if size of a parking space is appropriate. For example, the driver may attempt to estimate if the space is wide enough to accommodate his vehicle. The estimation mainly relies on his experience and may not be accurate. Moreover, the parking operation may still not be an easy task even for a space wide enough to accommodate the vehicle. For example, the vehicle may be so close to its neighbor that the driver will find it inconvenient to get on or off, or the vehicle may scratch with its neighbor during the process of entering or leaving the space. In addition, a collision between a door of one vehicle and boundary of another may occur, which may be referred to as a "collision of door" herein.

SUMMARY OF THE INVENTION

Embodiments of the present disclosure are provided for addressing the above discussed issues. Indeed, embodiments of the present disclosure present a parking assist system and method, which may reduce collisions of doors between adjacently parked vehicles. The following presents a simplified summary of one or more aspects of the present disclosure, in order to provide a basic understanding of such aspects.

In one exemplary embodiment of the present disclosure, a method for parking a vehicle in a space defined by at least one other vehicle is provided, comprising: evaluating, at least partially based on sensor data regarding the at least one other vehicle, collisions of doors between the vehicle and the at least one other vehicle; determining, in response to evaluated collisions of doors, if at least some of the collisions can be avoided by adjusting posture of the vehicle; and taking an action based on the determination.

Optionally, evaluating collisions of doors between the vehicle and the at least one other vehicle comprises simulating, in a normal parking mode, the collisions of doors prior to the parking process.

Optionally, evaluating collisions of doors between the vehicle and the at least one other vehicle comprises evaluating a collision between a cockpit door of one vehicle and a boundary of another vehicle.

Optionally, evaluating collisions of doors between the vehicle and the at least one other vehicle comprises: obtaining a distance between a door of one vehicle and a boundary of another vehicle based on the sensor data; and evaluating, based on the distance, if the door of one vehicle will be blocked by the boundary of another vehicle when it is opened.

Optionally, obtaining the distance between a door of one vehicle and the boundary of another vehicle comprises: recognizing a shapes, orientation, and yaw angle of each vehicle; determining a position of the door of the vehicle based on the recognition; and obtaining the distance between the parked vehicle and the target vehicle at the position of the door.

Optionally, recognizing the orientation of the at least one other vehicle comprises: recognizing the shape of the at least one other vehicle based on the sensor data captured by a ultrasonic sensor and/or a laser sensor, or recognizing the appearance of the head or rear of the at least on other vehicle from images captured by an image sensor.

Optionally, taking an action comprises one or more of: providing a visual or acoustic indication for the driver to adjust the posture of the target vehicle; assisting the driver to adjust the posture of the vehicle by steering the vehicle, braking or controlling a gas pedal of the vehicle; and informing the driver to find another space in response to a determination that the collisions cannot be avoided.

Optionally, adjusting posture of the vehicle comprises adjusting one or more of: position, yaw angle, and orientation of the vehicle.

In another exemplary embodiment, a parking assist apparatus for parking a vehicle in a space defined by at least one other vehicle is provided, comprising: a detection unit for detecting sensor data regarding the at least one other vehicle; an evaluation unit for evaluating, based on the sensor data, collisions of doors between the vehicle and the at least one other vehicle; a prediction unit for determining, in response to evaluated collisions of doors, if at least some of the collisions of doors can be avoided by adjusting posture of the vehicle; and an action unit for taking an action based on the determination.

In yet another exemplary embodiment, a parking assist system for parking a vehicle in a parking space defined by at least one other vehicle is provided, comprising: one or more sensors for detecting sensor data regarding the at least one other vehicle; and a processor, configured to: evaluate, based on the sensor data, collisions of doors between the vehicle and the at least one other vehicle; determine, in response to evaluated collisions of doors, if at least some of the collisions can be avoided by adjusting posture of the vehicle; and cause the vehicle to take an action based on the determination.

In further exemplary embodiments of the present disclosure, a vehicle equipped with the system described above is provided.

According to some embodiments of the present disclosure, potential collisions of doors are predicted, and an action may be taken to avoid at least some of the collisions by adjusting posture of the vehicle. Collisions between parked vehicles may thus be used and a driver may easily get on or off the vehicle.

BRIEF DESCRIPTION OF THE DRAWINGS

To illustrate the technical solutions in the embodiments of the present disclosure clearly, a brief introduction to the accompanying drawings which are needed in the description of the embodiments is given below. Apparently, the accompanying drawings described below are some embodiments of the present disclosure, based on which other drawings can be obtained by the persons of ordinary skills in the art without any inventive efforts.

Fig. 1 is a block diagram illustrating an exemplary vehicle wherein one or more aspects of the present disclosure may be implemented.

Figs. 2A-2D are schematic diagrams illustrating several exemplary scenes wherein one or more aspects of the present disclosure may be employed.

Fig. 3 illustrates a method for parking a vehicle according to an embodiment of the present disclosure.

Fig. 4 is block diagram illustrating an apparatus for parking a vehicle according to an embodiment of the present disclosure.

DETAILED DESCRIPTION OF THE INVENTION

The Detailed Description set forth below in connection with the appended drawings is intended as a description of various configurations and is not intended to represent the only configurations in which the concepts and features described herein may be practiced. The following description includes specific details for the purpose of providing a thorough understanding of various concepts. However, it will be apparent to those skilled in the art that these concepts may be practiced without these specific details.

As described above, it may be difficult to properly park a vehicle in a limited space, for example, a parking space with adjacent spaces occupied in public facilities such as a parking lot or underground garage.

Take a parking process for example. In some embodiment, although the vehicle may be smoothly driven into the space, the position it stands may be so close to an adjacent vehicle that a door of either vehicle may not be fully opened for the driver to get on or off easily. The driver may thus have to estimate the size of the space before a parking process initiates.

As used herein, the vehicle to be parked may be referred to as a "target vehicle", and the vehicle in an adjacent space of the target vehicle may be referred to as an "other vehicle".

In addition, when the vehicle is being driven into the space, the driver may not be able to have an accurate evaluation on a distance between the target vehicle and the other vehicle due to occlusions by some components, such as a window pillar or door. The parking operation will be more challenging if a vehicle in adjacent space is irregularly arranged (e.g., with a displacement in longitudinal or transverse direction, or a yaw angle). Repeated attempts may be needed to find a proper position for the target vehicle. A collision or scratch between a door of one vehicle with a boundary of another vehicle may occur if the driver neglected the problem described above.

Embodiments of the disclosure are directed to provide a parking assist system for parking a vehicle in a space defined by at least one other vehicle. Collisions of doors between the vehicles may be reduced by the system.

Various concepts presented throughout this disclosure may be implemented in a variety of vehicles, including sport cars, passenger vehicles, sport utility vehicles (SUVs), hybrid electric vehicles (HEVs), battery electrical vehicles, trucks, and so forth. However, those of ordinary skills in the art will appreciate that these are merely provided for the purpose of illustration, and one or more aspects of the present disclosure may be employed and included in one or more other types of vehicles.

Within the context of the disclosure, the vehicle could be operable in various mode of operation. Depending on embodiments, such modes of operation may include manual, semi-autonomous, and autonomous modes. In autonomous mode, the vehicle may be driven with little or no user interaction. In the manual and semi-autonomous modes, the vehicle could be driven entirely and partially, respectively, by a user.

Some aspects of the disclosure could be carried out in part or in full by a vehicle configured to operate in an autonomous mode with or without external interaction. In one such example, the vehicle may predict potential collisions of doors and attempt to avoid some of the collisions by adjusting its posture.

Fig. 1 is a block diagram illustrating an exemplary vehicle wherein one or more aspects of the present disclosure may be implemented. As shown in Fig. 1, in some embodiments, the vehicle 10 may comprise a sensor assembly 11, and a processing system 12. In further embodiments, as will be described in below, the vehicle 10 may also comprise a peripheral assembly 13, and a control mechanism 14. It is appreciated that the vehicle 10 is only an instance of a system wherein one or more aspects of the disclosure may be implemented, and may have more or fewer components than shown, or a different configuration of components.

The processing system 12 may comprises a memory 122 and a processor 221. The memory 122 may be a volatile memory such as random access memory (RAM), static RAM (SRAM), dynamic RAM (DRAM); or a nonvolatile memory such as read only memory (ROM), flash memory, magnetic disk or photoelectric storage; or a combination thereof. The memory 122 is configured to store program instructions executable by the processor 121. In addition to the instructions, the memory 222 may also store information regarding the vehicle itself, such as position and size of a door of the vehicle.

The processor 121 may be a general purpose processor such as central processing unit (CPU), MCU, or digital signal processor (DSP), configured to implement a part or all of the functions described herein by executing instructions stored in the memory 122. In addition or alternatively, the processor 121 may also include programmable devices such as application specific integrated circuit, or field programmable gate array (FPGA) device. In embodiments of the present disclosure, as will be described below, the processor 221 may generate a visual representation for road condition in blind areas 103 based on sensor data captured by the sensor assembly 21.

The sensor assembly 11 may comprise one or more of an image sensor 111, a radar sensor 112, an ultrasonic sensor 113, and a laser sensor 114.

The image sensor 111 may be used to capture images of the vehicle's surroundings. In an exemplary arrangement, the image sensor 111 may include a camera, a video camera, or a combination thereof, installed on various places of the vehicle. As an example, the image sensor 111 may comprise a front camera placed on the front end of the vehicle, a top camera placed on the top of the vehicle, and cameras placed on back end or sides of the vehicle. These cameras may be used to capture images of roads in various directions. Like the image sensor 111 , the radar sensor 112 and the ultrasonic sensor 113 may also be arranged on various parts of the vehicle. In an exemplary arrangement, the radar sensor 112 and the ultrasonic sensor 113 may be respectively placed on one side of the vehicle to detect distances from other adjacent vehicles.

The peripheral assembly 13 may be configured to allow the vehicle 10 to interact with other vehicles, the driver, and other facilities. The peripheral assembly 13 may include, for example, a user interface 131, a communication interface 132, a speaker 133, and a microphone 134.

The user interface 131 may include a display used to provide visual presentation to the driver. In some embodiments, the display may be a touch sensitive screen capable of receiving user input based on tactile contact. The contact received is then transformed into interaction with one or more objects displayed on the touch sensitive screen. The speaker 133 may be used to provide a speech notification to the driver. The microphone 134 may receive a speech command from the driver. In some embodiments, the autonomous mode of the vehicle may be activated upon a touch interaction or a speech command.

The control mechanism 14 is used to control the steering of the vehicle. Exemplary control mechanism 14 may include a steering unit, a throttle, a braking unit, and a navigation system. For simplicity, these components are not shown in Fig. 1.

Referring now to Figs. 2A-2B, wherein an exemplary scene in which embodiments of the disclosure may be employed is illustrated. The scene may involve a target vehicle 201 and other vehicles 202 and 203. It is desired now to park the target vehicle 201 in a space 204 defined by vehicles 202 and 203. For simplicity, only collisions of cockpit doors between vehicles 201, 202, and 203 are considered. It is appreciated that, depending on practical situations, the approach described herein may also apply to collisions of other doors. In one scene, as shown in Fig. 2A, the vehicles 202 and 203 have orientations in opposite directions and cockpit doors 205 and 206 facing the space 204.

Fig. 2 A illustrates a normal parking mode. In this mode, the vehicle 201 moves into the space 204 in a longitudinal direction. It can be seen that, the vehicle 201 may be close to both vehicle 202 and vehicle 203 due to a limited dimension of the space 204. When a cockpit door of any of vehicles 202, 203 and 204 is opened, it may collide with a boundary of its neighbor.

Fig. 2B illustrates a parking operation according to an embodiment of the disclosure. When the vehicle 201 moves into the space 204, a distance between the vehicle 201 and vehicle 202 (or vehicle 203) may be detected by a sensor assembly installed on the vehicle 201. The sensor assembly 201, as described above, may include one or more of an image sensor, a radar sensor, a laser sensor, and an ultrasonic sensor. Processing system of the vehicle 201 may evaluate if a collision of a cockpit door will occur based on the distance. As shown in Fig. 2B, in response to an evaluated collision, the yaw angle of the vehicle 201 may be adjusted, such that the vehicle 201 may have a certain angle relative to the longitudinal direction of the space 204. As a result, the distance between the vehicle 201 and the vehicle 202, as well as the distance between the vehicle 201 and the vehicle 203 are both increased. Risk of collisions of doors is thus reduced.

Figs. 2C-2D illustrate another scene wherein the vehicle 202 and vehicle 203 have the same orientation. A cockpit door 205 of the vehicle 202 faces toward the space 204, and a cockpit door 206 of the vehicle 203 faces outwardly from the space 204. In Fig. 2C, the vehicle 201 moves forwardly into the space. As such, cockpit doors of the vehicle 201 and the vehicle 202 (or vehicle 203) may be blocked when opened. The collisions can only be avoided when there are enough spaces left on both sides of the vehicle 201.

Referring now to Fig. 2D, in embodiments, processor of the vehicle 201 may determine that the vehicle 202 and the vehicle 203 have the same orientation, and thus choose a proper orientation for the vehicle 201. As shown in Fig. 2D, in response to recognition of the orientations of the vehicle 202 and 203, the vehicle 201 may be driven backwardly into the space 204, such that the vehicle 201 has an opposite orientation relative to other vehicles on both sides. As a result, the cockpit door of the vehicle 201 and the cockpit 205 of the vehicle 202 now face each other, while the cockpit door 206 faces outwardly from the space 204. The vehicle 201 may be now parked at a position closer to the vehicle 203 than the vehicle 202, because no collisions of cockpit doors will occur between the vehicle 201 and the vehicle 203. A sufficient distance between the vehicle 201 and the vehicle 202 may thus be ensured such that any cockpit door can be fully opened.

In some embodiments, a shape of the vehicle 203 (or vehicle 202) may be recognized based on sensor data captured by an ultrasonic sensor and/or a laser sensor on the vehicle 201. Based on a recognized shape, orientation of the vehicle 203 may then be determined. In addition or alternatively, the orientation may also be determined by recognizing appearance of a head or rear of the vehicle 203 from images captured by one or more image sensors (e.g., a camera) installed on the vehicle 201. The recognition may be implemented by using computer vision or pattern recognition technology, the process of which is well known to those skilled in the art and thus details thereof are omitted in order not to unnecessarily obscure the present disclosure.

A collision of door (e.g., a cockpit door) may be evaluated based on a distance between a door of one vehicle and a boundary of another vehicle. Depending on its type or model, however, the target vehicle may have a door with varying size or position. In addition, depending on orientations and/or yaw angles of the target vehicle and at least one other vehicle (e.g., the vehicle 202), the distance between the door and the boundary may also vary.

In an embodiment of the disclosure, obtaining the distance between a door of one vehicle and the boundary of another vehicle comprises: recognizing shape, orientation, and yaw angle of each vehicle; determining a position of the door of the vehicle based on the recognition; and obtaining the distance between the parked vehicle and the target vehicle at the position of the door.

In addition or alternatively, the evaluation of collisions of doors may also be carried out before a parking process. Such an evaluation may be obtained by simulating the parking process based on sensor data (e.g., size of the parking space defined by other vehicles, orientation or shape of each vehicle) captured by various sensors. In one embodiment, a simulation is performed in normal mode prior to the parking process.

Fig. 3 illustrates a method for parking a vehicle according to an embodiment of the present disclosure. The method 300 may be implemented on the vehicle 10 described with reference to Fig. 1. The method 300 comprises:

In step 301, evaluating, at least partially based on sensor data regarding the at least one other vehicle, collisions of doors between the vehicle and the at least one other vehicle.

In some embodiments, the sensor data comprises images of the at least one another vehicle captured by an image sensor, and data from one or more of an ultrasonic sensor, a radar sensor, and a laser sensor.

In some embodiments, the sensor data is captured prior to a parking process. In addition, the parking process may be simulated in a normal parking mode before it occurs.

In some embodiments, collision of a particular door, such as a cockpit door, is evaluated.

In response to evaluated collisions of doors, in step 302, it is determined if at least some of the collisions can be avoided by adjusting posture of the vehicle.

In some embodiments, it is determined if distance before a target vehicle and another vehicle may be increased by adjusting yaw angle. In addition or alternatively, the step 302 comprises determining if collisions of doors may be avoided by adjusting position of the target vehicle.

In some embodiments, a cockpit door may be given a higher priority than other doors.

In some embodiments, a door corresponding to a seat with a passenger may be given a high priority. The passenger may be detected by a seat sensor or an internal camera. The process of such detection is well known to those skilled in the art and thus details thereof are omitted

In response to a determination that the collisions cannot be reduced, in step 303, informing the driver to find another space. In response to a determination that some of the collisions can be reduced, in step 304, a visual or acoustic indication is provided for the driver to adjust the posture of the target vehicle. In some embodiments, a visual representation for the target vehicle and other vehicles may be generated and presented on a screen. In the visual representation, a recommended position, orientation, and yaw angle may also be provided. In other embodiments, notifications "turn the vehicle to the left" or "please drive backward into the space and keep left" may be provided through a speaker.

In addition or alternatively, in step 304, adjusting posture of the vehicle may be performed by steering the vehicle, braking, or controlling a gas pedal of the vehicle.

Fig. 4 is a block diagram illustrating a parking assist apparatus according to an embodiment of the present disclosure. As shown in Fig. 4, the apparatus 400 comprises a detection unit 41, an evaluation unit 42, and a prediction unit 43, and an action unit 44. The apparatus 400 may be a software entity, a hardware entity, or a combination thereof. It may be included in the vehicle 10 described with reference to Fig. 1. Alternatively or in addition, the apparatus 400 may be an entity or application executed by the processing system 12.

The detection unit 41 may be configured to detect sensor data regarding the at least one other vehicle.

In some embodiments, the sensor data comprises images regarding the another vehicle and/or distances to another vehicle.

The evaluation unit 42 may be configured to evaluate, based on the sensor data, collisions of doors between the vehicle and the at least one other vehicle.

In some embodiments, the evaluation unit 42 may evaluate a collision between a cockpit door of one vehicle and a boundary of another vehicle. The evaluation unit 42 may obtain a distance between a door of one vehicle and a boundary of another vehicle based on the sensor data; and evaluate, based on the distance, if the door of one vehicle will be blocked by the boundary of another vehicle when it is opened.

The prediction unit 43 may be configured to determine, in response to evaluated collisions of doors, if at least some of the collisions of doors can be avoided by adjusting posture of the vehicle. Adjusting posture of the vehicle comprises adjusting one or more of: position, yaw angle, and orientation of the vehicle.

The action unit 44 may be configured to take an action based on the determination.

In a manual mode, the action unit 44 may be used to provide a visual or acoustic indication for the driver to adjust the posture of the target vehicle. In an autonomous mode, the action unit 44 may assist the driver to adjust the posture of the vehicle by steering the vehicle, braking, or controlling a gas pedal of the vehicle.

Those skilled in the art may understand that the units in the device disclosed herein may be distributed in the device of the embodiments, and may also be varied to be located in one or more devices different from those of the embodiments. The units of the above embodiments may be integrated into one unit or may be further divided into multiple sub-units.

While the present disclosure has been described in connection with what is considered the most practical and preferred embodiment, it is understood by those skilled in the art that this limitation is not limited to the disclosed embodiment but is intended to cover various arrangements included without departing from the scope of the broadest interpretation so as to encompass all such modifications and equivalent arrangements.

Claims

What is claimed is:

1. A method for parking a vehicle in a space defined by at least one other vehicle, comprising:

evaluating, at least partially based on sensor data regarding the at least one other vehicle, collisions of doors between the vehicle and the at least one other vehicle; determining, in response to evaluated collisions of doors, if at least some of the collisions can be avoided by adjusting posture of the vehicle; and

taking an action based on the determination.

2. The method of claim 1, wherein, evaluating collisions of doors between the vehicle and the at least one other vehicle comprises simulating, in a normal parking mode, the collisions of doors prior to the parking process.

3. The method of claim 1, wherein, evaluating collisions of doors between the vehicle and the at least one other vehicle comprises evaluating a collision between a cockpit door of one vehicle and a boundary of another vehicle.

4. The method of claim 1-3, wherein, evaluating collisions of doors between the vehicle and the at least one other vehicle comprises:

obtaining a distance between a door of one vehicle and a boundary of another vehicle based on the sensor data; and

evaluating, based on the distance, if the door of one vehicle will be blocked by the boundary of another vehicle when it is opened.

5. The method of claim 4, wherein, obtaining the distance between a door of one vehicle and the boundary of another vehicle comprises:

recognizing a shape, orientation, and yaw angle of each vehicle;

determining a position of the door of the vehicle based on the recognition; and obtaining the distance between the vehicle and the other vehicle at the position of the door.

6. The method of claim 5, wherein, recognizing the orientation of the at least one other vehicle comprises:

recognizing the shape of the at least one other vehicle based on the sensor data captured by a ultrasonic sensor and/or a laser sensor; or

recognizing the appearance of the head or rear of the at least on other vehicle from images captured by an image sensor.

7. The method of claim 1, taking an action comprises one or more of:

providing a visual or acoustic indication for the driver to adjust the posture of the target vehicle;

assisting the driver to adjust the posture of the vehicle by steering the vehicle, braking, or controlling a gas pedal of the vehicle; and

informing the driver to find another space in response to a determination that the collisions cannot be avoided.

8. The method of claim 7, wherein, adjusting posture of the vehicle comprises adjusting one or more of: position, yaw angle, and orientation of the vehicle.

9. A parking assist apparatus for parking a vehicle in a space defined by at least one other vehicle, comprising:

a detection unit for detecting sensor data regarding the at least one other vehicle; an evaluation unit for evaluating, based on the sensor data, collisions of doors between the vehicle and the at least one other vehicle;

a prediction unit for determining, in response to evaluated collisions of doors, if at least some of the collisions of doors can be avoided by adjusting posture of the vehicle; and

an action unit for taking an action based on the determination.

10. A parking assist system for parking a vehicle in a parking space defined by at least one other vehicle, comprising:

one or more sensors for detecting sensor data regarding the at least one other vehicle; and

a processor, configured to:

evaluate, based on the sensor data, collisions of doors between the vehicle and the at least one other vehicle;

determine, in response to evaluated collisions of doors, if at least some of the collisions can be avoided by adjusting posture of the vehicle; and

cause the vehicle to take an action based on the determination.

11. The system of claim 10, wherein the processor is further configured to simulate, in a normal parking mode, the collisions of doors prior to the parking process.

12. The system of claim 10, wherein the processor is further configured to:

obtain the distance between a door of one vehicle and the boundary of another vehicle based on the environment data; and

evaluate based on the distance if the door of one vehicle will be blocked by the boundary of another vehicle when it is opened.

13. The system of claim 10, wherein the processor is further configured to cause the vehicle to adjust one or more of: position, yaw angle, and orientation of the vehicle.

14. The system of claim 10, wherein the sensors comprise one or more of: a laser sensor, an ultrasonic sensor, and an image sensor.

15. A vehicle, comprising the system of any of claims 10-14.