WO2020193490A1 - Procédé et système d'aide à la conduite pour aider un conducteur d'un véhicule lors d'une manœuvre de stationnement dans une place de stationnement en créneau - Google Patents

Procédé et système d'aide à la conduite pour aider un conducteur d'un véhicule lors d'une manœuvre de stationnement dans une place de stationnement en créneau Download PDF

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Publication number
WO2020193490A1
WO2020193490A1 PCT/EP2020/058042 EP2020058042W WO2020193490A1 WO 2020193490 A1 WO2020193490 A1 WO 2020193490A1 EP 2020058042 W EP2020058042 W EP 2020058042W WO 2020193490 A1 WO2020193490 A1 WO 2020193490A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
parking space
parallel parking
parking
parallel
Prior art date
Application number
PCT/EP2020/058042
Other languages
German (de)
English (en)
Inventor
Carolin Eckard
Sven KNUEFER
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 WO2020193490A1 publication Critical patent/WO2020193490A1/fr

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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

Definitions

  • the invention relates to a method for assisting a driver with one
  • Modern vehicles are equipped with a large number of driver assistance systems that support the driver of the vehicle in performing various driving maneuvers.
  • assistance systems are known which support the driver of a vehicle when parking and, if necessary, when pulling out of a parking space.
  • automatic and semi-automatic systems In the case of automatic systems, the driving maneuver to be carried out is automatically performed by the driver assistance system both with regard to longitudinal guidance, that is to say the acceleration and braking of the vehicle, and with regard to the
  • the driver of the motor vehicle either performs the longitudinal guidance and the lateral guidance is taken over by the driver assistance system, or the driver takes over the lateral guidance and the driver assistance system performs the
  • ultrasonic sensors are usually used, which detect possible parking spaces when the vehicle is driving past.
  • An example of such sensors are ultrasonic sensors that are aligned to the side of the vehicle.
  • the driving maneuvers to be carried out are designed in such a way that the method can also be carried out when the motor vehicle is already partially immersed in the perpendicular parking space.
  • the parking maneuver can also be carried out without driving past the parking space beforehand.
  • a method for operating a vehicle is known from DE 10 2014 016 237 A1, with environmental data of the surroundings of the vehicle being recorded when the vehicle approaches a parking position. After activation of the driver or after identification of a predetermined zone, environmental data are recorded and stored, a three-dimensional map of the surroundings being created from the stored data. It is also provided to determine at least one possible trajectory for approaching a parking position and to display it in the three-dimensional map.
  • a parking function can also be offered if the vehicle's sensors cannot see all areas.
  • the disadvantage of the known method for assisting a driver with a parking maneuver in a parallel parking space is that they can only support the driver when he has already driven past the parallel parking space.
  • At least one environment sensor is used which is set up accordingly to detect an area in front of the vehicle when viewed in the normal direction of travel.
  • suitable environment sensors include radar sensors, lidar sensors, optical cameras and combinations of several of these environment sensors.
  • the vehicle also includes further sensors in addition to the at least one environment sensor, which is set up to detect parking spaces in front of the vehicle in the normal direction of travel. For example, can
  • Ultrasonic sensors can be provided with which objects and obstacles in the vicinity of the vehicle can be detected.
  • the identification of a parallel parking space in front of the vehicle preferably also includes the measurement of this parallel parking space, the position of the parking space, the size of the parking space and / or objects delimiting the parking space being determined in particular.
  • information on the orientation of the parking space is determined, so that parallel parking spaces can be distinguished from other parking spaces.
  • Longitudinal parking spaces are parking spaces that are oriented essentially parallel to a roadway, while perpendicular parking spaces are oriented essentially perpendicular, that is to say at an angle of 90 °, to the roadway.
  • Inclined parking spaces have an intermediate angle between the parking space and the roadway, which is, for example, 45 °.
  • the length of the parallel parking space is the extent of the parking space in a direction that is parallel to the roadway.
  • the depth of the parallel parking space is the extent of the parking space in a direction that is perpendicular to the roadway.
  • the threshold value used for the distinction is preferably predefined in a fixed manner, the specification being made in particular as a function of the model of the vehicle and in particular as a function of the length of the vehicle. Further criteria for specifying the threshold value are in particular the driving maneuvers possible with the respective vehicle, which are determined in particular by the smallest possible curve radius that can be driven with the vehicle.
  • Activation condition is met. At least one is preferred
  • Activation condition selected from a selection on an input device, releasing the steering wheel, guiding the vehicle into an activation area, a voice command and combinations of at least two of these
  • An activation area is understood to mean an area on the roadway from which the parallel parking space can be reached either in a single vehicle according to alternative a) or in several vehicles according to alternative b) and which is in front of the vehicle when viewed in the normal direction of travel. If the driver moves the vehicle into this activation area, automatic parking can then be started.
  • the specific activation area can be given to the driver, for example on a
  • Display device such as a screen, a head-up display or on a smart device carried by the driver such as a smartphone or tablet.
  • Activation conditions include that the vehicle is in the
  • the vehicle In the case of automatic parking, the vehicle is parked in a single vehicle according to the first alternative a) and in several vehicles according to the alternative b).
  • a vehicle is a driving maneuver that is carried out by the vehicle in one piece without changing direction and preferably without stopping. Requires at least one maneuver to be performed
  • Trajectory or a trajectory which is provided in the context of this method.
  • a movement of a vehicle along such a trajectory or trajectory is related to a reference point which is located, for example, in the center of the rear axle of the vehicle.
  • the automatic parking is configured semi-automatically and a driver of the vehicle takes over either the longitudinal guidance or the transverse guidance of the vehicle accordingly, whereby he receives appropriate instructions for this, which are generated within the scope of the method and with a suitable one
  • Output device are output.
  • the automatic parking depends on the length and depth of the vehicle
  • Parallel parking space and, if applicable, the starting position of the vehicle with reference to the parallel parking space, parking is provided in one train, in two trains or in more than two trains. If the parallel parking space is long enough to park forwards in a train, i.e. if the parallel parking space has a length above the specified threshold value, parking is carried out in a train in the forward direction, with the vehicle or the associated trajectory taking an S-shaped path describes. Thus, when the vehicle is executed, a reference point of the vehicle moves on an S-shaped trajectory.
  • the parking space is too short to park in a single vehicle, i.e. if the length of the parallel parking space is equal to or less than the specified threshold value, two or more vehicles are carried out.
  • the first vehicle is characterized in that the front of the vehicle is first maneuvered a little into the parallel parking space and then out again. This dangling makes it possible to achieve an advantageous yaw angle at the end of the first vehicle. In a subsequent second movement, the rear of the vehicle is maneuvered into the parallel parking space.
  • additional vehicles may be necessary to align the vehicle within the parking space parallel to a boundary such as a curb.
  • all-wheel steering of the vehicle is preferably used in at least one vehicle.
  • all-wheel steering not only the wheels of one axle of the vehicle, for example the front axle, can be steered, but the wheels of both axles of the vehicle, i.e. the wheels of the front axle and the rear axle.
  • An all-wheel steering of the vehicle used here is preferably set up in such a way that the steering angles for the front wheels and for the rear wheels, respectively
  • the single vehicle according to alternative a) or the first vehicle according to alternative b) is preferably made up of two arches with opposite curvatures
  • Parking maneuvers can be designed similar to the usual reverse parking in a parallel parking space.
  • the first vehicle of a maneuver consisting of several vehicles consists of a back-up, in which the reference point of the vehicle is guided on two arcs, the curvature of which has an opposite sign.
  • the first vehicle in alternative b) describes an S-shaped track.
  • the steering angles of the front and rear wheels point in opposite directions on both arcs, so opposite steering is carried out on both arcs.
  • the first vehicle of a multi-move maneuver does not lead the vehicle completely into the parking space, so that at the end of the first vehicle the rear is pointing in the direction of the parking space and the front protrudes from the parking space.
  • the vehicle In the case of a parallel parking space on the right edge of the lane, the vehicle then has a positive yaw angle, i.e. the vehicle is turned clockwise with respect to the road. From this position, the rear of the vehicle can easily be maneuvered into the parking space in the subsequent backward-running vehicle.
  • the at least one further vehicle is preferably designed as a curved arc through which the rear of the vehicle is guided into the parking space.
  • This arch leads the rear of the vehicle further into the parking space, arch shapes being preferred which lead the rear as deep as possible into the parking space.
  • the vehicle's reference point is on or near the final straight line within the parking space.
  • driving on this curve reduces the yaw angle of the vehicle so that the vehicle is less twisted in relation to the home straight at the end of the second vehicle than at the beginning of the second vehicle. If the length of the parking space permits, the vehicle will be at the end of the second
  • the final home straight runs parallel to a lateral boundary of the parallel parking space and is preferably located in the middle between the street and the lateral boundary.
  • a further aspect of the invention is the provision of a driver assistance system for supporting a driver of a vehicle during a parking maneuver in a parallel parking space.
  • the driver assistance system comprises at least one environment sensor for identifying parallel parking spaces in front of the vehicle as seen in the normal direction of travel, as well as a control unit. Furthermore, this is
  • Driver assistance system set up to carry out one of the methods described herein.
  • driver assistance system is designed or set up to carry out the method described herein, the features described in one of the methods apply accordingly to the driver assistance system and vice versa, the features described in the context of the driver assistance system apply accordingly to the method.
  • the vehicle is set up and / or designed accordingly to carry out the proposed method, so that features described in the context of the method apply accordingly to the vehicle and, conversely, features described in the context of the vehicle apply in reverse to the method.
  • the vehicle preferably has all-wheel steering in which the direction of the front wheels and the rear wheels can be set independently of one another.
  • a parking maneuver in a parallel parking space is carried out without the vehicle having to drive past the parallel parking space beforehand. If the parallel parking space is long enough, you can park forwards with just one vehicle. Should the vehicle be related to
  • parking can also be carried out in several vehicles, with the first vehicle of the maneuver being carried out in the forward direction.
  • Vehicle in an advantageous starting position to run over a backwards Vehicle to reach the parking space.
  • the vehicle In the intermediate position assumed, the vehicle is partly inside the parking space and partly outside the parking space, with at least part of the rear of the vehicle being inside the parallel parking space and the front of the vehicle initially partially protruding from the parallel parking space.
  • the method advantageously allows parking in the forward direction in a parallel parking space, so that parking is possible directly on arrival.
  • driver assistance system By combining the method with suitable activation conditions, for example releasing the driver's hands from a steering wheel, particularly intuitive use of the driver assistance system is also possible.
  • Figure 1 shows a vehicle with a driver assistance system according to the invention
  • FIG. 2 parking in a parallel parking space in a single vehicle
  • FIG. 3 shows a first vehicle of a vehicle comprising at least two vehicles
  • FIG. 4 shows a second vehicle of a parking maneuver with two vehicles
  • Figure 5a shows a second vehicle of a parking maneuver with three vehicles
  • FIG. 5b shows a third vehicle of a parking maneuver with three vehicles.
  • FIG. 1 shows a vehicle 10 with a driver assistance system 100
  • Driver assistance system 100 includes a control device 14 which is set up to perform automatic longitudinal guidance and automatic lateral guidance of vehicle 10. This is outlined in FIG. 1 by a connection to a steering wheel 16 and a pedal 18.
  • the driver assistance system 100 has an environment sensor 20 which is connected to the control device 14.
  • the environment sensor 20 is designed, for example, as a camera, a lidar sensor or a radar sensor.
  • a display device 15 is provided in the embodiment shown in FIG.
  • the display device 15 can display other or further information, such as, for example, that a suitable parallel parking space 30 has been identified.
  • the control unit 14 guides the vehicle 10 during automatic parking along a trajectory which is also determined by the control unit 14.
  • the position of the vehicle 10 on this trajectory is related to a reference point 12 which, in the example shown, is located in the center of the rear axle 13 of the vehicle 10.
  • FIG. 2 shows forward parking into a parallel parking space 30 which was previously identified by the vehicle 10 using the environment sensor 20, see FIG. 1.
  • the vehicle 10 is at an identification position 50 on a street 22.
  • the identified parallel parking space 30 is located on the right edge of the street 22 and is bounded to the rear by a first boundary 32 and to the front by a second boundary 34 and limited to the side by a lateral boundary 35.
  • the first delimitation 32 and the second delimitation 34 are, for example, further vehicles or other objects such as trees or posts.
  • the lateral boundary 35 is, for example, a curb.
  • a parking position 56 is determined within the parallel parking space 30 to which the vehicle 10 is to be guided.
  • the starting point for automatic parking is a starting position 52 which, depending on the variant of the method, can be identical to the identification position 50 or, if automatic parking is started later, is in front of vehicle 10 or in front of its reference point 12 as seen in the normal direction of travel 38 , see Figure 1.
  • the vehicle 10 is automatically guided to the parking position 56.
  • the parallel parking space 30 is on the right side of the road, so that, starting from the starting position 52, the front wheels of the vehicle 10 are initially deflected to the right and the rear wheels of the vehicle 10 are initially deflected to the left.
  • the vehicle 10 is now moving forward, the front of the vehicle entering the parallel parking space 30.
  • both the front wheels and the rear wheels are turned to the right.
  • the vehicle reference point 12 see FIG. 1, moves on an S-shaped trajectory.
  • the trajectory is composed of two arcs, each with opposite curvature, with the second arc where the front wheels and the
  • the steering angle can be selected to be different or the same.
  • the vehicle reference point 12 describes a straight path on this part of the trajectory.
  • the vehicle 10 At the end of the S-shaped single vehicle 54, the vehicle 10 reaches the parking position 56.
  • the parking position 56 is on a straight line 36 which runs parallel to the road 22 or parallel to the lateral boundary 35 and is preferably located in the middle between the road 22 and the lateral boundary 35.
  • FIGS. 3, 4, 5a and 5b a two-course parking maneuver and a three-course parking maneuver are sketched.
  • Figures 3, 4, 5a and 5b each show that Vehicle 10 which, starting from a street 22, parks in a parallel parking space 30 located on the edge of street 22.
  • the parallel parking space 30 is delimited to the rear by the first delimitation 32, to the front by the second delimitation 34 and to the side by the lateral delimitation 35.
  • a parking position 56 compare FIGS. 3 and 5b, is selected in such a way that it lies on a straight line 36.
  • the home straight 36 is in each case arranged parallel to the lateral boundary 35 or to the street 22 and is preferably placed in the middle between the street 22 and the lateral boundary 35.
  • FIG. 3 shows the execution of a first vehicle 58 in the case of a driving maneuver with at least two vehicles.
  • the execution of the first vehicle 58 proceeds in the same way, regardless of whether a two-course driving maneuver or a three-course driving maneuver is being carried out.
  • the vehicle 10 while it is at the identification position 50, recognizes the longitudinal parking space 30 in front of the vehicle 10 as seen in the normal direction of travel 38.
  • the length of the longitudinal parking space 30 is determined by a distance between the first delimitation 32 and the second limitation 34 and, in the example shown in FIG. 3, falls below a predetermined limit value. It is therefore not possible to park in the parallel parking space 30 in just a single vehicle 54.
  • the vehicle 10 first with a first vehicle 58, which is moved forward, in a favorable position for parking in the
  • an intermediate position 60 is determined and, starting from a starting position 52, which is either identical to the identification position 50 or is in front of the vehicle 10 or in front of its reference point 12 as seen in the usual direction of travel 38, an S-shaped first vehicle 58 is executed.
  • the parallel parking space 30 is on the right-hand side of the street, so that the first vehicle 58, starting from the starting position 52, begins with the front wheels being deflected initially to the right and the rear wheels initially to the left.
  • the vehicle 10 is now moving forward, the front of the vehicle moving in the direction of the parallel parking space 30. Then the front wheels are deflected to the left and the rear wheels to the right for the second arc.
  • the front of the vehicle 10 moves slightly away from the parallel parking space 30, but the rear of the vehicle 10 points in the direction of the parallel parking space 30.
  • the first vehicle 58 ends after the intermediate position has been reached 60, which represents an advantageous position for the start of the second vehicle 62, see FIG. 4.
  • FIG. 4 shows the execution of a second vehicle 62 in the case of a two-way parking maneuver.
  • the vehicle 10 is guided along the second vehicle 62 to the parking position 56, which is on the home straight 36.
  • the shape of a trajectory which is followed when the vehicle 10 executes the second vehicle 62 corresponds to a curved arc. It can be provided that the front wheels and rear wheels of the vehicle 10 are turned in the same direction.
  • a second vehicle 62 of a three-course parking maneuver is sketched in FIG. 5a. This runs analogously to the second vehicle 62 of the two-course driving maneuver described with reference to FIG. 4, the length of the parallel parking space 30 not being sufficient to align the vehicle 10 with the second vehicle 62 parallel to a lateral boundary 35 of the parallel parking space 30.
  • the second vehicle 62 ends at a further intermediate position 66.
  • Figure 5b shows the design of a third vehicle 64 of a three-train
  • the vehicle 10 is aligned parallel to the lateral boundary 35 and reaches the parking position 56, with which the parking maneuver ends.

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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 conçu pour aider un conducteur d'un véhicule (10) lors d'une manœuvre de stationnement dans une place de stationnement en créneau (30), des places de stationnement en créneau (30) étant identifiées par le véhicule (10) pendant la conduite. Selon l'invention, lors d'une première étape, une place de stationnement en créneau (30) se trouvant devant le véhicule (10), vu dans la direction de déplacement (38) habituelle, est identifiée, puis un stationnement automatique dans la place de stationnement en créneau (30) se trouvant devant le véhicule (10) est réalisé. Le stationnement s'effectue soit en une seule manœuvre (54), qui décrit une trajectoire en forme de S lorsque la place de stationnement en créneau (30) possède une longueur supérieure à un seuil prédéterminé, soit en plusieurs manœuvres. Une première manœuvre est alors réalisée le long d'une trajectoire en forme de S dans la direction avant de façon à ce que le véhicule (10) à la fin de la première manœuvre (58) pénètre dans la place de stationnement en créneau (30) avec sa partie arrière et que l'avant du véhicule (10) dépasse de la place de stationnement en créneau (30), puis au moins une autre manœuvre (62) est réalisée dans la direction arrière. D'autres aspects de l'invention concernent un système d'aide à la conduite conçu pour mettre en œuvre le procédé, ainsi qu'un véhicule comprenant le système d'aide à la conduite.
PCT/EP2020/058042 2019-03-26 2020-03-24 Procédé et système d'aide à la conduite pour aider un conducteur d'un véhicule lors d'une manœuvre de stationnement dans une place de stationnement en créneau WO2020193490A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102019204098.5A DE102019204098A1 (de) 2019-03-26 2019-03-26 Verfahren und Fahrerassistenzsystem zur Unterstützung eines Fahrers eines Fahrzeugs bei einem Einparkmanöver in eine Längsparklücke
DE102019204098.5 2019-03-26

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Cited By (3)

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CN113276842A (zh) * 2021-06-21 2021-08-20 上汽通用五菱汽车股份有限公司 车辆、车辆的泊车方法和计算机可读存储介质
CN114312757A (zh) * 2021-12-22 2022-04-12 华人运通(上海)自动驾驶科技有限公司 一种基于四轮转向的泊车规划方法、车辆
CN114701484A (zh) * 2022-03-24 2022-07-05 重庆长安汽车股份有限公司 窄通道场景泊车1d路径规划方法、系统、车辆及存储介质

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DE102021206771A1 (de) 2021-06-29 2022-12-29 Volkswagen Aktiengesellschaft Verfahren zum Ausgeben eines Startbereichs für einen Parkvorgang eines Kraftfahrzeugs, elektronische Recheneinrichtung sowie Kraftfahrzeug

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DE102016121632A1 (de) * 2016-11-11 2018-05-17 Valeo Schalter Und Sensoren Gmbh Verfahren zum zumindest semi-autonomen Einparken eines Kraftfahrzeugs in eine Parklücke, Fahrerassistenzsystem und Kraftfahrzeug

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DE102005046827A1 (de) * 2004-09-30 2006-04-06 Robert Bosch Gmbh Verfahren zur Einparkunterstützung
DE102011084943A1 (de) 2011-10-21 2013-04-25 Robert Bosch Gmbh Verfahren und Vorrichtung zur Unterstützung eines Fahrers eines Kraftfahrzeugs
DE102012223057A1 (de) * 2012-12-13 2014-06-18 Robert Bosch Gmbh Verfahren und Fahrassistenzsystem zur Unterstützung eines Fahrers bei einem Fahrmanöver
FR3018488A1 (fr) * 2014-03-11 2015-09-18 Renault Sa Procede de determination d'une procedure de parking automatique en creneau d'un vehicule automobile
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CN113276842A (zh) * 2021-06-21 2021-08-20 上汽通用五菱汽车股份有限公司 车辆、车辆的泊车方法和计算机可读存储介质
CN114312757A (zh) * 2021-12-22 2022-04-12 华人运通(上海)自动驾驶科技有限公司 一种基于四轮转向的泊车规划方法、车辆
CN114701484A (zh) * 2022-03-24 2022-07-05 重庆长安汽车股份有限公司 窄通道场景泊车1d路径规划方法、系统、车辆及存储介质

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