WO2021064074A1

WO2021064074A1 - Method for assisting parking of a vehicle

Info

Publication number: WO2021064074A1
Application number: PCT/EP2020/077458
Authority: WO
Inventors: Stefan - c/o Continental Automotive GmbH BIEGER
Original assignee: Continental Automotive Gmbh
Priority date: 2019-10-01
Filing date: 2020-10-01
Publication date: 2021-04-08
Also published as: DE102019215131A1

Abstract

A method for assisting parking of a vehicle is provided. First two parked vehicles and determining their positions with respect to said vehicle is determined. Parking information using wireless communication is exchanged between said vehicle and one of two parked vehicles, at two positions of said vehicle. Based on the time-of-flight of electromagnetic signals of said wireless communication, a first and a second distance between said parked vehicle and said vehicle at the first and a second position are determined. It is determined with which of the two parked vehicles said parking information was exchanged based on said first and second distance. The parking information is assigned to that parked vehicle. Parking of said vehicle is then assisted based on said assigned parking information.

Description

Method for assisting parking of a vehicle

The invention relates to a method for assisting parking of a vehicle and a vehicle with a park assist system.

Many modern vehicles are equipped with a park assist system, which assists the driver with parking his vehicle. Some park assist systems allow the driver to be outside of the vehicle while the vehicle fully autonomously parks itself and/or while it fully autonomously drives itself out of a parked position. Thus, the driver does not need to open any door of the vehicle in the parked position. Because of this, vehicles with such park assist systems can be parked closer together than vehicles without such systems. However, since not all vehicles are equipped with such park assist systems, vehicles will continue to be parked at a regular distance from each other. In this way, the parking space is not used as efficiently as possible.

The objective of the invention is how to further improve the usage of parking space.

SUMMARY OF THE INVENTION

The objective of the invention is met by providing a method according to claim 1 and a vehicle according to claim 6.

A method for assisting parking of a vehicle is described, comprising the steps of: detecting two parked vehicles and determining their positions with respect to said vehicle; exchanging parking information using wireless communication between said vehicle and one of said two parked vehicles, at a first position of said vehicle and at a second position of said vehicle; determining, based on the time-of-flight of electromagnetic signals of said wireless communication, of a first distance between said one parked vehicle and said vehicle at the first position and of a second distance between said one parked vehicle and said vehicle at the second position; determining with which of the two parked vehicles said parking information was exchanged based on said first and second distance, and assigning said parking information to that vehicle; and, assisting parking of said vehicle based on said assigned parking information.

Each of the mentioned vehicles may be a car, motorbike, van or truck. It may also be a bicycle or a scooter. Instead of one of two parked vehicles transmitting parking information, one of two infrastructure entities (such as a traffic light, a road sign, a building) may also be transmitting parking information in order to enable an optimum parking distance between the infrastructure entity and the vehicle to be parked. In that case, the parking information will be assigned to the one of the two infrastructure entities that has exchanged the parking information.

The vehicle that is to be parked may approach one or more parked vehicles. When the vehicle is to be parked next or close to the one or more parked vehicles, it may determine their position with respect to the vehicle and each other using technologies known in the art, for example RADAR, LIDAR, ultrasound sensors or cameras.

In order to optimize the parking of said vehicle, the vehicle may request parking information from the one or more parked vehicles.

The wireless technology used to exchange parking information may be based on WiFi or 3G, 4G, 5G technology or other wireless communication technologies. Furthermore, it may be based on an infrared communication technology. When the wireless technology is used to exchange parking information, electromagnetic signals are transmitted from the approaching vehicle (= the vehicle to be parked) to the parked vehicle and from the parked vehicle to the approaching vehicle.

This parking information may comprise a minimum distance between the parked vehicle providing this information and any other vehicles that is to be parked next to this parked vehicle. The parking information may comprise information about whether the parked vehicle that is providing this parking information, is able to fully autonomously leave or drive out of its parked position.

When the vehicle that is to be parked is approaching two or more parked vehicles, it may receive parking information from one of said two or more parked vehicles, without being able to determine from which of said parked vehicles the parking information was sent.

The parking information may comprise information about a GPS position of the parked vehicle that is providing the parking information, but this information may be inaccurate (for example when the parked car is parked in an indoor parking facility).

Furthermore, the parking information may comprise information for identifying the parked vehicle that is providing the parking information, for example a license plate number. However, it may be the case that the vehicle to be parked is unable to identify the parked vehicle that is providing the parking information on the basis of this information, for example because the license plate number is not visible from the position of the approaching vehicle.

The wording “time of flight” in this document may refers to a time period, in which an electromagnetic signal travels (through the air), from a first entity to a second entity and, optionally, from that second entity back to the first entity.

One or more of the electromagnetic signals transmitted by the approaching vehicle or one of the parked vehicles may be reflected back to the transmitting vehicle by at least a part of the body of the vehicle receiving the signals. Or the vehicle receiving the signal may immediately send back a response signal.

The reflected signal or the response signal may then be received by the vehicle, that initially transmitted the one of more of the electromagnetic signals. Based on (i) the time passed between transmitting the electromagnetic signals and receiving the response signal, and (ii) the velocity of the electromagnetic signals in air, a distance between the approaching vehicle and the parked vehicle, that is providing the parking information, may be calculated.

Additionally, or alternatively, the response signal may comprise a time stamp indicating the time said one or more of the electromagnetic signals were received. Furthermore, a time stamp indicating the time said one or more of the electromagnetic signals were transmitted may be generated. Based on (i) the time between these time stamps and (ii) the velocity of the electromagnetic signals in air, a distance between the approaching vehicle and the parked vehicle, that is providing the parking information, may be calculated.

Additionally, or alternatively, one of the vehicles may measure the signal strength of the electromagnetic signal that it has received and that was transmitted from the other vehicle. Based on (i) the measured signal strength, (ii) information about the signal strength of the electromagnetic signal when it was transmitted and (iii) information about the expected attenuation of electromagnetic signals travelling in air (per unit of length), a distance between the approaching vehicle and the parked vehicle, that is providing the parking information, may be calculated.

Since the vehicle to be parked is approaching the parked vehicles, the distance may be determined on two different positions of said approaching vehicle, i.e. at a first position and at a second position. A first and a second distance between the approaching vehicle and the vehicle transmitting the parking information may then be determined, respectively.

The first and the second position may both be within 10 meters, or preferably within 5 meters distance from the two parked vehicles.

Based the two distances and the two positions, it may be determined which of the parked vehicles has transmitted the parking information, using for example a triangulation algorithm. Based on this determination, the parking information may be assigned to that vehicle, indicating that the parking information is to be interpreted as relating to that vehicle. More specifically, a minimum parking distance comprised in the parking information may then be assigned to that parked vehicle.

Additionally, or alternatively, the parking information may indicate that the parked vehicle is equipped with an automatic parking system as described above, which enables it to fully autonomously park itself.

The wording “parking autonomously” in this document refers to the capability of a vehicle to park itself and to leave a parked position without at least a driver steering the car (but it may be required for a driver to control the gas and/or brake pedal inside the car). The wording “parking fully autonomously” may refer to the capability of a vehicle to park itself and to leave a parked position without a driver inside the car.

Based on this information, the approaching vehicle may determine an adjusted minimum parking distance which is to be observed with respect to the determined parked vehicle. This adjusted minimum parking distance may be smaller than the default minimum parking distance, which is to be observed with respect to any parked vehicle, when no further parking information is available.

Based on said assigned parking information, parking of said vehicle may be assisted, for example by the park assist system of the approaching vehicle. The assigned parking information may be provided to a park assist system of the approaching vehicle for parking said vehicle based on said assigned parking information.

Based on the assigned parking information, the park assist system may indicate to the driver of the approaching vehicle whether the distance to the parked vehicles is larger than the adjusted minimum parking distances. Additionally, or alternatively, the park assist system may use the assigned parking information to (fully) autonomously park the vehicle.

Since the parking information is assigned to one of the parked vehicles, it may be parked more closely to the parked vehicle that provided the parking information.

An advantage may be that the identification of the vehicle that is transmitting the parking information is based on the electromagnetic signals that are used for transmitting the parking information. Therefore, no additional signals need to be exchanged for the identification and no additional hardware is needed for the identification.

According to another aspect of the invention, a vehicle with a park assist system is provided, the vehicle comprising:

- a detecting unit for detecting two parked vehicles and determining their positions with respect to said vehicle;

- a communication unit for exchanging parking information using wireless communication between said vehicle and one of said two parked vehicles, at a first position of said vehicle and at a second position of said vehicle;

- a measuring unit for determining, based on the time-of-flight of electromagnetic signals of said wireless communication, a first distance between said one parked vehicle and said vehicle at the first position and of a second distance between said one parked vehicle and said vehicle at the second position;

- an assigning unit for determining with which of the two parked vehicles said parking information was exchanged based on said first and second distance, and assigning said parking information to that parked vehicle; and,

- said park assist system for receiving said assigned parking information and for assisting parking said vehicle based on said assigned parking information.

The park assist system may further be arranged for (fully) autonomously parking said vehicle based on said assigned parking information. BRIEF DESCRIPTION OF THE DRAWINGS

For a more complete understanding of the present invention, reference in the following description is made in to the accompanying drawings in which:

Figure 1 shows a schematic overview of a parking situation, in which the invention may be applied,

Figure 2 shows a schematic overview of an embodiment of the method according to the invention; and,

Figure 3 shows a schematic overview of an embodiment of the vehicle according to the invention.

DETAILED DESCRIPTION OF THE INVENTION

In Figure 1 , a schematic overview of a parking situation, in which the invention may be applied, is depicted. Vehicle 110 is approaching two parked vehicles 120 and 130. The two parked vehicles 120 and 130 are detected, for example by a detection unit 310 of vehicle 110, and their positions with respect to vehicle 110 determined.

Vehicle 110 may comprise a park assist system 300, that on the basis of the determined positions of vehicles 120 and 130 determines whether it is possible to park vehicle 110 between vehicles 120 and 130.

For this, a default minimum parking distance may be used. The default minimum parking distance is the minimum distance between the vehicle and any of the parked vehicle, that is to be observed when the vehicle is parked next to a parked vehicle, when no further parking information is available.

In Figure 1 , this default minimum parking distance is indicated by d1. Furthermore, in figure 1 , a distance d2 is indicated, which is smaller than d1 . Using this default minimum parking distance, the park assist system will determine that vehicle 110 cannot be parked between vehicles 120 and 130 in position A, because the distance between the two vehicles is smaller than the width of vehicle 110 + 2x the default minimum parking distance. A communication unit 320 of vehicle 110 may try to exchange parking information with parked vehicles 120 and 130, while vehicle 110 is approaching the parked vehicle and/or is moving from position B to position C.

At two position B and C of vehicle 110, using wireless communication, parking information is exchanged between vehicle 110 and at least one of the parked vehicles 120 and 130. In Figure 1 , parking information is only with vehicle 130 exchanged.

When one of the parked vehicles is providing parking information, it may be unclear which of the two parked vehicle is providing this information. For example, because the parking information does not comprise identification information, on the basis of which the sender of the parking information can be established or identified, or because the identification information (for example, a license plate number) comprised in the parking information, cannot be used for the identification (for example the line of sight between a camera in the vehicle 110 and the license plate of the parked vehicle 130 is blocked).

The wireless communication may be based on WiFi, 4G or 5G or any other wireless communication technology, that comprises sending electromagnetic waves or signals. These signals may be sent by the communication unit 320 of vehicle 110 towards vehicle 130.

Part of these electromagnetic signals may be reflected by the body of vehicle 130 back to vehicle 110. The reflected signals may be received by the communication unit 320 of vehicle 110. Additionally, or alternatively, vehicle 130 may send a response signal back vehicle 110. The response signal may be received by communication unit 310.

Based on the received reflected and/or response signal, a so-called time of flight for the electromagnetic signal may be determined. The time of flight refers to the time electrical signals are travelling from the sender to the receiver and optionally, back again to the sender. Using the time of flight and the speed of electrical signal in the air, a distance between sender and receiver may be established.

Therefore, based on the reflected and/or response signal, a first distance r1 at a first position B is determined and a second distance r2 is determined at a second position C, for example by a measuring unit 330 of vehicle 110.

Based on the two distances r1 and r2 and the determined positions of vehicles 120 and 130, it may be determined (e.g. by an assigning unit 340) that it was vehicle 130 and not vehicle 120, with which vehicle 110 has exchanged parking information. The parking information may then be assigned to vehicle 130.

That it was vehicle 130 and not vehicle 120, with which vehicle 110 has exchanged parking information, may alternatively or additionally, be determined as follows: the approaching vehicle 110 may send a signal to the parked vehicle, that instructs it to activate its indicator lights. A camera of vehicle 110 may detect these indicator lights and generate information about the position of these indicator lights with respect to vehicle 110. This information may then be used to determine which vehicle has exchanged parking information.

The parking information may comprise a minimum parking distance specific for vehicle 130 and/or may comprise information about the capability of vehicle 130 to park fully autonomously. Based on the parking information, the park assist system 300 may use another minimum parking distance with respect to vehicle 130 than the default minimum parking distance. This other or adjusted minimum parking distance is indicated in figure 1 by d2.

Using the default minimum parking distance d1 with respect to vehicle 120 and the adjusted minimum parking distance d2 with respect to vehicle 130, the park assist system 300 may determine that it is possible to park vehicle 110 between vehicles 120 and 130. The park assist system 300 may be arranged for parking vehicle 110 (fully) autonomously between vehicles 120 and 130. Figure 2 shows schematic overview of an embodiment 200 of the method according to the invention for assisting parking of a vehicle.

In step 210, at least two parked vehicles are detected and their positions with respect to the vehicle determined.

In step 220, parking information is exchanged, using wireless communication, between said vehicle and one of said at least two parked vehicles, at a first position of said vehicle and at a second position of said vehicle.

The parking information may indicate whether said parked vehicle is capable of fully autonomously parking, and/or a minimum parking distance between the parked vehicle and another parked vehicle, and/or a GPS position of the parked vehicle, and/or an orientation of the parked vehicle.

The wireless communication may be based on WiFi or 5G technology.

In step 230, a first distance between said one parked vehicle and said vehicle at the first position and a second distance between said one parked vehicle and said vehicle at the second position is determined based on the time-of-flight of electromagnetic signals of said wireless communication.

Said first and/or said second position may be within 10 meters, or preferably within 5 meters distance, from the parked vehicles.

Said time of flight may be determined based on a reflected signal, (i.e. reflected by at least a part of the body of the parked vehicle with which parking information is exchanged) or based on a response signal (i.e. that is sent by the parked vehicle with which parking information is exchanged). In step 240, it is determined with which of the at least two parked vehicles said parking information was exchanged based on said first and second distance and said parking information is assigned to that parked vehicle.

In step 250, parking of said vehicle based on said assigned parking information is assisted. Step 250 may comprise the step of (fully) autonomously parking said vehicle based on said assigned parking information.

Figure 3 shows a schematic overview of an embodiment of the vehicle 110 according to the invention.

The vehicle 110 comprises a detecting unit 310 arranged for detecting two parked vehicles 120 and 130 and determining their positions with respect to said vehicle 110. It further comprises a communication unit 320 arranged for exchanging parking information using wireless communication between said vehicle 110 and one of said two parked vehicles 120 and 130

The vehicle 110 comprises a measuring unit 330 arranged for determining, based on the time-of-flight of electromagnetic signals of said wireless communication, a first distance r1 between said parked vehicle and said vehicle at a first position B and of a second distance r2 between said parked vehicle and said vehicle at a second position C, and an assigning unit 340 arranged for determining with which of the two parked vehicles said parking information was exchanged based on said first and second distance, and assigning said parking information to that parked vehicle.

The vehicle 110 further comprises a park assist system 300 arranged for receiving said assigned parking information and for assisting parking said vehicle 110 based on said assigned parking information.

Claims

Patent claims

1. A method for assisting parking of a vehicle, comprising the steps of: detecting two parked vehicles and determining their positions with respect to said vehicle; exchanging parking information using wireless communication between said vehicle and one of said two parked vehicles, at a first position of said vehicle and at a second position of said vehicle; determining, based on the time-of-flight of electromagnetic signals of said wireless communication, of a first distance between said one parked vehicle and said vehicle at the first position and of a second distance between said one parked vehicle and said vehicle at the second position; determining with which of the two parked vehicles said parking information was exchanged based on said first and second distance, and assigning said parking information to that parked vehicle; assisting parking of said vehicle based on said assigned parking information.

2. Method according to claim 1 , wherein said parking information indicates whether said one of two parked vehicles is capable of fully autonomous parking, and/or a minimum parking distance between the parked vehicle and another parked vehicle.

3. Method according to claim 1 or 2, wherein said first and said second position are within 10 meters, or preferably within 5 meters distance, from said parked vehicles.

4. Method according to any of the preceding claims, wherein said wireless communication is based on WiFi or 5G technology.

5. Method according to any of the preceding claims, wherein said time of flight is determined based on a reflected signal, or on a response signal.

6. Vehicle with a park assist system, the vehicle comprising:

- a detecting unit arranged for detecting two parked vehicles and determining their positions with respect to said vehicle;

- a communication unit arranged for exchanging parking information using wireless communication between said vehicle and one of said two parked vehicles, at a first position of said vehicle and at a second position of said vehicle;

- a measuring unit arranged for determining, based on the time-of-flight of electromagnetic signals of said wireless communication, a first distance between said one parked vehicle and said vehicle at the first position and of a second distance between said one parked vehicle and said vehicle at the second position;

- an assigning unit arranged for determining with which of the two parked vehicles said parking information was exchanged based on said first and second distance, and assigning said parking information to that parked vehicle; and,

- said park assist system arranged for receiving said assigned parking information and for assisting parking said vehicle based on said assigned parking information.

7. Vehicle according to claim 6, wherein said wireless communication is based on WiFi technology.

8. Vehicle according to claim 6 or 7, wherein said time of flight is determined based on a reflected signal, or on a response signal.

9. Vehicle according to any of claims 6-8, wherein said park assist system is further arranged for autonomously parking said vehicle based on said assigned parking information.