WO2022012884A1

WO2022012884A1 - Method for assisting with a parking maneuver of a vehicle

Info

Publication number: WO2022012884A1
Application number: PCT/EP2021/067102
Authority: WO
Inventors: Jose Domingo Esparza Garcia; Raphael Cano
Original assignee: Robert Bosch Gmbh
Priority date: 2020-07-17
Filing date: 2021-06-23
Publication date: 2022-01-20
Also published as: DE102020208975A1

Abstract

The invention relates to a method for assisting with a parking maneuver of a vehicle, comprising the following steps: providing at least one optical image of a surroundings of the vehicle; providing a graphical selection menu for at least one possible parking maneuver by means of a user interface for a driver of the vehicle; superimposing the graphical selection menu with at least one portion of the optical image of the surroundings in order to assist the driver in the selection of the at least one possible parking maneuver.

Description

description

title

Prior art method for assisting a parking maneuver of a vehicle

The automation of driving goes hand in hand with the equipping of vehicles with increasingly extensive and powerful sensor systems for detecting the surroundings and for supporting driving functions and/or for at least partially automated control and guidance of the vehicle. Currently modern surround view functions, which are based in particular on video images of the surroundings, typically use a number of camera systems which are arranged in a distributed manner on the vehicle.

Such an automated driving function is an at least partially automated control of parking maneuvers in and out. For this purpose, alternative trajectories to and from the parking areas, as well as a selection of parking areas are typically shown in schematic views, with the parking areas being shown schematically with selectable symbols or icons. With these systems, the available parking spaces are displayed in the form of a bitmap and the parking and exiting scenarios are shown schematically. The driver can use a graphical user interface to select a desired parking area to park the vehicle in or out of, and the vehicle's automated parking function will guide the vehicle into the parking space.

Disclosure of Invention

Due to the schematic representation of a parking maneuver, the driver of the vehicle cannot classify the representation of the possible trajectories and the free parking spaces on a graphical user interface well in the environment visually perceived by the driver, which in particular then Difficulties connected when several parking spaces are available.

In addition, there is no up-to-date information about objects in the area surrounding the vehicle that would provide information about a hazard to others, such as pedestrians, or that show dangers associated with the parking maneuver, such as other vehicles.

According to aspects of the invention, a method for assisting a parking maneuver of a vehicle, an apparatus, a computer program, and a machine-readable storage medium is proposed according to the features of the independent claims. Advantageous configurations are the subject of the dependent claims and the following description.

Throughout this description of the invention, the sequence of method steps is presented in such a way that the method is easy to follow.

However, those skilled in the art will recognize that many of the method steps can also be carried out in a different order and lead to the same or a corresponding result. In this sense, the order of the method steps can be changed accordingly without changing the method. Some features are numbered to improve readability or to clarify attribution, but this does not imply the presence of specific features.

According to one aspect of the invention, a method for supporting a parking maneuver of a vehicle is proposed, which has the following steps:

In one step of the method, at least one optical image of an area surrounding the vehicle is provided. In a further step, a graphical selection menu for at least one possible parking maneuver is made available to a driver of the vehicle using a user interface. In a further step, at least one section of the optical image of the surroundings is superimposed on the graphic selection menu in order to support the driver in selecting the at least one possible parking maneuver.

In other words, in this method at least one section of images generated, for example, by a surround view camera or a video stream of a surround camera is mixed and/or superimposed with the schematic graphic selection menu for a parking maneuver. As a result, the driver receives structured information about objects in the area surrounding the vehicle, which provides information about a hazard to others, such as pedestrians, or dangers associated with the parking maneuver, such as other vehicles, in order to initiate the parking maneuver or modify it accordingly.

In addition, there is the advantage that when the driver returns to his vehicle, the current situation is visualized for him. This is particularly important given that some parking maneuver assist systems may no longer remember vacant parking spaces. The situation for leaving a parking space may have changed in the meantime, so that previously available trajectories may now be blocked and thus no longer passable.

The concept of overlaying at least one section of an optical image of the environment is to be interpreted broadly, in the sense of any graphic representation, and can include both a partially transparent overlay over a symbolic representation of the selection menu and a complete display, in particular in sub-areas of the graphical selection menu being.

The graphical selection menu offers options in terms of a selection of parking maneuvers or the initiation of a specific parking maneuver using a sketched representation of a parking scenario.

In other words, the graphical selection menu is a representation of options for parking maneuvers, which is displayed on a screen or user interface, in particular a touch-sensitive screen, for the driver who uses the graphical selection menu to select options for parking maneuvers, such as selecting a parking space or a trajectory to or from a parking area.

With a graphic selection menu, which is overlaid with at least one section of an optical image of the surroundings and which is displayed on such a user interface, it is easier for the driver to select the desired parking maneuver and compare the possible parking maneuvers displayed with the graphic selection menu the driver's visual impression of the environment. In other words, at least one section of a current optical image is superimposed on the graphic selection menu with the possible parking maneuvers, i.e. the image is constantly updated, corresponding to a live image, in order to give the driver the opportunity to get an overview of the situation to obtain before making his selection. Possible parking areas and possible trajectories can be displayed using the user interface in the graphic selection menu. The term or the characteristic vehicle is to be interpreted broadly in this context. Such a vehicle can in particular be an at least partially automated vehicle or a vehicle with a driver assistance system. The term vehicle includes all wheeled and/or tracked and/or ground-driven machines that are parked at least temporarily in a parking area in a partially automated or fully automated manner.

According to one aspect it is proposed that a number of different possible parking maneuvers are presented for selection in the graphical selection menu. This gives the driver an overview of his options from which he can select a desired parking manoeuvre.

According to one aspect, it is proposed that the at least one section of the optical image is determined depending on the current options for the possible parking maneuvers that are displayed in the graphic selection menu, in order to depict areas of the vehicle's surroundings that are relevant for the respective parking maneuver. For example, for a parking maneuver, this can relate to a route on which the current traffic is superimposed by a section of the optical image of the surroundings with the route. In this way it can be achieved that the driver is only shown the information in the user interface which is necessary for the selection of the desired parking maneuver.

According to one aspect, it is proposed that the at least one section of the optical image is superimposed on different sub-areas of the graphic selection menu depending on the current options of the possible parking maneuvers that are displayed in the graphic selection menu.

By adapting the display of the at least one section of the optical image according to the possible parking maneuvers or parking scenarios in the graphic selection menu, the driver receives a clear display that makes the selection easier for him.

According to one aspect it is proposed that the visual image is a surround view of the surroundings of the vehicle and/or generated by a selected one of a number of cameras of the vehicle presented depending on the current options of parking maneuvers in the graphical selection menu , in order to display an area of the environment that is relevant for the respective parking manoeuvre.

In other words, the camera or cameras of the number of cameras of the vehicle, such as side, front or reversing cameras, generate the optical image of the environment relevant to the possible parking maneuvers by being switched on and/or activated and/or or be selected. The same applies to a surround camera system that is set up to generate a surround view of the surroundings.

According to one aspect, it is proposed that the optical image is constantly updated by means of the user interface during a driver's selection process with regard to the possible parking maneuvers.

This ensures that the respective current optical image corresponds to the driver's visual impression in order to support the driver in the selection of the parking maneuver. Such a current optical image can be generated, for example, by means of a video stream and/or from a video image flow of a video camera system.

According to one aspect, it is proposed that depending on the possible parking maneuvers, a parking space image for at least one of the possible parking maneuvers is superimposed on the graphical selection menu, the parking space image being generated and stored when the vehicle passed the parking space. The parking area can advantageously be imaged in good quality as a result, even if a current image from a camera of the vehicle would generate an image that is too distorted due to the large distance between the vehicle and the parking area.

According to one aspect, it is proposed that, depending on the possible parking maneuver that is displayed in the graphical selection menu, a possible trajectory to at least one of the possible parking areas is graphically overlaid with symbols on the graphical selection menu.

Such a graphical representation of possible trajectories and/or selected trajectories can provide the driver with clear information about his options or his selected option.

A device is proposed which is set up to carry out a method according to one of the methods described above to support a parking maneuver of a vehicle. With such a device, the corresponding method can easily be integrated into different systems.

According to one aspect, a computer program is provided which comprises instructions which, when the computer program is executed by a computer, cause the latter to execute one of the methods described above. Such a computer program enables the method described to be used in different systems.

A machine-readable storage medium is specified, on which the computer program described above is stored. The computer program described above can be transported by means of such a machine-readable storage medium.

exemplary embodiments

Exemplary embodiments of the invention are illustrated with reference to FIGS. 1 to 7 and explained in more detail below. Show it:

FIG. 1 shows an outlined graphical user interface for selecting parking processes according to the prior art;

FIG. 2a shows a sketch that shows how a graphical user interface visualizes a trajectory for parking out when parking parallel to the street;

FIG. 2b shows a sketch that shows how a section of an optical image of the surroundings is additionally superimposed in a graphical user interface when parking parallel to a roadway;

FIG. 3 is a sketch showing how a graphical user interface displays the selected trajectory and possible alternatives when parking in a forward direction perpendicular to a driveway;

FIG. 4 shows a sketch that shows how a graphical user interface superimposes a section of an optical image of the surroundings during a forward parking maneuver onto a roadway that is perpendicular thereto;

Figure 5 is a sketch of a graphical user interface, in a rearward parking maneuver on a roadway perpendicular to it, possible alternatives for a parking maneuver and represents selected trajectories and a superimposed optical image of the route;

FIG. 6 shows a sketch that represents a graphical user interface during a parking process parallel to a route, with a selected trajectory and a superimposed section of an optical image of the surroundings;

Figure 7 is a sketch of a graphical user interface for a

Parking process in a possible parking area, the possible parking area and a trajectory marked there, and the area around the parking area is displayed by an optical parking area image in a portion.

FIG. 1 outlines a schematic view of a graphical user interface according to the prior art for selecting a possible parking maneuver. A symbol or icon for the vehicle 115 and a symbol or icon for a free parking space 125 are displayed. With this graphical user interface, a driver of a vehicle can select a parking maneuver.

Figure 2a sketches a schematic view of a graphical user interface of a parking maneuver onto a parallel route 140 with a vehicle, according to the prior art, in which a symbol for the vehicle 115 on the parking area 125 symbolically used in the graphical user interface and a possible trajectory 145, as well as a symbol for the vehicle after the parking maneuver 130 is shown. Here, too, the current situation is not visualized according to the state of the art.

FIG. 2b sketches a schematic view of a graphical user interface of a parking maneuver, as shown in FIG. 2a, in which, according to the method described here, at least one section of an optical image of the surroundings is superimposed on the graphical selection menu on the user interface is to support the driver in the selection of at least one possible parking maneuver. Such a section of an optical image can be generated either by a single camera in the vehicle or by a surround camera system in order to display the surroundings of the vehicle.

The driver can thus be assisted in leaving the parking area 125 and driving onto the road by showing him the situation in the real environment using at least one section of an optical image of the environment in which User interface selection menu is superimposed. In addition, the driver can advantageously identify whether the selected trajectory or the selected route from or to the parking area is free of objects or other vehicles or people who could possibly be endangered by the selected parking maneuver.

According to the graphically displayed selection menu, the section of the optical image can be displayed or superimposed on the user interface in the area where the route or the offered trajectories and/or the selected trajectory is displayed. If the image is generated by individual dedicated cameras of the vehicle, the respective camera can be selected and activated according to the parking maneuver or parking scenario to be imaged.

In FIG. 2b, the driver can select the parking maneuver on the left-hand side, so that without the superimposition of at least one section of the optical image of the surroundings in the graphic selection menu, he would have no or possibly a limited opportunity to check whether there was an obstacle in the roadway is or will be. In this way, the driver can, according to the method presented here, check the situation for the parking maneuver before he starts automatic vehicle guidance.

Figure 3 sketches a schematic view of a graphical user interface of a parking maneuver on a route 140 arranged perpendicular to the parking area with a vehicle, in which a symbol for the vehicle 115 on the symbolically used parking area 125 in the graphical user interface and a possible Trajectory 145 is shown. The selected option for a parking maneuver is represented both by the trajectory 145 and by a symbol of a highlighted shadow vehicle 130a in a position after the parking maneuver. In this graphic selection menu, the driver was able to select a trajectory 145 for the parking maneuver after the parking maneuver by means of the two positions of the vehicles 130a and 130b, which are represented symbolically as a shadow vehicle. Here, too, according to the state of the art, the current environment is not reproduced graphically, but only sketched.

Figure 4 sketches a schematic view of a graphical user interface of a parking process, as shown in Figure 3, in which according to the method described here at least a section of an optical image 150 of the environment to the graphical selection menu on the User interface is superimposed to support the driver in the selection of at least one possible parking maneuver. Without the superimposition of the optical image in a relevant area of the user interface, such as route 140 in this example, which is to be traveled by the vehicle, the driver would have the alternative of driving left or right onto route 41. The superimposed optical image 150 enables the driver to already recognize when selecting the trajectory 145 for the parking maneuver that only the right trajectory 145 can be traveled due to the vehicle on the left side of the roadway.

FIG. 5 sketches a schematic view of a graphical user interface of a parking maneuver for a vehicle 115, which takes place in the reverse direction on a roadway arranged perpendicularly to the parking area 125. Here, too, as explained with reference to FIGS. 2a and 3, the two shadow vehicles 130a and 130b show possible alternatives for the parking maneuver and the highlighted shadow vehicle 130a and the trajectory 145 outline the selected route for the parking maneuver.

The superimposed section of an optical image of the area surrounding vehicle 150, in accordance with the method described here, allows the driver to see that the parking maneuver can be started with the planned and selected trajectory.

FIG. 6 outlines a parking process for a vehicle 115 in a parking area 125 arranged parallel to the roadway with a highlighted shadow vehicle 130 and a selected trajectory 145, which is displayed in the graphic selection menu. Since the free parking area 125 is in the vicinity of the vehicle 115, the superimposition with the section of the optical image can be implemented, as already described above, since distortions in the projection of the superimposed optical image can be minimized due to the proximity of the parking area. Such a representation of the parking area is especially helpful when several parking areas are offered for selection in the graphic selection menu.

FIG. 7 outlines a parking process for a vehicle 115 in a parking area 125 arranged perpendicularly to the roadway, which is superimposed in a graphic selection menu with a section of the optical image of the surroundings. In this case, the possible parking area is too far from the vehicle 115 for a good visual representation. Therefore, in In this case, a possible trajectory 175 to the parking area can be sketched in the graphic selection menu of the user interface, for example in the form of arrows 175, and in addition a stored image of the parking area 170 can be superimposed and/or displayed in the graphic selection menu that was generated , when the vehicle passed the parking area, to determine possible

identify parking spaces. With the help of this superimposed stored image of the parking area 170 generated at a previous point in time, the driver can determine the parking area precisely because this stored image 170 can be generated with high quality when passing the parking area.

Claims

Expectations

1. A method for assisting a parking maneuver of a vehicle, comprising the steps of:

providing at least one optical image of an area surrounding the vehicle;

Providing a graphical selection menu (100) for at least one possible parking maneuver by means of a user interface for a driver of the vehicle;

Overlaying at least one section of the optical image (150) of the environment to the graphical selection menu (100) in order to support the driver in selecting the at least one possible parking maneuver.

2. The method according to claim 1, wherein a number of different possible parking maneuvers are presented for selection in the graphical selection menu (100).

3. The method according to claim 2, wherein the at least one section of the optical image (150) is determined depending on current options of the possible parking maneuvers, which are displayed in the graphic selection menu (100), in order to show areas of the environment of the vehicle that are relevant for the respective parking maneuver to map.

4. The method according to claim 2 and 3, wherein the at least one section of the optical image (150) is superimposed on different sub-areas of the graphic selection menu (100) depending on the current options of the possible parking maneuvers that are displayed in the graphic selection menu (100). .

5. The method according to any one of the preceding claims, wherein the optical image is a surround view of the surroundings of the vehicle and / or by a selected camera of a number of cameras of the vehicle, depending on the current options of parking maneuvers in the graphical Selection menu (100) are shown, was generated to represent a relevant for the respective parking maneuver area of the environment.

6. The method according to any one of the preceding claims, wherein the optical image is constantly updated during a selection process by the driver regarding the possible parking maneuvers by means of the user interface.

7. The method according to any one of the preceding claims, wherein a parking space image (170) for at least one of the possible parking maneuvers is superimposed on the graphic selection menu (100) depending on the possible parking maneuvers, the parking space image (170) in one passage of the vehicle at the parking area (125) was generated and stored.

8. The method according to any one of the preceding claims, wherein, depending on the possible parking maneuver that is displayed in the graphic selection menu (100), a possible trajectory (145) to at least one of the possible parking areas (125) is indicated graphically with symbols in the graphic selection menu (100 ) is superimposed.

9. Device that is set up to carry out a method according to any one of claims 1 to 8 to support a parking maneuver of a vehicle.

10. A computer program comprising instructions which, when the computer program is executed by a computer, cause the latter to execute the method according to any one of claims 1 to 8.

11. Machine-readable storage medium on which the computer program according to claim 10 is stored.