WO2023110334A1 - Procédé de stationnement autonome d'un véhicule automobile dans une place de stationnement - Google Patents

Procédé de stationnement autonome d'un véhicule automobile dans une place de stationnement Download PDF

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Publication number
WO2023110334A1
WO2023110334A1 PCT/EP2022/082853 EP2022082853W WO2023110334A1 WO 2023110334 A1 WO2023110334 A1 WO 2023110334A1 EP 2022082853 W EP2022082853 W EP 2022082853W WO 2023110334 A1 WO2023110334 A1 WO 2023110334A1
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WO
WIPO (PCT)
Prior art keywords
motor vehicle
starting position
parking
determined
vehicle
Prior art date
Application number
PCT/EP2022/082853
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German (de)
English (en)
Inventor
Zdenek Kasl
Petr Batek
Philipp Hüger
Martin Dolejsi
Viktor Brada
Original Assignee
Volkswagen Aktiengesellschaft
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Publication date
Application filed by Volkswagen Aktiengesellschaft filed Critical Volkswagen Aktiengesellschaft
Publication of WO2023110334A1 publication Critical patent/WO2023110334A1/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 parking a motor vehicle autonomously in a parking area. Furthermore, the invention relates to a motor vehicle which is designed to carry out such a method.
  • a motor vehicle that is designed at least for semi-autonomous driving can have a driver assistance system that at least supports parking the motor vehicle in a parking area.
  • a driver assistance system can be a parking aid or an intelligent parking aid assistance, for example.
  • the driver assistance system can be designed at least to act on a longitudinal and/or lateral guidance of the motor vehicle, ie to accelerate, brake and/or steer the motor vehicle.
  • the driver assistance system is preferably designed to park the motor vehicle fully autonomously in a parking area.
  • the parking area is, for example, a parking space between already parked motor vehicles.
  • the parking area can be a storage area in a parking lot or in a garage and/or a parking space.
  • DE 102019208 300 A1 shows a method for parking a vehicle in a perpendicular parking space. Starting from a starting point that is outside of the perpendicular parking space, the vehicle is parked fully autonomously in one go in a first direction of travel in the perpendicular parking space. The transverse parking space is previously detected by a detection unit of the vehicle and the motor vehicle is then maneuvered fully autonomously to the starting point, this taking place in a direction of travel opposite to the first direction of travel.
  • DE 102010 001 288 A1 shows a method for assisting a driver of a motor vehicle when parking in a parking space.
  • the surroundings of the motor vehicle are recorded, a suitable parking space is determined from the recorded data, and a parking trajectory into the parking space is calculated.
  • the parking trajectory is calculated as soon as a minimum length for a parking space has been reached when the parking space is detected.
  • a first aspect of the invention relates to a method for parking a motor vehicle autonomously in a parking area.
  • a parking area is, for example, a parking space, a parking space, a parking space and/or a storage area, for example in a parking lot, in a garage and/or in a parking bay.
  • Autonomous parking is fully autonomous parking. A driver of the motor vehicle therefore generally does not have to intervene in the autonomous parking to support the parking.
  • the motor vehicle preferably has a control device which is designed to control longitudinal and lateral guidance of the motor vehicle.
  • the control device is designed to accelerate, brake and steer the motor vehicle.
  • the control device is therefore designed to park the motor vehicle fully autonomously in the parking area, that is to say to move it into the parking area and to bring it to a standstill there, for example, that is to say to stop it.
  • the method according to the invention comprises the following steps: While the motor vehicle is being driven, sensor data describing the surroundings of the motor vehicle are detected by means of a sensor device of the motor vehicle.
  • the sensor device of the motor vehicle is a camera, for example, in particular a front camera, a side camera and/or a rear camera.
  • the sensor device can be an ultrasonic sensor, a radar device and/or a lidar device (lidar for “light detection and ranging”).
  • the ultrasonic sensor, the radar device and/or the lidar device are preferably arranged in a front area in a longitudinal direction of the motor vehicle, ie in a front area of the motor vehicle. Furthermore, they are preferably arranged laterally in the transverse direction of the motor vehicle.
  • the surroundings of the motor vehicle are preferably detected with a sensor device that is arranged in the front area, so that an object in the surroundings of the motor vehicle can be detected by the sensor device before the motor vehicle has completely passed the object , i.e. drove past this one.
  • the sensor data is, for example, static and/or moving image data.
  • the sensor data can be distance data that describe a distance from the object in the vicinity of the motor vehicle.
  • the object is, for example, a parked vehicle, another road user, an infrastructure element such as a wall and/or a Building, a traffic sign, a curb and/or a ground marking, for example a marking of a parking lot.
  • the area around the motor vehicle is typically limited by a detection range of the sensor device used.
  • the detection range of the sensor device therefore defines a limit of the surroundings of the motor vehicle in which a free parking space can be searched for.
  • Various sensor devices can preferably be used to acquire the sensor data, so that the surroundings of the motor vehicle can be acquired simultaneously, for example both by means of the camera and, for example, by means of the ultrasonic sensor, the radar device and/or the lidar device.
  • a free parking space is detected by applying a parking space detection criterion to the detected sensor data.
  • the parking space recognition criterion is a rule and/or an algorithm, which is used to evaluate the sensor data. Applying the parking space detection criterion means that the parking space detection criterion, that is to say the regulation and/or the algorithm, is implemented, the implementation taking place taking into account the detected sensor data.
  • the result of applying the parking space detection criterion is that either a free parking space in the area has been detected or that no free parking space has been detected. If no free parking space was detected, the motor vehicle continues to drive and the search for a free parking space continues.
  • Driving on can be controlled manually by a driver of the motor vehicle and/or at least partially autonomously.
  • the parking space recognition criterion can have an image recognition algorithm, for example, which when it is implemented, image data captured by the camera, for example, are evaluated to determine whether or not they describe a free parking space.
  • the free parking space can be identified, for example, from other vehicles that have already been parked, between which a free parking space is arranged as a free parking space.
  • the parking area recognition criterion includes information on how a parking area typically looks, that is, a predetermined minimum requirement for an area of the parking area can be taken into account, which can depend in particular on a length and width of the motor vehicle itself.
  • a certain type of parking space can be provided as a parking space, such as a perpendicular parking space and/or a parallel parking space.
  • roadway markings can be taken into account, such as floor markings for identifying a parking area, and/or street signs identifying a parking area and/or an area with parking areas.
  • the motor vehicle is preferably braked to a standstill and thus stopped as soon as the free parking space has been detected.
  • a starting position map is determined for the recognized free parking area.
  • the home location map is determined by applying a home location determination criteria to the collected sensor data.
  • the initial position determination criterion is a rule and/or an algorithm, which can be used to evaluate the detected sensor data in such a way that a map of the area with the detected parking area is provided. Applying the initial position determination criterion means that the initial position determination criterion, that is to say the rule and/or the algorithm, is implemented, the implementation taking place taking into account the detected sensor data.
  • the determined starting position map has a number of possible starting position zones in the vicinity of the identified parking area, for which a single-track parking maneuver into the identified free parking area is possible.
  • a starting position zone is a spatially limited area from which the single-track parking maneuver into the recognized free parking area can be carried out.
  • the initial position determination criterion includes at least the rule or the algorithm to be able to calculate a single-stage parking maneuver based on numerous initial positions that are arranged around the detected parking area.
  • a single-pass parking maneuver is a parking maneuver in which the motor vehicle does not change direction. The motor vehicle is thus not maneuvered back and forth during the parking maneuver, ie back and forth in the longitudinal direction of the motor vehicle. Rather, in the case of a one-move parking maneuver, the vehicle is parked directly in one go from the current position of the motor vehicle. In other words, it is parked without stopping, driving on in a different direction of travel, stopping again and driving again in a different direction of travel, or several such trains.
  • the starting position map is preferably not a predefined map of the surroundings of the parking area and thus of the motor vehicle.
  • the starting position map is determined after the free parking area for this parking area has been identified, taking into account the current position of the motor vehicle and the sensor data recorded.
  • all areas from which the only parking maneuver is possible in principle are drawn on the starting position map, at least within a predetermined radius or distance from the parking area.
  • a coherent starting position zone is not provided, but all possible locations from which the single-stage parking maneuver is possible are defined as partial areas, which have a predetermined area, for example. differentiated from each other.
  • a typical home position zone size is 50 centimeters by 50 centimeters.
  • smaller starting position zones of, for example, 20 centimeters by 20 centimeters, 30 centimeters by 30 centimeters, 40 centimeters by 40 centimeters or larger starting position zones of, for example, 75 centimeters by 75 centimeters, 1 meter by 1 meter, in particular 2 meters by 2 meters can be selected become.
  • the tiles can be any size between the sizes mentioned.
  • a number of home position zones are thus distinguished from one another, which can be displayed, for example, as a respective tile within the home position map.
  • several possible starting positions are determined, based on which the single-stage parking maneuver is possible, and a respective tolerance range is determined for each of the possible starting positions, which includes further positions that are spatially close to the starting position and from which the single-stage parking maneuver is also possible .
  • the tolerance range can, for example, be defined in such a way that if there is a deviation from the possible starting position by a maximum of 5 percent, 10 percent, 15 percent, 20 percent, 25 percent, in particular 30 percent, the position is considered to be in the starting position zone.
  • the tolerance range can have an absolute deviation from the possible starting position, or a maximum of 5 centimeters, 10 centimeters, 20 centimeters, 30 centimeters, 50 centimeters, 1 meter, 1.5 meters, in particular 2 meters.
  • a limit value for the tolerance range can also be selected, which is between 0 percent or 0 meters and one of the specified limit values.
  • the starting position map can, for example, include an area surrounding the detected parking area of at least 10 meters in the direction of travel of the motor vehicle.
  • the starting position map can range between greater than 0 meters and up to 20 meters in the vicinity of the parking area in this direction.
  • an area of at least 5 m can be taken into account, for example, starting from a boundary of the parking area to a roadway adjacent to the parking area.
  • the starting position map can extend in the transverse direction between greater than 0 meters and up to 20 meters in the vicinity of the parking area.
  • a check is carried out as to whether the motor vehicle is located in one of the starting position zones of the determined starting position map.
  • a current position of the motor vehicle is taken into account here. If the motor vehicle has been braked to a standstill after the free parking space has been detected, the stationary position of the motor vehicle is considered to be its current position. Ultimately, therefore, a motor vehicle position is determined at the current time. This is done, for example, using a position determination device of the motor vehicle.
  • the position determination device of the motor vehicle can be based, for example, on a global navigation satellite system (GNSS for "global navigation satellite system"), such as a global position determination system (GPS for "global positioning system").
  • GNSS global navigation satellite system
  • GPS global position determination system
  • the motor vehicle position can be determined relative to the recognized parking area.
  • the detected sensor data can be evaluated accordingly, for example by locating the motor vehicle in the starting position map based on the distance data to the parking area and the objects surrounding the motor vehicle, which is based on the relative position of the motor vehicle to the free parking area.
  • the motor vehicle position preferably describes the position of a center point of a rear axle of the motor vehicle, ie the current position of the motor vehicle is the current position of the center point of the rear axle of the motor vehicle.
  • the position is preferably given in the form of coordinates.
  • the single-pass parking maneuver is carried out for autonomous parking of the motor vehicle in the recognized parking area. If the motor vehicle is currently in a position from which the single-pass parking maneuver is possible, since this can be seen from the starting position map, the parking maneuver is actually carried out.
  • the control device of the motor vehicle for example, the longitudinal and lateral guidance of the motor vehicle, i.e. its drive device and its steering, is controlled in such a way that the motor vehicle is parked fully autonomously, for example without the manual involvement of the driver of the motor vehicle, in the parking area recognized as free.
  • the method for autonomous parking is preferably carried out by means of a control device of the motor vehicle, ie it at least recognizes the free parking space, determines the starting position map, performs the checking step and performs the single-stage parking maneuver.
  • the method is thus a computer-implemented method.
  • a manual activation of a driver assistance system can be assumed as a trigger for the method according to the invention.
  • an operating element of an operating device can be provided in the motor vehicle, such as an element on a touch-sensitive screen, a button, a switch, a rotary pushbutton switch and/or a button.
  • autonomous parking can be activated by means of a language assistant in the motor vehicle.
  • At least the search function for detecting the free parking space can be activated based on the sensor data depending on the vehicle speed (in particular if the current speed of the motor vehicle is less than a specified speed limit) and/or a navigation system of the motor vehicle (in particular with Reaching a distance to a destination that is less than a specified minimum distance) are automatically activated.
  • the search function for the free parking space can be activated all the time. Provision can also be made for a user of the motor vehicle, for example the driver of the motor vehicle, to activate an offer after automatically recognizing the free parking space and/or determining the starting position map and/or after checking whether a single-track parking maneuver is possible of autonomous parking.
  • the operating element of the operating device can be provided for this purpose, for example.
  • a query can be output to the user on a display device in the motor vehicle, which asks whether the single-pass parking maneuver into this free parking space should be activated.
  • the motor vehicle can continue to be driven manually or at least partially autonomously until the driver of the motor vehicle manually confirms or requests autonomous parking.
  • the motor vehicle cannot be braked to a standstill immediately after recognizing the free parking space, but can only be stopped until the manual activation of the autonomous parking has taken place and has been detected.
  • Various scenarios are therefore possible as to how the method according to the invention can be initiated.
  • An exemplary embodiment provides that the parking area is a perpendicular parking space.
  • a perpendicular parking space is a parking space between two or next to an already parked vehicle.
  • a longitudinal direction of the perpendicular parking space is at an angle of between 45 degrees and less than 135 degrees, in particular between 85 degrees and 95 degrees, and preferably 90 degrees, to a roadway adjacent to the perpendicular parking space on which the motor vehicle is driving or standing.
  • a single-track reverse parking into the perpendicular parking space is performed as a single-track parking manoeuvre.
  • the invention is therefore preferably limited to the fact that the motor vehicle is parked backwards in a single lane into a perpendicular parking space as a parking area. The direction of travel of the motor vehicle during the parking maneuver is therefore backwards and not forwards in the longitudinal direction of the motor vehicle.
  • the starting position zones from which such a specific parking maneuver is possible can be reliably determined for such a parking area and such a parking maneuver.
  • the parking space can already be partially or completely passed by the motor vehicle before the parking process, that is to say the parking maneuver, begins. For this reason, parking in this way is particularly well suited for autonomous parking, which is based on detecting the parking area using the sensor device of the motor vehicle.
  • a particularly advantageous exemplary embodiment provides that a number of vehicle alignments of the motor vehicle relative to the parking area are stored in the determined starting position map for each of the possible starting position zones.
  • the starting position map therefore shows for each starting position zone from how many possible vehicle orientations it is possible to park in the free parking area in one go.
  • the number of vehicle orientations is thus stored in the home map, i.e. this information is provided by the home map for each home zone.
  • the vehicle orientation relative to the parking area is an orientation of the motor vehicle.
  • the vehicle orientation may be a relative vehicle orientation, for example. It is then described, for example, by an angle between the longitudinal direction of the motor vehicle and a boundary or a central axis of the recognized free parking space.
  • an absolute vehicle alignment of the motor vehicle can be taken into account, which is determined, for example, by means of the position determination device of the motor vehicle. So not only the position of the motor vehicle but also its vehicle orientation can be taken into account.
  • the starting position map is particularly precise in order to be able to reliably determine at which locations in the area the single-track parking maneuver is possible and how flexible it is with regard to possible vehicle orientations.
  • Another preferred exemplary embodiment provides that, if the motor vehicle is in a possible starting position zone, it is checked whether the current vehicle orientation of the motor vehicle matches the vehicle orientation that is stored in the starting position map for the possible starting position zone. If, for example, at least one and preferably several vehicle orientations for the current position of the motor vehicle, i.e. for the possible starting position zone in which the motor vehicle is currently located, are stored in the starting position map, it is checked whether the current vehicle orientation of the motor vehicle corresponds to the at least one or matches one of the several stored vehicle orientations.
  • the vehicle orientation can be specified as a vehicle orientation area, i.e., as with the starting position zone, a tolerance range can be specified for the respective starting position zone, within which the current vehicle orientation of the motor vehicle is considered to match the stored vehicle orientation. All possible vehicle orientations are therefore preferably determined for each starting position zone, based on which the one-way parking maneuver is possible, and a respective tolerance range is determined for each of the possible vehicle orientations, which includes further orientations that are spatially close to the vehicle orientation and from which the single-speed parking maneuvers are possible.
  • the tolerance range can be defined, for example, in such a way that if there is a deviation from the vehicle alignment by a maximum of 5 percent, 10 percent, 15 percent, 20 percent, 25 percent, in particular 30 percent, the vehicle alignment of the motor vehicle is considered to be in the tolerance range of one of the vehicle alignments for the starting position zone is viewed lying down.
  • the tolerance range can have an absolute deviation from the respective vehicle position, or of a maximum of 0.5 degrees, 1 degree, 2 degrees, 5 degrees, 10 degrees, 20 degrees, in particular 30 degrees.
  • a limit value for the tolerance range can also be selected, which lies between 0 percent or 0 degrees and one of the specified limit values.
  • the motor vehicle After checking whether the motor vehicle is in a starting position zone of the determined starting position map, it can also be checked whether the current vehicle orientation of the motor vehicle matches the or one of the vehicle orientations that is stored for the possible starting position zone in the starting position map. Only if both conditions are met is the one-way parking maneuver carried out autonomously. In this way, before the autonomous parking is carried out, it is reliably determined whether the single-track parking maneuver is possible at all given the current vehicle orientation of the motor vehicle. As a result, autonomous parking is always successful, since, based on the consideration of the vehicle orientation, it can be assumed that the single-pass parking maneuver can actually be carried out by the motor vehicle from its current position.
  • the next possible home position zone is determined.
  • the next possible starting position zone is the starting position zone spatially closest to the current position of the motor vehicle. The distance between the motor vehicle position and the next possible home position zone is thus minimal compared to the distance to other possible home position zones.
  • a travel trajectory to the determined next possible starting position zone is then determined and the motor vehicle is driven autonomously according to the determined travel trajectory to the determined next possible starting position zone.
  • the driving trajectory includes, in particular, that the motor vehicle, if it is driven autonomously to the next possible starting position zone according to the detected driving trajectory, is arranged there in a vehicle orientation that is stored as the vehicle orientation for the determined possible starting position zone, starting from which the one-way parking maneuver is possible is. Even if the motor vehicle has not been stopped in a starting position zone and/or has driven into an area in the vicinity of the parking area from which parking in one lane is not possible at all for geometric reasons, the parking maneuver in one lane can still be carried out by first the next possible starting position zone is approached as a new starting point for autonomous parking.
  • next possible starting position zone is always approached when the motor vehicle currently has a vehicle orientation in which the single-pass parking maneuver is not possible despite the current position of the motor vehicle in one of the starting position zones, since, for example, a parking radius for a single-pass parking at the current Vehicle orientation in home position zone cannot be driven.
  • the approach distance to the new starting position zone for single-lane parking is kept as short as possible, so that parking can continue to be parked as quickly and comfortably as possible, for example, despite maneuvering now being carried out. This results from the fact that the next possible starting position zone and not some starting position zone that is further away, for example, is selected and approached as the new starting point for parking.
  • one embodiment provides that if the motor vehicle is not in any of the possible starting position zones and/or the current vehicle orientation of the motor vehicle does not match any vehicle orientation that is stored in the starting position map for the starting position zone in which the motor vehicle is located, an optimal possible starting position zone is determined.
  • the optimal possible home zone is the home zone that has the largest number of vehicle orientations of all possible home zones of the determined home map.
  • the optimal possible starting position zone is therefore the starting position zone from which different single-track parking maneuvers are possible, since different vehicle orientations are conceivable there in order to park in the free parking area in a single-track.
  • a travel trajectory to the determined optimum possible starting position zone is determined and the motor vehicle is driven autonomously according to the determined travel trajectory to the determined optimum possible starting position zone.
  • the motor vehicle driven autonomously according to the driving trajectory to the optimal possible starting position zone is arranged there in a vehicle orientation that is provided as a possible vehicle orientation from which single-track parking from the optimal possible starting position zone is possible. So it is even if the motor vehicle was not stopped in a home position zone and / or in a Area is driven in the vicinity of the parking area from which no single-track parking is possible for geometric reasons, but the single-track parking maneuver can be carried out by first approaching the optimal possible starting position zone as a new starting point for autonomous parking.
  • the optimal possible starting position zone is always approached when the motor vehicle currently has a vehicle orientation in which the single-pass parking maneuver is not possible despite the current position of the motor vehicle in one of the starting position zones, since, for example, a parking radius for a single-pass parking at the current Vehicle orientation in home position zone cannot be driven.
  • a probability is increased that the motor vehicle will be maneuvered to a new starting point where it can be placed in a vehicle orientation from which the one-way parking maneuver is possible. Because the new starting point is characterized by the fact that it is in the starting position zone with the greatest flexibility in terms of possible vehicle orientations, i.e. in the optimal possible starting position zone.
  • the starting position zone that is most flexible and therefore most easily approachable from all recognized starting position zones is selected. Because the more possible vehicle orientations for a single parking maneuver are possible from a starting position zone, the more flexibly the motor vehicle can be driven autonomously in an actually possible vehicle orientation to the optimal possible starting position zone. In this way, for example, maneuvering and steering can be optimized and reduced to a minimum number of driving maneuvers and a starting position zone can still be approached from which the single-stage parking maneuver can then be carried out. Despite, for example, maneuvering from the current position to the optimal possible starting position zone, it can still be parked in one go, so that rapid autonomous parking is still possible.
  • next possible starting position zone and/or the optimal possible starting position zone are only approached if, according to the travel trajectory determined, the motor vehicle can be positioned at the location of the next possible starting position zone or optimal possible starting position zone in a vehicle alignment that is suitable for the respective determined possible starting position zone is deposited.
  • the motor vehicle can only be positioned there in a vehicle orientation that is not intended for the respective starting position zone, that is means from which it is not possible to park in one lane in the free parking area. This prevents the motor vehicle from first being driven into the next or optimal possible starting position zone and then parking in one go from this newly approached starting position zone is still not possible. This keeps possible driver frustration and/or hindrance to other road users as low as possible.
  • a further exemplary embodiment provides for a check to be carried out to determine whether the determined travel trajectory can be traveled at a current point in time. This takes place taking into account obstacle data which describe an obstacle relating to the determined travel trajectory and are determined by applying an obstacle detection criterion to the determined sensor data.
  • the obstacle detection criterion includes a rule and/or an algorithm that can be used to detect an object in the vicinity of the motor vehicle as an obstacle to the travel trajectory from the current motor vehicle position to the optimal or next possible starting position zone.
  • the motor vehicle is driven autonomously to the determined starting position zone only if the determined driving trajectory can be traveled at the current time, that is to say, for example, no obstacle is detected along the driving trajectory.
  • a three-dimensional driving corridor can be determined for the driving trajectory, taking into account a width, length and/or height of the motor vehicle, the driving trajectory being considered to be traversable only if there is no obstacle in the determined three-dimensional driving corridor. For example, it is taken into account whether a person and/or another road user, such as another vehicle, is in and/or along the determined travel trajectory, so that the motor vehicle cannot travel the travel trajectory autonomously without colliding.
  • a static obstacle can also be detected and taken into account, such as a curb boundary, a parked vehicle and/or a parking area boundary, such as a wall, a stone and/or a traffic sign.
  • the obstacle detection criterion can also take traffic rules into account, so that, for example, a longer stretch in a direction that is in the opposite direction to a travel direction specified for a lane of a road is detected as a travel trajectory that cannot be followed.
  • an analog check can be provided for the single-pass parking maneuver.
  • a check is made as to whether the one-pass parking maneuver can be performed at a current time, taking into account obstacle data which describe an obstacle relating to the one-pass parking maneuver and are determined by applying an obstacle detection criterion to the ascertained sensor data. Only if the one-stage parking maneuver can be performed at the current time, the one-stage parking maneuver is carried out.
  • the motor vehicle Based on the current position of the motor vehicle, if the motor vehicle is in the starting position zone and, for example, the current vehicle orientation of the motor vehicle also matches a vehicle orientation assigned to the starting position zone, it is checked whether the single-pass parking maneuver can be carried out. This ensures at all times that, for example, the autonomously parking motor vehicle does not unnecessarily impede the flow of traffic, since the single-pass parking maneuver is checked for obstacles before it is autonomously driven off.
  • At least one alternative starting position zone is determined, starting from which a multi-step parking maneuver into the recognized free parking area can be carried out. It is checked whether the motor vehicle is located in the at least one alternative starting position zone or can be driven to it autonomously. As soon as the motor vehicle is in the determined at least one alternative starting position zone or if the motor vehicle is already in the at least one alternative starting position zone, the multi-step parking maneuver for autonomous parking of the motor vehicle in the recognized free parking area is carried out.
  • the multi-step parking method includes at least one change of direction while the parking maneuver is being carried out.
  • the method is therefore not necessarily limited to the single-pass parking maneuver, but can be extended to multiple-pass parking maneuvers.
  • the multi-stage parking maneuver is typically more time-consuming and can also have a greater impact on the flow of traffic in the vicinity of the parking area than the single-stage parking maneuver, it enables autonomous driving and is therefore Ultimately, this is a convenient addition to the previously planned single-track parking maneuver for the driver.
  • next possible starting position zone and/or the optimal possible starting position zone is not regarded as a parking move, but rather as a driving maneuver preceding and independent of the autonomous parking maneuver.
  • one exemplary embodiment provides that the parking space recognition criterion is already applied to the detected sensor data while the motor vehicle is driving past the free parking space.
  • the effect of this is that the free parking area is recognized before the motor vehicle has driven completely past the free parking area.
  • the method according to the invention carries out the necessary evaluation steps, ie the detection of the free parking space, in such a timely manner that the free parking space is detected as such and preferably the starting position map is determined before the free parking space is completely driven past.
  • the one-speed parking maneuver can then be planned and, if necessary, started while driving past. This enables particularly space-saving and furthermore time-saving autonomous parking.
  • the invention also includes the combinations of features of the described embodiments.
  • a further aspect of the invention relates to a motor vehicle with a control device.
  • the motor vehicle also has a sensor device.
  • the motor vehicle is designed to carry out the method described above by means of the control device and the sensor device.
  • the sensor device is designed to acquire sensor data describing the surroundings of the motor vehicle while the motor vehicle is driving.
  • the control device is, for example, a computing device that has at least one microprocessor and/or microcontroller.
  • the control device is designed to carry out the remaining described method steps of the method according to the invention.
  • the control device is thus designed to evaluate the sensor data in accordance with the parking space detection criterion, the initial position determination criterion and/or the obstacle detection criterion.
  • the advantageous exemplary embodiments described and combinations of exemplary embodiments also apply as exemplary embodiments of the motor vehicle according to the invention.
  • the control device is thus designed to detect a free parking space by applying a parking space detection criterion to the sensor data recorded while the motor vehicle is driving.
  • the control device is also designed to determine a starting position map for the recognized free parking area by applying a starting position determination criterion to the recorded sensor data, the starting position map having possible starting position zones in the vicinity of the recognized parking area for a one-speed parking maneuver in the recognized free parking area.
  • the control device is designed to check whether the motor vehicle is in one of the starting position zones of the determined starting position map and, if the motor vehicle is in one of the starting position zones, to carry out the single-pass parking maneuver for autonomously parking the motor vehicle in the detected parking area.
  • the invention also includes the control device for the motor vehicle.
  • the control device has a processor device which is set up to carry out corresponding steps of the method according to the invention, an exemplary embodiment of the method according to the invention or a combination of exemplary embodiments.
  • the processor device can have at least one microprocessor and/or at least one microcontroller and/or at least one FPGA (Field Programmable Gate Array) and/or at least one DSP (Digital Signal Processor).
  • the processor device can have program code which is set up, when executed by the processor device, to carry out the corresponding steps of the method according to the invention, the exemplary embodiment of the method according to the invention or the combination of exemplary embodiments.
  • the program code can be stored in a data memory of the processor device.
  • a further aspect of the invention is a computer program product, ie a computer program, when the control device of the motor vehicle executes the steps mentioned for the control device of the method.
  • the computer program product is also provided for executing one or more exemplary embodiments of the method according to the invention, if these can be carried out using the control device.
  • FIG. 1 shows a schematic representation of a parking situation for a motor vehicle
  • Fig. 2 is a schematic representation of a home position map
  • FIG. 3 shows a schematic representation of a signal flow graph of a method for autonomously parking a motor vehicle in a free parking space.
  • the exemplary embodiments explained below are preferred exemplary embodiments of the invention.
  • the described components each represent individual features of the invention to be considered independently of one another, which also develop the invention independently of one another and are therefore also to be regarded as part of the invention individually or in a combination other than that shown.
  • the exemplary embodiments described can also be supplemented by further features of the invention already described.
  • a motor vehicle 1 is outlined.
  • the motor vehicle 1 drives in a travel direction 2 on a street 3.
  • a free parking area 4 which is designed here as a perpendicular parking space.
  • the parking area 4 is spatially delimited by two other vehicles 5 parked adjacent to one another.
  • the motor vehicle 1 is preferably positioned centrally between the two other vehicles 5 in the parking area 4 .
  • the motor vehicle 1 is preferably located at a distance d from a boundary of the parking area 4 to the street 3 or a beginning of the parking area 4 facing the motor vehicle 1.
  • the distance d is preferably between 0 meters and 2 meters.
  • the motor vehicle 1 has a control device 6 which is a computing device, ie which has at least one microprocessor and/or a microcontroller.
  • the motor vehicle 1 also has a sensor device 7, which is embodied here by way of example as a front camera and as ultrasound sensors arranged on the side. Alternatively or additionally, the sensor device 7 can have a side camera, a rear camera, a radar device and/or a lidar device (lidar for “light detection and ranging”).
  • the motor vehicle 1 can also have an operating device 8 with which, for example, a user of the motor vehicle 1, such as a driver of the motor vehicle 1, can manually activate or deactivate a driver assistance system that assists him when parking.
  • the operating device 8 is, for example, an operating element on a touch-sensitive screen, a button, a switch, a rotary pushbutton switch and/or a knob.
  • a motor vehicle position 9 is marked for the motor vehicle 1, which describes a current position of the motor vehicle 1, for example in the form of coordinates.
  • the motor vehicle position 9 is here a center point between the wheels of a rear axle of the motor vehicle 1.
  • a travel trajectory 10 to a turning point 11 is sketched for motor vehicle 1, at which a change of direction takes place, so that motor vehicle 1 can be driven backwards, for example autonomously, in accordance with a single-track parking maneuver 12 to a parking position 13 in parking area 4.
  • 1 also shows the maximum vehicle turning radius r or twice the vehicle turning radius 2r to illustrate the possible maneuvering options in the vicinity of the parking area 4 for the motor vehicle 1.
  • a starting position map 15 is sketched in FIG. This shows the surroundings of the parking area 4.
  • the motor vehicle 1 with the motor vehicle position 9 is drawn in two exemplary positions, once with solid lines and once with dashed lines.
  • the two motor vehicles 1 have each already driven past the parking area 4 in the direction of travel 2 in order to now back into the free parking area 4 in one lane.
  • the starting position map 15 shows a number of possible starting position zones 16. These are each drawn in as tiles measuring 50 centimeters by 50 centimeters on a map of the area surrounding the free parking area 4, for example. Each of the starting position zones 16 shown is suitable for a one-speed parking maneuver 12 in the free parking area 4. Hatching of the respective starting position zone 16 corresponds to a number 17 of vehicle orientations 23 (see reference number 23 in Fig. 3), which is stored for the respective starting position zone 16. Starting from each of the stored vehicle alignments 23, the motor vehicle 1 can be parked from the respective starting position zone 16 with the single-pass parking maneuver 12 into the recognized free parking area 4. The number 17 thus indicates how flexible the starting position zone 16 is, since the indicates from how many different vehicle orientations 23 from the starting position zone 16 the single-pass parking maneuver 12 is possible.
  • the motor vehicle 1 sketched with a solid line is located in a possible starting position zone 16 according to its motor vehicle position 9.
  • a single-track parking maneuver 12 into the parking area 4 is therefore possible in principle for this motor vehicle 1, in particular if the current vehicle orientation 23 matches the starting position zone 16 stored for this Vehicle orientation 23 of the motor vehicle 1 matches.
  • the motor vehicle 1 sketched with a dashed line is not in any starting position zone 16.
  • the next possible starting position zone 18 is the possible starting position zone 16, which is spatially at the next to the current motor vehicle position 9 of the motor vehicle 1 is located.
  • the optimal possible starting position zone 19 is the starting position zone 16 with the greatest number 17 of vehicle alignments 23.
  • a parking space recognition criterion 21 is applied to the recorded sensor data 20 .
  • the parking space recognition criterion 21 is an algorithm and/or a rule that is implemented in order to be able to determine the free parking space 4 .
  • the two other vehicles 5 can be recognized as objects spatially delimiting the perpendicular parking space as parking area 4 .
  • the method can preferably only be applied to a perpendicular parking space.
  • the parking process in this perpendicular parking space as a parking area 4 is preferably a single-track reverse parking.
  • the single parking maneuver 12 is therefore a driving maneuver for reverse parking without maneuvering forwards and backwards.
  • the parking space recognition criterion 21 is preferably already applied to the detected sensor data 20 while the motor vehicle 1 is driving past the free parking space 4 . Free parking space 4 is thus preferably recognized as such before the motor vehicle 1 drives completely past the free parking area 4 .
  • step S2 It can be provided in a method step S2 that the motor vehicle 1 is stopped after the free parking space 4 has been detected.
  • a method step S3 detects a determination of the starting position map 15 for the detected parking area 4.
  • a starting position determination criterion 22 is applied to the detected sensor data 20.
  • the starting position determination criterion 22 is a rule and/or an algorithm, when the starting position map 15 is determined when it is carried out.
  • An example of such a starting position map 15 is outlined in FIG.
  • the starting position map 15 has several possible starting position zones 16 in the vicinity of the recognized parking area 4, which are suitable for the single-stage parking maneuver 12 in the recognized free parking area 4.
  • the starting position map 15 has a number 17 of vehicle alignments 23 of the motor vehicle 1 relative to the parking area 4 for each starting position zone 16 . Based on these vehicle orientations 23, the motor vehicle 1 can be parked from the possible starting position zone 16 with the single-pass parking maneuver 12 into the recognized free parking area 4.
  • a check is carried out as to whether the motor vehicle 1 is located in one of the starting position zones 16 of the determined starting position map 15. It is therefore checked whether the motor vehicle position 9 is in one of the starting position zones 16 of the starting position map 15 . If this is the case, it is preferably checked in a method step S5 whether the current vehicle alignment 23 of the motor vehicle 1 matches the one or more of the vehicle alignments 23 that are in the starting position map 15 for the possible starting position zone 16 in which the motor vehicle 1 is located is deposited.
  • the motor vehicle position 9 and the vehicle orientation 23 of the motor vehicle 1 are compared with the corresponding information on the starting position map 15 in order to determine whether the motor vehicle position 9 and preferably the current vehicle orientation 23 allow the single-track parking maneuver 12 into the free parking area 4 or not. If both checking steps S4 and S5 or at least checking step S4 are successful, the single-pass parking maneuver 12 for autonomous parking of the motor vehicle 1 in the identified parking area 4 can be carried out. For this purpose, starting from the current motor vehicle position 9, parking is parked backwards into the free parking area 4, ie without stopping or changing direction.
  • Stored in the starting position map 15 means that the corresponding information, i.e. at least the starting position zone 16 and in particular the vehicle orientation 23, is stored, for example, in a memory unit of the control device 6 assigned to its respective position in the starting position map 15.
  • method steps S7 and/or S7' can take place. Method steps S7 and S7' therefore only take place if motor vehicle 1 is not in any of the possible starting position zones 16 and/or the current vehicle orientation 23 of motor vehicle 1 does not have a vehicle orientation stored for starting position zone 16 in which motor vehicle 1 is located 23 matches.
  • the next possible starting position zone 18 that is closest to the current motor vehicle position 9 of the motor vehicle 1 is determined.
  • the optimal possible starting position zone 19 can be determined in method step S7′, which has the greatest number 17 of vehicle orientations 23 of all possible starting position zones 16 of the determined starting position map 15 .
  • a method step S8 the travel trajectory 10 to either the determined next possible starting position zone 18 and/or to the determined optimum possible starting position zone 19 is determined.
  • a travel route to the determined home position zone 18, 19 is thus calculated.
  • the turning point 11 can thus be the determined next possible starting position zone 18 and/or the determined optimal possible starting position zone 19 .
  • a method step S9 the motor vehicle 1 is driven autonomously according to the determined travel trajectory 10 to the determined next possible starting position zone 18 and/or optimal possible starting position zone 19. From there, method step S6 can take place, ie the single-pass parking maneuver 12 can be carried out.
  • step S8 ie after
  • obstacle data 25 be determined.
  • an obstacle detection criterion 24 is applied to the determined sensor data 20 .
  • the obstacle data 25 describe an obstacle relating to the ascertained travel trajectory 10 .
  • a check is then made as to whether the travel trajectory 10 determined can be traveled at the current point in time. This is the case, for example, when no obstacle according to obstacle data 25 affects driving trajectory 10 . If an obstacle is detected, the method is preferably terminated. However, if no obstacle is detected, progress can be made, for example, to method step S9, that is to say autonomous driving of motor vehicle 1 can be carried out according to determined driving trajectory 10 .
  • Motor vehicle 1 is parked autonomously in recognized parking area 4 according to single-stage parking maneuver 12 only if single-stage parking maneuver 12 can be performed at the current time. This procedure is not outlined in FIG.
  • a method step S12 can also be carried out between method steps S4 or S5 or method step S6. This provides for a check as to whether the one-way parking maneuver 12 and/or the determined driving trajectory 10 can be driven at the current time and/or whether a distance 26 between the current motor vehicle position 9 of the motor vehicle 1 and one of the determined starting position zones 18, 19 is greater than a predetermined one Maximum distance is 27. If this is the case, in a method step S13 at least one alternative starting position zone 28 is determined, starting from which a multiple-step parking maneuver 29 into the recognized free parking area 4 can be carried out. In a method step S14, it is then checked in particular whether the motor vehicle 1 is located in the at least one alternative starting position zone 28 or whether it can be driven to it autonomously.
  • the method is ended, for example.
  • the check is positive, that is, as soon as the motor vehicle 1 is in the determined at least one alternative starting position zone 28, the multi-stage parking maneuver 29 for autonomous parking of the motor vehicle 1 in the recognized parking area 4 is preferably carried out.
  • a method step S15 can take place. This includes that instead of the single-stage parking maneuver 12, the multi-stage parking maneuver 29 for autonomous parking of the motor vehicle 1 in the recognized parking area 4 is carried out.
  • the sensor data 20 is preferably recorded by means of the sensor device 7 ; the other method steps are carried out by means of the control device 6 of the motor vehicle 1 .
  • This is designed to influence a longitudinal and lateral guidance of the motor vehicle 1, ie to act on its drive device, brakes and steering, ie the motor vehicle 1 is set up for autonomous driving and thus for autonomous parking.
  • the invention shows a parking assistant that can park with a single-pass maneuver, the single-pass parking maneuver 12 .
  • the activation of the driver assistance system and the calculation of the optimum parking trajectory that is to say the single-track parking maneuver 12 are first carried out early on, while the motor vehicle 1 is still being moved. In particular, the motor vehicle 1 has not yet driven past the selected free parking area 4 .
  • the planned procedure is divided into three phases: The first phase includes early detection of parking spaces and activation of the parking assistant.
  • the parking assistant should be activated as early as possible in order to shorten the duration of parking as a whole, for example including the driving trajectory 10, and thereby provide better predictability, so that parking is similar to parking by a human driver.
  • the second phase includes supporting the driving maneuver.
  • a supporting driving maneuver is proposed in order to maximize the maneuvering possibilities of the motor vehicle 1 .
  • the latter step relates to parking itself.
  • the single-stage parking maneuver 12 is provided, which is then carried out when the motor vehicle 1 is in one of the possible starting position zones 16, the next possible determined Home position zone 18 and / or the identified optimal possible
  • Home position zone 18 is located.
  • the free parking space 4 It is necessary for the free parking space 4 to be determined early on so that the motor vehicle 1 can be parked backwards into the parking space 4 in a single parking maneuver 12 . For this, the total time required for parking can be reduced as much as possible.
  • Early here means while the motor vehicle 1 is still moving forward and has preferably not yet completely driven past the free parking area 4, preferably while it is still driving past the parking area 4 with its front area.
  • an ultrasonic sensor can be used as the sensor device 7 . The better the resolution of the sensor device 7, the better the free parking area 4 can be recognized, so that the radar device or the lidar device should be used, for example.
  • the operating device 8 can be provided in the motor vehicle 1 for this purpose. If the free parking area 4 is too small for autonomous parking, alternative driving maneuvers can be suggested, for example, or the multi-step parking maneuver 29 can be suggested and/or activated.
  • the third phase includes planning as soon as the system described has recognized the free parking area 4 . It can also be provided that this part only begins when the driver has actively activated the driver assistance system. The planning for this should take into account the kinematic possibilities of the motor vehicle 1 in order to be able to determine by comparison with the starting position zones 16 whether the single-track parking maneuver 12 is possible or not.
  • the starting position map 15 is created for this purpose. In this case, the number 17 of vehicle orientations 23 per starting position zone 16 is preferably calculated and highlighted in the starting position map 15 .
  • the driving maneuver becomes more complicated since the driving trajectory 10 is first determined their ability to be driven can be checked and carried out. As soon as the motor vehicle 1 has reached one of the possible starting position zones 16, one of the determined starting position zones 18, 19 or the alternative starting position zone 28, the actual parking is carried out.
  • the reverse maneuver preferably follows one geometric analysis. A planning algorithm should be used if the optimal solution is more complicated, for example if the driving trajectory 10 and/or the single parking maneuver 12 comprises an arc followed by a straight vehicle guidance.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un procédé de stationnement autonome d'un véhicule automobile (1) dans une place de stationnement (4) et le véhicule automobile (1) pour la mise en œuvre du procédé. Le procédé consiste à : pendant le déplacement du véhicule automobile (1), capturer (S1) des données de capteur (20) décrivant l'environnement du véhicule automobile (1) au moyen d'un dispositif de capteur (7) du véhicule automobile (1), et détecter une place de stationnement (4) libre par application d'un critère de détection de place de stationnement (21) aux données de capteur (20) capturées ; déterminer (S3) une carte de position de départ (15) pour la place de stationnement (4) libre détectée, la carte de position de départ (15) comprenant une pluralité de zones de position de départ possibles (16) dans l'environnement de la place de stationnement (4) détectée pour une manœuvre de stationnement à déplacement unique (12) dans la place de stationnement (4) libre détectée ; vérifier (S4) si le véhicule automobile (1) est situé dans l'une des zones de position de départ (16) de la carte de position de départ (15) déterminée ; et, si tel est le cas, effectuer (S6) la manœuvre de stationnement à déplacement unique (12) afin de stationner de manière autonome le véhicule automobile (1) dans la place de stationnement (4) détectée.
PCT/EP2022/082853 2021-12-15 2022-11-22 Procédé de stationnement autonome d'un véhicule automobile dans une place de stationnement WO2023110334A1 (fr)

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DE102021214460.8A DE102021214460A1 (de) 2021-12-15 2021-12-15 Verfahren zum autonomen Einparken eines Kraftfahrzeugs in eine Parkfläche
DE102021214460.8 2021-12-15

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102010001288A1 (de) 2010-01-27 2011-07-28 Robert Bosch GmbH, 70469 Verfahren zur Unterstützung eines Fahrers eines Kraftfahrzeugs beim Einparken
US20170137061A1 (en) * 2015-11-17 2017-05-18 Mitsubishi Electric Corporation Vehicle steering control apparatus
DE102019208300A1 (de) 2019-06-06 2020-12-24 Volkswagen Aktiengesellschaft Verfahren zum einzügigen Parken eines Fahrzeugs, Parkassistenzsystem, sowie Fahrzeug
EP3865376A1 (fr) * 2020-02-13 2021-08-18 Volvo Car Corporation Système d'assistance au stationnement automatisé d'un véhicule sur une place de stationnement

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102009040372A1 (de) 2009-09-07 2011-03-10 Valeo Schalter Und Sensoren Gmbh Verfahren zum Durchführen eines zumindest semi-autonomen Parkvorgangs eines Kraftfahrzeugs, Fahrerassistenzeinrichtung und Kraftfahrzeug mit einer Fahrerassistenzeinrichtung

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102010001288A1 (de) 2010-01-27 2011-07-28 Robert Bosch GmbH, 70469 Verfahren zur Unterstützung eines Fahrers eines Kraftfahrzeugs beim Einparken
US20170137061A1 (en) * 2015-11-17 2017-05-18 Mitsubishi Electric Corporation Vehicle steering control apparatus
DE102019208300A1 (de) 2019-06-06 2020-12-24 Volkswagen Aktiengesellschaft Verfahren zum einzügigen Parken eines Fahrzeugs, Parkassistenzsystem, sowie Fahrzeug
EP3865376A1 (fr) * 2020-02-13 2021-08-18 Volvo Car Corporation Système d'assistance au stationnement automatisé d'un véhicule sur une place de stationnement

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