GB2453850A

GB2453850A - Driver parking instruction issuing system that stores the position of the target parking space in memory during the parking procedure

Info

Publication number: GB2453850A
Application number: GB0818836A
Authority: GB
Inventors: Philipp Lehner
Original assignee: Robert Bosch GmbH
Current assignee: Robert Bosch GmbH
Priority date: 2007-10-18
Filing date: 2008-10-14
Publication date: 2009-04-22
Also published as: FR2922507A1; DE102007049965A1; GB0818836D0

Abstract

Disclosed is a method and system for issuing parking instructions to the driver of a vehicle. The system first automatically acquires data on the target parking gap and calculates a trajectory for reaching the target position from the current position and orientation of the vehicle. The system then issues instructions to the driver to guide the vehicle into the parking space. The data on the parking gap are stored in a memory until the vehicle reaches the target position or the driver definitively terminates the parking procedure. The parking space and the vehicle position may be detected by environment sensors and vehicle sensors.

Description

Description Title

Method for issuing parking instructiOns The invention relates to a method for issuing parking instructions to the driver of a vehicle, in particular motor vehicle, for reaching a target position in a parking gap, in which method firstly data on the parking gap are automatically acquired and starting from a current position and orientation of the vehicle a trajectory for reaching the target position is calculated, the parking instructions guiding the driver along the trajectory.

Prior art

Methods of the type mentioned in the introduction are known. In these methods, the driver of the vehicle is assisted when parking in the parking gap by means of acoustic and/or visual parking instructioflS. To this end, firstly data on the parking gap are automatically acquired and compared with a current position and orientation of the vehicle, so that a trajectory, i.e. a curved path or parking path, for reaching the target position in the parking gap is determined or calculated therefrom. The parking instructions then guide the driver along the calculated/determined trajectory to the target position.

From DE 10 2005 046 827 Al it is known to calculate a trajectory starting from the current vehicle position which is at least partly already within the parking gap. If it is not possible to reach the target position from the current vehicle position, the driver is requested to re-start the parking procedure. it is also known that the driver is requested to re-start the parking procedure if he has not followed the trajectory with sufficient accuracy and, owing to the thereby resulting deviations from the trajectory, it is no longer possible to reach the target position.

Disclosure of the invention

According to the invention, it is provided that the data on the parking gap are stored in an electrical memory until the vehicle reaches the target position or the driver definitively terminates the parking procedure. For example, if the driver has not followed the specific trajectory with sufficient accuracy on his first parking attempt, so that he has to start a renewed parking attempt, he can do this without the need for renewed detection of the parking gap or acquisition of the data on the parking gap. As a result of the fact that the data are stored in the electrical memory until the vehicle reaches the target position or the driver definitively terminates the parking procedure, the driver may make as many parking attempts as desired without the need for renewed measurement or detection of the parking gap. This makes the parking procedure overall particularly time-saving and simple, especially when several parking attempts are required. This is advantageous for other road users as well, since the vehicle quickly clears the road for the other road users owing to the quick parking procedure.

Advantageously, the data on the parking gap are automatically acquired as the vehicle travels past the parking gap. The parking system is started, for example, manually by the driver. As the vehicle travels past the parking gap, the data on the parking gap are then automatically acquired and stored. The data are then only discarded again if it is detected that the driver does not wish to park in this parking gap, the detection being able to take place automatically or being effected by a manual actuation of the driver.

Expediently, the position and the orientation of the vehicle are automatically determined/detected throughout the parking procedure, the position and the orientation of the vehicle usefully being determined here in relation to the parking gap. Since the parking system is now Continuously, aware of the position and orientation of the vehicle in relation to the parking gap, the trajectory is advantageously continuously re-calculated or adjusted, in particular so as to compensate for driving errors of the driver.

According to a development of the invention, at least one environment sensor and/or at least one vehicle sensor is used to determine the position and/or orientation of the vehicle and/or to acquire the data on the parking gap. In particular, the data on the parking gap are acquired by means of the environment sensor. The vehicle sensor serves in particular to acquire data which allow the determination of the position and/or orientation of the vehicle in relation to the parking gap. While the data on a parking gap are acquired by means of the environment sensor as the vehicle travels past the parking gap, subsequently the position and orientation of the vehicle are continuously monitored, additionally or alternatively, by means of the vehicle sensor.

Advantageously, the at least one environment sensor used is a distance-measuring sensor, in particular a radar sensor.

Particularly advantageously, at least one distance-measuring sensor is arranged on one side of the vehicle, in particular on the right in the normal direction of travel, so that this sensor can acquire data on a parking gap, particularly with regard to its length and depth, as the vehicle travels past the parking gap. Advantageously, a plurality of environment sensors arranged on different locations of the vehicle are provided, so that during the parking procedure the driver is informed about the distance from obstacles or is warned about imminent Collisions.

Furthermore, it is provided that the at least one vehicle sensor used is a steering-angle sensor, wheel-pulse counter, wheel-speed sensor and/or a yaw-rate sensor.

Particularly preferably, a steering-wheel sensor and a wheel-speed sensor or pickup are used, the signals of which are used to ascertain the current position and orientation of the vehicle starting from a known starting position. If the driver leaves the parking gap, for example because he cannot reach the desired target position, the position and orientation of the vehicle continues to be determined until the driver definitively terminates the parking procedure.

If, however, he is only starting a further parking attempt, a new trajectory for reaching the target position can be determined on the basis of the current vehicle position and orientation. Advantageously, the new or the original trajectory is calculated when the driver engages the reverse gear of the vehicle. This serves as a starting signal of a parking attempt for the parking system of the vehicle. Alternatively or additionally, a parking attempt can be manually initialised by the driver, for example by pushing a button.

According to an advantageous development of the invention, the driver is requested to terminate his parking attempt and to steer into any desired or a specific starting position if it is determined on the basis of the orientation and position of the vehicle that it is not possible to reach the target position or is only possible with difficulty. Thus, if it is not possible for the driver to reach the target position in the parking gap or is only possible with considerable effort, for example if more than four gear changes would be needed to reach the target position, the driver is requested by means of the preferably acoustic and/or visual parking instructions to terminate his parking attempt. Moreover, the driver is requested to move the vehicle into any desired or into a specific starting position, from which a renewed parking attempt is to take place. In one embodiment here, it is thus left to the driver to choose the starting position into which he would like to move for a new parking attempt.

Owing to the still continuous detection of the current position and orientation of the vehicle in relation to the parking gap, a new trajectory for reaching the target position can be quickly determined or calculated.

Alternatively, as already mentioned, the driver is requested to steer into a specific starting position. This takes place expediently by issuing appropriate parking instructions. The prescribed starting position advantageously lies within defined tolerance ranges, so that the driver does not have to steer into a specific, exact starting position. As soon as the driver reaches the favourable starting position within the tolerance ranges with the vehicle, he is informed of this by issuing an appropriate parking instruction. The tolerance ranges are advantageously defined as a function of vehicle parameters, such as, for example, wheelbase, maximum steering angle, body contour and/or similar parameters. According to a development of the invention, the issuing of parking instructions for a further parking attempt is activated automatically or manually.

Furthermore, it is provided that the issuing of the parking instructions to the driver is deactivated automatically or manually by the driver. For example, if the driver has changed his mind, he can manually inform the parking system that he wishes to definitively terminate the parking procedure. Alternatively to this *(or in addition), the issuing is preferably automatically deactivated when the parking system detects that the driver wishes to definitively terminate the parking procedure. Thi8 may take place, for example, by detecting the gear/position of gearbox selector lever and/or the travelling speed. If the system detects, for example, that the driver has engaged second gear, the parking procedure or the issuing of parking instructions iS deactivated/definitively terminated, since it must now be assumed that the driver does not wish to park in this parking gap.

Finally, it is provided that the issuing of parking instructions is activated and/or deactivated as a function of at least one threshold value. Such a threshold value may, for example, be a distance from the target position, which position is determined by the current position and/or orientation of the vehicle. Likewise, the threshold value may be formed by a particular position of the gear lever.

Brief description of the drawings

The invention will be explained in more detail below with reference to some figures, in which Figure 1 shows a first exemplary embodiment of an advantageous method for issuing parking instructions, Figure 2 shows a second exemplary embodiment of the advantageous method, and Figure 3 shows a flow diagram of the advantageous method.

Eznkodiment(s) of the invention Figure 1 shows, in a schematic illustration, an exemplary embodiment of an advantageous method for issuing parking instructions to the driver of a vehicle 1 in the form of a motor vehicle. A road border 2, formed by a kerb for example, is illustrated in Figure 1. A first vehicle 3 and a second vehicle 4 spaced from it are parked alongside the kerb. The vehicles 3 and 4 are spaced apart from one another in such a manner that a parking gap 5 is formed between them. The advantageous method will be explained below by way of example firstly with reference to Figures 1 and 2.

The driver of the vehicle 1 manually starts or activates the issuing of parking instructions or the parking system in a step 6, as illustrated in Figure 3, or the parking system independently/automatically detects that the driver of the vehicle 1 wishes to park. If the vehicle 1 is moving in the direction of the arrow 7 (Figure 1), data on the parking gap 5 are automatically ascertained/acquired and stored as the vehicle travels past the parking gap 5. For this purpose, a distance sensor 8 for example, in the form of a radar sensor 9, is arranged on the right-hand side of the vehicle 1 in the direction of travel. As the vehicle travels past the parking gap 5, the length of the parking gap 5 and also its depth, i.e. the distance to the kerb 2, can be determined by means of the radar sensor 9 in a simple manner in a further step 10 (Figure 3) . The radar sensor 9 is in this case an environment sensor 11 of the vehicle 1. The acquired data on the parking gap 5 are advantageously stored in an electrical memory of the vehicle 1 until the vehicle 1 reaches the target position in the parking gap 5 or the driver definitively terminates the parking procedure.

Simultaneously, in a step 12, the position and also the orientation of the vehicle 1 relative to the parking gap 5 are ascertained by means of suitable vehicle sensors. The vehicle sensors used are preferably a steering-angle sensor and a wheel-speed sensor. Optionally, if a parking gap 5 of sufficient size is detected, a parking instruction is issued to the driver, indicating to him that a parking gap exists. If the driver comes to a standstill in a first position 13 after travelling past the parking gap 5, an ideal trajectory 14 -illustrated here by a broken line -is calculated in a following step 15 of the method according to Figure 3, as a function of the current position and orientation of the vehicle 1. If the driver were to steer the vehicle 1 exactly along the trajectory 14, he would reach the target position in the parking gap 15. The step 15 or the calculation of the trajectory 14 may be started in different ways. On the one hand, the driver can manually start the calculation, for example by pushing a button. On the other hand, the system can be automatically started when it detects a desire of the driver to park. This occurs, for example, when an engagement of the reverse gear is detected. As soon as the trajectory 14 is calculated/determined, parking instructions are visually and/or acoustically issued to the driver in a step 16. The parking instructions are intended to guide the driver along the trajectory 14 into the parking gap 5. Through the continuous detection of the current position and orientation of the vehicle 1, it can quickly be ascertained whether the vehicle 1 is following the ideal trajectory 14. If the driver or the vehicle 1 deviates from the ideal trajectory 14, appropriate parking instructions are firstly issued to the driver which are intended to guide him back onto the trajectory 14, or a new trajectory is calculated as a function of the current position and orientation of the vehicle 1 if the deviation of the vehicle 1 from the ideal trajectory 14 is too great.

This is illustrated, for example, by a curved path 17 which illustrates the actual movement of the vehicle 1, and which deviates markedly from the ideal trajectory 14. The actual curved path 17 leads to a resulting position 18, which is unfavourable for the continuation of the parking procedure or leads to a poor or undesired target position, in particular far away from the road border 2.

In a step 19 it is ascertained whether the current position and orientation of the vehicle will allow the target position and the parking gap 5 to be reached. If it is ascertained that this is possible without great effort, the driver is given appropriate parking instructions which may include, inter alia, also driving the vehicle 1 forwards.

If in the step 19 it is ascertained that the vehicle 1 is in the target position in the parking gap 5, the advantageous method is definitively ended in a step 24.

If, however, it is not possible to reach the target position or is possible only with a great effort, the driver is given a parking instruction which is intended to get him to leave the parking gap 5 again and start a new parking attempt. In this case, in a step 21 the driver may be instructed to steer into a specific/favourable or any desired starting position.

A favourable starting position may be considered to be reached when the vehicle position (x,y) and orientation lie within defined ranges: Xi�=X�=X2 Y1�=Y�=y2 and a trajectory can be offered by the parking system without colliding with an obstacle. Advantageously, the ranges are chosen as a function of vehicle parameters. In this case, it may also be useful to design the parameters as to be dependent on one another or on current position values of the vehicle (for example: x1-fa(W),x2=fb(W).

Figure 2 shows the parking gap 5 from Figure 1, with the vehicle 1 having been steered by the driver into any desired starting position 20 after a failed parking attempt. The driver is assisted by the parking system when driving out of the parking gap 5 (as well as when driving in), with advantageously a plurality of environment sensors, in particular distance-measuring sensors/radar sensors, detecting the immediate environment of the vehicle 1 and indicating to the driver distances from obstacles and/or warning him of imminent collisions with objects. In addition, a reversing camera may also be used. Precise steering or driving instructions for the driver are not necessary in this situation, since it is not important to reach a specific starting position. The driver decides himself when and where to stop the vehicle.

While leaving the parking gap 5, as well as during the parking manoeuvre, the current position and orientation of the vehicle relative to the (stationary) parking gap 5 is continuously tracked/determined, as described for step 12 above. If the driver informs the system, for example by engaging the reverse gear, of his intention to park by reversing again, the system, as already mentioned, calculates the new trajectory from the new starting position 20 of the vehicle 1, there being no need for renewed measurement of the parking gap since the data on the parking gap 5 -as already mentioned -are stored in the electrical memory of the vehicle 1 until the vehicle 1 reaches the target position in the parking gap 5 or the driver definitively terminates the parking procedure. The parking procedure may in this case include a plurality of parking attempts, as described above.

In addition, it may also be made possible for the driver to make his own decision as to whether a further parking attempt is worthwhile. By ignoring the current instruction of the system and driving out of the parking gap 5, the driver signals his intention to begin a new parking attempt. In order to detect this, the parking system can evaluate the time profiles of the following signals: vehicle position and orientation (step 12), direction of travel and distance covered, engaged gear or position of gearbox selector lever, steering angle, accelerator/brake pedal position, current or last instruction of the parking system to the driver. The vehicle position and/or vehicle orientation are determined by means of the vehicle sensors, as already described above. Other quantities are present on the CAN of the vehicle 1 or are already present as internal quantities (in the parking system) -If the driver ignores parking instructions by, for example, driving forwards instead of reversing, the parking system can assume that the driver does not want to continue the parking attempt.

In addition, threshold values which help to reveal the driver's intention may be provided.

Figure 2 shows, in this regard, a first threshold value 22 and a second threshold value 23 as broken distance lines parallel to the road border 2. Here is an example: The vehicle has already reached a certain depth, i.e. the y-coordinate of the current vehicle position has reached a defined y-threshold value 22. The driver now drives forwards again and steers in such a way that the vehicle 1 moves out of the parking gap 5. If the y-coordinate of the vehicle position in turn exceeds a y-threshold value 23 greater than the first-mentioned threshold value 22, it may be assumed that the vehicle 1 has left the parking gap 5.

The parking attempt is terminated and a new parking attempt can begin. Similar threshold values (x, y, W) are provided in order to automatically detect a final termination of the parking procedure.

It is also conceivable for the driver to manually terminate the parking attempt before leaving the parking gap 5. After reaching a new starting position, for example the starting position 20, the driver activates the issuing of the parking instructions again by pushing a button again/manually. The parking procedure is concluded when either the vehicle reaches the target position in the parking gap 5 or the driver definitively terminates the parking procedure.

Claims

Claims 1. Method for issuing parking instructions to the driver of a vehicle, in particular motor vehicle, for reaching a target position in a parking gap, in which method firstly data on the parking gap are automatically acquired and starting from a current position and orientation of the vehicle a trajectory for reaching the target position is calculated, the parking instructions guiding the driver of the vehicle along the trajectory, characterized in that the data on the parking gap are stored in an electrical memory until the vehicle reaches the target position or the driver definitively terminates the parking procedure.
2. Method according to Claim 1, characterized in that the data on the parking gap are automatically acquired as the vehicle travels past the parking gap.
3. Method according to one of the preceding claims, characterized in that the position and orientation of the vehicle are automatically determined/detected throughout the parking procedure.
4. Method according to one of the preceding claims, characterized in that at least one environment sensor and/or at least one vehicle sensor are used to determine the position and/or orientation of the vehicle and/or to acquire the data on the parking gap.
5. Method according to one of the preceding claims, characterized in that the at least one environment sensor used is a distance-measuring sensor, in particular radar sensor.
6. Method according to one of the preceding claims, characterjsed in that the at least one vehicle sensor used is a steering-angle sensor, wheel-pulse counter, wheel-speed sensor and/or a yaw-rate sensor.
7. Method according to one of the preceding claims, characterised in that the driver is requested to terminate his parking attempt and to steer into any desired or a specific starting position if it is determined on the basis of the orientation and position of the vehicle that it is not possible to reach the target position or is only possible with difficulty.
8. Method according to one of the preceding claims, characterised in that the issuing of parking instructions for a further parking attempt is activated automatically or manually by the driver.
9. Method according to one of the preceding claims, characterjsed in that the issuing of the parking instructions to the driver is deactivated automatically or manually by the driver.
10. Method according to one of the preceding claims, characterjsed in that the issuing of parking instructions is activated and/or deactivated as a function of at least one threshold value.
11. A method of issuing parking instructions to the driver of a vehicle substantially as herein described with reference to the accompanying drawings.