GB2479998A

GB2479998A - A parking system for a vehicle

Info

Publication number: GB2479998A
Application number: GB1106952A
Authority: GB
Inventors: Jochen Staack
Original assignee: Robert Bosch GmbH
Current assignee: Robert Bosch GmbH
Priority date: 2010-04-29
Filing date: 2011-04-21
Publication date: 2011-11-02
Anticipated expiration: 2031-04-21
Also published as: FR2959470A1; CN102267461A; FR2959470B1; DE102010028342A1; CN102267461B; DE102010028342B4; GB2479998B; GB201106952D0

Abstract

A parking system for a vehicle 1 comprises a sensor system comprising a plurality of sensors 2,3,4,5 for measuring distance data between the vehicle 1 and the environs thereof. A processing unit determines a parking space 6 and parking space boundaries 7a, 7b, 7c thereof on the basis of the measured distance data and calculates a trajectory to be followed in the course of parking in the parking space 6. At least one of the sensors 4 in the intact state is configured to detect at least one of the determined parking space boundaries 7a in the course of following the trajectory. If the sensor 4 in the course of following the trajectory does not detect a parking space boundary 7a, the processing unit activates a warning element, which by means of a warning signal instructs the driver to check the path of motion himself, and/or activates a brake system, which automatically brakes the vehicle 1.

Description

Description Title

Parking system for a vehicle The present application relates to a parking system and a parking assistance method for a vehicle.

Background art

Parking systems for parking a vehicle in a parallel parking space (parking spaces between vehicles parked one behind the other parallel to the road) are known, whereby during forward travel a sensor fitted laterally on the vehicle measures the distance from objects alongside the vehicle and on the basis of the determined signals it is detected whether and where relative to the vehicle there is a suitable parking space. Such a system is described for example in the printed document US 2007/0146464 Al.

With some parking systems the driver himself drives and in the course of the parking operation receives driving instructions from the parking system in order to move safely into the parking space. With so-called transversely guided parking systems, the parking system takes over the steering during the parking operation so that the driver merely has to actuate the brake and the accelerator.

Disclosure of the invention

The subject matter of the present invention is a parking system, for example a system for moving into and out of a parking space, for a vehicle, in particular a motor vehicle, that comprises a sensor system comprising a plurality of sensors for measuring distance data between the vehicle and its environs, and a processing unit, which on the basis of the measured distance data determines a parking space and the parking space boundaries thereof and calculates a trajectory that is to be followed in the course of parking in the parking space, wherein at least one of the sensors in the intact state is configured to detect at least one of the determined parking space boundaries in the course of following the trajectory, wherein the processing unit, if the sensor in the course of following the trajectory does not detect a parking space boundary determined as being situated in its detection area, activates a warning element, which by means of a warning signal instructs the driver to check the path of motion himself, and/or activates a brake system, which automatically brakes the vehicle, in particular brings the vehicle to a standstill.

Here, by "automatic" braking it may in particular be understood that the braking is initiated by the processing unit and not by the driver of the vehicle himself.

In an embodiment the driver is additionally instructed by means of the warning signal or a further warning signal to carry out the parking operation himself.

The parking system according to the invention has the advantage that a model-based parking system is possible, whereby the driver of the vehicle is not only informed about the status of the sensor system but is clearly instructed in the event of an irregularity in the sensor equipment, for example as a result of sensors that are defective or temporarily downgraded (temporarily blind) for example as a result of fouling (snow or slush), to check and optionally carry out the parking operation himself. In this way, contact with objects that move into the path of motion of the vehicle during the parking operation and/or contact with parking space boundaries may be prevented.

The warning signal may be a visual and/or audible and/or haptic warning signal. The warning element may for example be integrated into a multifunctional device in the operator control panel of the driver. For example the monitor of a navigational device may be used. Alternatively or in addition thereto the warning element may be part of a driving instruction device, which is activated by the processing unit in order in accordance with the calculated trajectory to issue driving instructions, in particular steering-and/or braking instructions, to the driver. This is also known as "park steering information" (PSI) . The driver by following the steering instructions and by steering manually may then drive into or out of a parking space.

For example, the driving instruction device and/or the warning element may comprise a display screen and/or a loudspeaker and/or one or more lamps and/or a projector, by means of which warning signals and/or driving instructions may be projected onto the front windscreen. In particular, the driving instructions and/or the warning signal may be issued by means of a computer voice, for example through the loudspeakers of the stereo system of the vehicle. In this case, it is advantageous if any music or the like output via the loudspeakers is faded out to allow the driver to concentrate on the parking operation as such and moreover to clearly hear and understand the instructions.

The parking system may therefore, by means of clear information about the instant and degree of turning of the steering wheel, guide the driver into or out of the parking space.

The processing unit may also activate the steering system of the vehicle in such a way that the vehicle in the course of the parking operation is automatically steered in accordance with the calculated trajectory. The steering system in this case may be activated by the parking system for example via the vehicle network (for example CAN, Flexray, ...) . In this case the parking system may automatically carry out steering manoeuvres, for example with the aid of or by means of the electric power steering of the vehicle ("park steering control" (PSC)) . The steering system of the vehicle in this case may be for example an electric, in particular electromechanical vehicle steering system with an automatic steering function, in particular an electromechanical power-assisted steering system (electric power steering (EPS)) with an automatic steering function) . Here, by an "automatic steering function" it may be understood that the vehicle steering system is designed to steer the vehicle automatically, i.e. without any active steering movement of the driver. For example the steering system may be an electromechanical power-assisted steering system that is designed both to assist a steering movement induced by the driver (power-assisted steering) and to carry out an automatic steering movement (automatic steering function) If the driver in this development carries out the acceleration (opening of the throttle) and braking, the parking system may be described as a semi-automatic parking system or also as a transversely guided parking system.

In addition to the activating of the brake system in the situation according to the invention, the processing unit may activate the drive and/or the steering system and the brake system of the vehicle also in such a way that the vehicle in the course of the parking operation is automatically accelerated and/or steered and braked in accordance with the calculated trajectory. In this situation, the parking system may be described as an automatic or transversely-and longitudinally guided parking system.

The sensors of the sensor system may be selected independently of one another from the group of ultrasonic sensors, infrared sensors and/or optical cameras.

The trajectory may be both a trajectory leading from the actual vehicle position to the parking space and a trajectory leading out of the parking space.

In an embodiment, the sensor system comprises one or more lateral sensors for sensing a detection area laterally of the vehicle, and one or more rear sensors for sensing a detection area behind the vehicle, and optionally one or more front sensors for sensing a detection area in front of the vehicle. In this way, the lateral, rear and front environs of the vehicle may be monitored and measured. The parking system is therefore particularly unsusceptible to faults.

In such a sensor system the lateral sensors, when they travel past a parking space, measure distance data between the vehicle and the lateral environs thereof, on the basis of which the processing unit determines the parking space and parking space boundaries thereof and calculates the trajectory to be followed in the course of the parking operation. In the course of the parking operation and/or in the course of following the trajectory, the distance from the parking space boundary that is calculated during the trajectory calculation is re-measured by the rear sensors, for example in the course of the reversing movement of the vehicle into the parking space, and/or optionally by the front sensors, for example in the course of forward movement of the vehicle into the parking space.

If the calculated distance differs, for example by more than 50cm, from the re-measured distance, then for example the trajectory may be corrected. If the re-measured distance is markedly smaller, for example 50 cm smaller, than the calculated distance, the processing unit may likewise activate the warning element or a further warning element in order by means of a warning signal to instruct the driver to check the path of motion himself, and/or activate a brake system in order to brake the vehicle automatically, in particular to bring the vehicle to a standstill. This may be the situation for example if a moving object, such as a pedestrian, enters the detection area.

Here, by "automatic" braking may be meant in particular that the braking is initiated by the processing unit and not by the driver of the vehicle himself.

In an embodiment, the driver is instructed by the warning signal or a further warning signal to carry out the parking operation himself.

Re-measuring may be started only upon a predetermined distance d from the parking space boundary being reached.

This is mostly sufficient for correcting any inaccuracies in the trajectory.

In a further embodiment, the sensor for detecting a parking space boundary in the course of following the trajectory is a rear sensor for sensing a detection area behind the vehicle and/or a front sensor for sensing a detection area in front of the vehicle.

In a further embodiment, the sensor system comprises at least a first and a second lateral sensor disposed one behind the other in the direction of travel on one side of the vehicle for sensing a detection area laterally of the vehicle. In a development of this embodiment, the sensor system comprises a first and a second lateral sensor disposed one behind the other in the direction of travel on each side of the vehicle for sensing a detection area laterally of the vehicle. This allows any type of lateral area and/or parking space to be monitored.

The parking system may moreover further comprise a memory unit for storing the measured distance data, the determined parking space data, the determined parking space boundary data and/or the calculated trajectory. The memory unit may be for example part of the processing unit or connected thereto. The central processing unit in this case is preferably developed in such a way that it may retrieve data stored on the memory unit and may store data on the memory unit.

A further subject matter of the present invention is a parking assistance method for a vehicle, for example a motor vehicle, in particular having a parking system according to the invention, comprising the method steps: -measure distance data between the vehicle and the environs thereof, in particular the lateral environs thereof, by means of a sensor system comprising a plurality of sensors, -determine a parking space and parking space boundaries thereof on the basis of the measured distance data, -calculate a trajectory to be followed in the course of parking in the parking space, -check whether at least one of the sensors, which in the intact state is configured to detect at least one of the parking space boundaries in the course of following the trajectory, detects a parking space boundary determined as being situated in its detection area, and, -if the sensor in the course of following the trajectory does not detect a parking space boundary determined as being situated in its detection area, -issue a warning signal instructing the driver to check the path of motion himself and/or -automatically brake the vehicle, in particular bring the vehicle to a standstill.

In particular, for issuing the warning signal a warning element may be activated, which by means of a warning signal instructs the driver to check the path of motion himself. For automatic braking of the vehicle, in this case in particular a brake system that automatically brakes the vehicle may be activated.

In an embodiment, the driver by means of the warning signal or a further issued warning signal is additionally instructed to carry out the parking operation himself.

In a further embodiment, when the vehicle is travelling past a parking space, distance data between the vehicle and the lateral environs thereof are measured and on the basis of these measured distance data the parking space and the parking space boundaries thereof are determined and the trajectory to be followed in the course of parking in the parking space is calculated.

In addition, in the method driving instructions, in particular steering instructions and/or braking instructions may be issued to the driver and/or the vehicle in order to follow the trajectory may be accelerated and/or steered and/or braked.

In a further embodiment the method further comprises the method step: -re-measure the distance between the vehicle and the parking space boundary, in particular the distance between the rear of the vehicle and the parking space boundary by means of at least one rear sensor and/or optionally the distance between the front of the vehicle and the parking space boundary by means of at least one front sensor, during the parking operation and/or in the course of following the trajectory.

For example, distance data relating to the front, rear and lateral environs of the vehicle may be re-measured. This allows a comprehensive image of the area surrounding the vehicle to be created.

In a further embodiment, re-measurement starts upon a predetermined distance (d) from the parking space boundary being reached.

The method may moreover further comprise the method steps: -check whether the distance from the parking space boundary that was calculated during calculation of the trajectory corresponds to the re-measured distance from the parking space boundary, -correct the trajectory if the calculated distance varies by more than a tolerance range from the re-measured distance.

A subject matter of the invention is moreover a computer program that enables a processor to execute a method according to the invention.

A subject matter of the invention is moreover a vehicle, in particular a motor vehicle, which comprises a parking system according to the invention.

Further advantages and advantageous developments of the subject matters according to the invention are illustrated by the drawing and explained in the following description.

In this case it should be noted that the drawing is merely descriptive in character and is not intended to limit the invention in any form whatsoever. The drawing shows Fig. 1 a diagrammatic view of a vehicle with an embodiment of a parking system according to the invention in the course of moving into a parking space.

Figure 1 shows a vehicle 1, which is equipped with an embodiment of a parking system according to the invention.

Figure 1 shows that the parking system comprises a sensor system comprising a plurality of sensors 2,3,4,5 for measuring distance data between the vehicle 1 and the environs thereof. In particular, Figure 1 shows that the sensor system comprises a first 2 and a second 3 lateral sensor disposed one behind the other in the direction of travel on each side of the vehicle for sensing a detection area laterally of the vehicle 1, a plurality of rear sensors 4 for sensing a detection area behind the vehicle 1, and a plurality of front sensors 5 for sensing a detection area in front of the vehicle 1. The processing unit of the parking system, which on the basis of the measured distance data determines a parking space 6, in particular a parallel parking space, and the parking space boundaries 7a,7b,7c thereof and calculates a trajectory to be followed in the course of moving into the parking space 6, is not represented in Figure 1.

Figure 1 further shows a parking space 6 that is suitable for parking the vehicle 1. The parking space may be delimited for example by two vehicles 7a, 7c that are parked adjacent to a roadside edge, such as a kerb 7b. If the vehicle 1 equipped with a parking system according to the invention drives past this parking space 6, the lateral sensors 2, 3 at the one side of the vehicle in particular monitor the space alongside the vehicle 1. Data regarding the lateral environs of the vehicle 1 are therefore measured, with the result that a potential parking space is identified. If there is a parking space 6 large enough to park the vehicle 1 in, the parking system may issue a signal alerting the driver to the parking facility. The processing unit may then on the basis of the measured distance data calculate a trajectory from the instantaneous position of the vehicle 1 into the parking space 6 and assist the driver during the parking operation by issuing driving instructions, by means of automatic steering and/or by means of automatic steering and braking. In this case, a parking operation comprising both a single manoeuvre as well as a plurality of manoeuvres is possible.

In the situation shown in Figure 1 the vehicle is moving by means of a reversing manoeuvre into the parking space. In this case, the rear environs of the vehicle 1 are re-measured by the rear sensors. If an object detected in the course of measurement by the lateral sensors 2, 3 during forward travel is no longer detected by one or more of the rear sensors 4, a warning signal instructing the driver to check the path of motion himself is issued and/or a braking operation is automatically initiated. Thus, it is possible to prevent errors that result from errors in measuring the parking space 6 during forward travel or in determining the parking space, parking space boundary and/or trajectory.

Figure 1 illustrates how the rear sensors 4 in the intact state are configured to detect at least one 7a of the determined parking space boundaries, such as for example further vehicles, in the course of following the trajectory. However, in the event of one or more of the rear sensors 4 being defective or blind, a parking space boundary 7a situated in the detection area of the rear sensors 4 or a moving object passing into the detection area of the rear sensors 4 would not be detected in the course of following the trajectory. For this reason, according to the invention in this situation the processing unit (not represented) of the parking system according to the invention activates a warning element, which by means of a warning signal instructs the driver to check the path of motion himself, and/or activates a brake system, which automatically brakes the vehicle.