WO2013072127A1 - Method for assisting a driver in a parking manoeuvre - Google Patents

Abstract

The invention relates to a method for assisting a driver of a vehicle (10) in a parking manoeuvre into a parking space (20) arranged transverse to the vehicle (10) as well as a device for performing the process. The method comprises the detection of the environment, the determination of whether a detected space is suitable as a parking space (20) and the determination of possible trajectories along which the vehicle (10) can be guided into the space in a parking manoeuvre, wherein the space is only output to the driver as a parking space (20) if the vehicle (10) remains within the specified limits (30, 35, 40, 45) during the entire parking manoeuvre.

Description

 Description title

 Method of assisting a driver in a parking maneuver prior art

The invention relates to a method for assisting a driver of a

Vehicle in a parking maneuver in a parking space arranged transversely to the vehicle and on an apparatus for performing the method. In the device, means for detecting the surroundings of the vehicle, means for calculating possible trajectories for performing the parking maneuver and means for output recognized parking spaces are provided.

DE 10 2005 037 468 A1 discloses a method and a device for assisting a driver of a vehicle when parking in a parking space arranged transversely to the vehicle. The device comprises a sensor arrangement which is preferably mounted laterally on the vehicle in order to measure the parking spaces when passing the vehicle. Taking into account the given vehicle geometry data, possible parking lanes will subsequently be determined in the parking space. In the case of several basically possible Einparkbahnen the vehicle in the parking space they are the driver to choose from, so that he can choose a suitable Einparkbahn. For example, this selection can also be made automatically, based on specifications and / or conditions stored in the device. Preferably, a parking path is selected so that it is particularly easy to drive by the driver of the vehicle. The

Parking maneuver can be done by the driver himself, based on instructions generated by the device. It is also possible to design the device so that it performs the steering automatically and the activity of the driver is limited to the braking and acceleration of the vehicle and a monitoring function. Also possible is a fully automatic parking, in which the driver only has a monitoring function held. In the driver assistance systems according to the prior art, the detection of possible parking spaces during a passage of the vehicle by means of laterally mounted on the vehicle sensors. In the case of longitudinal parking spaces, the vehicle is at the time of detection of the parking space in a position that would also select drivers without automatic parking system as the starting point for a parking maneuver. In the case of transverse parking spaces, the position of the vehicle at the time of detection of a parking space is clearly in front of a position which a driver would choose without an automatic parking system for the start of a parking maneuver. If, starting from the position at which the parking space was first detected, yet a parking maneuver started, the vehicle must be further reset and further excise than would be required in an optimally selected parking maneuver.

DISCLOSURE OF THE INVENTION The method according to the invention for assisting a driver of a vehicle in a parking maneuver in a parking space arranged transversely to the vehicle comprises the following steps: a) detecting the environment and determining whether a detected gap is suitable as a parking space, b) determining possible trajectories, along derer the vehicle at a

Parking maneuver can be performed in the gap, the gap is issued to the driver as a parking space only if the vehicle remains within predetermined limits throughout the parking maneuver.

The limits specify the range in which the vehicle may move during the parking maneuver. The environment of the vehicle is detected while driving via preferably mounted on the side of the vehicle sensors. Gaps between two vehicles and / or other objects are detected and checked for their suitability as a parking space. This review includes, inter alia, comparing the depth and length of the parking space with geometric data known about the vehicle. Furthermore, a detected gap is classified as a parking space and signaled to the driver only when a trajectory can be determined, along which the vehicle at a Parking maneuver in the parking space remains within the specified limits. The

Signaling can be done optically, for example via light-emitting diodes or a screen, acoustically or haptically. Preferably, the trajectories are calculated so that a parking maneuver takes place in a maximum of three moves. The limits within which the vehicle is during the

Parking maneuver must remain are preferably determined so that the

Parking maneuver largely corresponds to a parking maneuver selected by a driver without assistance system. Furthermore, it is preferred if, in the calculation of the limits, further safety-relevant aspects, such as obstacles or a deflection of the vehicle into the opposite lane, are taken into account.

In a preferred embodiment of the method, the predetermined limits are set so that in three trains, the position of the vehicle after the first train is not behind a rear boundary of the parking space. This measure, on the one hand, helps to ensure a natural-looking parking maneuver that is easily followed by the driver and, on the other hand, reduces the risk posed by subsequent vehicles. As in a driver-typical parking maneuver the driver tries everything to the

Vehicle rear to move into the parking space, it is preferred if at one

Parking maneuver in three moves the yaw angle of the vehicle in the position after the first train, based on the orientation of the parking space, is less than a predetermined value. It is preferred if the specification of this minimum yaw angle is adaptable,

for example in the form of parameters in a non-volatile memory. As a result, the method can be easily adapted to the vehicle dimensions and to different types of parking spaces. Furthermore, it is conceivable to set the minimum yaw angle as a function of the surroundings of the vehicle. Further, it is preferred if the position of the vehicle after the first train, relative to the corner of the front boundary of the detected parking space facing the roadway, falls below a predetermined first lateral and / or orthogonal distance.

An important aspect of the invention is to limit the skipping of the vehicle. This is on the one hand important to enable a safe parking even in tight spaces, on the other hand, a Ausscherbewegung in the area of Avoid oncoming traffic. This is in a further preferred

Embodiment of the method according to the invention achieved in that the position of the vehicle after the second train does not exceed an allowable second lateral distance to the road side facing the front boundary of the detected parking space.

This allowable second lateral distance to the roadway facing corner of the front boundary of the detected parking space can be specified, for example, fixed. However, to set the distance firmly can lead to narrow parking spaces that make a comparatively sweeping Ausschermanöver required, are not signaled, although for example on a wide roadway a parking maneuver would be safely possible, and vice versa, that in narrow road conditions a dangerous interference with oncoming traffic could be done. In a particularly preferred embodiment of the method according to the invention, therefore, the allowable second lateral distance to the roadway facing corner of the front boundary of the detected parking space is determined taking into account the parking space bounding objects, the opposite lane and / or curb. If the sensors in the vehicle are furthermore configured to detect not only the objects delimiting the parking space but also other objects in the surroundings of the vehicle, in particular moving objects, these data can likewise be used to calculate the permissible distances. In particular, it is preferred that the permissible second lateral distance to the roadway facing corner of the front boundary of the detected parking space is determined on the basis of detected objects.

Furthermore, an apparatus for carrying out the method according to the invention is provided. The device according to the invention comprises means for detecting the

Surrounding the vehicle, means for calculating possible trajectories for performing the parking maneuver and means for issuing detected parking spaces. The means for detecting the surroundings of the vehicle may include, for example, distance sensors based on radar, infrared, lidar and / or ultrasound and optical sensors, for example video cameras. The trajectories for performing the parking maneuver can be determined, for example, by a control unit of the driver assistance system and / or an on-board computer of the vehicle. The means for issuing detected parking spaces can be both optical and acoustic and / or haptic and, for example, screens, Include speakers and lights. In this case, for example, an already existing screen of a navigation system and / or on-board computer can be used. Furthermore, the means for calculating the trajectories can be designed such that they generate instructions for the driver with whom he can follow the calculated trajectory for parking the vehicle. It is also possible to provide the device according to the invention with means for automatic control of the vehicle, which may include means for steering the vehicle and / or means for acceleration and / or deceleration of the vehicle. These funds include

For example, connections to already existing in the vehicle control units for controlling the power steering, the brakes and / or the fuel supply.

Advantages of the invention

The inventive method and the device according to the invention for assisting a driver of a vehicle in a parking maneuver provide the driver with a

Trajectory for parking the vehicle in a direction transverse to the vehicle

Parking space available, which corresponds to the natural parking behavior of a driver. This increases the acceptance of the assistance system by the driver and avoids potential hazards due to atypical and far-reaching exhausts of the vehicle. This is achieved in that potential parking spaces detected when driving past the vehicle are not immediately reported to the driver, but only when a driver-typical parking maneuver can be offered, in which the vehicle remains within predetermined limits during the entire parking maneuver. A driver-typical parking maneuver is understood as a parking maneuver, as a driver would do without a driver assistance system. In the driver assistance systems according to the invention, a detected parking space is not signaled to the driver directly after their recognition. In order to be signaled, a parking space need not only meet criteria such as the geometric requirements with respect to the size of the car, it must also exist among the determined possible trajectories trajectory on which the vehicle can be led into the parking space without that Vehicle exceeds specified limits. This approach means that only those are selected from the usually very large number of possible trajectories that allow a driver-typical parking maneuver without unnecessarily large outgrowth of the vehicle. As a result, sweeping Ausscherbewegungen the vehicle, which pose potential risks and / or obstruct oncoming traffic or subsequent vehicles. These advantages are achieved in the method according to the invention by the choice of the limits in which the vehicle must remain during the entire parking maneuver.

In a parking maneuver in a maximum of three moves to the possible movement of the vehicle is limited to the rear by the rear boundary of the parking space and the movement forward in the second train, the movement of the vehicle is limited by the fact that the vehicle a predetermined lateral distance to the road facing corner of the front boundary of the detected parking space may not exceed. This allowable second lateral distance is also preferred depending on the objects bounding the parking space, the position of the opposite lane and / or the

Curb and any other objects located in the vicinity of the vehicle. These measures reduce the space requirement of the parking maneuver and ensure that other vehicles are not obstructed or represent a danger.

Furthermore, the driver-typical endeavor is adjusted by the inventive method, by a targeted driving the parking bay, the rear of the vehicle in the

Parking space to move. This measure, which is essential to the acceptance of the

 Driver assistance system by the driver contributes, by the specification of a

Minimum yaw angle and a minimum immersion depth made. The yaw angle is the angle between the vehicle and the parking space. The preferred adaptive specification of the minimum yaw angle, for example in the form of parameters in a non-volatile memory, the method can be easily adapted to the vehicle dimensions and to different types of parking spaces. The depth of immersion of the vehicle is predetermined based on the position of the corner of the road facing the front boundary of the detected parking space. The position of the vehicle after the first move must then refer to a lateral and / or orthogonal distance

comply with predetermined limits. A gap is only signaled to the driver as a potential parking space if all the criteria mentioned can be met by a trajectory. These measures guarantee driver-typical driving maneuvers and improve the driver's driver assistance system's acceptance over prior art systems. Brief description of the figures

With reference to the drawings, the invention will be described in more detail below. It shows:

FIG. 1 shows the detection of a transverse parking space caused by a passing vehicle.

FIG. 2 shows the detection of a longitudinal parking space by passing the vehicle

 Vehicle.

FIG. 3 shows a parking maneuver in three moves, starting from the position of

 Vehicle where the parking space was signaled to the driver in a system according to the prior art.

FIG. 4 shows a parking maneuver in a transverse parking space starting from the position at which the driver was informed of the parking space by the method according to the invention.

embodiments

FIG. 1 shows a vehicle 10 which, when passing by means of laterally mounted distance sensors 12, detects a parking space 20 between two transversely parked vehicles 22 and 24. The measuring range of the sensor is with the

Reference numeral 14 is shown. At the illustrated time when the parking space 20 is detected by the vehicle 10, the vehicle 10 is not in a position from where a driver would typically start a parking maneuver.

FIG. 2 shows a situation for the case of vehicles parked lengthwise. The vehicle 10 again detects laterally mounted sensors 12 while driving past a parking space 20 between two longitudinally parked vehicles 22 and 24. As seen in Figure 2, the vehicle 10 is at the time shown, in which the parking space 20 is detected, in one position from which a driver would typically start a parking maneuver. From a comparison of Figures 1 and 2 it can be seen that at

Transverse parking spaces in contrast to longitudinal parking spaces the parking space is already detected before the vehicle 10 has reached a position from which a driver-typical parking maneuver is possible.

FIG. 3 shows a parking maneuver guided by a driver assistance system according to the prior art in three lines, starting from the position 100 in which the parking space 20 was first detected. The parking space 20 is through the two

transversely parked vehicles 22 and 24 limited. In FIG. 3, the starting position of the vehicle 10 is designated by the reference numeral 100. The position of the vehicle 10 is understood to mean the position of a reference point, which is arranged in the rear of the vehicle 10 in the examples shown here. In the illustrated first train 105 of the parking maneuver, the vehicle 10 moves along the trajectory shown in dashed lines in FIG. 2 from the starting position 100 to the position 110 after the first train 105. The reference point of the vehicle 10 in the rear thereby moves clearly over the rear Limit 30 of the parking space 20 addition, while the yaw angle of the vehicle 10 so the angle of the vehicle 10 is reduced only slightly with respect to the orientation of the parking space 20. In the second train 15 of the parking maneuver, the vehicle 10 moves along the dashed line from the position 1 10 after the first train 105 to the position 120 after the second train 1 15. The vehicle 10 shears far into the area of the opposite lane. Moreover, in confined spaces, this proposed trajectory could be impracticable because the vehicle 10 could fall into the range of bounding objects, such as parked vehicles on the opposite side of the road. In the third train 125 of the illustrated parking maneuver, the reference point of the vehicle moves from the position 120 to the second train 1 15 along the dashed line to the end position 130. The parking maneuver illustrated in FIG. 2 guides the vehicle 10 from the starting position 100 at which Parking space 20 was first detected, although in the end position 130, but could be discarded due to the unusual driving maneuver by the driver or not be accepted or even in the case of limited space unfeasible. FIG. 4 again shows the vehicle 10, which detects a parking space 20 while passing by means of laterally mounted sensors. The detected parking space 20, bounded by the two transverse parked vehicles 22 and 24, the driver of the vehicle 10 was not reported by the inventive device using the method according to the invention at the position 100 in which the parking space was first detected 20, but only at Reaching the second starting position 200 signals. For a comparison of The method according to the invention with the method according to the prior art is the parking maneuver starting from the first starting position 100, at which the parking space was first detected 20, together with the intermediate positions 1 10 after the first train 105 and 120 after the second train 1 15, such as already described, shown. Starting from the second starting position 200, the vehicle 10 can perform a parking maneuver with the method according to the invention, in which the vehicle 10 moves during the entire movement exclusively within a predetermined range. The position of the vehicle 10 is related to a reference position in the rear of the vehicle 10.

In the execution of the first train 205, the vehicle 10 moves from the second starting position 200 along the dashed line to a position 210 after the first train 205. For carrying out the method according to the invention, the position 210 after the first train 205 is not allowed behind the rear Limit 30 of the parking space 20 are. As a result, an excessive shearing of the vehicle 10 is avoided to the rear.

 Further, the yaw angle of the vehicle 10 upon reaching the position 210 after the first train 205 with respect to the orientation of the parking space 20 below a must

predetermined value. In order to achieve a driver-typical parking maneuver as possible, it is further preferred to make other conditions to the position 210 after the first train 205. For this purpose, starting from the corner 50 facing the road surface, the front boundary of the identified parking space 20 is given further conditions. These conditions may include that the position 210 after the first pull 205 must fall below a predetermined first lateral distance 45 and / or that the position 210 after the first pull 205 must fall below a predetermined orthogonal distance 35. Lateral distances mean, relative to the coordinate system drawn at the corner 50, a distance in the Y direction, while orthogonal distances, relative to the coordinate system drawn at the corner 50, denote a distance in the X direction. In the second train 215 of the parking maneuver according to the invention, the vehicle 10 moves along the dashed line from the position 210 after the first train 205 to the position 220 after the second train 215. The position 220 after the second train 215 must remain within the predetermined by a second lateral distance 40 limit. This ensures that the vehicle 10 does not travel unnecessarily far into the area of the oncoming lane and / or into the area of vehicles parked on the other lane side into device. The second lateral distance 40 is again referred to the corner of the roadway 50 facing the front boundary of the detected parking space. The second lateral distance 40 can either be fixed or determined depending on the parking space 20 delimiting objects, the opposite lane and / or the curb. If the vehicle 10 is further configured to detect objects in the vicinity of the vehicle 10, in particular moving objects, this additional information can be used to calculate the first and the second lateral distance and / or the orthogonal distance. In the third and usually last train 225 of the parking maneuver, the vehicle 10 moves along the dashed line from the position 220 to the second train 215 into the second end position 230.

As can be seen from FIG. 4, the second end position 230 which is achieved after the parking maneuver has been carried out corresponds exactly to the first end position 130 which is reached after the parking maneuver according to the prior art. It is also clearly evident from FIG. 4 that in the parking maneuver according to the prior art, the vehicle 10 is set back considerably further to the rear and to the side in the direction of the vehicle

Off-road vehicle cuts out. Furthermore, the parking maneuver according to the prior art, with its position 1 10 offset greatly behind the first train 105, in which only a small part of the angular difference between the vehicle 10 and the orientation of the parking space 20 is reduced, does not correspond to a driver-typical parking behavior , The proposed by the inventive trajectory 105, 1 15, 125, however, corresponds to a driver-typical driving maneuver and thus increases the acceptance of the

Driver assistance system at the driver and improves the safety and feasibility of the parking maneuver due to the reduced Ausschend the vehicle over the parking maneuvers in the prior art.

Claims

claims 1 . A method for assisting a driver of a vehicle (10) in a  Parking maneuver into a parking space (20) arranged transversely to the vehicle (10), comprising the following steps: a) detecting the environment and determining whether a detected gap is suitable as a parking space (20), b) determining possible trajectories along which the vehicle ( 10) can be guided in a parking maneuver into the gap, characterized in that the driver is given the gap as a parking space (20) when the vehicle (10) throughout the parking maneuver within predetermined limits (30, 35, 40, 45) remains. 2. The method according to claim 1, characterized in that the parking maneuver takes place in a maximum of three moves. 3. The method according to claim 2, characterized in that in three trains the  Position (210) of the vehicle (10) after the first train (205) is not behind a rear boundary (30) of the parking space (20). 4. The method according to claim 2 or 3, characterized in that in three trains of the yaw angle of the vehicle in the position (210) after the first train (205), based on the orientation of the parking space (20) is smaller than a predetermined Mindestgierwinkel and / or the position (210) of the vehicle (10) after the first train (205) has a predetermined first lateral and / or orthogonal distance (45, 35) relative to the roadway facing corner (50) of the front boundary of the detected one Parking space (20), falls below. 5. The method according to any one of claims 2 to 4, characterized in that in three trains the position (220) of the vehicle (10) after the second train a permissible second lateral distance (40) to the roadway facing corner (50) of the front boundary of the detected parking space (20) does not exceed. 6. The method according to claim 5, characterized in that the permissible second  lateral distance (40) to the roadway facing corner (50) of the front  Limitation of the detected parking space (20) is fixed. 7. The method according to claim 5, characterized in that the permissible second  lateral distance (40) to the roadway facing corner (50) of the front  Limiting the detected parking space (20) in consideration of the parking space (20) limiting objects, the opposite lane and / or the curb is determined. 8. The method according to claim 5, characterized in that objects in the vicinity of the vehicle (10) are detected, and that the permissible second lateral distance (40) facing the roadway corner (50) of the front boundary of the detected Parking space (20) is determined based on detected objects. 9. Device for carrying out the method according to one of claims 1 to 8, comprising means (12) for detecting the environment of the vehicle (10), means for calculating possible trajectories for performing the parking maneuver and Output of identified parking spaces. 10. The device according to claim 9, characterized in that the means (12) for  Detecting the environment of the vehicle (10) Distance sensors are radar sensors, infrared sensors, lidar sensors and / or ultrasound sensors and optical sensors. 1 1. Apparatus according to claim 9 or 10, characterized in that the means for calculating are designed as a control unit and / or part of an on-board computer. 12. Device according to one of claims 9 to 1 1, characterized in that the means for output recognized parking spaces light emitting diodes, screens and / or  Speaker include. 13. Device according to one of claims 9 to 12, further comprising means for automatic control of the vehicle (10), comprising connections to the Control unit to control the brakes, connections to the power steering module and / or connections to the fuel control unit.