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WO2018162459A1 - Procédé, système d'assistance à la conduite et véhicule pour la conduite automatique d'un véhicule pendant un événement de stationnement - Google Patents

Procédé, système d'assistance à la conduite et véhicule pour la conduite automatique d'un véhicule pendant un événement de stationnement Download PDF

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Publication number
WO2018162459A1
WO2018162459A1 PCT/EP2018/055429 EP2018055429W WO2018162459A1 WO 2018162459 A1 WO2018162459 A1 WO 2018162459A1 EP 2018055429 W EP2018055429 W EP 2018055429W WO 2018162459 A1 WO2018162459 A1 WO 2018162459A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
driver
during
speed
created
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2018/055429
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German (de)
English (en)
Inventor
Stefanie Sattler
Dimitrios TZEMPETZIS
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Valeo Schalter und Sensoren GmbH
Original Assignee
Valeo Schalter und Sensoren GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Valeo Schalter und Sensoren GmbH filed Critical Valeo Schalter und Sensoren GmbH
Publication of WO2018162459A1 publication Critical patent/WO2018162459A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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 present invention relates to the field of vehicle technology, in particular the invention relates to a method and an evaluation device for detecting an environment of a vehicle. Furthermore, the invention relates to a vehicle that with the
  • a self-driving vehicle can drive, steer and park without the intervention of a human driver. These properties are more or less pronounced depending on the automation level of the vehicle. However, it is aimed in the future, vehicles fully autonomous, that is, without any influence of a
  • One aspect here is the driving to a parking lot and the parking of the vehicle.
  • parking is understood to mean a process that can affect both parking and parking the vehicle
  • Park event a situation of parking, a situation of parking and parking
  • trajectories are recorded and stored in a system.
  • trajectories are understood to mean trajectories or paths along which the vehicle moves.
  • the system or the driver of the vehicle can activate (fully) automated traversing of the stored trajectory. This is done in the so-called replay mode or operating mode in which the stored trajectory is retrieved. Furthermore, the application of a so-called backup assistant or backdrive assist is known. Here, the recorded trajectory is traversed backward, for example, to maneuver the driver back out of the garage or a bottleneck.
  • a parking system which has an activation system which activates as a parking aid system based on a speed and a geographical location when preconditions for the operation of the parking assistance system are fulfilled.
  • the activation system may cooperate with the parking assistance system based on predetermined or previously stored driving history profiles associated with the current geographical location.
  • DE 20 201 1 107 974 A1 describes a method and maneuvering assistance system for maneuvering a vehicle in an environment. It is provided that in a learning mode, the vehicle controlled by a driver performs a reference maneuvering in the environment, which is stored. The stored reference shunting operation is taken into account after the learning mode by the vehicle for repeating maneuvering in this environment.
  • DE 10 2013 015 348 A1 and DE 10 2013 015 349 A1 describe a method for operating a vehicle for starting a parking space in a non-accessible / remote park zone by the vehicle, in which environmental data of the vehicle are detected.
  • a learning mode multiple trajectories are determined and stored based on the environment data or driving data of the vehicle.
  • the method is self-learning and requires that after repeated parking in one and the same area or zone, this zone is defined as a home parking space zone.
  • a speed profile can be stored, such as stopping in front of a garage door, drive over a curb.
  • the stored speed profile can be used in an operating mode, for example, as an indication to the driver when driver-in / out parking the vehicle in a home parking zone.
  • the present invention proposes a method for automatically driving a vehicle during a parking event.
  • the method comprises preparing the parking event in a training mode by recording trajectory points during the drive of the vehicle in the training mode. Furthermore, a recording of the surroundings of the vehicle while driving the vehicle in the training mode is provided. In an operating mode, automated driving of the vehicle is provided taking into account the recordings of trajectory points and the environment during the training mode. Furthermore, the method comprises creating a speed profile for the driver of the vehicle during the travel of the vehicle in the training mode and taking into account the established speed profile during the parking event in the operating mode of the vehicle.
  • a method for trained parking in which a system, in addition to the trajectory points and the environment, picks up the speed of the driver during training by the driver and creates a speed profile. It is also used in the proposed speed-adaptive method, the speed profile of the driver. This is under a
  • Trajektorietician a point understood, which is based on the recorded trajectory, that is the travel path of the vehicle.
  • an "initial" speed profile can be adapted by other factors, for example, it can be set that the speed at the various steering angles should not exceed certain values, so that a strong steering maneuver can additionally limit the speed of the vehicle, so that the trajectory follows is possible at all.
  • the speed profile created can also be adjusted, for example, given certain steering angles maximum speeds are given.
  • WEI terhin can take place a mapping or mapping to speed level, so as not to constantly change, even if the driver trains very restless jerky.
  • remote controlled parking possible.
  • the driver or all occupants get out of the vehicle before parking, which is then parked by means of a remote control (for example a smartphone).
  • a remote control for example a smartphone.
  • the profile may still be adjusted during the current maneuver due to the situation.
  • An object for example a garbage bin, which suddenly stands next to the trajectory and constricts the path, could therefore be driven past more slowly than on a free surface.
  • the measures for adapting the steering maneuver and evading objects in the vicinity can be divided into different areas and a corresponding mapping to a throttling can be determined. In this case, it will be advantageously ensured that a minimum speed of the vehicle is present in order to carry out the maneuver. In addition, these factors are advantageously tested for stability. It is particularly advantageous to perform an adaptation, only when objects are detected stable. This improves the driving characteristics of the vehicle and avoids unnecessary speed adjustments that are otherwise constantly performed.
  • the method further comprises applying a plurality of speed profiles to the driver based on the established speed profile.
  • multiple individual speed profiles are created for the driver based on training data with the driver and the vehicle.
  • the driver can then choose, for example, one of the stored profiles.
  • the selection of the speed profiles depends on the time of day or the day of the week.
  • This profile can be further divided into different speed profiles of different levels or levels.
  • the driver can use a communication interface How to choose an HMI (Human Machine Interface), or decide on a logic, which speed profile is used. If the system is new to a driver, it can be beneficial to slow down altogether so that they can take confidence, and then want a faster ride. This can also be dependent on whether the trajectory has been newly learned or has been existing for some time.
  • HMI Human Machine Interface
  • a first embodiment proposes a slow driving profile and a second embodiment proposes a fast driving profile.
  • These proposed speed profiles of the first and second embodiments may be adjusted as needed.
  • the speed profiles can be selected by the driver. Transitions within the velocity profiles between the velocity ranges are advantageously smoothed so that jerky changes are avoided. It can also advantageously be provided that a smoothing or a gentle transition is effected when changing from a first to a second profile.
  • an adaptation of the established speed profile taking into account the wishes of the driver and / or the degree of experience of the driver and / or a predetermined
  • Maximum speed in particular a maximum allowed replay speed, are provided. In this case, it is not necessary to access multiple speed profiles, but a speed profile of the driver that adapts is sufficient
  • the wishes of the driver can also be automatically taken into account, for example by means of sensors that the
  • Speed profile can be further individualized.
  • a subdivision of the created velocity profile into velocity ranges can be provided.
  • An example can be the division of the speed profile into five speed levels: (1) standstill, (2) very slow; (3) slow; (4) fast; (5) Very fast.
  • Smoothing transition points from one speed range to another speed range has the advantage of smooth and safe driving.
  • continuous transitions of individual speed levels are advantageous.
  • Steady means here that there are no sudden changes in a curve.
  • an adaptation of the established speed profile can be provided taking into account objects in the vicinity of the vehicle and / or a steering angle of the vehicle during the drive of the vehicle in the operating mode.
  • the speed profile can be adapted to the requirements of driving safety, for example, if an obstacle narrows the guideway.
  • a control mechanism can be used in which the proximity of the object determines the speed reduction. This means that the closer an object is, the stronger the speed throttling.
  • using acceleration normalization may be provided.
  • an adaptation of the established speed profile for a reversing mode of the vehicle can be provided.
  • the driver assistance system for automatically driving a vehicle during a parking event.
  • the driver assistance system has a memory device for storing trajectory points and for storing the environment of the vehicle during the running of the vehicle in the training mode.
  • a created speed profile for the driver of the vehicle is stored in the memory device or can be stored there, which was created during the drive of the vehicle in the training mode.
  • the driver assistance system has at least one processing device for retrieving the memory contents of the memory device, wherein the created speed profile during the parking event in the operating mode of the vehicle from the memory device by the processing means is retrievable.
  • the driver assistance system has a comparison device for comparing speeds from the generated speed profile with determined speeds during the operating mode of the vehicle.
  • the stored speed profile can be used identically.
  • the speed can be mapped to the maximum value at speeds above the limit.
  • the entire speed profile should be subject to a certain smoothing in order to avoid too many fluctuations for control.
  • a further development of this embodiment could include a factor and consider this factor in the choice of speed, especially if the driver is training outside of a maximum replay speed range (eg training up to 30 km / h, replay up to 10 km / h -> division factor 3).
  • the object of the invention is achieved with a vehicle that a
  • the vehicle is preferably a ground-based vehicle, such as a motor vehicle or robot.
  • the vehicle may be, for example, a passenger car or a truck.
  • During training by the driver takes the vehicle or the driver assistance system of the vehicle in addition to the
  • Fig. 1 shows an embodiment of a parking operation of a vehicle
  • FIG. 2 shows an exemplary embodiment of a speed profile for use in an automated driving of a vehicle during a parking event.
  • Fig. 1 shows an embodiment of parking event 10, in particular for a
  • a vehicle 1 1 during an automated driving of the vehicle 10.
  • a driver assistance system is installed, the
  • Speed profiles of a driver has deposited.
  • the driver has trained the route to the parking position with the vehicle 1 1.
  • the driver now wants in the operating mode of the vehicle, that is outside of the training mode, taking into account its stored data as
  • the vehicle 1 1 is initially in forward drive 12 and drives from a road into a driveway.
  • the vehicle 1 1 happens to be a bottleneck 13 to reach a parking lot 14.
  • Vehicle 10 narrows. At the bottleneck 13 is a previously deposited
  • Speed profile for the automated parking of the vehicle 10 adapted to reduce the vehicle speed. Furthermore, a distance for a possible collision after driving through the bottleneck is maximum, since no object is detected in a driving tube 15. This is determined by a driver assistance system of the vehicle 11 and taken into account for the further forward travel 12 of the vehicle 11. A distance to an obstacle extends at least to the area 18.
  • the vehicle 1 1 automatically comes to a stop and a
  • Gear change is also changed the applied speed profile, since the driver for the forward drive 12 and the reverse drive 16 different
  • the vehicle 1 1 After the reverse drive 16 of the vehicle 1 1, which is also carried out automatically, the vehicle 1 1 finally reaches its parking position 17 and the parking maneuver is completed. Otherwise, the driving situation can be unrestricted
  • Driving lane 19 behave, for example, leads without obstacles in a garage. In such an entry or Ausparkituation the speed profile is maintained unchanged, since no bottleneck 13 available or a change of direction 12, 16 must be considered.
  • the proposed solution overcomes the previously known methods.
  • the speed is often set in automatic parking maneuvers.
  • the vehicle travels up to 10 km / h
  • the proposed solution offers an adaptive driving of the vehicle 10 taking into account objects in the driving lane 15, 19 and taking into account one or more speed profiles of the driver.
  • FIG. 2 shows an exemplary embodiment of a velocity profile 20, which is shown in a coordinate system with a first axis 26 and a second axis 27.
  • the illustrated velocity profile 20 may, for example, for a
  • the velocity profile 20 is shown as a curve 28 across the stages 21-25, with the stage 21 representing the lowest velocity or velocity equal to zero and the stage 25 representing the highest velocity. Between the individual stages speed ranges are formed. Further, the curve 28 has transitions 29 respectively between the areas 21, 22, 23, 24, 25 and at a transition of one stage to another stage, the transitions 29 are continuous to a jerky driving of the vehicle during the application of the illustrated Speed profile 20 to avoid.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

La présente invention propose un procédé, un système d'assistance à la conduite et un véhicule (11) destinés à la conduite automatique d'un véhicule (11) pendant un événement de stationnement. Selon l'invention, le procédé comporte la préparation de l'événement de stationnement (10) dans un mode d'entraînement en enregistrant des points de trajectoire pendant le déplacement du véhicule (11) dans le mode d'entraînement. En outre, un enregistrement de l'environnement du véhicule (11) est prévu pendant le déplacement du véhicule (11) dans le mode d'entraînement. En mode de fonctionnement, la conduite automatique du véhicule (11) est assurée avec prise en compte des enregistrements des points de trajectoire et de l'environnement pendant le mode d'entraînement. En outre, le procédé comporte la création d'un profil de vitesse (20) destiné au conducteur du véhicule (11) pendant le déplacement du véhicule (11) en mode d'entraînement et la prise compte du profil de vitesse créé (20) pendant l'événement de stationnement (10) en mode de fonctionnement du véhicule (11).
PCT/EP2018/055429 2017-03-10 2018-03-06 Procédé, système d'assistance à la conduite et véhicule pour la conduite automatique d'un véhicule pendant un événement de stationnement Ceased WO2018162459A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017105076.0A DE102017105076A1 (de) 2017-03-10 2017-03-10 Verfahren, Fahrerassistenzsystem und Fahrzeug zum automatisierten Fahren eines Fahrzeugs während eines Parkereignisses
DE102017105076.0 2017-03-10

Publications (1)

Publication Number Publication Date
WO2018162459A1 true WO2018162459A1 (fr) 2018-09-13

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PCT/EP2018/055429 Ceased WO2018162459A1 (fr) 2017-03-10 2018-03-06 Procédé, système d'assistance à la conduite et véhicule pour la conduite automatique d'un véhicule pendant un événement de stationnement

Country Status (2)

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DE (1) DE102017105076A1 (fr)
WO (1) WO2018162459A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2571149A (en) * 2018-02-15 2019-08-21 Jaguar Land Rover Ltd Vehicle control system and control method
US20220299329A1 (en) * 2021-03-19 2022-09-22 Ford Global Technologies, Llc User trained map for valet parking feature

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7528142B2 (ja) * 2022-03-22 2024-08-05 本田技研工業株式会社 制御装置、制御方法、及び制御プログラム
DE102024101096A1 (de) * 2024-01-16 2025-07-17 Valeo Schalter Und Sensoren Gmbh Verfahren zum Betreiben eines Fahrzeugs

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE202011107974U1 (de) 2011-11-05 2012-02-09 Nando Hamker Zigarettenfilterbox mit Ausgabemechanismus
JP2013082376A (ja) * 2011-10-12 2013-05-09 Denso Corp 駐車支援装置
DE102013015348A1 (de) 2013-09-17 2014-04-10 Daimler Ag Verfahren und Vorrichtung zum Betrieb eines Fahrzeugs
DE102013015349A1 (de) 2013-09-17 2014-04-10 Daimler Ag Verfahren und Vorrichtung zum Betrieb eines Fahrzeugs
DE102015114780A1 (de) 2014-09-10 2016-03-10 Ford Global Technologies, Llc Automatisches Park- und Erinnerungssystem und Verfahren zur Verwendung

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2013082376A (ja) * 2011-10-12 2013-05-09 Denso Corp 駐車支援装置
DE202011107974U1 (de) 2011-11-05 2012-02-09 Nando Hamker Zigarettenfilterbox mit Ausgabemechanismus
DE102013015348A1 (de) 2013-09-17 2014-04-10 Daimler Ag Verfahren und Vorrichtung zum Betrieb eines Fahrzeugs
DE102013015349A1 (de) 2013-09-17 2014-04-10 Daimler Ag Verfahren und Vorrichtung zum Betrieb eines Fahrzeugs
DE102015114780A1 (de) 2014-09-10 2016-03-10 Ford Global Technologies, Llc Automatisches Park- und Erinnerungssystem und Verfahren zur Verwendung

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2571149A (en) * 2018-02-15 2019-08-21 Jaguar Land Rover Ltd Vehicle control system and control method
US12353214B2 (en) 2018-02-15 2025-07-08 Jaguar Land Rover Limited Vehicle control system and control method
US20220299329A1 (en) * 2021-03-19 2022-09-22 Ford Global Technologies, Llc User trained map for valet parking feature
US12146754B2 (en) * 2021-03-19 2024-11-19 Ford Global Technologies, Llc User trained map for valet parking feature

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