Method for autonomously exiting a parking position

Abstract

A method for autonomously driving a vehicle out of a parking position is provided. The method comprises the following steps: a) detecting an unlocking signal of a central locking system for unlocking a first vehicle (110) parked in a first position by a second vehicle (120) parked in a second position; b) determining whether the two vehicles (110, 120) are parked in parallel and directly adjacent to each other; c) if so, autonomously driving the second vehicle (120) at least partially out of the second position; d) determining whether the first vehicle (110) has at least partially left the first position; and e) if so, autonomously driving the second vehicle (120) back to the second position.

Description

Technical Field

[0001] The invention relates to a method for autonomously moving a vehicle out of a parking position. Background Art

[0002] Many modern vehicles are equipped with autonomous driving systems that can help the driver to park the car. Some autonomous driving systems allow the driver to be outside the vehicle while it drives itself into or out of the parking position completely autonomously. Therefore, the driver does not need to open any doors in the parking position. Therefore, vehicles with such systems can be parked closer together than vehicles without such systems. However, since not all vehicles are equipped with such systems, vehicles will continue to be parked at a regular distance from each other. In this way, the parking space is not used as efficiently as possible. Summary of the invention

[0003] The purpose of the present invention is to improve the utilization rate of parking spaces.

[0004] The object of the invention is achieved by providing a method according to claim 1 and a vehicle according to claim 9 .

[0005] A method for autonomously driving a vehicle out of a parking position is provided, the method comprising the following steps:

[0006] a) detecting, by a second vehicle parked at a second location, an unlocking signal of a central locking system for unlocking a first vehicle parked at a first location;

[0007] b) in response to the unlock signal, determining whether the first vehicle and the second vehicle are parked in parallel and directly adjacent to each other;

[0008] c) if yes, autonomously driving the second vehicle at least partially out of the second position, thereby allowing the driver of the first vehicle to enter the first vehicle and drive the first vehicle at least partially out of the first position;

[0009] d) determining whether the first vehicle has at least partially left the first location; and,

[0010] e) If yes, autonomously driving the second vehicle back to the second position.

[0011] Each of the above vehicles can be a car, motorcycle, van or truck. These vehicles may also be bicycles or scooters.

[0012] The term “autonomous driving” in this document refers to the vehicle’s ability to drive itself, or at least to leave or enter a parking position without a driver in the vehicle.

[0013] The unlock signal may be an electromagnetic signal or an acoustic signal for unlocking a central locking system of the first vehicle. The system is capable of remotely locking or unlocking all or at least one door of the vehicle. The signal may be sent via a key or a smart device (such as a smart phone).

[0014] The first vehicle may be a vehicle without autonomous driving capabilities. In this case, when the first vehicle is in a parking position, a standard minimum stopping distance between the first vehicle and a second vehicle to be parked adjacent to the first vehicle should be observed. The standard minimum stopping distance allows the driver to enter the first vehicle in the parking position of the first vehicle. The driver can then drive the first vehicle out of its parking position.

[0015] Due to the standard minimum stopping distance to be observed, the second vehicle may not be able to park adjacent to the first vehicle. However, the second vehicle may be able to (temporarily) park outside its parking position, thereby allowing the driver to enter the first vehicle. After the first vehicle has left its parking position (with its driver inside), the second vehicle may be driven back into its parking position.

[0016] In this case, the standard minimum stopping distance does not need to be adhered to and the first vehicle and the second vehicle can be parked closer to each other.

[0017] According to an embodiment of the method according to the present invention, step b) comprises:

[0018] b1) activating a sensor in the second vehicle in response to the unlock signal;

[0019] b2) detecting, by said sensor, a signal sent by said first vehicle, optionally in response to a further unlocking signal; and,

[0020] b3) determining whether the first vehicle and the second vehicle are parked in parallel and directly adjacent to each other based on the detected signal.

[0021] The second vehicle may be arranged to detect an unlock signal sent to the first vehicle. In response, a sensor in the second vehicle is activated. The sensor may be arranged to detect electromagnetic signals, ultrasonic signals and / or RF signals.

[0022] When the driver approaches his vehicle (ie the first vehicle) and notices that the second vehicle does not comply with the standard minimum stopping distance (the second vehicle is parked too close to the first vehicle) and he cannot enter his vehicle, he may send an unlocking signal.

[0023] The unlock signal or another unlock signal may then trigger the first vehicle to send a signal. The signal may then be detected by the second vehicle and then used to determine the relative position and / or orientation of the first vehicle and the second vehicle.

[0024] The signal may include information about the position and / or orientation of the first vehicle (eg including GPS information), which may be compared with information about the position and / or orientation of the second vehicle (eg including GPS information).

[0025] An advantage of this embodiment is that the second vehicle is only moved out of its parking position if (i) the second vehicle is parked adjacent to the first vehicle and (ii) the driver of the first vehicle so desires.

[0026] According to a further embodiment of the method according to the invention, the sensor in the second vehicle is a camera, and the signal from the first vehicle is an indicator light signal. The sensor in the second vehicle may also include a plurality of cameras facing one or more directions.

[0027] Based on the detected strength and / or direction of the indicator light signal, the position and / or orientation of the first vehicle relative to the second vehicle may be determined.

[0028] The detected indicator light signal may include a code or information signal (eg, including GPS information) indicating the location and / or orientation of the first vehicle.

[0029] An advantage of this embodiment is that the first vehicle uses its standard indicator lights without having to be equipped with additional equipment. The second vehicle, which is arranged for autonomous driving and which therefore preferably will have one or more cameras, uses its camera(s) without having to be equipped with additional equipment.

[0030] Based on an embodiment of the method according to the invention, the sensor in the second vehicle is an electromagnetic signal detector, and the signal from the first vehicle is a TPMS (tire pressure monitoring system) signal. The sensor in the second vehicle may also include a plurality of electromagnetic signal detectors pointing in one or more directions.

[0031] Based on the strength and / or direction of the detected TPMS signal, the position and / or orientation of the first vehicle may be determined.The detected TPMS signal may include a code or information signal (eg including GPS information) indicating the position and / or orientation of the first vehicle.

[0032] An advantage of this embodiment is that the first vehicle uses its standard TPMS sensors and does not need to be equipped with additional equipment.

[0033] According to a further embodiment of the method according to the invention, the sensor in the second vehicle is an ultrasonic detector and the signal from the first vehicle is an ultrasonic parking distance signal. The sensor in the second vehicle may also include a plurality of ultrasonic detectors pointing in one or more directions. Based on the strength and direction of the detected ultrasonic parking distance signal, the position and / or orientation of the first vehicle may be determined.

[0034] An advantage of this embodiment is that the first vehicle uses its standard parking distance sensors and does not need to be equipped with additional equipment.

[0035] Based on an embodiment of the method according to the present invention, step b3) comprises:

[0036] b3a) determining the position and orientation of the first vehicle by means of the second vehicle;

[0037] b3b) determining the position and orientation of the second vehicle by means of the second vehicle; and,

[0038] b3c) Based on the determined position and orientation of the first vehicle and the determined position and orientation of the second vehicle, determining whether the first vehicle and the second vehicle are parked parallel to and directly adjacent to each other.

[0039] According to a further embodiment of the method according to the invention, the position and orientation of the first vehicle is determined based on information received from the first vehicle by the second vehicle using V2X communication, preferably.

[0040] According to an embodiment of the method according to the invention, the position and orientation of the first vehicle is determined based on information collected by sensors of the second vehicle when parked in the second position.

[0041] Furthermore, a vehicle for autonomously exiting a parking position is provided, the vehicle comprising:

[0042] a) a detector arranged for detecting an unlocking signal of a central locking system for unlocking a first vehicle parked in a first position;

[0043] b) a determination unit arranged to determine, in response to the unlocking signal, whether the first vehicle and the second vehicle are parked in parallel and directly adjacent to each other;

[0044] c) an autonomous driving unit for autonomously driving the second vehicle at least partially out of the second position when it is determined that the first vehicle and the second vehicle are parked parallel and directly adjacent to each other,

[0045] wherein the determining unit is further arranged to determine whether the first vehicle has at least partially left the first position; and,

[0046] Therein, the autonomous driving unit is further arranged to autonomously drive the second vehicle back to the second position when it is determined that the first vehicle has at least partially left the first position.

[0047] According to an embodiment of the vehicle according to the invention, the vehicle further comprises:

[0048] a sensor arranged to be activated in response to said unlocking signal and to detect a signal sent by said first vehicle in response to said unlocking signal or a further unlocking signal,

[0049] Therein, the determination unit is arranged to determine, based on the detected signal, whether the first vehicle and the second vehicle are parked in parallel and directly adjacent to each other.

[0050] Based on an embodiment of the vehicle according to the invention,

[0051] - the sensor is a camera and the signal from the first vehicle is an indicator light signal; or,

[0052] - the sensor is an electromagnetic signal detector and the signal from the first vehicle is a TPMS signal; or,

[0053] - The sensor is an ultrasonic detector and the signal from the first vehicle is an ultrasonic stopping distance signal.

[0054] Based on an embodiment of the vehicle according to the present invention, the determination unit is arranged to i) determine the position and orientation of the first vehicle through the second vehicle, ii) determine the position and orientation of the second vehicle through the second vehicle; and iii) determine whether the first vehicle and the second vehicle are parked parallel to and directly adjacent to each other based on the determined position and orientation of the first vehicle and the determined position and orientation of the second vehicle.

[0055] Based on an embodiment of the vehicle according to the invention, the determination unit is arranged for receiving information, preferably from the first vehicle, using V2X communication for determining the position and orientation of the first vehicle.

[0056] Based on an embodiment of the vehicle according to the invention, the determination unit comprises a sensor for collecting position and orientation information about the first vehicle when parked, and wherein the determination unit is arranged for determining the position and orientation of the first vehicle based on the collected information.

[0057] It will be appreciated that the operation and corresponding advantages of the embodiments of the vehicle according to the invention correspond to the embodiments of the method according to the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] For a more complete understanding of the present invention, reference will be made to the following description taken in conjunction with the accompanying drawings, in which:

[0059] Figure 1a and Figure 1b shows a schematic overview of a parking situation to which the present invention can be applied,

[0060] Figure 2 A schematic overview showing an embodiment of the method according to the invention; and,

[0061] Figure 3 A schematic overview of an embodiment of a vehicle according to the invention is shown. DETAILED DESCRIPTION

[0062] exist Figure 1a and Figure 1b , a schematic overview of a parking situation in which the present invention can be applied is depicted. A vehicle 110 is parked adjacent to a vehicle 130 .

[0063] Vehicle 110 and vehicle 130 may be vehicles without autonomous driving capabilities. In this case, these vehicles will not be able to leave their parking positions without a driver in the vehicle. Therefore, a standard minimum stopping distance d2 between vehicle 110 and vehicle 130 has been observed. This distance d2 ensures that the door 140 can be opened wide enough for the driver to enter vehicle 130.

[0064] Vehicle 120 may be a vehicle with autonomous driving capabilities. When parked adjacent to vehicle 110, a standard minimum stopping distance d2 relative to vehicle 110 may not be observed. If vehicle 120 temporarily leaves its parking position when the driver of vehicle 110 wishes to enter vehicle 110, an adjusted minimum stopping distance d1 that is less than distance d2 may also be acceptable.

[0065] The driver may express this request by sending an unlock signal 160 to the vehicle 110 (eg, from his car key or his smart phone). Thus, the vehicle 110 and the vehicle 120 may detect the unlock signal.

[0066] When the unlock signal 160 detected by the vehicle 120 is not for unlocking the vehicle 110 but for unlocking the vehicle 130 , the vehicle 120 does not need to temporarily leave its parking position to allow the driver to enter his vehicle.

[0067] Thus, in response to the unlock signal 160 , it may be determined (eg, by the vehicle 120 ) whether the vehicle 120 and the vehicle to which the unlock signal was sent (ie, the vehicle 110 ) are parked in parallel and directly adjacent to each other.

[0068] To determine this, a sensor 340 in the vehicle 120 may be activated in response to the unlock signal 160. The sensor 340 is arranged to detect a signal sent by the vehicle 110 in response to the unlock signal 160 or in response to a second unlock signal or a further unlock signal sent by the driver.

[0069] The signal sent by the vehicle 110 may be an indicator light signal, a TPMS signal, an ultrasonic parking distance signal and / or any other electromagnetic signal. The signal may also be sent using so-called V2X communication technology. The sensor 340 may be a camera, an electromagnetic signal detector and / or an ultrasonic detector.

[0070] Based on the detected signals, the position and orientation of vehicle 110 relative to vehicle 120 may be determined, thereby determining whether vehicle 120 and vehicle 110 are parked parallel and directly adjacent.

[0071] The position and orientation of vehicle 110 relative to vehicle 120 may be determined based on the direction and / or strength of the signal, and / or based on information contained in the detected signal (eg, the GPS location of vehicle 110 ).

[0072] The position and orientation of vehicle 110 relative to vehicle 120 may have been determined by vehicle 120 using its sensors for autonomous driving when parked adjacent to vehicle 110. Examples of such sensors are cameras, LIDAR and / or RADAR devices.

[0073] When it has been determined that the vehicle 120 and the vehicle to which the unlock signal is directed are not parked parallel and directly adjacent, the vehicle 120 will not autonomously move out of its parking position (also referred to as the second position), i.e., the vehicle will remain in its parking position and continue to monitor whether the unlock signal is detected.

[0074] When it has been determined that vehicle 120 is indeed parked parallel to and directly adjacent to vehicle 110, vehicle 120 will autonomously at least partially move out of its parking position, such as Figure 1b This will allow the driver of the vehicle 110 to open the door 150 of the vehicle 110, ie, this will allow the driver to enter his vehicle and drive his vehicle out of its parking position (also referred to as the first position).

[0075] The vehicle 120 may return to its parking position when it is determined that the vehicle 110 has (at least partially) left its parking position, and thus the vehicle 120 will autonomously drive back to its parking position.

[0076] Vehicle 120 may use its sensors for autonomous driving to determine that vehicle 110 has (at least partially) left its parking location.

[0077] In this way, the driver of vehicle 110 is already able to move his vehicle 110 out of its parking position even if vehicle 120 parked adjacent to it does not comply with the standard minimum parking distance d2 .

[0078] Figure 2 A schematic overview of an exemplary embodiment of a method 200 for autonomously moving a vehicle 120 out of a parking position is shown, the method comprising the following steps:

[0079] Step 210: Detecting an unlocking signal for a first vehicle parked at a first position by a second vehicle parked at a second position;

[0080] Step 220: In response to the unlock signal, determining whether the first vehicle and the second vehicle are parked in parallel and directly adjacent to each other;

[0081] Step 230: If yes, autonomously driving the second vehicle at least partially out of the second location, thereby allowing the driver of the first vehicle to enter the first vehicle and drive the first vehicle at least partially out of the first location;

[0082] Step 240: Determining whether the first vehicle has at least partially left the first location; and,

[0083] Step 250: If yes, autonomously drive the second vehicle back to the second position.

[0084] Step 220 may include the following steps:

[0085] Step 221: activating a sensor in the second vehicle in response to the unlock signal;

[0086] Step 222: Detecting, by the sensor, a signal sent by the first vehicle in response to the unlock signal or another unlock signal; and,

[0087] Step 223: Determine whether the first vehicle and the second vehicle are parked in parallel and directly adjacent to each other based on the detected signal.

[0088] Step 223 may include the following steps:

[0089] Step 224: Determine the position and orientation of the first vehicle by the second vehicle;

[0090] Step 225: Determining the position and orientation of the second vehicle by the second vehicle; and,

[0091] Step 226: Based on the determined position and orientation of the first vehicle and the determined position and orientation of the second vehicle, determine whether the first vehicle and the second vehicle are parked parallel and directly adjacent to each other.

[0092] Figure 3 A schematic overview of an embodiment of a vehicle 120 according to the present invention is shown. The vehicle 120 may include:

[0093] a detector 310 arranged to detect an unlocking signal 160 for a first vehicle 110 parked in a first position;

[0094] a determination unit 320 arranged to determine, in response to the unlocking signal 160 , whether the first vehicle and the second vehicle are parked in parallel and directly adjacent to each other;

[0095] an autonomous driving unit 330 for autonomously driving the second vehicle 120 at least partially out of the second position when it is determined that the first vehicle and the second vehicle are parked parallel and directly adjacent to each other,

[0096] The determination unit 320 may be further arranged to determine whether the first vehicle 110 has at least partially left the first position. The autonomous driving unit 330 may be further arranged to autonomously drive the second vehicle 120 back to the second position when it is determined that the first vehicle 110 has at least partially left the first position.

[0097] The vehicle 120 may comprise a sensor 340 arranged to be activated in response to the unlocking signal 160 and to detect a signal sent by the first vehicle 110 in response to the unlocking signal or a further unlocking signal. The determination unit 320 may be arranged to determine, based on the detected signal, whether the first vehicle and the second vehicle are parked parallel and directly adjacent to each other.

[0098] As will be appreciated by those skilled in the art, aspects of the present invention may be implemented as a system, device, method or computer program product. Accordingly, aspects of the present invention may take the form of a complete hardware embodiment, a complete software embodiment (including firmware, resident software, microcode, etc.) or a combination of software and hardware aspects generally referred to herein as a "unit", "module", "system", "device" or "element".

[0099] The functions or steps described in this document may be implemented as an algorithm executed by a microprocessor of a computer. In addition, aspects of the present invention may also take the form of a computer program product implemented in one or more computer-readable media, the computer-readable media having a computer-readable program code implemented (e.g., stored) thereon.

[0100] It should be understood that the above description is included to illustrate the operation of the preferred embodiment and is not intended to limit the scope of the invention. Based on the above discussion, many variations will be apparent to those skilled in the art, and these variations will still be included within the scope of the invention.

Claims

1. A method for a vehicle to autonomously exit a parking position, the method comprising the following steps: a) detecting, by a second vehicle parked at a second location, an unlocking signal of a central locking system for unlocking a first vehicle parked at a first location; b) in response to the unlock signal, determining whether the first vehicle and the second vehicle are parked in parallel and directly adjacent to each other; c) if yes, autonomously driving the second vehicle at least partially out of the second location, thereby allowing the driver of the first vehicle to enter the first vehicle and drive the first vehicle at least partially out of the first location; d) determining whether the first vehicle has at least partially left the first location; and, e) If yes, autonomously driving the second vehicle back to the second position.

2. The method according to claim 1, wherein: Step b) comprises: b1) activating a sensor in the second vehicle in response to the unlock signal; b2) detecting, by the sensor, a signal sent by the first vehicle in response to a further unlocking signal; and, b3) determining whether the first vehicle and the second vehicle are parked in parallel and directly adjacent to each other based on the detected signal.

3. The method according to claim 2, wherein: The sensor in the second vehicle is a camera and the signal from the first vehicle is an indicator light signal.

4. The method according to claim 2, wherein: The sensor in the second vehicle is an electromagnetic signal detector, and the signal from the first vehicle is a TPMS signal.

5. The method according to claim 2, wherein: The sensor in the second vehicle is an ultrasonic detector and the signal from the first vehicle is an ultrasonic stopping distance signal.

6. The method according to claim 1, wherein: Step b3) comprises: b3a) determining the position and orientation of the first vehicle by means of the second vehicle; b3b) determining the position and orientation of the second vehicle by means of the second vehicle; and, b3c) Based on the determined position and orientation of the first vehicle and the determined position and orientation of the second vehicle, determining whether the first vehicle and the second vehicle are parked parallel to and directly adjacent to each other.

7. The method according to claim 6, wherein: The position and orientation of the first vehicle are determined based on information received by the second vehicle using V2X communications.

8. The method according to claim 7, wherein: The position and orientation of the first vehicle are determined based on information received from the first vehicle by the second vehicle using V2X communication.

9. The method according to claim 6, wherein: The position and orientation of the first vehicle is determined based on information collected by sensors of the second vehicle when parked in the second location.

10. A vehicle for autonomously driving out of a parking position, the vehicle for autonomously driving out of a parking position being a second vehicle, the second vehicle comprising: a) a detector arranged for detecting an unlocking signal of a central locking system for unlocking a first vehicle parked in a first position; b) a determination unit arranged to determine, in response to the unlocking signal, whether the first vehicle and the second vehicle are parked in parallel and directly adjacent to each other; c) an autonomous driving unit for autonomously driving the second vehicle at least partially out of a second position when it is determined that the first vehicle and the second vehicle are parked parallel and directly adjacent to each other, wherein the determining unit is further arranged to determine whether the first vehicle has at least partially left the first position; and, Therein, the autonomous driving unit is further arranged to autonomously drive the second vehicle back to the second position when it is determined that the first vehicle has at least partially left the first position.

11. The vehicle of claim 10, further comprising: a sensor arranged to be activated in response to said unlocking signal and to detect a signal sent by said first vehicle in response to a further unlocking signal, Therein, the determination unit is arranged to determine, based on the detected signal, whether the first vehicle and the second vehicle are parked in parallel and directly adjacent to each other.

12. The vehicle according to claim 11, wherein: - the sensor is a camera and the signal from the first vehicle is an indicator light signal; or, - said sensor is an electromagnetic signal detector and said signal from said first vehicle is a TPMS signal; or, - The sensor is an ultrasonic detector and the signal from the first vehicle is an ultrasonic stopping distance signal.

13. The vehicle according to claim 10, wherein: The determination unit is arranged to i) determine the position and orientation of the first vehicle by means of the second vehicle, ii) determine the position and orientation of the second vehicle by means of the second vehicle; and iii) determine whether the first vehicle and the second vehicle are parked parallel to and directly adjacent to each other based on the determined position and orientation of the first vehicle and the determined position and orientation of the second vehicle.

14. The vehicle according to claim 13, wherein: The determination unit is arranged for receiving information using V2X communication for determining the position and orientation of the first vehicle.

15. The vehicle of claim 14, wherein: The determination unit is arranged for receiving information from the first vehicle using V2X communication for determining the position and orientation of the first vehicle.

16. The vehicle of claim 13, wherein: The determination unit comprises a sensor for collecting information about the position and orientation of the first vehicle when parked, and wherein the determination unit is arranged for determining the position and orientation of the first vehicle based on the collected information.

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