Method and device for maneuvering a vehicle into a parking space, in particular a motor vehicle

Abstract

The invention relates to a method for implementing an automatic parking maneuver of a motor vehicle (100) into a parking space (200), the method comprising: emitting an acoustically, optically and / or haptically detectable signal by the motor vehicle (100) depending on the current parking phase during a parking process composed of a plurality of possible parking phases. The signal is different for at least two possible parking phases and depends only on the parking phase, in particular not additionally on the position of other motor vehicles (300, 400).

Description

Technical Field

[0001] This invention relates to a method for maneuvering a vehicle to a parking space. Currently, vehicles can support the driver during parking and / or exiting. There is typically a point from which the vehicle identifies the intended parking situation. In advanced systems, in some vehicles, the driver can exit the vehicle and signal via a transmitter (either physically on the vehicle or via wireless signal transmission) to further park the vehicle, and then from a third point, the parking process is finally completed automatically. It is also known to support the driver by signaling the progress of parking. In simple, widely applicable systems, a display device is placed inside the vehicle's interior space that flashes rapidly and emits louder or faster acoustic signals as the vehicle approaches other vehicles. Background Technology

[0002] As known from document US 2018 / 0194344 A1, parking maneuvers, such as those in a repeatedly entered parking lot, can be performed automatically by a motor vehicle. The driver is notified via signals within the vehicle or by messages transmitted to a smartphone, etc., when a starting position defined for the parking maneuver is given, when the destination is reached, or even when an obstacle is encountered. Document US 2015 / 0127208 A1 describes the connection between a motor vehicle and a portable device, such as a smartphone, to issue a signal during parking. Summary of the Invention

[0003] The technical problem to be solved by this invention is to improve the method of parking maneuvering by a motor vehicle to a parking space, thereby providing better support for the driver in assessing the situation. The technical problem also includes providing suitable means. Here, parking maneuvering may include both parking entry and parking exit maneuvers of the motor vehicle.

[0004] The technical problem is thus solved by having the vehicle emit acoustically, optically, and / or tactilely detectable signals based on the current parking stage during a parking process consisting of multiple possible parking stages. These signals are distinct for at least two possible parking stages, and this is independent of the positions of other vehicles. In other words, while it is possible to define parking stages in conjunction with other vehicles (this is obviously not mandatory), the signal emission should be precisely related to the parking stage, not to the distance to other vehicles. These signals are predefined, particularly within the scope of the scenario, i.e., predefined as combinations of various signal types, where such combinations are related to the parking stage. The parking stage during parking, or rather, during the parking process, can refer to the start and end of the parking process. Specifically, a signal can be emitted by the vehicle, for example, indicating that the parking process has actually been completed.

[0005] The advantage of this invention is that the driver and even other passengers do not need to assess the parking situation themselves, but rather the vehicle is identified in which parking stage through signaling, and they are not required to do anything manually if necessary. Signaling can be based on the type of scenario that is identifiable to the driver. Subsequently, the driver is informed when necessary that the actual parking process can begin from a specific moment, allowing the driver to sometimes leave the vehicle without needing to input a signal, as the vehicle automatically parks from that moment. Because the signal is emitted by the vehicle itself, this method can be easily applied to different drivers (who may be carrying different smartphones, etc., if necessary).

[0006] In a preferred embodiment of the method, the vehicle's signaling unit identifies the current parking stage and issues a corresponding signal. Existing sensors in the vehicle can be used, and their output data can be evaluated by the signaling unit.

[0007] In a particular implementation, when parking along a predetermined trajectory, the signaling unit identifies the current parking phase based on at least one point on the trajectory.

[0008] Acoustic, optical, and / or tactilely detectable signals can be output to the vehicle's interior space. This is especially meaningful when the presence of the vehicle's driver inside the vehicle has been identified.

[0009] Alternatively, when it is detected that the driver is not inside the vehicle, the vehicle may emit acoustically, optically, and / or tactilely detectable signals to its surroundings. This can be identified, for example, by suitable sensors in the seat for recognizing occupancy and / or by data on the position or distance of the vehicle key and / or by an assessment of the opening of the door. In this case, at least a speaker from the vehicle that outputs to the surrounding environment and / or a lighting device from the vehicle that outputs to the surrounding environment may be used. The lighting device may, for example, be a headlight or a flashing light. A sound generator, used in electric vehicles to generate vehicle noise in response to the surrounding environment, can be used as a speaker.

[0010] Acoustic, optical, and / or tactilely detectable signals can alternatively be output to the surrounding environment by a smartphone connected to the vehicle.

[0011] The signal can also consist of at least a combination of optical and audio signals from different devices (e.g., vehicles and smartphones). Ideally, a (specific) audio and optical display is defined.

[0012] The invention is scalable in that the signaling unit identifies the traction amount (Zuganzahl) required for the parking process and signals not only based on the parking stage but also based on all or the remaining traction amount (the signal is different for different combinations of parking stage and traction amount).

[0013] To address the aforementioned technical problem, an apparatus for parking motor vehicles is also provided, the apparatus including a signaling unit for emitting acoustically, optically, and / or tactilely detectable signals, wherein multiple parking stages are defined for at least one parking scenario, and the signaling unit is designed to emit acoustically, optically, and / or tactilely detectable signals based on the current parking stage (and at least independently of the positions of other motor vehicles), the signals being different for at least two defined parking stages.

[0014] In alternative implementations, other specific sound and optical displays can be implemented to signal to the driver the amount of traction required for the parking process (related to parking space size, vehicle size, and vehicle position).

[0015] The advantages of the method according to the invention also apply to the device. The device is particularly provided as a motor vehicle or as part of a motor vehicle. In one embodiment, the motor vehicle may include a seating sensor for the driver's seat, which transmits information about seat occupancy or unoccupancy to a signaling unit. Seat occupancy causes a signal to be emitted through the signaling unit to the interior space of the vehicle, while unoccupancy causes a signal to be emitted from the motor vehicle to its surrounding environment through the signaling unit. In this way, the signal target is accurately transmitted to the vehicle driver.

[0016] Other technical features of the present invention can also be illustrated and given in the following drawings. The features and combinations of features mentioned above in the specification, as well as the features and combinations of features mentioned below in the description of the drawings and / or shown separately in the drawings, can be used not only in the corresponding combinations given, but also in other different combinations or individually, as long as they do not depart from the scope of the present invention. Attached Figure Description

[0017] In the attached diagram:

[0018] Figure 1A This illustrates a scenario where the motor vehicle is under the control of the driver, thus allowing the parking process to begin.

[0019] Figure 1B The following situation is shown, in which the vehicle driver has left the vehicle and the parking process is controlled from the outside.

[0020] Figure 1CThis indicates the next steps, after which the vehicle will automatically complete the parking process.

[0021] Figure 2 The steps of an embodiment of the method according to the invention during docking are shown; and

[0022] Figure 3 This illustrates one aspect of the method according to the invention, namely how it functions during a parking interruption.

[0023] In the accompanying drawings, identical or functionally equivalent elements are labeled with the same reference numerals. Detailed Implementation

[0024] exist Figure 1A In the scenario shown, vehicle 100 should be parked in parking space 200 between two other vehicles 300 and 400. The presence of vehicles 300 and / or 400 is not essential for implementing this invention.

[0025] The driver 2 of motor vehicle 100 initially places the vehicle in a situation where, with the aid of sensors such as camera 4, ultrasonic sensor 6, and (optionally) microphone 8, it can be identified that the motor vehicle 100 is approaching parking space 200 and is clearly being controlled to park in that space. Specifically, an algorithm runs in the control unit 10 of motor vehicle 100, which evaluates the data from sensors 4, 6, and 8 and checks whether a predetermined trajectory T matches this situation. At point P1, a signal is initiated to the driver 2 via optical signaling unit 12 (shown here as a flashing light), acoustic signaling unit 14 (shown here as a speaker), and a device 16 for emitting tactilely detectable signals (here, constructed on the steering wheel of the motor vehicle, for example, in the form of a vibration generator).

[0026] The vehicle driver identifies which parking stage the vehicle is in by means of a display (such as a specific combination of signals at signaling units 12, 14, and 16 as specified by control unit 10), and the vehicle then transitions to... Figure 1BAs shown in the diagram. Starting from point P2 on the trajectory, the driver 2 leaves the vehicle, and the vehicle continues to park under the remote control of a suitable device, such as a smartphone 18a with appropriate application software, which works in conjunction with the corresponding transmitting and receiving unit 18b of the vehicle 100. If the vehicle 100 subsequently reaches point P3 on the trajectory, the vehicle can automatically complete the parking process to reach point P4, where it is correctly positioned in parking space 200. The diagram shows the transformation of combinations (displayed) of output signals starting at points P1, P2, P3, and P4 (using other lights / the same lights with different flashing frequencies and / or additional lights, and / or other sound outputs and / or other sound output sequences and / or additional sound outputs, and / or, if necessary, different and / or additional tactilely detectable signals).

[0027] The method according to the invention includes, as described below, the use of Figure 2 The following steps are described: Here, unit B10 represents one or more conditions given before the method executes step S10. Condition B10 may include: the location of an vacant parking space is detected by the algorithm in the vehicle's sensors 4, 6, and 8 or control unit 10; the location of point P1 can currently be detected and associated with trajectory T. For previously used parking spaces, trajectory T is known due to so-called trained parking. Furthermore, the location of point P2 can also be passed on and thus known. Finally, the location of the vehicle itself is also added to condition B10. Optionally, stored distances to the parking space and distances to other vehicles may also be used.

[0028] In step S10, it is checked whether the starting point for parking is adjacent to the vehicle. If this is not the case, the process proceeds to step S12, whereby no audio or optical display is output, nor is any tactilely detectable signal output. Conversely, if the starting point P1 is near the vehicle 100, in step S14, it is determined whether an approximate scenario for the parking function matches this condition. This may depend on condition B12, i.e., the activation state (the vehicle driver should inform the vehicle via input that parking is as desired), or alternatively, the parking menu on the display is activated. If the determination of whether an approximate scenario for the parking function matches this condition is negative, the process returns to step S12. Conversely, if an approximate scenario for the parking function can be identified, the process proceeds to step S16, whereby it is determined whether the vehicle driver is inside the vehicle. This depends on condition B14, i.e., the vehicle status, the location of the car key and / or auxiliary devices, such as smartphone 18a, etc. If it is determined that the driver is inside the vehicle, then according to step S18, a sound and optical display specific to the interior space and scene is emitted, see the signaling units 12, 14 and 16. Figure 1AConversely, if the check in step S16 is negative, meaning the driver is not in the vehicle, the process proceeds to step S20, where a sound and optical display specific to the external space and scene is performed. See [link to relevant documentation]. Figure 1B .

[0029] The method according to the invention also includes the ability to identify the "end of the parking process" during the parking phase. This occurs if the vehicle is at the end of the parking operation during the parking operation.

[0030] The method according to the invention also includes the ability to identify "interruptions in the parking process" during the parking phase. This is in Figure 3 The diagram shows that in step S22, it checks whether the parking interruption scenario used for the parking function matches a predefined condition, which can also depend on condition B16. If the condition is negative, no sound or optical display is emitted in step S24. Conversely, if a parking interruption scenario is identified, it checks whether the driver is in the vehicle in step S24. If the driver is sitting in the driver's seat, according to step S26, as already done in step S18, a scenario-specific sound and optical display is emitted into the interior space of the vehicle, similar to... Figure 1A Otherwise, according to step S28, scene-specific sound and optical displays are emitted to the external space, that is, towards the environment of the motor vehicle.

[0031] List of reference numerals

[0032] 2. Vehicle driver

[0033] 4 cameras, sensors

[0034] 6. Ultrasonic sensor, sensor

[0035] 8. Microphone head, sensor

[0036] 10 Control Unit

[0037] 12 lights

[0038] 14 speakers

[0039] 16 Vibration Generator

[0040] 18a Smartphone

[0041] 18b Transmit and Receive Unit

[0042] 100 motor vehicles

[0043] 200 parking spaces

[0044] 300 Other motor vehicles

[0045] 400 Other motor vehicles

[0046] Condition B

[0047] Point P

[0048] T-trajectory

Claims

1. A method of automatic parking a motor vehicle (100) into a parking space (200) implemented by the motor vehicle (100), wherein, In the method, during a parking process consisting of a plurality of possible parking phases, an acoustic, optical and / or haptically detectable signal is emitted by the motor vehicle (100) depending on the current parking phase, but at least independently of the position of other motor vehicles (300, 400), the signal being different for at least two possible parking phases, wherein the parking unit of the motor vehicle (100) takes over the automatic parking along a trajectory (T) of a predetermined form, and the signaling unit identifies the current parking phase depending on at least one point (P1, P2, P3, P4) on the trajectory (T) and emits the corresponding signal, and wherein the signaling unit identifies the amount of traction required for the parking process and emits a signal depending on the parking phase and the amount of traction, wherein a transformation of the combination of output signals is opened at the points (P1, P2, P3, P4), respectively, wherein at a first point (P1) the signaling to the vehicle driver (2) by means of an optical signaling unit (12), an acoustic signaling unit (14) and a device (16) for emitting a haptically detectable signal is started, from a second point (P2) of the trajectory the vehicle driver (2) leaves the motor vehicle, and the motor vehicle continues the parking-in under remote control of suitable devices, once the motor vehicle (100) has reached a third point (P3) of the trajectory, the motor vehicle can complete the parking process on its own, and the motor vehicle is correctly in the parking space (200) at a fourth point (P4).

2. The method of claim 1, wherein, When it is detected that the driver of the motor vehicle is not in the vehicle interior, an acoustic, optical and / or haptically detectable signal is emitted by the motor vehicle (100) to its surroundings.

3. The method of claim 1, wherein, The signal is emitted at least by means of a smartphone (8a) in communication connection with the motor vehicle and / or by means of a loudspeaker of the motor vehicle outputting to the surroundings and / or by means of a lighting device of the motor vehicle outputting to the surroundings.

4. The method of claim 1, wherein, The signal consists at least of a combination of light signals and sound signals of different devices.

5. The method of claim 1, wherein, At least one parking phase is identified depending on the distance of the motor vehicle from a possible starting point or end point of the parking process.

6. An apparatus having a parking unit for carrying out an automatic parking maneuver by means of a motor vehicle (100) and a signaling unit for emitting an acoustically, optically and / or haptically detectable signal, wherein The parking unit defines a plurality of parking phases for at least one parking scenario, and the signaling unit is designed to emit an acoustic, optical and / or haptically detectable signal depending on the current parking phase, but at least independently of the position of other motor vehicles (300, 400), the signal being different for at least two defined parking phases, wherein the parking unit of the motor vehicle (100) takes over the automatic parking along a trajectory (T) of a predetermined form, and the signaling unit identifies the current parking phase depending on at least one point (P1, P2, P3, P4) on the trajectory (T) and emits the corresponding signal, and wherein the signaling unit identifies the amount of traction required for the parking process and emits a signal depending on the parking phase and the amount of traction, wherein a transformation of the combination of output signals is opened at the points (P1, P2, P3, P4), respectively, wherein at a first point (P1) a signal is sent to the vehicle driver (2) by means of an optical signaling unit (12), an acoustic signaling unit (14) and a device (16) for emitting a haptically detectable signal, from a second point (P2) of the trajectory the vehicle driver (2) leaves the motor vehicle and the motor vehicle continues the parking process under remote control of a suitable device, once the motor vehicle (100) has reached a third point (P3) of the trajectory the motor vehicle is able to complete the parking process on its own, and the motor vehicle is correctly in the parking space (200) at a fourth point (P4).

7. Motor vehicle (100) with an arrangement according to claim 6.

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