Method for operating vehicle during parking maneuver, parking maneuver system, and vehicle

Abstract

The present disclosure generally relates to a method (28, 38) of operating a vehicle (10) during a parking maneuver, a parking maneuver system (12), and a vehicle (10). The vehicle (10) includes at least one sensor (18), a steerable wheel (14), and a control device (16) coupled to the sensor (18). The control device (16) is configured to provide at least a control signal for steering the steerable wheels (14) according to a set direction following a planned path (82) of the parking maneuver. At least one curb (78) arranged within the planned path (82) is detected using at least one sensor (18). The parking maneuver is interrupted. A changed path (88, 90) of the parking maneuver is determined. The changed path (88, 90) includes a protection margin between a position of the curb (78) and a set position (92, 94) where the steerable wheel (14) is planned to steer. A parking maneuver is performed as a function of the changed path (88, 90).

Description

Technical Field

[0001] The present disclosure generally relates to a method of operating a vehicle during a parking maneuver, a parking maneuver system, and a vehicle. Background Art

[0002] Vehicle parking systems are used to assist the driver in maneuvering out of or into an available parking space. Based on the detected environment, a path is planned to move the vehicle from its current position to or from a detected parking space. If a curb is detected within the trajectory that the vehicle should move, current parking assistance systems take the detected curb into account by utilizing its direction.

[0003] Such systems then seek to determine the trajectory of the vehicle so that the end position of the maneuver provides a parallel alignment of the vehicle relative to the curb. Other systems take the curb into account so that a protection margin is provided between the end position of the maneuver relative to the position of the curb to completely prevent the tires from hitting the curb. In these parking maneuvers, the vehicle does not hit the curb at all. Therefore, the available maneuvering space is limited.

[0004] US11,318,928B2 and US11,104,327B2 disclose a general vehicle automatic parking system that can take into account a special trajectory with a large impact angle if the curb is detected to be within the original predetermined trajectory for leaving the parking space. US2020 / 0231141A1 discloses another general parking assistance system. Optionally, user input can be taken into account during the execution of the maneuvering process.

[0005] US 2021 / 0269019 A1 discloses a generic parking assistance system that takes into account changes in the vehicle's sense of motion during a parking maneuver to reach the intended end position of the trajectory.

[0006] However, known systems determine the trajectory of the vehicle independently of the steering process of the wheel relative to the curb. Therefore, the steering of the wheel can be performed while the wheel is in contact with the curb. This could potentially lead to contact between the wheel or its rim and the curb.

[0007] Furthermore, steering at the curb often affects the trajectory of the vehicle, so that it is not possible to follow the set trajectory due to the interaction between the wheels and the curb. As a result, control of the vehicle is difficult to achieve, which results in an effective shortening of the available parking space.

[0008] Another problem with the known systems relates to the detection of the curb itself, in particular if the ignition is switched on when the vehicle is located above the curb. After initialization, the usual vehicle sensors (such as a lidar system) are not able to detect a curb located below the vehicle, which could be hit during a subsequent parking maneuver. Furthermore, the position of the curb may not be detected with sufficient accuracy compared to the position of the vehicle, since the sensors are not yet able to accurately determine the position of the curb. In this respect, such sensors are self-calibrated during use of the vehicle. However, this usually requires certain driving actions to be performed. Such drawbacks again give rise to uncertainties that are not easily handled by the known systems.

[0009] DE 10 2020 124920A1 discloses a general method for operating a driving assistance system for a vehicle. An environment map is received. The environment map includes a depiction of curbs in the environment of the vehicle. A current driving trajectory corresponding to a predicted trajectory of the vehicle is received. A collision point between a tire of the vehicle and the curb is detected based on a mapping of the surrounding environment and the current driving hose. An angle between the tire and the curb is determined. Based on a comparison between the determined angle and a threshold value, an indication information indicating when damage may occur is output.

[0010] Therefore, it can be considered that the objective technical problem to be solved is to overcome or at least reduce the disadvantages of the prior art. In particular, it can be considered that there is a need for a method of operating a vehicle during a parking maneuver that provides a more convenient parking maneuver for the passengers and is gentle to the wheels, thereby extending their service life. Summary of the invention

[0011] The objective technical problem is solved according to the subject matter of the independent claims. Additional embodiments are referred to in the dependent claims and the following description, each of which can represent aspects of the present disclosure individually or in combination. Some aspects of the present disclosure are presented for methods, other aspects are presented for corresponding devices. However, these features are transferred accordingly and vice versa.

[0012] The following describes an overview of certain embodiments disclosed herein. It should be understood that these aspects are presented only to provide a brief overview of these embodiments, and these aspects are not intended to limit the scope of the present disclosure. The present disclosure may include various aspects that may not be described below.

[0013] According to one aspect of the present disclosure, a method for operating a vehicle during a parking maneuver is provided. The vehicle comprises at least one sensor, a steerable wheel, and a control device connected to the sensor. The control device is configured to at least provide a control signal for steering the steerable wheel according to a set direction following a planned path of the parking maneuver. The method comprises at least the following steps:

[0014] At least one sensor and / or vehicle-to-infrastructure communication is used to detect at least one curb within the planned path of the parking maneuver.

[0015] The parking maneuver is completed according to the planned path.

[0016] A path planning algorithm is used to determine an altered path for the parking maneuver. The altered path includes a protection margin between the position of the curb and the set position at which the steerable wheels are planned to be turned.

[0017] Perform parking maneuvers based on the changed path.

[0018] The present method offers several advantages compared to known methods. The method configured in this way offers the possibility of avoiding wheel-curb interactions. Since the protection margin is taken into account within the changed path, the wheel steering is performed at a position at a distance from the position of the curb. Therefore, even if a steering process is performed on at least one wheel of the vehicle, such a steering process does not lead to an unwanted interaction between the corresponding wheel and the curb. Therefore, the life of the wheel and the corresponding wheel rim is extended. In addition, since no steering action is performed when an interaction between the wheel and the curb occurs, the changed path of the maneuver can be followed more accurately. Therefore, deviations from the changed path of the maneuver are reduced. In addition, by avoiding steering actions when the wheel interacts with the curb, sudden movements of the vehicle relative to the curb can be prevented. Therefore, the comfort of the passengers of the vehicle is also improved. In other words, the method configured in this way takes a step towards a more natural way of parking. It increases the confidence of the passengers in the function of the parking maneuver, because the passengers realize that the underlying system can also handle special scenarios.

[0019] According to another aspect, a parking maneuver system for a vehicle is provided. The vehicle comprises steerable wheels. The parking maneuver system comprises at least one sensor and a control device connected to the sensor. The control device is configured to provide at least a control signal for steering the steerable wheels according to a set direction following a planned path of the parking maneuver. The system is configured to:

[0020] - using at least one sensor and / or vehicle-to-infrastructure communication to detect at least one curb arranged within the planned path of the parking maneuver,

[0021] - interrupting the parking maneuver using the control device according to the planned path,

[0022] - using a path planning algorithm to determine an altered path for the parking maneuver. Here, the altered path includes a protection margin between the position of the curb and the set position for the planned steerable wheels to steer, and

[0023] - Use the controls to perform a parking maneuver based on the changed path.

[0024] The parking maneuver system allows to achieve similar technical advantages as described with respect to the above method. In particular, the comfort of the vehicle's passengers is improved and the life of the vehicle's wheels and corresponding rims is extended. In addition, the changed path of the parking maneuver can be followed more accurately.

[0025] In some embodiments, the parking maneuver may be performed manually by the driver and the parking maneuver system may be configured to detect a curb disposed within a planned path of the manually performed parking maneuver using at least one sensor. In this case, the planned path represents an actual path that the vehicle would move based on the driver's commands. In this regard, the parking maneuver system performs a monitoring function to prevent unnecessary contact with the curb.

[0026] In the alternative, the parking maneuver system may include an assisted or even automated parking maneuver system.

[0027] In the following, for the purpose of explanation only, the parking maneuver system includes the assisted parking maneuver system. However, the specific features explained in view of the assisted parking maneuver system will be transferred to the automatic parking maneuver system or the parking maneuver system for manual parking maneuvers accordingly.

[0028] More specifically, in the present context, an assisted parking maneuver may be considered as a function that provides a predetermined path along which the vehicle will move to enter or leave a parking space. In particular, the function may provide predetermined steering movements and speed modifications of the vehicle. However, it may be required that the driver of the vehicle remains responsible for the primary user input for controlling the movement of the vehicle. For example, even though the actual steering movement of the steering wheel may be primarily performed by an actuator controlled by the assisted parking maneuver function, the assisted parking maneuver may require the driver to still make physical contact with the steering wheel of the vehicle. Additionally or alternatively, the driver may be required to actively actuate the accelerator pedal of the vehicle to perform the parking maneuver. In other words, the vehicle may be resisted at a specific position without the driver actuating the accelerator pedal. This means that the driver remains responsible for the primary control of the vehicle, while the planned path to leave or enter the parking space is determined by the assisted parking maneuver function.

[0029] In some embodiments, the assisted parking maneuver function may also include an automatic parking maneuver function. This means that the movement of the vehicle can be performed without driver input during the movement. Optionally, an initial activation of the automatic parking maneuver function may be required. After this activation, the movement of the vehicle along the planned path, including steering movements and speed changes of the vehicle, may be performed automatically. In this sense, the method may also be provided with an automatic parking maneuver. Furthermore, a corresponding automatic parking maneuver system may be provided. Whether the function is automatic or only assisted may depend, for example, on the laws of the specific location.

[0030] In the present context, the planned path of an assisted parking maneuver can be considered as the trajectory determined for the vehicle to enter or leave a parking space. In this regard, obstacles such as curbs are not initially considered from the perspective of the planned path. In other words, the planned path is determined before obstacles or curbs are detected.

[0031] Optionally, the path (such as the planned path and the changed path) includes a respective starting position and an end position, and the respective trajectory extends between the starting position and the end position. For the parking out maneuver, the starting position may be located in the parking space, and for the parking in maneuver, the end position may be located in the parking space.

[0032] In the present context, the set direction may be considered to be the intended direction of the vehicle's steering wheel, in which direction the steering wheel is desired to be oriented to perform a steering action for the vehicle once the vehicle is moving.

[0033] Optionally, the vehicle-to-infrastructure communication may include a communication device configured to communicate with an external device, such as a server or an associated traffic guidance system. The external device may include information about the presence of a curb or other obstacle. This information may be communicated to the vehicle using the vehicle-to-infrastructure. Thus, the vehicle is informed.

[0034] In the present context, a curb may be considered a traversable obstacle that is intended to restrict a portion of a road or a different surface of movement of a vehicle, such as a parking area, a parking lane, etc. In general, a curb may also represent any traversable obstacle that is within the planned path of the assisted parking maneuver.

[0035] In some embodiments, only those curbs or obstacles that provide a height difference between the first height level and the second height level that is above a certain height threshold may be considered. Thus, obstacles that provide only a small height difference may be ignored in view of the methods described herein. For example, the height threshold may be at least 3 cm, preferably at least 5 cm, more preferably at least 7 cm, and more preferably at least 10 cm.

[0036] In the present context, interrupting the assisted parking maneuver may be considered to be stopping the movement of the vehicle. In this respect, the control device may be coupled to a motor control device of the vehicle. Upon detecting that at least one curb is arranged within the planned path of the assisted parking maneuver, the control device may provide a control signal causing the motor to reduce its output power. Alternatively or additionally, a control signal may also be provided to a brake control system to actuate at least one brake device of the vehicle. Thus, controlled braking of the vehicle is achieved.

[0037] Optionally, the control device is coupled to a steering control device of the vehicle. Thus, by providing the steering control device with a corresponding control signal from the control device, a steering action can be performed.

[0038] In an alternative solution, the control device may also provide a control signal so that the steerable wheels are directly controlled by the control device. For example, the control device may be directly coupled to a steering device (actuator) coupled to the steerable wheels.

[0039] Based on the control signals provided by the control device, a steering action of the steerable wheels can be initiated.

[0040] In some embodiments, when the assisted parking maneuver is interrupted, the movement of the vehicle does not necessarily stop. However, when the assisted parking maneuver is interrupted, the movement of the vehicle can at least be slowed down. In general, the vehicle can even continue to move during the interruption of the assisted parking maneuver, the determination of the changed path, and the assisted parking maneuver according to the changed path. Whether the vehicle slows down or even stops depends mainly on the calculation speed of the path planning algorithm.

[0041] Preferably, the changed path differs from the planned path in at least one aspect of the respective basic trajectory and the actions taken along the trajectory. For example, the changed path differs from the planned path in terms of the position where the turning action should be performed. If the position where the turning action should be performed changes between the planned path and the changed path, the trajectories themselves will not overlap with each other. Therefore, at least a part of the trajectory of the changed path is different from the corresponding part of the track of the planned path. For example, the corresponding parts can be located at a certain distance from each other. Therefore, compared with the trajectory of the planned path, the trajectory of the changed path may be longer or even shorter.

[0042] In some embodiments, the protection margin represents the distance between the position of the curb where the height difference occurs and the center position around which the steering action of at least one wheel of the vehicle should be performed.

[0043] Preferably, the protection margin is selected so as to provide a distance between the curb and the center of any wheel of the vehicle. This means that the protection margin is selected taking into account also the position of the non-steerable wheels of the vehicle. Thus, during the steering maneuver, no interaction occurs between the curb and any wheel of the vehicle. Thus, the service life of the non-steerable wheels is also extended.

[0044] Typically, the path planning algorithm is configured to determine a path including a trajectory between a starting position and an ending position for a parking maneuver. In this regard, the path planning algorithm may be configured to determine a trajectory for a parking entry maneuver as well as a parking exit maneuver.

[0045] Preferably, a path planning algorithm may be included in the control device.

[0046] In an alternative solution, the path planning algorithm may also be provided by a cloud-based service. In this case, the control device may be configured to communicate with a cloud server having the path planning algorithm. The control device may then transmit all necessary information to the cloud server so that the cloud server can use the path planning algorithm to determine the changed path. The cloud server then transmits the changed path to the control device.

[0047] In some embodiments, the path planning algorithm uses an artificial intelligence based algorithm. In this regard, at least one neural network may be provided.

[0048] Optionally, the AI-based algorithm of the path planning algorithm can be configured to be trained according to a cloud-based training process. This means that the path planning algorithm can be trained centrally. Subsequently, the mapping strategy of the underlying neural network of the path planning algorithm can be provided to the control device of each onboard vehicle having the path planning algorithm via the cloud server.

[0049] Optionally, the protection margin is based on an adjustable calibration and / or wheel size of the vehicle. The wheel size determines the surface area occupied by the wheel when performing a steering maneuver. Therefore, by taking into account the wheel size, a protection margin can be determined to prevent interaction with the curb. The adjustable calibration can be considered to take into account corresponding vehicle parameters or external parameters describing the surrounding environment of the vehicle for determining the protection margin. For example, the size of the parking space can be taken into account when determining the protection margin. This means that the protection margin can be determined separately for each parking maneuver. The control device can be responsible for determining the protection margin and passing the protection margin to the path planning algorithm. The size of the parking space can be detected by sensors of the vehicle or by the environment communicating with the vehicle via vehicle-to-infrastructure communication. In addition, external parameters such as weather conditions can be taken into account when determining the protection margin. For example, if the weather conditions indicate a potential slippery ground, a larger protection margin can be considered. In addition, the adjustable calibration can be changed based on user input. This means that the user can specify factors that affect the protection margin.

[0050] According to some embodiments, the protection margin has such a size that the steering of the steerable wheel of the vehicle according to the changed path is performed in case the steerable wheel is arranged completely above the curb or completely below the curb. Thus, the protection margin is selected so that when steering the wheel, the wheel is prevented from interacting with the curb. Thus, contact of the wheel or its rim with the curb is avoided.

[0051] Optionally, at least one sensor is configured to detect the torque of the motor of the vehicle (propulsion torque of the engine) and the speed of the vehicle. Preferably, the curb is detected when the propulsion torque exceeds a threshold value without the speed of the vehicle increasing. This means that in this case, the curb (obstacle) is detected based on the parameter change of the longitudinal control system of the vehicle without using environmental sensor data. In other words, the curb is detected once at least one wheel of the vehicle hits the curb. According to the sequence of the assisted parking maneuver, it can be determined at certain stages that there is usually no planned acceleration or braking in these certain stages. For these stages, it can be expected that the existence of a passable obstacle (such as a curb) is determined only based on the change of the propulsion torque of the motor, without further consideration or measurement of the current speed of the vehicle. When driving on the curb, due to the weight of the vehicle, an increased propulsion torque needs to be provided by the motor of the vehicle. By detecting the increased propulsion torque output by the motor and evaluating the speed of the vehicle, a reliable conclusion about the existence of the curb can be drawn. In this regard, the sensor itself does not need to perform a determination process. Instead, the sensor provides corresponding measurement data to the control device, which evaluates the received measurement data and determines whether the curb exists.

[0052] The threshold value of the propulsion torque may be absolutely fixed in one embodiment, for example as a function of the vehicle type or the characteristics of the vehicle motor. In another embodiment, during an automatic parking maneuver or the like, the threshold value may be set relative to the current propulsion torque, for example 10% higher than the previous average value.

[0053] In some embodiments, the sensor may also be configured to detect a steering torque caused by a steering device (e.g., a steering wheel) or by a steering control device configured to provide a steering control signal to a steering actuator. In addition, the direction of the steerable wheel may be detected. In addition, a threshold value for the steering torque may be considered. In the event that the steerable wheel is already in lateral contact with the curb, a further increase in the steering torque will not cause any further rotation of the steerable wheel. Therefore, if the threshold value for the steering torque is exceeded without causing any further rotation of the steerable wheel, a curb may be accordingly considered to be present. Therefore, the changed path of the assisted parking maneuver may be determined based at least in part on the steering torque detected by the sensor.

[0054] Furthermore, depending on the steering torque, the planned path may be determined at least in some aspects, such as with respect to certain parts of the basic trajectory of the planned path.

[0055] Alternatively or additionally, the curb may also be detected based on environment-related sensor data. For example, a camera-based sensor may be used to detect the curb before at least one wheel of the vehicle hits the curb. In this regard, the control device may be configured to determine whether the curb is within the planned path.

[0056] Preferably, the motor may comprise an internal combustion engine or an electric motor.

[0057] In some embodiments, the altered path of the assisted parking maneuver includes at least one change in the sense of movement of the vehicle from front to rear or from rear to front. Here, the sense of movement is related to the forward or backward movement of the vehicle. Optionally, the actual movement of the vehicle may also include a steering action superimposed on the forward or backward movement. By changing the sense of movement, the maneuvering of the vehicle can be achieved within an effectively reduced surface area. In other words, less lateral space on the ground is required to reach the desired end position. Therefore, the vehicle can be parked in or out of a smaller parking space.

[0058] In some embodiments, user input may be required to change the sense of movement of the vehicle. For example, the user may need to change gears. In this regard, the control device can be connected to a human-machine interface (HMI) in which a corresponding request for the user to provide user input can be output.

[0059] Preferably, the change in the sense of movement of the vehicle from front to back or from back to front is taken into account according to the changed path, without the wheels of the vehicle making contact with the curb. For example, the curb can be detected before the wheels hit the curb. Then, the change in the sense of movement of the vehicle can be taken into account according to the changed path, even before the wheels hit the curb. Thus, in some cases, even contact with the curb can be prevented.

[0060] Optionally, after detecting that the curb is within the planned path, the method may include a step of determining whether a condition is met that allows an early change to the vehicle's sense of motion. In particular, the determination process is performed by a control device. In this regard, the control device may take into account sensor data acquired by at least one sensor of the vehicle. For example, the control device may take into account the position of the vehicle relative to the parking space. This means that an early change to the vehicle's sense of motion can only be performed if the premise regarding the position of the vehicle relative to the parking space is met. For example, the center of the rear axle or the front axle of the vehicle may need to be located within a specific part of the parking space to allow a change in the vehicle's sense of motion to be performed. In other words, the vehicle (here the center of the front axle or the rear axle) needs to be located deep enough in the parking space to allow a change in the vehicle's sense of motion.

[0061] Alternatively or additionally, whether a change in the sense of movement of the vehicle is allowed may also depend on the free space in front of or behind the vehicle in the parking space relative to the lateral limits of the parking space (eg other vehicles).

[0062] In some cases, after detecting that the curb is within the planned path, the altered path may even include a trajectory that allows the vehicle to completely exit the parking space and subsequently re-enter the parking space using a different altered trajectory. The altered trajectory may potentially include a different angular relationship relative to the curb. By early alteration of the vehicle's sense of motion, contact between the vehicle's wheels and the curb may be prevented or achieved so that the interaction does not result in an undesirable shortening of the life of the wheel or its rim.

[0063] Alternatively, if it is not possible to enter or leave the available parking space according to the changed path with the unreduced protection margin, the protection margin is reduced by the reduction factor. Entering or leaving the parking space can be considered as a superior demand of the user of the vehicle. Therefore, if a parking maneuver to enter or leave the parking space is not possible when considering the protection margin without the reduction factor, the protection margin is reduced by the reduction factor. Thus, the superior demand of the user of the vehicle can be met. In this regard, the control device can output a corresponding request. The reduction can then be based on individual user inputs received via the HMI.

[0064] In some embodiments, an assisted parking maneuver is performed according to the changed path only when it is possible to leave or enter an available parking space while taking into account the protection margin or the reduced protection margin. Otherwise, the assisted parking maneuver can be performed according to the planned path. Preferably, the path planning algorithm can take into account a superordinate condition, which describes preventing contact between the vehicle and other obstacles that restrict the parking space (for example, vehicles parked in front of or behind the parking space). Such contact must be prevented in any case. Therefore, preventing contact is a superordinate condition included when determining the changed path. If the changed path cannot prevent contact, even in the case of a reduced protection margin, a parking maneuver will not be performed according to the changed path. Instead, the parking maneuver can be performed using the originally planned path. In this regard, a corresponding request can be output by the control device. Processing based on the planned path can then be performed based on the corresponding user input received via the HMI.

[0065] Optionally, if the control device receives a user input of rejection via the human-machine interface, the assisted parking maneuver is performed according to the planned path. In this regard, the control device can be connected to the HMI, in which a request can be output to specify whether to perform the parking maneuver according to the changed path or according to the planned path.

[0066] Preferably, the at least one sensor includes at least one of a torque sensor, a camera sensor, an ultrasonic sensor, a radar sensor, and a lidar sensor, and the torque sensor is configured to sense the torque of a motor of the vehicle (propulsion torque of the engine).

[0067] In some embodiments, the torque sensor may also be configured to sense steering torque.

[0068] Furthermore, a plurality of torque sensors may be provided, at least one torque sensor configured to sense the torque of a motor of the vehicle (propulsion torque of the engine), and at least one additional torque sensor configured to sense the steering torque.

[0069] Optionally, the HMI includes speakers and / or multimedia devices of the vehicle.

[0070] In some embodiments, if the kerb is detected to have a height difference between the lower height level and the upper height level that is above a height threshold, the parking maneuver is terminated. This means that it may be detected that the kerb is too high to safely climb the kerb. In other words, the kerb is considered to be non-drivable. In this regard, the control device may be configured to request user input whether the parking maneuver is to be performed. In the request, the height of the kerb may optionally be specified.

[0071] Preferably, the height of the curb can be detected by a sensor of the vehicle, such as a camera-based sensor.

[0072] In some embodiments, the assisted parking maneuver is terminated only after a drivable obstacle has been detected if a check of the current position and orientation of the vehicle indicates that the current position and orientation of the motor vehicle is suitable as an end position for the parking maneuver. The end position is particularly considered suitable if the lateral distance, for example to an adjacent vehicle, is not below a minimum distance threshold. The minimum distance threshold may, for example, depend on the opening radius of a vehicle door or a distance that is considered sufficient to drive the vehicle out of the parking space. Thus, if the end position has already been reached, a potential time saving may be achieved.

[0073] In this regard, if the check shows that the current position of the vehicle is not suitable as the end position of the parking maneuver, the sense of movement of the vehicle can be optionally changed from front to back or from back to front. By changing the sense of movement of the vehicle, the assisted parking maneuver system can make the vehicle perform additional movements and possibly multiple movements to change the position and direction of the vehicle. As a result, the end position of the path can be reached more efficiently even if reduced lateral space is required.

[0074] In some embodiments, the control device can be connected to a bus system of the vehicle, in particular a CAN bus system (Controller Area Network). Via the bus system, the control device can receive vehicle-related parameters that can be taken into account during the method.

[0075] Preferably, the control device comprises at least one data processing circuit.

[0076] According to another aspect, a data processing circuit is provided, the data processing circuit comprising means for performing at least one step of the method as described above.

[0077] According to yet another aspect, there is provided a computer program comprising instructions, which, when executed by a computer, cause the computer to perform at least one step of the method as described above.

[0078] According to yet another aspect, there is provided a computer-readable medium comprising instructions which, when executed by a computer, cause the computer to perform at least one step of the method as described above.

[0079] According to another aspect, a vehicle is provided, the vehicle comprising the parking maneuvering system as described above, or comprising a parking maneuvering system operated according to the method as described above.

[0080] In the present context, a vehicle may be considered to be a vehicle that is at least partially electrically or fuel-powered. These vehicles may include, among other things, land vehicles with at least one electric motor or internal combustion engine for propelling the vehicle, i.e. off-road vehicles and road vehicles, such as passenger cars, buses, trucks and other commercial vehicles. Vehicles may be manned or unmanned. In addition to pure electric vehicles (BEV) or pure fuel vehicles, hybrid electric vehicles (HEV) and plug-in hybrid vehicles (PHEV) may also be included.

[0081] All features explained for each aspect may be combined alone or in (sub)combination with other aspects. BRIEF DESCRIPTION OF THE DRAWINGS

[0082] The foregoing aspects and further advantages of the claimed subject matter will become more readily understood, and thus will be better understood when taken in conjunction with the accompanying drawings and by reference to the following detailed description. In the accompanying drawings,

[0083] Figure 1 is a schematic diagram of a vehicle having an assisted parking maneuver system according to an embodiment;

[0084] Figure 2 is a schematic diagram of a method of operating a vehicle during an assisted parking maneuver according to an embodiment;

[0085] Figure 3 is a schematic diagram of a method of operating a vehicle during an assisted parking maneuver according to another embodiment;

[0086] Figure 4 is a schematic diagram of a vehicle performing an assisted parking maneuver;

[0087] Figure 5 is a schematic diagram of a vehicle performing an assisted parking maneuver; and

[0088] Fig. 6A and 6B is a schematic diagram of a vehicle performing an assisted parking maneuver according to an embodiment. DETAILED DESCRIPTION

[0089] The detailed description set forth below in conjunction with the accompanying drawings (wherein the same reference numerals refer to the same elements) is intended as a description of various embodiments of the disclosed subject matter, and is not intended to represent a unique embodiment. Each embodiment described in the present disclosure is provided only as an example or illustration, and should not be interpreted as being preferred or superior to other embodiments. The illustrative examples provided herein are not intended to be exhaustive or to limit the claimed subject matter to the precise form disclosed. Various modifications to the described embodiments will be apparent to those skilled in the art, and the general principles defined herein may be applied to other embodiments and applications without departing from the spirit and scope of the described embodiments. Therefore, the described embodiments are not limited to the embodiments shown, but should conform to the widest scope of the principles and features disclosed herein.

[0090] All features disclosed below with respect to the exemplary embodiments and / or figures may be combined with features of various aspects of the present disclosure (including features of its preferred embodiments) alone or in any subcombination, provided that the resulting feature combination is reasonable for a person skilled in the art.

[0091] For purposes of this disclosure, the phrase "at least one of A, B, and C" refers, for example, to (A), (B), (C), (A and B), (A and C), (B and C), or (A, B, and C), including all other possible combinations when more than three elements are listed. In other words, the term "at least one of A and B" generally refers to "A and / or B", that is, "A" alone, "B" alone, or "A and B".

[0092] Figure 1 is a schematic diagram of a vehicle 10 having an assisted parking maneuver system 12 according to an embodiment.

[0093] The vehicle 10 includes two steerable front wheels 14 .

[0094] The assisted parking maneuver system 12 includes a control device 16 and at least one sensor 18 coupled to the control device 16. The control device 16 also includes at least one data processing circuit 20. Optionally, the control device 16 may include wireless communication means by which the control device 16 may be coupled to a remote component (e.g., a server device or a cloud server).

[0095] The vehicle 10 includes at least one steering control device 22 coupled to the steerable front wheels 14 .

[0096] The vehicle 10 also includes at least one motor 24 (eg, an electric motor), which in this embodiment is coupled to the front wheel axle. According to this embodiment, the motor 24 is controlled by a combined motor and brake control unit 26.

[0097] The control device 16 is coupled to a steering control device 22 and a combined motor and brake control unit 26 .

[0098] Typically, the control device 16 is configured to provide corresponding control signals, based on which the steering angle of the steerable front wheels 14 can be influenced via the steering control device 22. Furthermore, the control device 16 is also configured to provide control signals to the combined motor and brake control unit 26, based on which a change in the sense of movement and / or speed of the vehicle 10 can be initiated.

[0099] According to the present embodiment, at least one sensor 18 is configured to detect the torque provided by the motor 24 and to detect the speed of the vehicle 10. Optionally, at least one sensor 18 or other sensors (not shown) may be additionally configured to detect data related to the environment (e.g., the surroundings) of the vehicle 10. In other words, the sensor 18 may be camera-based and may examine the surroundings of the vehicle 10, and may be configured to detect curbs or other traversable obstacles within a particular area around the vehicle 10. The sensor data is provided to the control device 16, which determines whether a curb is present based on the sensor data and is further configured to determine a particular action (e.g., an alternative path).

[0100] According to the present embodiment, the control device 16 comprises a path planning algorithm, based on which a path for the vehicle 10 to enter or leave the parking space is determined.

[0101] Optionally, the control device 16 may be coupled to a human machine interface (HMI). The control device 16 may then be configured to output requests via the HMI and receive user input from the HMI.

[0102] Furthermore, the control device 16 may also be connected to a bus system of the vehicle 10. Via the bus system (e.g. a CAN bus), the control device 16 may receive vehicle-related parameters, such as the speed of the vehicle 10. This means that the speed of the vehicle 10 does not necessarily need to be measured by the sensor 18. Instead, the control device 16 may receive direct information about the speed of the vehicle 10, for example from the combined motor and brake control unit 26.

[0103] Figure 2 is a schematic diagram of a method 28 of operating the vehicle 10 during an assisted parking maneuver, according to an embodiment.

[0104] In step 30, at least one curb located within the planned path of the assisted parking maneuver is detected using at least one sensor 18. In this regard, the curb may be detected, for example, based on at least one wheel of the vehicle 10 hitting the curb. For example, the sensor 18 may detect an increase in torque output by the motor 24 without an increase in the speed of the vehicle 10. The control device 16 may then determine the presence of a curb within the trajectory of the planned path based on sensor data received from the sensor 18. In an alternative, the sensor 18 may also provide context-related data indicating the presence of a curb within the planned path, for example based on a camera sensor.

[0105] Subsequently, in step 32, the assisted parking maneuver according to the planned path is interrupted. In this respect, the control device 16 can provide a corresponding control signal to interrupt the parking maneuver. For example, a control signal from the control device 16 is provided to the combined motor and brake control unit 26, which thereby decelerates the motor 24 or activates the brake device.

[0106] In step 34, a changed path for the assisted parking maneuver is determined using a path planning algorithm. The changed path includes a protection margin between the position of the curb and the set position at which the steerable wheels 14 are planned to be turned. In other words, based on step 30, information is provided to the control device 16 at which position the curb is located. The control device 16 can then use the path planning algorithm to determine a changed path on which the position at which the steering action is performed on the steerable wheels 14 is such that the steerable wheels 14 do not come into contact with the curb during the steering action. The distance between the position of the curb and the position at which the steering operation is performed is taken into account by using the protection margin.

[0107] In step 36, the assisted parking maneuver is then performed according to the changed path. Since the changed path includes a protection margin, no steering action is performed when the wheels of the vehicle 10 are in contact with the curb. Therefore, contact between the wheels or their rims and the curb can be prevented. Therefore, the service life of the wheels is extended.

[0108] Figure 3 is a schematic diagram of a method 38 for operating a vehicle 10 during an assisted parking maneuver according to another embodiment. The method 38 includes several steps that are optional to the method. However, the method 38 represents a more complete method for assisted parking maneuvers.

[0109] In step 40 , method 38 begins.

[0110] In step 42 , the assisted parking maneuver system 12 is activated, for example based on user input via an HMI.

[0111] In step 44, the assisted parking maneuver system 12 is reviewing available parking spots. In this regard, the parking spot may represent a parallel parking spot oriented substantially parallel to the path of the road. In an alternative, the parking spot may also include an angle relative to the path of the road. In some embodiments, the parking spot may also represent a perpendicular parking spot oriented at an angle of approximately 90° relative to the path. The review of available parking spots may be performed at least in part based on sensor data acquired by means of at least one sensor 18. For example, a camera-based sensor 18 may be used in this regard.

[0112] In step 46, it is evaluated whether a suitable parking spot has been found. In this regard, the control device 16 can take into account vehicle-related parameters (e.g., vehicle dimensions) for determining whether a particular parking spot is suitable for the vehicle 10. Optionally, the vehicle-related parameters can be stored in a storage device connected to the control device 16. Additionally or alternatively, the control device 16 can also be connected to a bus system of the vehicle 10 and receive the vehicle-related parameters therefrom. In some cases, the control device 16 can also receive the vehicle-related parameters from a cloud server.

[0113] If the control device 16 determines in step 46 that the detected parking spot is suitable for the vehicle 10 , the method 38 continues to step 48 . Otherwise, the method 38 returns to step 44 .

[0114] In step 48, the control device 16 determines whether the vehicle 10 is already parked, so that an assisted parking maneuver can actually be performed taking into account the parking spot determined in step 46 as suitable for the vehicle 10. If the vehicle 10 is already parked, the method 38 continues to step 50. Otherwise, the method 38 returns to step 44.

[0115] In step 50 , the assisted parking maneuver system 12 guides the vehicle 10 into a parking spot.

[0116] Next, in step 52, the assisted parking maneuver system 12 utilizes sensor data acquired by at least one sensor 18. In this embodiment, the sensor 18 is used to measure the propulsion torque output by the motor 24 and the speed of the vehicle 10.

[0117] In step 54, the parking assist system 12 evaluates whether the end position of the trajectory according to the planned path has been reached. In this respect, the control device 16 is used. If the end position has not been reached, the method 38 continues to step 56. If the end position has indeed been reached, the method 38 continues to the end at step 64.

[0118] In step 56 , the parking maneuvering assistance system 12 determines, based on the control device 16 , whether a curb has been detected within the planned path. This determination is based on measurement data provided by at least one sensor 18 . In this respect, Figure 4 is a schematic diagram of a vehicle 10 performing an assisted parking maneuver 74, wherein a curb collision is detected. According to a planned path, the vehicle 10 is moved within a parking lot 76 by the assisted parking maneuver system 12. However, an unintentional curb collision, generally indicated by a circle 80, occurs between the wheels of the vehicle 10 and a curb 78 of the restricted parking space 76. When the curb 78 is provided with a height difference, the sensor 18 can detect an increase in the propulsion torque output by the motor 24 without an increase in the speed of the vehicle 10. Thus, a reliable detection of the curb 78 is ensured. If it has been detected that the curb is within the planned path, the method 38 continues to step 58. Otherwise, the method 38 returns to step 52.

[0119] In step 58, the assisted parking maneuver system 12 utilizes the control device 16 to determine whether the conditions for an early change in the sense of movement of the vehicle 10 (early change of direction) are met. In this regard, the exact position of the vehicle 10 relative to the parking point can be taken into account. The position of the vehicle 10 can be determined based on the position of the center of the front axle or the rear axle of the vehicle 10. Additionally or alternatively, the gap in front of the vehicle 10 or behind the vehicle 10 can be included in the determination process. Furthermore, vehicle-related parameters such as the speed of the vehicle can also be taken into account. If the conditions for an early change in the sense of movement of the vehicle 10 are met, the method 38 continues to step 60. In this regard, the path planning algorithm of the control device 16 is used in step 58 to determine the changed path. The changed path includes a protection margin between the position where the steering action of the steerable wheels 14 of the vehicle 10 is to be performed and the position of the detected curb. In this regard, Figure 58 is a schematic diagram of a vehicle 10 performing an assisted parking maneuver according to a planned path 82. The planned path 82 includes a position 86 at which a steering action is to be performed around a certain center 84 of the turning circle, which overlaps with the position of the curb 78. This means that the steerable wheel 14 of the vehicle 10 will perform a steering action while in contact with the curb 78. This configuration can be detected, for example, by a suitably designed sensor 18. For example, the sensor 18 can be configured to sense a steering torque applied to the steerable wheel 14 by a steering device or a steering actuator. In addition, the direction of the steerable wheel 14 can be detected by the sensor 18 or an additional sensor. If the steerable wheel 14 is already in lateral contact with the curb 78, the increase in the steering torque will not cause any further rotation of the steerable wheel 14. Therefore, if a predetermined steering torque threshold is exceeded without further rotating the steerable wheel 14, the sensor data of the sensor 18 can be used to consider the presence of the curb 78. This may potentially cause the wheel or its rim to contact the curb 78. Such a trajectory can be initially planned according to the initially planned path 82. However, protection margins are taken into account according to the changed paths. Fig. 6A and Figure 6B is a schematic diagram of the vehicle 10 performing an assisted parking maneuver according to the changed paths 88, 90 according to an embodiment of the present disclosure. The protection margin ensures that the corresponding positions 92, 94 where the steering action of the steerable wheel 14 of the vehicle 10 is to be performed do not overlap with the position of the curb 78. More specifically, according to the changed path 88, the position 92 where the steering action is to be performed is located above the curb 78 (behind the curb 78). According to the changed path 90, the position 94 where the steering action is to be performed is located below the curb 78 (before the curb 78). Therefore, the interaction between the steerable wheel 14 being steered and the curb 78 is prevented based on the protection margin.

[0120] If the conditions for an early change in the sense of motion of the vehicle 10 are not met, the method 38 continues to step 66 .

[0121] In step 60 , the assisted parking maneuver system 12 performs the parking maneuver using the altered paths 88 , 90 . Optionally, the altered paths include a change in the sense of movement of the vehicle 10 .

[0122] In step 62, it is evaluated whether the end position of the trajectory of the changed path 88, 90 has been reached. If this is the case, the method 38 continues to step 64 and ends. If the end position of the changed path 88, 90 has not been reached, the method 38 returns to step 50.

[0123] In step 66, the assisted parking maneuver system 12 optionally outputs a notification via the HMI and informs the user that the curb is within the planned path 82. This may also include notification that a curb collision has occurred if the curb is detected based on the increased propulsion torque output from the motor 24 while the speed of the vehicle 10 is not increasing.

[0124] Subsequently, in step 68, the assisted parking maneuver system 12 evaluates whether the user wants to continue the parking maneuver according to the planned path 82 or the modified path 88, 90 or not to continue the parking maneuver at all. In this regard, the control device 16 can output via the HMI several possible trajectories, such as the planned path 82 or at least one modified path 88, 90, according to which the parking maneuver can be continued. If the user wants to continue the parking maneuver according to a specific path, the method 38 continues to step 70. Otherwise, the assisted parking maneuver system 12 determines according to step 72 that the parking maneuver is to be terminated. After step 72, the method 38 terminates at step 64.

[0125] In step 70 , method 38 continues the parking maneuver based on the user input received in step 68 . This means that the parking maneuver is performed according to the path specified by the user input (eg, planned path 82 or modified path 88 , 90 ). Method 38 then continues to step 50 .

[0126] Thus, a method 38 is provided that takes into account a plurality of different information (eg sensor data or user input) to perform a parking maneuver according to the user's desires. Furthermore, the method 38 ensures that the life of the wheel is extended.

[0127] Certain embodiments disclosed herein (particularly corresponding modules) utilize circuit systems (e.g., one or more circuits) to implement the standards, protocols, methods, or techniques disclosed herein, operably connect two or more components, generate information, process information, analyze information, generate signals, encode / decode signals, convert signals, send and / or receive signals, control other devices, etc. Any type of circuit system may be used.

[0128] In one embodiment, circuit systems such as control devices and sensors include, among other things, one or more computing devices (such as processors (e.g., microprocessors), central processing units (CPUs), digital signal processors (DSPs), application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), system-on-chips (SoCs), etc., or any combination thereof), and may include discrete digital or analog circuit elements or electronic devices, or combinations thereof. In one embodiment, the circuit system includes a hardware circuit implementation (e.g., implemented in analog circuit systems, implemented in digital circuit systems, etc., and combinations thereof).

[0129] In one embodiment, the circuit system includes a combination of circuits and a computer program product having software or firmware instructions stored on one or more computer-readable memories that work together to cause the device to perform one or more protocols, methods, or techniques described herein. In one embodiment, the circuit system includes circuits that require software, firmware, etc. to operate, such as a microprocessor or portion of a microprocessor. In one embodiment, the circuit system includes one or more processors or portions thereof and accompanying software, firmware, hardware, etc.

[0130] The present application may refer to quantities and numbers. Unless otherwise specified, these quantities and numbers are not considered to be restrictive, but are possible exemplary quantities or numbers associated with the present application. Also in this regard, the present application may use the term "plurality" to refer to quantities or numbers. In this regard, the term "plurality" refers to any number greater than one, for example, two, three, four, five, etc. The terms "approximately", "approximately", "close to", etc. refer to plus or minus 5% of the value.

[0131] Although the present disclosure has been illustrated and described for one or more embodiments, equivalent changes and modifications will occur to other skilled persons in the art after reading and understanding this specification and the accompanying drawings. In addition, although a particular feature of the present disclosure may be disclosed for only one of several embodiments, such a feature may be combined with one or more other features of other embodiments, which is desirable and advantageous for any given or specific application.

Claims

1. A method (28, 38) of operating a vehicle (10) during a parking maneuver, the vehicle (10) comprising at least one sensor (18), a steerable wheel (14) and a control device (16) coupled to the sensor (18), wherein the control device (16) is configured to provide at least a control signal for steering the steerable wheel (14) according to a set direction following a planned path (82) of the parking maneuver, the method (28, 38) comprising at least the following steps: - using the at least one sensor (18) and / or vehicle-to-infrastructure communication to detect at least one curb (78) located within the planned path (82) of the parking maneuver, - interrupting the parking maneuver according to the planned path (82), - using a path planning algorithm to determine an altered path (88, 90) for the parking maneuver, wherein the altered path (88, 90) includes a protection margin between the position of the curb (78) and a set position (92, 94) at which the steerable wheels (14) are planned to steer, and - performing a parking maneuver according to the changed path (88, 90).

2. The method (28, 38) of claim 1, wherein the protection margin is based on an adjustable calibration of the vehicle (10) and / or a size of a wheel.

3. A method (28, 38) according to claim 1 or 2, wherein the protection margin has such a size that the steering of the steerable wheels (14) of the vehicle (10) according to the changed path (88, 90) is performed when the steerable wheels (14) are arranged completely above the curb (78) or completely below the curb (78).

4. A method (28, 38) according to any one of the preceding claims, wherein the at least one sensor (18) is configured to detect a propulsion torque of a motor (24) of the vehicle (10) and a speed of the vehicle (10), and wherein the curb (78) is detected when the propulsion torque exceeds a threshold value without the speed of the vehicle (10) increasing.

5. The method (28, 38) of any of the preceding claims, wherein the altered path (88, 90) of the parking maneuver includes at least one change in the sense of movement of the vehicle (10) from front to rear or from rear to front.

6. A method (28, 38) according to any of the preceding claims, wherein if it is not possible to enter or leave an available parking space (76) according to the changed path (88, 90) with an unreduced protection margin, the protection margin is reduced by a reduction factor.

7. The method (28, 38) according to claim 6, wherein the parking maneuver is performed according to the changed path (88, 90) only when it is possible to leave or enter an available parking space (76) while taking into account the protection margin or the reduced protection margin, otherwise the parking maneuver is performed according to the planned path (82).

8. The method (28, 38) according to any of the preceding claims, wherein the parking maneuver is performed according to the planned path (82) if the control device (16) receives a negative user input via a human-machine interface.

9. A parking maneuver system (12) for a vehicle (10), the vehicle (10) comprising steerable wheels (14), wherein the parking maneuver system (12) comprises at least one sensor (18) and a control device (16) coupled to the sensor (18), wherein the control device (16) is configured to provide at least a control signal for steering the steerable wheels (14) according to a set direction following a planned path (82) of the parking maneuver, in, The system (12) is configured as follows: - using the at least one sensor (18) and / or vehicle-to-infrastructure communication to detect at least one curb (78) arranged within the planned path (82) of the parking maneuver, - interrupting the parking maneuver using the control device (16) according to the planned path (82), - using a path planning algorithm to determine an altered path (88, 90) for the parking maneuver, wherein the altered path (88, 90) includes a protection margin between the position of the curb (78) and a set position (92, 94) at which the steerable wheels (14) are planned to steer, and - performing the parking maneuver using the control device (16) according to the changed path (88, 90).

10. A vehicle (10) comprising a parking maneuver system (12) according to claim 9, or comprising a parking maneuver system (12) operated according to a method (28, 38) according to any one of claims 1 to 8.

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