Method for operating parking assistance system for vehicle and parking assistance system

Abstract

The invention relates to a method for operating a parking assistance system (1) for a vehicle (50), the surroundings of the vehicle (50) being detected by means of a surroundings sensor device (2); wherein a free parking space (61) is identified, and wherein a surroundings map (4) is created on the basis of the identified free parking space (61) and the detected surroundings, in which surroundings map a possible starting position (5) for a single-process parking process (6) of the vehicle (50) in the free parking space (61) is stored, an evaluation is carried out for each of the possible starting positions (5) in accordance with at least one evaluation criterion (30) and a respective evaluation result (31) is stored in the surroundings map (4) in association with the respective starting position (5), and wherein an optimal starting position (5) is selected on the basis of the evaluation result (31), and outputting at least one steering recommendation (20) to the driver and / or driving the vehicle (50) to the selected starting position (5) in an at least partially automated manner. The invention further relates to a parking assistance system (1).

Description

Technical Field

[0001] The invention relates to a method for operating a parking assistance system for a vehicle and to a parking assistance system. Background Art

[0002] Parking assistance systems are known in which the driver autonomously drives past a free parking space, measures the free parking space, and then receives operating instructions for manually carrying out the parking process.

[0003] A parking assistance device is known from US 2009 / 0 174 574 A1, which can selectively determine an appropriate target parking position for parking assistance with appropriate priority, in that it uses an obstacle detection device and a parking space detection device in an appropriate manner. A parking assistance device for supporting parking of a vehicle is described, which includes an obstacle detection device for detecting an obstacle near the vehicle; and a parking interval line detection device for detecting parking interval lines drawn on the ground; wherein, when a parking interval line is detected by the parking interval line detection device, the device calculates a target parking position based on the detected parking interval line. Summary of the invention

[0004] The object of the present invention is to improve a method for operating a parking assistance system for a vehicle and a parking assistance system, in particular with regard to approaching a starting position for a parking process.

[0005] According to the invention, this object is achieved by a method having the features of patent claim 1 and a parking assistance system having the features of patent claim 10. Advantageous embodiments of the invention are derived from the dependent claims.

[0006] In particular, a method for operating a parking assistance system for a vehicle is provided, wherein an environment around the vehicle is detected by means of an environment sensor device, wherein a free parking space is identified, wherein a surroundings map is created based on the identified free parking space and the detected surroundings, wherein possible starting positions for a single-pass parking process of the vehicle in the free parking space are stored in the surroundings map, wherein for each of the possible starting positions an evaluation is performed according to at least one evaluation criterion and the corresponding evaluation result is stored in the surroundings map in association with the corresponding starting position, and wherein an optimal starting position is selected based on the evaluation result and at least one steering recommendation is output to the driver and / or the vehicle is driven at least partially automatically to the selected starting position.

[0007] In addition, in particular, a parking assistance system for a vehicle is provided, which includes: an environment sensor device, which is configured to detect the environment of the vehicle; and a control device, wherein the control device is configured to evaluate environment data provided by the environment sensor device, and identify a free parking space in the environment based on the environment data, create a environment map based on the identified free parking space and the detected environment, and store possible starting positions for a single-stage parking process of the vehicle in the free parking space, for each of the possible starting positions, perform an evaluation according to at least one evaluation criterion, and store the corresponding evaluation result together with the corresponding starting position in the environment map, and select an optimal starting position based on the evaluation result, and output at least one steering recommendation to the driver and / or at least partially automatically drive the vehicle to the selected starting position.

[0008] The method and parking assistance system realize: when selecting and driving to the starting position of the parking process in the free parking space identified manually or partially automated, the driver is supported so that the selected starting position can be reliably reached. This is achieved by creating a surrounding map based on the free parking space identified and the detected surroundings. The possible starting positions for the single-process parking process of the vehicle to the free parking space are stored in the surrounding map. The possible starting positions are determined in a known manner by means of a trajectory planner. For this purpose, the trajectory planner starts from the starting position in the surroundings and the target position in the free parking space, and attempts to find a single-process parking trajectory. For this purpose, in particular, circular arc segments, straight lines and / or clothoids can be placed at each other. The trajectory planner takes into account vehicle characteristics (vehicle geometry, steering device characteristics, maximum possible wheel steering angle, etc.), passenger width, obstacles and parking space characteristics (width, length) determined according to surrounding data. As the starting position, all positions in the limited surroundings around the vehicle are passed step by step. Those starting positions from which a single-pass parking process to the target position in the free parking space is not possible are discarded, and those starting positions in which a single-pass parking process is possible are stored in the surroundings map (in particular together with the correspondingly generated trajectories) as possible starting positions. For each of the possible starting positions, an evaluation is performed according to at least one evaluation criterion, and the corresponding evaluation result is stored in the surroundings map in association with the corresponding starting position. Based on the evaluation result, the best starting position is selected (for example, the position with the maximum value is selected). For the selected starting position, at least one steering recommendation is output to the driver and / or the vehicle is driven at least partially automatically to the selected initial position.

[0009] The method and the parking assistance system have the advantage of selecting the best starting position from several possible starting positions. Another advantage is that the driver of the vehicle is assisted and / or at least partially automatically driven to the selected starting position when driving to the selected best starting position with the aid of at least one steering recommendation.

[0010] A single-stage parking process is in particular a parking process that can be carried out in one stage, i.e. in particular a parking process in which no gear changes (in particular reverse gear, forward gear, reverse gear) are carried out. In the case of a multi-stage parking process, in particular at least one gear change is carried out from reverse gear to forward gear and then to reverse gear (or vice versa).

[0011] The surroundings sensor device includes at least one surroundings sensor, which can be a camera, a stereo camera, a lidar sensor, a radar sensor or an ultrasonic sensor.

[0012] The at least one steering recommendation is generated in particular by means of a control device. For this purpose, the control device can, for example, compare the current position of the vehicle with the selected starting position and, based on the comparison result, generate and provide at least one steering recommendation, for example in the form of a control signal for a steering device of the vehicle. This is particularly performed repeatedly until the selected starting position is reached. In particular, this can also be regulated by means of rules.

[0013] If the selected starting position is approached manually or partially automatically, the assisted parking process can be started. In particular, it is provided that operating instructions are given to the driver, for example in the form of (further) steering recommendations and / or steering instructions. It can also be provided that the parking process is carried out at least partially automatically starting from the selected starting position.

[0014] For example, the recognition of a free parking space can be carried out based on the detected surroundings data using computer vision and / or machine learning methods known per se.

[0015] The components of the parking assistance system, in particular the components of the control device, can be designed individually or jointly as a combination of hardware and software, for example as a program code executed on a microcontroller or microprocessor. However, it can also be provided that the components are designed individually or jointly as an application-specific integrated circuit (ASIC) and / or a field-programmable gate array (FPGA).

[0016] In one embodiment, it is configured that at least one steering recommendation is output at the steering wheel of the vehicle in the form of tactile feedback. The driver can thus tactilely detect at least one steering recommendation at the steering wheel. For example, it can be configured that the steering wheel actuator (Force Feedback Actuator, FFA, also known as force feedback actuator) of the vehicle's electromechanical steering device briefly generates a corresponding torque at the steering wheel, especially without affecting the steering device itself or the steering angle at the steerable wheel. Due to the briefly generated torque, the steering wheel moves for a short moment in the direction in which the driver wants to steer. It can be configured that the control device for outputting at least one steering recommendation generates a corresponding control signal and provides it to the vehicle's steering device, especially the steering control device or the steering adjustment device.

[0017] In one embodiment, it is provided that a theoretical orientation of the vehicle is determined for each of the starting positions and stored in the surroundings map. In addition, information about the orientation of the vehicle at the starting position can be stored with which a single-pass parking process can be optimally executed. The theoretical orientation is determined in this case, in particular, also by means of a trajectory planner in a manner known per se. In particular, the theoretical orientation results from the course of the trajectory determined for each possible starting position.

[0018] In one embodiment, it is provided that at least one turn recommendation is generated and / or the vehicle is driven at least partially automatically in such a way that when the selected starting position is reached, the vehicle has a target orientation stored therefor. Thus, when the selected starting position is reached, the vehicle is already oriented according to the target orientation.

[0019] In one embodiment, it is arranged that at least one automated braking action is performed when driving to the selected starting position. Thus, the vehicle can stop automatically when reaching the selected starting position when driving manually. Therefore, the selected starting position can be reached reliably.

[0020] In one embodiment, it is provided that a touch on the steering wheel is detected and recognized, wherein the selected starting position is at least partially automatically controlled when it is detected that the driver has taken his hands off the steering wheel. The driver can thus signal to the parking assistance system that he wishes to have the selected starting position controlled partially automatically. The partially automated control takes place in particular after the start of the assisted parking process.

[0021] In one embodiment, it is provided that the evaluation criterion takes into account the steering amplitude of the parking process starting from the starting position and / or the number of steering movements to be performed during the parking process. It is thus possible to evaluate the parking process to be performed, i.e. the trajectory to be performed for this and assigned to the starting position, itself. In particular, it is possible to evaluate the parking process or trajectory from the starting position to the target position in the free parking space with respect to the steering amplitude and / or the number of steering movements to be performed that are maximally necessary for this purpose. In particular, it is possible to evaluate in this case that a larger steering amplitude is evaluated as worse than a smaller steering amplitude. Likewise, it is possible to evaluate in this case additionally or alternatively that a larger number of steering movements is evaluated as worse than a smaller number of steering movements.

[0022] In one embodiment, it is provided that the evaluation criterion takes into account the distance maintained to obstacles in the surroundings during the execution of the parking maneuver and / or the extent to which the oncoming lane must be driven over in order to execute the parking maneuver. Thus, for example, a starting position can be evaluated as worse than a starting position in which the associated trajectory has a greater distance to obstacles: although a single-pass parking maneuver can be realized from this starting position, the trajectory for executing the parking maneuver is unsuitably extended because the vehicle would approach other obstacles here. Likewise, a starting position can be evaluated as worse than a starting position in which it is less necessary to drive over the oncoming lane or not to drive over the oncoming lane at all.

[0023] In one embodiment, it is provided that the evaluation criterion takes into account the driving requirements of the parking process corresponding to the selected starting position. It can thus be taken into account whether the trajectory to be driven from the starting position is demanding or less demanding in terms of the driving skills of the driver. In particular, a trajectory that is easy to understand and easy to implement in terms of driving skills for a human driver can be evaluated as better than a trajectory that requires higher driving skills.

[0024] In particular, it can be provided that several evaluation criteria are taken into account. The individual evaluation results can be combined, in particular in a weighted form, to form an (overall) evaluation result, which is stored in the surroundings map at the respective starting position. The starting position can then be selected whose (overall) evaluation result is the best (for example, the evaluation result has a maximum value). BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The present invention is explained in more detail below based on preferred embodiments with reference to the accompanying drawings, wherein:

[0026] Figure 1 A schematic diagram showing an implementation of a parking assistance system;

[0027] Figure 2 Shows a schematic diagram for illustrating the present invention;

[0028] Figure 3 Shows a schematic diagram for illustrating the present invention;

[0029] Figure 4 Shows a schematic diagram for illustrating the present invention;

[0030] Figure 5 A schematic diagram of a surrounding environment map for explaining the present invention is shown. DETAILED DESCRIPTION

[0031] Figure 1 The schematic diagram of an embodiment of a parking assistance system 1 is shown. The parking assistance system 1 comprises an environment sensor system 2 and a control device 3. The parking assistance system 1 is arranged in a vehicle 50, in particular a motor vehicle. The parking assistance system 1 is configured to implement the method described in the present disclosure. The method is explained in more detail below with reference to the parking assistance system 1.

[0032] The surroundings sensor system 2 is configured to detect the surroundings of the vehicle 50. For this purpose, the surroundings sensor system 2 may have, for example, one or more of the following sensors: a camera, a stereo camera, a radar sensor, an ultrasonic sensor, a lidar sensor, etc. The surroundings sensor system 2 generates surroundings data 10 describing the surroundings, which are fed to the control device 3.

[0033] The control device 3 comprises a computing device 3-1 and a memory 3-2. The computing device 3-1 in particular performs the calculations necessary for implementing the method. The control device 3 is configured to evaluate the surroundings data 10 provided by the surroundings sensor device 2 and to identify a free parking space 61 in the surroundings based on the surroundings data 10. Figures 2 to 4 In addition, the control device 3 creates a surrounding environment map based on the identified vacant parking space 61 and the detected surrounding environment. Figure 4 , and stores the possible starting positions 5 for a single-pass parking process of the vehicle 50 in the free parking space 60 in the surroundings map. For this purpose, the control device 3 generates, in particular in a manner known per se, a trajectory between the position in the surroundings in which the single-pass parking process is to be carried out and the target position in the identified free parking space 61, as has already been described above in the general description. For each of the possible starting positions 5, the control device 3 performs an evaluation according to at least one evaluation criterion 30. The control device 3 stores the corresponding evaluation result 31 ( Figure 5 ) is stored in the surrounding area together with the corresponding starting position 5 Figure 4 Based on the evaluation result 31 , the control device 3 selects an optimal starting position 5 and outputs at least one steering recommendation 20 to the driver to drive to the selected starting position 5 .

[0034] For this purpose, the control device 3 generates in particular a corresponding control signal 21, which is provided to a steering device 51 of the vehicle 50. It can be provided that at least one steering recommendation 20 is output in the form of tactile feedback at the steering wheel of the vehicle 50. The control signal 21 causes the steering device 51 to generate a torque pointing in the direction of the steering recommendation 20, for example, at the steering wheel of the vehicle 50, and the driver is instructed with this torque to a steering direction along which the driver must turn in order to drive to the selected starting position.

[0035] Alternatively or additionally, the vehicle 50 is driven at least partially automatically to the selected starting position 5. To this end, the selected starting position 5 is transmitted to the vehicle controller 52, which then drives the selected starting position 5 at least partially automatically.

[0036] Figures 2 to 4 Schematic diagrams are shown in order to explain the sequence of embodiments of a method for operating a parking assistance system for a vehicle 50. A parking scenario 60 is shown in each case, in which a vehicle 50 is to be parked in a free parking space 61 with the assistance of the parking assistance system described in the disclosure.

[0037] exist Figure 2 In the example, the vehicle 50 just passes by the vacant parking space 61 and has detected the vacant parking space by means of the surroundings sensor device. In addition, the surroundings sensor device also detects the surroundings of the vehicle 50. A surroundings map is created based on the identified vacant parking space 61 and the detected surroundings. Figure 4 , which is Figure 3 The vehicle 50 is depicted in the vicinity of the vehicle 50 and in Figure 5 In the surrounding area Figure 4 A single-process parking process 6 ( Figure 4 )’s possible starting position 5.

[0038] For each of the possible starting positions 5 ( Figure 5 ), according to at least one evaluation criterion 30( Figure 1 ) and stores the corresponding evaluation result 31 in association with the corresponding starting position 5 in the surrounding environment. Figure 4 ( Figure 5 ). Evaluation results 31 in Figure 5 For example, it is shown in three levels of shading.

[0039] Based on the surrounding environment Figure 4The evaluation results 31 stored in the vehicle for the starting position 5 are used to select the best starting position 5, which is then to be driven to. For this purpose, at least one steering recommendation 20 is output to the driver and / or the vehicle 50 is driven at least partially automatically to the selected starting position 5. In the example shown, in particular, the starting position 5 is selected as the best starting position 5: this starting position 5 is from the starting position 5 with the best evaluation result 31 (strongest shadow), for example because this starting position of the starting positions has the best evaluation result 31.

[0040] It can be provided that, for each of the starting positions 5, a theoretical orientation 7 of the vehicle 50 is determined (see Figure 5 arrows in the middle) and store them in the surrounding area Figure 4 middle.

[0041] It can be improved to be configured such that at least one redirection recommendation 20 ( Figure 1 ) is generated and / or the vehicle 50 is driven at least partially automatically in such a way that the vehicle 50 has a target orientation 7 stored therefor when it reaches the selected starting position 5 .

[0042] It can be provided that at least one automated braking action is performed when driving towards the selected starting position 5. In this way, the vehicle 50 can be automatically stopped at the selected starting position 5. For this purpose, for example, the braking signal 22 is transmitted to the vehicle control 52 which performs the braking action.

[0043] It can be provided that a touch on the steering wheel is detected and recognized, wherein, when it is recognized that the driver has taken his hands off the steering wheel, the selected starting position 5 is at least partially automatically controlled. The detection of the touch is carried out, for example, by means of a sensor device (not shown) provided for this purpose of a steering device 51 of the vehicle 50, wherein a touch signal 53 is supplied to the parking assistance system 1. If the parking assistance system 1 (or the control device 3) recognizes that the touch has ended, the partially automated control of the selected starting position 5 is started. If the touch on the steering wheel is subsequently confirmed again, it can be provided that the partially automated driving is interrupted and the turn recommendation 20 is output again.

[0044] It can be set as follows: Evaluation criteria 30( Figure 1 ) considers the parking process 6 starting from the starting position 5 ( Figure 4 ) and / or the number of steering movements to be performed during the parking process 6. For this purpose, the control device 3 can, for example, determine the maximum steering amplitude and / or the number of steering direction changes that occur in order to implement the trajectory corresponding to the starting position 5.

[0045] It can be provided that evaluation criterion 30 takes into account the distance maintained to obstacles in the surroundings during the execution of parking maneuver 6 and / or the extent of the oncoming lane that must be traveled through in order to execute parking maneuver 6. For this purpose, control device 3 determines, for example, the distances to obstacles present for the trajectory respectively assigned to starting position 5 and / or control device 3 determines the total area of ​​the oncoming lane that vehicle 50 must travel through when executing the trajectory.

[0046] It can be provided that the evaluation criteria 30 take into account the driving skill requirements of the parking process 6 corresponding to the selected starting position 5. For this purpose, the control device 3 can for example determine the number and / or difficulty of the turning processes of the trajectory associated with the starting position 5.

[0047] Reference numerals list

[0048] 1Parking Assist System

[0049] 2Surrounding environment sensor

[0050] 3. Control Devices

[0051] 3-1 Computing equipment

[0052] 3-2 Memory

[0053] 4Surrounding environment map

[0054] 5 Starting Position

[0055] 6Parking process

[0056] 7 Theoretical Orientation

[0057] 10 Surrounding environment data

[0058] 16 Target Location

[0059] 20 Turn to Recommend

[0060] 21 Control signal

[0061] 22 Brake signal

[0062] 30 Evaluation criteria

[0063] 31Evaluation results

[0064] 50 vehicles

[0065] 51 Steering device

[0066] 52 Vehicle Controller

[0067] 53 Touch signal

[0068] 60 parking scenes

[0069] 61 vacant parking spaces

Claims

1. A method for operating a parking assistance system (1) for a vehicle (50), in, Detecting the surroundings around the vehicle (50) by means of a surroundings sensor device (2); Therein, identifying a free parking space (61), wherein a surroundings map (4) is created based on the identified free parking space (61) and the detected surroundings, and possible starting positions (5) for a single-pass parking process (6) of the vehicle (50) in the free parking space (61) are stored in the surroundings map, wherein, for each of the possible starting positions (5), an evaluation is performed according to at least one evaluation criterion (30), and a corresponding evaluation result (31) is stored in the surrounding environment map (4) in association with the corresponding starting position (5); and The optimal starting position (5) is selected based on the evaluation result (31), and at least one steering recommendation (20) is output to the driver and / or the vehicle (50) is driven at least partially automatically to the selected starting position (5).

2. The method according to claim 1, characterized in that The at least one steering recommendation (20) is output in the form of tactile feedback at a steering wheel of the vehicle (50).

3. The method according to claim 1 or 2, characterized in that: For each of the starting positions (5), a target orientation (7) of the vehicle (50) is determined and stored in the surroundings map (4).

4. The method according to claim 3, characterized in that The at least one turn recommendation (20) is generated and / or the vehicle (50) is driven at least partially automatically in such a way that when the selected starting position (5) is reached, the vehicle (50) has a target orientation (7) stored therefor.

5. The method according to any one of the preceding claims, characterized in that When approaching the selected starting position (5), at least one automated braking action is performed.

6. The method according to any one of the preceding claims, characterized in that A touch on the steering wheel is detected and recognized, wherein a selected starting position (5) is at least partially automatically controlled when it is recognized that the driver has taken his hands off the steering wheel.

7. The method according to any one of the preceding claims, characterized in that The evaluation criterion (30) takes into account the steering amplitude of a parking process (61) starting from the starting position (5) and / or the number of steering movements to be performed during the parking process (61).

8. The method according to any one of the preceding claims, characterized in that The evaluation criteria (30) take into account the distance maintained to obstacles in the surroundings during the execution of the parking process (61) and / or the extent to which the oncoming lane is crossed in order to execute the parking process (61).

9. The method according to any one of the preceding claims, characterized in that The evaluation criteria (30) take into account the driving skill requirements of the parking process (61) corresponding to the selected starting position (5).

10. A parking assistance system (1) for a vehicle (50), comprising: A surrounding environment sensor device (2) configured to detect the surrounding environment of the vehicle (50); and control equipment (3), The control device (3) is configured to evaluate surrounding data (10) provided by the surrounding sensor device (2), and to identify a free parking space (61) in the surroundings based on the surrounding data (10), to create a surrounding map (4) based on the identified free parking space (61) and the detected surroundings, and to store possible starting positions (5) for a single-pass parking process of the vehicle (50) in the free parking space (61), For each of the possible starting positions (5), an evaluation is performed according to at least one evaluation criterion (30), and the corresponding evaluation result (31) is stored together with the corresponding starting position (5) in the surroundings map (4), and An optimal starting position (5) is selected based on the evaluation result (31), and at least one steering recommendation (20) is output to the driver and / or the vehicle (50) is driven at least partially automatically to the selected starting position (5).

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