Driving assistance system for supporting parking process of vehicle

Abstract

The invention relates to a driving assistance system (1) for a vehicle (10), the driving assistance system (1) being designed to support a parking process of the vehicle (10) on the basis of information provided by a vehicle sensor device (2, 3, 4), the vehicle sensor device (2, 3, 4) comprising an ultrasonic sensor (2a, 2b, 2c). The driving assistance system (1) is designed to detect a parking space (20) available for use by the vehicle (10), to detect, on the basis of information from the vehicle sensor device (2, 3), whether the detected available parking space (20) is a mechanically supported parking space (20), and to determine, on the basis of the information from the vehicle sensor device (2, 3), whether the detected available parking space (20) is a mechanically supported parking space (20). When a parking process of the vehicle (10) into the available parking space (20) is supported by the driving assistance system (1), the sensor information provided by the ultrasonic sensor (2a, 2b, 2c) is abandoned or the generation of the sensor information is prohibited in response to the detected available parking space (20) being a mechanically supported parking space (20).

Description

Technical Field

[0001] The invention relates to a driver assistance system for supporting a parking process of a vehicle. Background Art

[0002] Parking spaces for vehicles are becoming increasingly scarce in large cities, which leads to an increasing need for mechanically supported parking spaces. Mechanically supported parking spaces are, for example, so-called pallet parking spaces, mechanical parking garages, duplex garages, etc. Such mechanically supported parking spaces allow the available space to be used as parking space in an optimized manner.

[0003] For modern vehicles, driver assistance systems are increasingly being provided, which assist the parking process of the vehicle. However, mechanically assisted parking spaces are a challenge for such driver assistance systems, because they differ from conventional parking spaces. Thus, they are not bounded by adjacent vehicles or walls, for example, but typically have metal components in their surroundings, by which the mechanically assisted parking space is realized. However, this usually affects the sensor systems of the driver assistance systems. Summary of the invention

[0004] A driver assistance system for a vehicle according to the invention is designed to support a parking process of the vehicle based on information provided by a vehicle sensor system, wherein the vehicle sensor system includes an ultrasonic sensor. The driver assistance system is designed to detect a parking space available for the vehicle, to recognize based on the information of the vehicle sensor system whether the detected available parking space has a guide wheel path, and to adapt the use of the sensor information provided by the ultrasonic sensor when supporting a parking process of the vehicle in the available parking space in response to the fact that the available parking space has a guide wheel path and the vehicle moves along the detected guide wheel path to the available parking space.

[0005] A method for a driver assistance system for a vehicle according to the present invention is configured to support a parking process of the vehicle based on information provided by a vehicle sensor device, wherein the vehicle sensor device includes an ultrasonic sensor, and the method includes: detecting a parking space available for the vehicle; identifying based on the information of the vehicle sensor device: whether the detected available parking space has a guide wheel track; and adapting the use of the sensor information provided by the ultrasonic sensor when supporting the parking process of the vehicle in response to the following situation: the available parking space has a guide wheel track and the vehicle moves along the detected guide wheel track to the available parking space. The driver assistance system is configured to support the parking process of the vehicle. In this case, the driver assistance system is either configured to provide only information on the parking process, such as distance information to adjacent objects, or to support or autonomously implement the parking process by intervening in the longitudinal-lateral steering of the vehicle. For this purpose, the information provided by the vehicle sensor device is used.

[0006] The information provided by the vehicle sensor system describes the environment of the vehicle, which is detected by the vehicle sensor system. The vehicle sensor system includes an ultrasonic sensor, but is not necessarily limited to this ultrasonic sensor. Thus, the vehicle sensor system preferably also includes other sensors in addition to the ultrasonic sensor, by which the environment is detected. Preferably, the vehicle sensor system also includes one or more optical sensors in addition to the ultrasonic sensor, which are used in particular to detect parking spaces available for the vehicle and / or to recognize whether a detected available parking space has a guide track.

[0007] The detection of a parking space available for the vehicle is performed in particular based on information from a vehicle sensor system or alternatively via a user input, in which case the parking space is marked, for example, in an image of the vehicle surroundings.

[0008] The identification of whether a detected parking space has a guide track is preferably performed based on information provided by the vehicle sensor system, wherein information provided by the ultrasonic sensor is not necessarily used, but alternatively or additionally information of the vehicle sensor system is used which is provided by other sensors of the vehicle sensor system.

[0009] Preferably, the driver assistance system also uses sensor information provided by ultrasound, which is part of the information provided by the vehicle sensor system, if the vehicle is driving into a parking space without a guide wheel track. However, if the parking process is carried out for a parking space with a guide wheel track, the sensor information of the ultrasonic sensor is used in an alternative manner or not used when driving into a mechanically supported parking space. For this purpose, the sensor information is either first detected by the ultrasonic sensor and then discarded, or the generation of the sensor information is inhibited, which is achieved, for example, by deactivating the ultrasonic sensor. The processing of the sensor information provided by ultrasound can also be modified for a parking process into a parking space without a guide wheel track.

[0010] For example, the problem often arises that metal parts are arranged in the surroundings of a mechanically supported parking space, due to which the sensor signal generated by the ultrasonic sensor is distorted and therefore incorrectly reflects the surroundings of the vehicle. It is also often the case that in the case of a mechanically supported parking space, the vehicle drives so close to parts of the mechanically supported parking space that this leads to a collision warning by the ultrasonic sensor, because the minimum detectable distance of the ultrasonic sensor is exceeded. Typically, such mechanically supported parking spaces have a guide track. It is therefore advantageous to process the sensor information provided by the ultrasonic sensor specifically in response to the situation that the detected available parking space is a mechanically supported parking space.

[0011] Therefore, firstly, a parking space available for the vehicle is detected based on the information of the vehicle sensor device, wherein it is identified whether there is an available parking space of unknown type available for the vehicle in the environment of the vehicle. Here, the available parking space can be not only a mechanically supported parking space or a non-mechanically supported parking space. If an available parking space is detected, it is identified based on the information of the vehicle sensor device: whether the detected available parking space has a guide wheel track and whether the parking space is therefore likely to be a mechanically supported parking space. For this purpose, in particular, the information provided by the vehicle sensor device is further analyzed, and the information reflects the following area: the available parking space is detected in this area. The same part of the information provided by the vehicle sensor device is not mandatory for the detection of the available parking space and the identification of whether the detected available parking space has a guide wheel track. In this way, it can be detected, for example, by means of an ultrasonic sensor, whether there is indeed an available parking space, and by means of a camera system or a laser radar system to identify whether the detected available parking space has a guide wheel track. In principle, any combination of sensor information provided by the vehicle sensor system is used to detect an available parking space and to identify whether the detected parking space has a guide track. This also includes sensor information provided by ultrasonic sensors.

[0012] Typically, a guide wheel track is a feature of a mechanically supported parking space, by which it is indicated where the wheels of the vehicle should be driven into the mechanically supported parking space. The guide wheel track usually also includes lateral boundaries, which indicate in which area the vehicle is correctly positioned in the mechanically supported parking space. For example, the guide wheel track is a colored marking or a three-dimensional structure. By correspondingly orienting the vehicle, it can be ensured that the vehicle is also positioned in the parking space in such a way that the requirements of the mechanically supported parking space are met. This can prevent, for example, the vehicle from being parked in such a way that the parking frame or the double-decker garage cannot be moved.

[0013] Preferably, the vehicle sensor system comprises an ultrasonic system comprising a plurality of ultrasonic sensors, wherein sensor information from one or all of the ultrasonic sensors is used in an adapted manner to support a parking process of the vehicle in the available parking space (20) if the available parking space has a guide track and the vehicle moves along the detected guide track into the available parking space.

[0014] The dependent claims reveal preferred embodiments of the invention.

[0015] Preferably, when supporting a parking process, the use of the sensor information provided by the ultrasonic sensor is adapted such that, when supporting a parking process of the vehicle in an available parking space by the driver assistance system, the sensor information provided by the ultrasonic sensor is discarded or its generation is suppressed and / or when supporting a parking process of the vehicle in an available parking space, the sensor information provided by the ultrasonic sensor is evaluated in a manner specific to the parking process of the vehicle.

[0016] If the sensor information provided by the ultrasonic sensor is processed or used in a different manner during the time period than when the parking process is not performed at the observed time point, the evaluation of the sensor information provided by the ultrasonic sensor in a manner specific to the parking process of the vehicle is considered to be specific when supporting the parking process of the vehicle in the available parking space. Therefore, the echo information of the ultrasonic sensor is deactivated or discarded. Optionally, the ultrasonic sensor is also used for the selected operation, for example, to measure the position of the pillar at the entrance of the parking space. Here, the use of the ultrasonic sensor in a specific manner includes: associating the ultrasonic signal with the information identified by the parking space and selectively processing the information. In this way, for example, compared with driving into the parking space, it is allowed to pass by the side pillar closer, or to shield the interference echo of the following position: at the position, the interference echo often appears on the mechanically supported parking space. Optionally, when the sensor information provided by the ultrasonic sensor is used in a manner specific to the parking process of the vehicle, feedback is given to the driver in the presence of interference information to ensure that the vehicle can actually continue to drive.

[0017] If the sensor information provided by the ultrasonic sensors is discarded or not generated at all in the first place, the parking process must be carried out without the sensor information that would otherwise be provided by the ultrasonic sensors. This is done in particular by using other information from the vehicle's sensor system or by detecting all necessary information before the vehicle enters an available parking space. It should be noted that it is not mandatory to deactivate all available ultrasonic sensors or to discard their sensor information, even though this is advantageous in many cases. Thus, for example, only the following ultrasonic sensors are deactivated or the sensor information of the following ultrasonic sensors is discarded: the ultrasonic sensors are arranged laterally on the vehicle. However, according to the invention, at least one ultrasonic sensor is deactivated or the sensor information provided by the ultrasonic sensor is discarded during the parking process of the vehicle, in particular when entering a parking space.

[0018] Preferably, the use of the sensor information provided by the ultrasonic sensor is adapted in response to the following situation: the vehicle is oriented relative to the parking space in such a way that the vehicle can move straight into the parking space. Therefore, before the use of the sensor information provided by the ultrasonic sensor is adapted, two conditions should be met. This means that, in particular, the sensor information provided by the ultrasonic sensor is no longer considered necessary or is used in a changed manner only when the vehicle is already oriented in such a way that the parking process can be completed with the minimum available sensor information. Therefore, the following point in time is also defined: from this point in time it can be expected that the sensor information of the ultrasonic sensor may be erroneous or has indicated a collision because the necessary minimum distance is lowered. Therefore, the sensor information provided by the ultrasonic sensor can be used for as long as possible or can be deactivated shortly before the following point in time: at this point in time, this sensor information is no longer considered to be sufficiently reliable.

[0019] Furthermore, it is advantageous if the driver assistance system is designed to control the parking process by autonomous or partially autonomous longitudinal-lateral steering of the vehicle. Partially autonomous longitudinal-lateral steering also includes systems in which only the lateral steering of the vehicle is carried out by the driver assistance system. Since the vehicle is controlled by the driver assistance system, incorrect sensor information of the ultrasonic sensor can lead to the driver assistance system stopping the vehicle because it is assumed that a collision may occur in the event of continued driving. As a result, it can happen that the parking process is not completed. This is avoided by not using multiple ultrasonic sensors or one ultrasonic sensor of the vehicle.

[0020] It is particularly advantageous that the driver assistance system is set up to calculate a trajectory for the parking process, which trajectory includes a first part, in which the vehicle is oriented relative to the parking space so that the vehicle can move straight along the guide wheel track to the parking space, and a second part, in which the vehicle moves straight along the guide wheel track to the parking space. Preferably, the longitudinal-lateral steering of the vehicle is implemented by the driver assistance system in such a way that the calculated trajectory is driven over. The sensor information of the ultrasonic sensor is discarded or the generation of the sensor information is prohibited, or the specific use of the sensor information is carried out, in particular, only in the second part of the trajectory. It is thus possible to orient the vehicle relative to the parking space using all available sensors of the vehicle sensor system and then move the vehicle straight to the parking space. In this way, it can be ensured by the previous orientation of the vehicle in the first part of the trajectory that no lateral collision of the vehicle with parts of the mechanically supported parking space occurs.

[0021] Preferably, the driver assistance system is designed to move the vehicle forward in a straight line along the guiding track into the parking space, wherein the directional correction of the vehicle movement is carried out by steering the rear wheels before the rear wheels are driven into the parking space with the rear end of the vehicle. Since steering when a wheel is already in the guiding track cannot always be carried out in a collision-free manner, it is advantageous to carry out the steering process with the wheel whose movement is not yet restricted.

[0022] It is also advantageous if the driver assistance system is configured to receive an image of the vehicle surroundings around the vehicle and to display the identified guide track as an overlay in the image on a display to the user. The user is thus visually shown at which point the vehicle is to be positioned according to the driver assistance system. The user can thus verify whether the guide track has been correctly identified by the driver assistance system. The overlay can be used to display the presence of a special parking situation and the correct identification of the guide track before the start of the parking maneuver, or alternatively to confirm the presence or the correct identification by the driver and to continuously display the position of these lines during the execution of the parking maneuver in order to provide the monitoring personnel with the possibility of intervention in the event of a disturbance.

[0023] The vehicle sensor system preferably comprises a camera system and / or a lidar system. Therefore, preferably, further sensor systems are available, by means of which the vehicle can still be safely guided by the driver assistance system even if the ultrasonic sensor is no longer used. In this case, in particular lidar systems and camera systems are sensor systems that are not sensitive to possible disruptive influences of a mechanically supported parking space.

[0024] It is also advantageous that, when the parking process of the vehicle is supported by the driver assistance system, the generation of sensor information provided by the ultrasonic sensor is prevented by deactivating the ultrasonic sensor. Since the ultrasonic sensor is deactivated, it is also avoided that the ultrasonic sensor emits sound waves that may interfere with other sensor systems, such as other ultrasonic sensors.

[0025] It is also advantageous if the mechanically supported parking space is a mechanical parking platform which is preferably movable or tiltable horizontally or vertically.

[0026] It is also advantageous to identify, based on image analysis or pattern analysis, whether the detected available parking space has a guide track, wherein, in particular, such a guide track is detected if the guide track is a three-dimensional guide track, which includes three-dimensional lateral boundaries and / or center boundaries of two running tracks with a predefined three-dimensional structure. In this case, image analysis is particularly advantageous when using a camera system, wherein the image analysis is preferably trained by machine learning. In this case, pattern analysis is particularly advantageous when using a laser radar system, because the parking space and the associated surroundings can be displayed in three dimensions as a pattern by the laser radar system. In this case, it is also advantageous to train the corresponding pattern analysis by machine learning. By preferentially identifying the three-dimensional guide track, it is particularly possible to ensure the correct positioning of the vehicle on the mechanically supported parking space even in the case of severe contamination. In addition, the three-dimensional lateral boundaries and the three-dimensional guide track are typical features that allow the mechanically supported parking space itself to be recognized.

[0027] The method according to the invention is preferably carried out by the device according to the invention and has all the advantages of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the drawings:

[0029] Figure 1 A schematic diagram showing a vehicle having a driver assistance system according to the present invention,

[0030] Figure 2a A schematic diagram showing a vehicle in front of a mechanically supported parking space in a top view,

[0031] Figure 2b An exemplary arrangement of a vehicle in front of a mechanically supported parking space is shown in a top view, wherein the vehicle is oriented relative to the parking space.

[0032] Figure 2c A schematic diagram of a mechanically supported parking space is shown in a front view,

[0033] Figure 2d A schematic diagram of a mechanically supported parking space is shown in a front view, wherein the vehicle is positioned in the parking space, and

[0034] Figure 3 A schematic diagram shows a parking maneuver of a vehicle which is supported by the driver assistance system according to the present invention. DETAILED DESCRIPTION

[0035] In many cities in Japan and China (and possibly also in other densely populated areas), due to the lack of parking spaces, multi-storey parking spaces are provided as steel structures with carriages for carrying vehicles, so-called "mechanical parking spaces" or "three-dimensional garages (Hochgarage)", which are also referred to as mechanically supported parking spaces in the following. There are different types of structures, for example with or without doors, chains or hydraulic drives for the movement of the carriages in the structure. In addition, the number of parking spaces can be variable in the horizontal and vertical direction.

[0036] What can be retained as an important commonality is that, although the dimensions of the carriages are not always the same, they follow a certain pattern. On the carriages, the wheel tracks for the wheels can usually be identified by a continuous lower protrusion in the center of the carriage (approximately 5 cm) and a higher protrusion at the two edges of the carriage (10 cm to 20 cm). Usually, there are also stops for the rear wheels (always parked backwards), so that the vehicle does not extend too far backwards or forwards and is damaged when the carriage moves in the structure. In addition, there is a vertical steel carrier on at least one side of the carriage as a support for the door or the entire carriage structure.

[0037] Current automatic parking systems are mainly based on the detection of vehicles or the detection of parking lines as parking space boundaries. According to these algorithms, the three-dimensional parking garage is not or only not accurately enough identified as a parking space. In addition, in ultrasonic-based parking assistance systems, when driving onto the bracket, the ultrasonic reflection performance of the steel structure and the narrow construction method acts as a disturbing factor. In this way, during driving onto the narrow bracket, the assistance system can, for example, output a continuous warning sound or output the display of the maximum danger as a color-coded warning in the display, and ultimately need to navigate in a traditional way through the rearview mirror. Therefore, the parking system may brake according to the identified obstacle and the parking operation may be interrupted.

[0038] In particular, the object of the present invention is to configure a camera- and ultrasound-based parking system in such a way that a pallet can be recognized as a parking scene and can be correctly loaded.

[0039] Figure 1A vehicle 10 is shown having a driver assistance system 1 according to an embodiment of the present invention. A first ultrasonic sensor 2a, a second ultrasonic sensor 2b and a third ultrasonic sensor 2c are arranged on the vehicle 10. In addition, a camera 3 and a lidar sensor 4 are arranged on the vehicle 10. The ultrasonic sensors 2a to 2c, the camera 3 and the lidar sensor 4 are coupled to the driver assistance system 1, which in particular comprises a computing unit for implementing the method according to the present invention. The environment of the vehicle 10 is detected by the ultrasonic sensors 2a to 2c, the camera 3 and the lidar sensor 4. Optionally, further sensors are also arranged on the vehicle 10 for this purpose. The ultrasonic sensors, the camera and the lidar sensor are arranged in Figure 1 The orientations in are to be regarded as merely exemplary. Thus, in particular, a plurality of cameras 3 and a plurality of lidar sensors 4 are arranged on the vehicle 10 in order to completely detect the surroundings of the vehicle 10 .

[0040] Ultrasonic sensors 2a to 2c, camera 3 and lidar sensor 4 are part of vehicle sensor systems 2, 3, 4 of vehicle 10. Ultrasonic sensors 2a, 2b, 2c are part of ultrasonic sensor system 2.

[0041] The driver assistance system 1 is configured to support a parking process of the vehicle 10 based on information provided by the vehicle sensor systems 2, 3, 4. The information includes sensor data of sensors belonging to the vehicle sensor systems 2, 3, 4. Likewise, the information provided by the vehicle sensor systems 2, 3, 4 also includes sensor information provided by the ultrasonic sensors 2a, 2b, 2c.

[0042] To assist the driver of vehicle 10 during the parking process, driver assistance system 1 provides instructions, for example, on how vehicle 10 should be moved or how autonomous or partially autonomous longitudinal and transverse steering of vehicle 10 should be achieved by driver assistance system 1 .

[0043] In order to assist the driver during the parking process, the surroundings of vehicle 10 are first detected by vehicle sensor systems 2, 3, 4, and parking spaces 20 available for vehicle 10 are detected based on the information of vehicle sensor systems 2, 3, 4. In this way, it is analyzed in particular whether there is a sufficiently large surface for vehicle 10 in the surroundings of vehicle 10, which surface may be an available parking space 20. In this case, the detection of available parking spaces 20 is performed in particular by means of all sensors of vehicle sensor systems 2, 3, 4.

[0044] By detecting the available parking space 20, the system first identifies the parking surface itself. Instead, the available parking space is identified by the user and displayed to the system. Thus, in particular, an initial predefined setting is predefined in the display image (top view) by the driver positioning the target parking surface. If the surrounding camera system is onboard, the starting position of the vehicle 10 to be parked is not important.

[0045] If an available parking space 20 is detected in the environment of the vehicle 10, it is detected in response to this based on the information of the vehicle sensor devices 2, 3, 4 whether the detected available parking space 20 has a guide wheel track 23 and can therefore be considered to be a mechanically supported parking space 20. In this case, a mechanically supported parking space 20 is a parking space 20 that includes an associated mechanical device, by which the vehicle 10 can be moved. Thus, a mechanically supported parking space 20 is in particular a mechanical parking platform that can be displaced or tilted horizontally or vertically. Mechanically supported parking spaces also include so-called parking racks and so-called double-decker garages in particular. This also includes parking buildings or parking garages in which the vehicle is positioned by the mechanical device after it has been parked at a location provided in front of the mechanical device.

[0046] Typically, the guide track 23 defines a first running track 23a and a second running track 23b. For example, each of the running tracks 23a, 23b is delimited on the outside of the parking space 20 by a respective lateral sill 21a, 21c. The lateral sills are designed, for example, similarly to curbstones and protrude above the surface of the parking space 20. The first running track 23a is also separated from the second running track 23b by a central protrusion 21b, which also protrudes above the bottom surface of the parking space 20. The first running track 23a and the second running track 23b can therefore be regarded as two parallel grooves, which are arranged in parallel so that the left and right wheels of the vehicle 10 can respectively drive onto these grooves.

[0047] In order to identify whether the detected available parking space 20 is a mechanically supported parking space 20, for example, an image analysis or a pattern analysis is performed. Thus, in particular, the image captured by the camera 3 is analyzed in order to identify whether a mechanically supported parking space 20 is imaged in the image, i.e., in order to identify whether the parking space 20 has a guide wheel track 23. In order to implement such an image analysis, it is advantageous to provide the image of the camera 3 to an algorithm trained by means of machine learning, which algorithm is trained in particular based on possible configurations of mechanically supported parking spaces. Accordingly, it is advantageous, alternatively or additionally, to perform a pattern analysis on the information detected by the lidar sensor 4 in order to identify a typical structure of a mechanically supported parking space 20. Here, it is also advantageous to perform this with the aid of a machine learning algorithm, which is trained based on possible configurations of mechanically supported parking spaces 20. Preferably, only the sub-area of ​​the image of the camera 3 or the lidar data of the lidar sensor 4 is analyzed in which the previously detected available parking space 20 is located. This applies in particular when a plurality of cameras 3 or lidar sensors 4 are arranged on the vehicle 10. Therefore, no image analysis or pattern analysis of the entire surroundings of vehicle 10 is necessary, since it is already known at which location available parking space 20 is located relative to vehicle 10 .

[0048] Typically, mechanically-assisted parking spaces 20 are characterized in that they have a guide wheel track 23 and optionally additional lateral boundaries 22, which indicate the location at which the vehicle 10 is to be positioned in the parking space 20. Figure 2a and 2b in the top view and in Figure 2c and 2d2 is shown in a front view. This exemplary mechanically supported parking space 20 has a guide track 23, which includes two running tracks 23a and 23b. Here, the first running track 23a and the second running track 23b are shown on the parking space 20 by a three-dimensional structure in the form of a running groove. Thus, each of the running tracks 23a, 23b is bounded on the outside of the parking space 20 by a respective lateral sill 21a, 21c. The lateral sills are designed, for example, similar to curbstones and protrude beyond the surface of the parking space 20. The first running track 23a is also separated from the second running track 23b by a central protrusion 21b, which also protrudes beyond the bottom surface of the parking space 20. Therefore, the first running track 23a and the second running track 23b can be regarded as two parallel grooves, which are arranged in parallel so that the left and right wheels of the vehicle 10 can respectively drive onto these grooves. Furthermore, parking space 20 has lateral boundaries 22, which are defined by first boundary posts 22a and second boundary posts 22b. In order to drive into parking space 20, vehicle 10 must be moved through between boundary posts 22a, 22b. Boundary posts 22 can in particular be mechanical components of a mechanically supported parking space 20, for example, in order to raise or lower the mechanically supported parking space.

[0049] Therefore, both the guide wheel path 23 and the lateral boundary 22 are three-dimensional structures. It should be noted that in particular the guide wheel path 23 can also be indicated by a color marking. In order to identify the mechanically supported parking space 20 itself, it is advantageous to analyze the information provided by the vehicle sensor system 2, 3, 4 in order to identify the three-dimensional structure. This is advantageous because the mechanically supported parking space 20 typically has such a three-dimensional structure and therefore provides suitable features for identification. In addition, such a three-dimensional identification feature is insensitive to interfering influences, such as dirt.

[0050] The identification of whether a detected available parking space 20 has a guide track 23 can be performed, for example, by means of a CNN classifier that is trained for the recognition of this situation based on a large amount of image data or based on shape-based recognition of guide tracks that are each separated by a tire width by 3D surface detection with the aid of a camera (e.g., by motion recovery structures) or lidar and possibly other features, such as lateral support columns and their positional relationship to one another.

[0051] In order to assist the driver during the parking process in mechanically assisted parking space 20 , a suitable trajectory is calculated by driver assistance system 1 , which allows vehicle 10 to be parked in parking space 20 .

[0052] For this purpose, in the identified parking space 10, preferably at least the position of the running tracks 23a, 23b of the guide track 23 is identified by means of an evaluation of the video environment sensor system or the laser radar environment sensor system, along which the tires of the vehicle 10 are to move to the target surface, i.e., to the parking space 20. If no running track is available, the right and left boundaries of the parking surface are identified instead, between which the vehicle is to drive in centrally. If it can be identified, at least the position of the existing support pillars, such as the boundary pillars 22, is identified. Optionally, the position of any existing stops is identified, at which the wheels are to come to rest on the surface.

[0053] It is typical for parking situations that maneuvering in parking space 20 is not practically possible, i.e. vehicle 10 must already be centered with the vehicle longitudinal axis parallel to and relative to wheel tracks 23a, 23b before entering the parking surface, i.e. must be oriented with respect to parking space 20. Maneuvering into this position is therefore preferably performed by driving into parking space 20 only when a centered and parallel orientation has been achieved.

[0054] For this purpose, driver assistance system 1 first calculates a first part of the trajectory which, when driving past vehicle 10 , results in the vehicle being oriented relative to parking space 20 such that vehicle 10 can be moved in a straight line along guide track 23 into parking space 20 .

[0055] Now, during the driving into the parking space 20, it is necessary to prevent the vehicle 10 from braking when driving into the parking surface due to the mentioned interference data caused by the structure. Therefore, preferably, the driving tracks 23a, 23b are used primarily as a safety measure (sicherungsgebendes Mittel), because the precise driving on the guide track 23 ensures that collisions with surrounding obstacles of the structure are avoided. In this way, not only can very close obstacles that the vehicle 10 would not pass in the normal parking situation still be passed here, but also the ultrasonic warning against the (steel) structure can be suppressed in a targeted manner. Only when the objects identified by the ultrasound do not come from the bracket structure, these objects are taken into account by the automatic parking system. This can be achieved, for example, by selectively switching off individual sensors or all sensors or by ignoring the echo information of individual sensors or all sensors.

[0056] For entering parking space 20, a second part of the trajectory is calculated by moving vehicle 10 in a straight line onto parking space 20. Preferably, vehicle 10 is moved centrally along driving paths 23a, 23b. Depending on whether the longitudinal-transverse steering is completely or partially taken over by driver assistance system 1, the vehicle is moved along this trajectory by driver assistance system 1 or the driver is instructed to move vehicle 10 along this trajectory.

[0057] Thus, the vehicle 10 is oriented relative to the parking space 20. This is exemplified in Figure 3 . In this case, vehicle 10 is shown in a first position 11, a second position 12, a third position 13 and a fourth position 14, to which positions vehicle 10 would successively drive in this order if the vehicle followed the calculated trajectory. In this case, all vehicle sensor systems 2, 3, 4 of vehicle 10 are used in order to avoid a collision between vehicle 10 and obstacles that may be arranged in the environment of vehicle 10, such as, for example, roadway boundary 30.

[0058] If the vehicle 10 is oriented relative to the parking space 20 such that the vehicle 10 can be moved straight into the parking space 20, this Figure 3 is given at the fourth time point 14 and also at Figure 2b , and if the detected available parking space 20 is at the same time a mechanically assisted parking space 20, i.e. a parking space with a guide wheel track 23, the sensor information provided by the ultrasonic sensors 2a to 2c is discarded or the generation of the sensor information is inhibited when the vehicle 10 is supported by the driver assistance system 1 to further park the vehicle 10 in the available parking space 20. Thus, when supporting the parking process of the vehicle 10 in the available parking space 20, the use of the sensor information provided by the ultrasonic sensors 2a, 2b, 2c is adapted in response to this, i.e. changed, by discarding the sensor information or inhibiting the generation of the sensor information. Thus, for example, the ultrasonic sensors 2a to 2c or individual ones of the ultrasonic sensors, such as the first and third ultrasonic sensors 2a, 2c, are deactivated. By deactivating the ultrasonic sensors 2a to 2c, it is possible to prevent these ultrasonic sensors from indicating a collision in the vicinity of the mechanically assisted parking space 20 when the vehicle 10 approaches individual components of the mechanically assisted parking space 20. Thus, in particular, it is possible to prevent the vehicle 10 from "breaking down" during an autonomously assisted parking process. That is, the vehicle is prevented from entering a state in which a possible collision is indicated by the ultrasonic sensor device 2 and the vehicle 10 is therefore prohibited from continuing to travel. Optionally, only a single ultrasonic sensor of the ultrasonic sensors 2a to 2c is activated, thereby preventing the ultrasonic sensors from emitting acoustic signals that interfere with the remaining ultrasonic sensors 2b. Instead of deactivating the ultrasonic sensors 2a to 2c, the information provided by these ultrasonic sensors is no longer used by the driver assistance system 1 and is therefore discarded.

[0059] Alternatively or additionally, when assisting the parking process of vehicle 10 in available parking space 20, the use of sensor information provided by ultrasonic sensors 2a to 2c is adapted, i.e., modified, by associating the ultrasonic signals with the detected information of parking space 20 and selectively processing this information. Thus, for example, it is possible to drive closer to lateral boundaries 22a, 22b than when driving into a parking space. It is also possible to screen out interfering echoes at locations where interfering echoes often occur in mechanically supported parking spaces.

[0060] Optionally, if the ultrasonic signal indicates a possible collision with a component of the parking space 20 , feedback is given to the driver of the vehicle 1 in order to ensure that the vehicle 1 can in fact continue to be driven.

[0061] If the vehicle 10 is aligned straight relative to the parking space 20, the driver assistance system 1 moves the vehicle straight into the parking space 20. In this case, the vehicle 10 can be aligned forward or backward relative to the parking space 20 and accordingly drive into the parking space 20. However, both options can be advantageous in themselves. Thus, when driving into the parking space 20, no steering movement or only a corrective steering movement is required. By means of the straight-line movement, it is especially possible to prevent the wheels of the vehicle 10 from colliding with the three-dimensional structure of the wheel path 23. In this way, it is also possible to drive into particularly narrow mechanically supported parking spaces 20.

[0062] However, the vehicle is preferably driven backwards (reversed) into parking space 20 , since a steering of the front wheels and thus a correction of the orientation is still possible as long as the front wheels of vehicle 1 have not yet entered driving path 23 of parking space 20 .

[0063] If rear wheel steering is available, it is used to correct the orientation when the vehicle 1 is driven forward into the parking space 20. If the steered wheels drive into the track 23 of the carriage, steering is not possible or can only be achieved to a very limited extent without the wheels sliding / rubbing against the edge of the track.

[0064] The remaining sensors of vehicle sensor system 2 , 3 , 4 , here camera 3 and lidar sensor 4 , ensure that no collision occurs between vehicle 10 and any other objects, such as a person who has moved into parking space 20 .

[0065] It should be noted that it is also advantageous if the driver assistance system 1 does not calculate a trajectory but only displays the distance during the parking process. In this case, it is possible to prevent the driver of the vehicle 10 from being annoyed by warning messages that may be generated by the structure of the mechanically supported parking space 20 .

[0066] It is also advantageous to graphically display the identified guideway 23 and / or lateral boundaries 22 of the mechanically supported parking space 20 to the driver of the vehicle 10. It is particularly advantageous to display the identified guideway 23 and / or lateral boundaries 22 as an overlay in the image recorded by the camera 3. The overlay is positioned such that it faithfully reproduces the identified position of the guideway 23 and / or lateral boundaries 22 in the image. The driver of the vehicle 10 can thus verify whether the position of the guideway 23 and / or lateral boundaries 22 has been correctly identified.

[0067] Automated parking in a rack parking space or a mechanical car park / garage is thus possible and the weaknesses of ultrasound-based systems are overcome in the process.

[0068] The support process can be described in summary as a sequence as follows: identify or locate the parking scene, drive towards the parking scene, and drive straight into the structure with a slight orientation correction.

[0069] In addition to the above disclosure, please refer to Figures 1 to 3 Public content.

Claims

1. A driving assistance system (1) for a vehicle (10), wherein: The driver assistance system (1) is configured to support a parking process of the vehicle (10) based on information provided by vehicle sensor devices (2, 3), wherein the vehicle sensor devices (2, 3, 4) include ultrasonic sensors (2a, 2b, 2c), wherein the driver assistance system (1) is configured to: - detecting a parking space (20) available for the vehicle (10), - based on the information from the vehicle sensor system (2, 3), identifying whether the detected available parking space (20) has a guide track (23), - when supporting a parking process of the vehicle (10) in the available parking space (20), adapting the use of the sensor information provided by the ultrasonic sensors (2a, 2b, 2c) in response to the following situation: the available parking space (20) has a guide wheel path (23) and the vehicle (10) moves along the detected guide wheel path (23) to the available parking space (20).

2. The driving assistance system (1) according to claim 1, wherein: In supporting the parking process, the use of sensor information provided by the ultrasonic sensors (2a, 2b, 2c) is adapted such that: - when the vehicle (10) is parked in the available parking space (20) with the assistance of the driver assistance system (1), the sensor information provided by the ultrasonic sensors (2a, 2b, 2c) is discarded or the generation of the sensor information is inhibited, and / or - when supporting a parking process of the vehicle (10) in the available parking space (20), the sensor information provided by the ultrasonic sensors (2a, 2b, 2c) is evaluated in a manner specific to the parking process of the vehicle (10).

3. The driver assistance system (1) according to any one of the preceding claims, wherein: The use of sensor information provided by the ultrasonic sensors (2a, 2b, 2c) is adapted in response to the fact that the vehicle (10) is oriented relative to the parking space (20) such that the vehicle (10) can be moved linearly into the parking space (20).

4. The driver assistance system (1) according to any one of the preceding claims, wherein: The driver assistance system (1) is designed to control the parking process by autonomous or partially autonomous longitudinal and transverse steering of the vehicle (10).

5. The driving assistance system (1) according to claim 4, wherein: The driver assistance system (1) is configured to calculate a trajectory for the parking process, the trajectory comprising a first portion, in which the vehicle (10) is oriented relative to the parking space (20) such that the vehicle (10) can move in a straight line along the guide wheel path (23) to the parking space (20), and a second portion, in which the vehicle (10) moves in a straight line along the guide wheel path (23) to the parking space (20).

6. The driver assistance system (1) according to any one of the preceding claims, wherein: The driving assistance system (1) is configured to move the vehicle (10) forward in a straight line along the guide wheel track (23) to the parking space (20), wherein the direction of the movement of the vehicle (10) is corrected by steering the rear wheels before the rear wheels of the vehicle enter the parking space (20).

7. The driver assistance system (1) according to any one of the preceding claims, wherein: The driver assistance system (1) is configured to receive an image of the vehicle surroundings around the vehicle (10) and to display the identified guiding track (23) and / or lateral boundaries (22) of the parking space (20) as an overlay in the image to a user on a display (5).

8. The driver assistance system (1) according to any one of the preceding claims, wherein: The vehicle sensor device (2, 3) also includes a camera system (5) and / or a laser radar system (4).

9. The driver assistance system (1) according to any one of the preceding claims, wherein: When a parking process of the vehicle (10) is supported by the driver assistance system (1), the generation of sensor information provided by the ultrasonic sensors (2a, 2b, 2c) is prevented by deactivating the ultrasonic sensors (2a, 2b, 2c).

10. The driver assistance system (1) according to any one of the preceding claims, wherein: The guide wheel track (23) is a guide wheel track of a mechanically supported parking space (20), in particular a guide wheel track of a mechanically supported parking space of a mechanical parking platform, which is preferably horizontally or vertically displaceable or tiltable.

11. The driver assistance system (1) according to any one of the preceding claims, wherein: Based on image analysis or pattern analysis, it is detected whether the detected available parking space (20) has the guide track (23), wherein in particular the guide track (23) itself is identified if the guide track is a three-dimensional guide track (23) comprising three-dimensional lateral and / or central boundaries of two running tracks (23a, 23b) with a predefined three-dimensional structure.

12. A method for a driver assistance system (1) for a vehicle (10), the method being used to support a parking process of the vehicle (10) based on information provided by a vehicle sensor system (2, 3), wherein: The vehicle sensing device (2, 3) comprises an ultrasonic sensor (2a, 2b, 2c), and the method comprises: - detecting a parking space (20) available for the vehicle (10), - based on the information from the vehicle sensor devices (2, 3), identifying whether the detected available parking space (20) has a guide track (23), and - when supporting a parking process of the vehicle (10), adapting the use of the sensor information provided by the ultrasonic sensors (2a, 2b, 2c) in response to the following situation: the available parking space (20) has a guide wheel path (23) and the vehicle (10) moves along the detected guide wheel path (23) to the available parking space (20).

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