Method and device for performing a driving motor

Abstract

The invention relates to a method and a device for carrying out a driving maneuver. A device for carrying out a parking maneuver of a vehicle is described. The device is designed to guide the vehicle along a previously recorded trajectory by means of automatic longitudinal and / or transverse guidance within the range of execution of a previously recorded driving maneuver. The device is further designed to detect a parking space of the vehicle during execution of the previously recorded driving maneuver and, in response to detecting the parking space, cause a switch from execution of the previously recorded driving maneuver to execution of a parking maneuver to the detected parking space.

Description

Technical Field

[0001] The invention relates to a method and a corresponding device which are designed to assist a user of a vehicle when parking the vehicle in a parking space. Background Art

[0002] The vehicle may have an assistance system which allows a user of the vehicle to record and store a driving trajectory travelled during manual driving operation. The driving trajectory may relate to a parking manoeuvre of the vehicle, in which the vehicle is driven into a parking space, in particular a transverse or longitudinal parking space. The recorded and stored driving trajectory may be used at a subsequent point in time to automatically guide the vehicle along the stored driving trajectory into the same parking space. As a result, the comfort of the vehicle in repeatedly performing parking manoeuvres may be increased.

[0003] It may happen that at the time of the repeated parking maneuver, the parking space of the previously recorded parking maneuver is occupied. This usually leads to an interruption of the repeated parking maneuver and thus to a loss of comfort for the vehicle user. Summary of the invention

[0004] The technical object of the present document is to increase the comfort of a vehicle user when repeatedly performing recorded driving maneuvers, in particular parking maneuvers.

[0005] This object is achieved by each independent claim. Advantageous embodiments are furthermore described in the dependent claims. It is pointed out that the additional features of the claims which are dependent on the independent claims without the features of the independent claim or in combination with only a subset of the features of the independent claim can form their own invention independent of the combination of all the features of the independent claim, which can form the subject of an independent claim, a divisional application or a subsequent application. This applies in the same way to the technical teachings described in the description, which can form inventions independent of the features of the independent claim.

[0006] According to one aspect, a device for performing a driving maneuver, in particular a parking maneuver, of a (motor) vehicle is described. The device may be part of a driver assistance system for repeatedly performing a driving maneuver. The driving maneuver may be intended to guide the vehicle to a specific parking space.

[0007] The device can be designed to record a trajectory covered by the vehicle during a driving maneuver in a recording mode (of the driver assistance system) in order to ascertain the recorded trajectory (and store it in a memory unit of the vehicle). In this case, in the recording mode, longitudinal guidance and / or (in particular) transverse guidance of the vehicle can be manually initiated by the vehicle driver during the driving maneuver.

[0008] Within the scope of recording the driving trajectory, trajectory data can be collected and recorded. The trajectory data can be specified for a plurality of points and / or positions along the driving trajectory (starting from the starting position to the end position of the trajectory and having a certain spatial resolution, for example at least one point and / or position per 10 cm or per 50 cm or per meter):

[0009] The coordinates of the corresponding position;

[0010] the position and / or orientation of the vehicle at the corresponding location; and / or

[0011] The speed of the vehicle at the corresponding location.

[0012] The trajectory data of the driving trajectory can be stored in a storage unit of the vehicle. Furthermore, the trajectory data in the playback mode (of the driver assistance system) can be used to automatically guide the vehicle (from the starting position to the end position of the driving trajectory) along the previously recorded trajectory (with automatic longitudinal guidance and / or, in particular, transverse guidance). The end position of the driving trajectory can be arranged in a parking space for the vehicle. The starting position can be arranged at the entrance to a parking area (e.g., of a parking building or a parking lot).

[0013] The device is designed to guide the vehicle along a previously recorded trajectory by means of automatic longitudinal guidance and / or (in particular) transverse guidance within the scope of executing a previously recorded driving maneuver.

[0014] For example, it can be recognized (for example based on the current position of the vehicle, which can be determined by means of a GNSS (Global Navigation Satellite System) of vehicle sensors) that the vehicle is located in or in the defined environment of the starting position of a previously recorded driving maneuver. If necessary, a proposal for executing the previously recorded driving maneuver can then be output to the vehicle user (for example via a user interface of the vehicle) in response to this recognition. Furthermore, in response to a user input of the user (regarding the output proposal), the execution of the previously recorded driving maneuver can be caused. Thus, a reproduction of the previously recorded driving maneuver can be caused.

[0015] The device is also designed to detect (possibly other or alternative) parking spaces for the vehicle during the execution of a previously recorded driving maneuver (i.e. during the playback). For example, a parking space suitable for the vehicle can be searched for based on environmental data (i.e. sensor data) of one or more environmental sensors of the vehicle (e.g. based on camera data of at least one camera). In this case, in particular, a parking space can be searched for (and detected) in the environment of the previously recorded trajectory, in particular next to the previously recorded trajectory. In addition, a parking space with a sufficiently large spatial area (e.g. length and / or width) for the vehicle (so that the vehicle can be (automatically) guided to the parking space) can be searched for (and detected).

[0016] Furthermore, the device is designed to, in response to the detection of a parking space, initiate a switch from executing a previously recorded driving maneuver to executing a parking maneuver in the detected parking space.

[0017] In response to detecting a parking space, in particular, an output of a proposal to the vehicle user to perform a parking maneuver to the detected parking space may be caused (the proposal may be output, for example, via a user interface of the vehicle). Furthermore, when the user accepts the proposal, a switch from performing a previously recorded driving maneuver to performing a parking maneuver to the detected parking space may be caused. On the other hand, when the user does not accept the proposal, a continuation of the previously recorded driving maneuver may be caused.

[0018] Thus, during the playback of a previously recorded driving maneuver, an alternative parking space for the vehicle can be searched for and the vehicle user can initiate an automatic parking maneuver to the alternative parking space (and thereby cause a smooth transition from the recorded driving maneuver to the parking maneuver). Thus, the comfort of the vehicle user can be further increased. Thus, in particular, the probability that the vehicle is not automatically guided to a parking space (because the parking space of the previously recorded driving maneuver is occupied) can be reduced. This is particularly advantageous when driving maneuvers in public parking areas.

[0019] The device can be designed to recognize a user input (at a user interface) which indicates that the user accepts an offer to perform a parking maneuver (to a detected parking space). In response to the recognized user input, the vehicle can be automatically decelerated to a standstill at an intermediate position on a previously recorded trajectory, if necessary. Furthermore, the vehicle can be guided from the intermediate position to the detected parking space by means of automatic longitudinal guidance and / or (in particular and) transverse guidance within the scope of performing the parking maneuver.

[0020] Alternatively or additionally, the device can be designed to recognize a user input indicating that the user accepts the proposal after the vehicle has been manually decelerated to a standstill (by the driver of the vehicle) in the intermediate position. In response to the recognized user input, the vehicle can be guided from the intermediate position to the detected parking space with automatic longitudinal guidance and / or (in particular and) transverse guidance within the scope of executing the parking maneuver.

[0021] This makes it possible to bring about a particularly comfortable transition between a previously recorded driving maneuver and a parking maneuver (to a detected parking space).

[0022] As described above, the device can be designed to detect a parking space for the vehicle based on environmental data from one or more environmental sensors of the vehicle. Furthermore, the device can be designed to determine a parking maneuver trajectory for a parking maneuver to the detected parking space based on environmental data from one or more environmental sensors of the vehicle (wherein the parking maneuver trajectory extends from an intermediate position (at which the previously recorded driving maneuver was interrupted) to a parking end position in the detected parking space). Within the scope of executing the parking maneuver, the vehicle can be guided along the determined parking maneuver trajectory using automatic longitudinal guidance and / or (in particular and) transverse guidance.

[0023] The device can be designed to check whether a previously recorded trajectory leads to a parking space that is arranged in a (possibly public) parking area with a plurality of different parking spaces, in particular a parking garage or a parking building. This can be determined, for example, based on the GNSS coordinates of the end position of the recorded trajectory and / or based on a digital map of the road network traveled by the vehicle.

[0024] A parking space for the vehicle may be searched for during performance of a previously recorded driving maneuver, when, in particular, only when the previously recorded trajectory leads to a parking space that is arranged in a (possibly common) parking area with a plurality of different parking spaces, for example with 3 or more, or 5 or more, or 10 or more parking spaces.

[0025] The search for (alternative) parking spaces can therefore optionally be limited to cases in which the previously recorded driving maneuver was arranged in a (possibly public) parking area (and in which there is therefore a relatively high risk that the initial parking space of the previously recorded driving maneuver is occupied). If, as an alternative, it is detected that the parking space of the previously recorded driving maneuver is not arranged in a (possibly public) parking area with a plurality of parking spaces and / or the parking space of the previously recorded driving maneuver is arranged on a private property, the search for alternative parking spaces can optionally be inhibited. As a result, the comfort of the vehicle user can be further increased.

[0026] According to a further aspect, a (road) motor vehicle, in particular a passenger car or a truck or a bus or a motorcycle, is described, comprising the device described in this document.

[0027] According to another aspect, a method for performing a driving maneuver, in particular a parking maneuver, of a vehicle is described. The method comprises guiding the vehicle along a previously recorded trajectory with automatic longitudinal guidance and / or transverse guidance within the scope of performing a previously recorded driving maneuver. Furthermore, the method comprises detecting a parking space for the vehicle during the performance of the previously recorded driving maneuver. Furthermore, the method comprises, in response to detecting a parking space, causing a switch from performing the previously recorded driving maneuver to performing a parking maneuver (with automatic longitudinal guidance and / or transverse guidance) to the detected parking space.

[0028] According to a further aspect, a software (SW) program is described. The software program can be designed to be executed on a processor (for example on a control unit of a vehicle) and thereby to execute the method described in this document.

[0029] According to another aspect, a storage medium is described. The storage medium may include a software program designed to be executed on a processor and thereby to implement the method described in this document.

[0030] It should be noted that the methods, devices and systems described in this document can be used not only alone, but also in combination with other methods, devices and systems described in this document. In addition, any aspects of the methods, devices and systems described in this document can be combined with each other in a variety of ways. In particular, the features of the claims can be combined with each other in a variety of ways. In addition, the functions listed in brackets should be understood as optional functions. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In the following, the present invention is described in detail with reference to embodiments.

[0032] Figure 1 Exemplary components of a vehicle are shown;

[0033] Figure 2a An exemplary recorded driving trajectory for a driving maneuver, in particular a parking maneuver, is shown;

[0034] Figure 2b An exemplary output regarding detected alternative parking spaces is shown;

[0035] Figure 2c An exemplary parking maneuver driving trajectory for a parking maneuver to an alternative parking space is shown; and

[0036] Figure 3 A flow chart of an exemplary method for carrying out a driving maneuver, in particular a parking maneuver, is shown. DETAILED DESCRIPTION

[0037] As mentioned at the outset, the present document relates to increasing the comfort of a vehicle user when performing driving maneuvers, in particular parking maneuvers. In this context, Figure 1 An exemplary vehicle 100 is shown having one or more environment sensors 102 (e.g., at least one camera, at least one radar sensor, at least one lidar sensor, at least one ultrasonic sensor, etc.), each of which is designed to collect environment data (i.e., sensor data) about the environment of the vehicle 100. A control device 101 of the vehicle 100 may be designed to evaluate the environment data in order to detect one or more objects in the environment of the vehicle 100.

[0038] Device 101 may also be designed to operate one or more longitudinal and / or transverse guiding actuators 103 (e.g., drive motors, brakes, and / or steering devices) of vehicle 100 in order to automatically guide vehicle 100 longitudinally and / or transversely. One or more actuators 103 may be operated as a function of environmental data, in particular as a function of one or more detected objects.

[0039] The vehicle 100 may also include a user interface 104 that enables interaction between a user and the vehicle 100, such as to activate or deactivate a driving assistance function and / or to inform the user of the status of a driving assistance function. The user interface 104 may include one or more operating elements and / or one or more output elements (e.g., a screen).

[0040] The vehicle 100 may have a driver assistance system which is designed to record a driving trajectory traveled by the vehicle 100. The driving trajectory may be traveled manually by the driver of the vehicle 100 and / or traveled automatically by the vehicle 100. Trajectory data related to the driving trajectory may be stored in a storage unit 105 of the vehicle 100. The trajectory data may be determined using sensor data from one or more sensors 102 of the vehicle 100. The trajectory data may specify a plurality of positions (i.e. points) along the driving trajectory.

[0041] The coordinates of the corresponding position (eg relative to a world coordinate system and / or relative to a coordinate system of vehicle 100 ), which coordinates may be ascertained, for example, using a GNSS sensor of vehicle 100 ;

[0042] the orientation and / or direction of the vehicle 100 at the respective location; and / or

[0043] The driving speed of the vehicle 100 at the corresponding position.

[0044] The recording of the driving trajectory can be explicitly started and / or stopped by the user of the vehicle 100 (via the user interface 104). Therefore, the starting position and / or the end position of the stored driving trajectory can be determined in a precise manner.

[0045] Figure 2a An exemplary driving situation is shown, in which the vehicle 100 drives along a driving trajectory 201 to a parking space 210, wherein the parking space 210 is arranged, for example, between two marking lines (usually markings). The driver of the vehicle 100 can start recording the driving trajectory 201 at a starting position 204 (for example, by operating an operating element of the user interface 104). The driver can manually guide the vehicle 100 longitudinally and / or laterally to an end position 205 on the parking space 210. The path traveled by the vehicle 100 from the starting position 204 to the end position 205 can be recorded as the driving trajectory 201 and, if necessary, stored in the storage unit 105 of the vehicle 100. In particular, the trajectory data associated with the driving trajectory 201 can be stored in the storage unit 105 of the vehicle 100.

[0046] The trajectory data can be used to re-execute a driving maneuver, in particular a parking maneuver for parking vehicle 100 in parking space 210. When or before reaching starting position 204, a proposal for re-execution of the driving maneuver can be output to the driver of vehicle 100, for example, via user interface 104. The user can accept the proposal (for example, by operating an operating element of user interface 104). Thus, based on the trajectory data, an automatic longitudinal and / or transverse guidance of vehicle 100 is initiated, by which vehicle 100 is guided along previously recorded driving trajectory 201 to end position 205 in parking space 210.

[0047] Vehicle 100 may have a parking assistant as a further driving function, which is designed to identify one or more parking spaces 220 suitable for vehicle 100 in the environment of vehicle 100, for example based on environmental data from one or more environmental sensors 102 of vehicle 100. To this end, the identified parking space 220 may be measured and it may be checked whether parking space 220 is large enough for vehicle 100 (e.g. long enough and / or wide enough). If the identified parking space 220 is suitable for vehicle 100 (in particular large enough), a proposal for performing a parking maneuver to the identified parking space 220 may be output to the driver of vehicle 100 via user interface 104. The driver of vehicle 100 may accept the proposal (e.g. by operating an operating element of user interface 104). Thus, an automatic parking maneuver is initiated by vehicle 100 (e.g. with automatic longitudinal guidance and / or transverse guidance) in order to guide vehicle 100 to parking space 220. In this case, a parking maneuver trajectory is ascertained by control device 101 of vehicle 100 (based on environmental data from one or more environmental sensors 102 ), and vehicle 100 is automatically guided along the parking maneuver trajectory to detected parking space 220 .

[0048] It is possible for a user of vehicle 100 to use the parking aid during the repetition of a previously recorded driving maneuver, in particular a parking maneuver. If necessary, the parking aid can be activated in a standardized manner during the reproduction of a previously recorded driving maneuver. Alternatively or additionally, it is possible for the user to activate the parking aid via user interface 104.

[0049] Then, during the execution of the recorded driving maneuver, i.e. when driving from the starting position 204 to the end position 205 on the recorded driving trajectory 201, it can be checked whether there is at least one alternative parking space 220 suitable for vehicle 100 (which is different from the parking space 210 of the recorded driving maneuver) in the environment of vehicle 100.

[0050] If alternative parking space 220 is identified, a proposal may be output to the user of vehicle 100 (during performance of the recorded driving maneuver) via user interface 104 to automatically drive vehicle 100 to alternative parking space 220 (and interrupt performance of the recorded driving maneuver). Figure 2b An exemplary output 250 is shown which includes information 251 about identified alternative parking space 220 and includes a query 252 as to whether an automated parking maneuver should be performed into identified parking space 220 .

[0051] If the user decides on an automatic parking maneuver to alternative parking space 220, the continuous execution of the recorded driving maneuver is interrupted and instead the vehicle 100 is automatically guided (longitudinally and / or laterally) to alternative parking space 220 (without requiring further actions by the user of vehicle 100 for this purpose). Figure 2c As shown by way of example, a parking maneuver trajectory 261 may be ascertained, which leads from an intermediate position 264 to a parking end position 265 at alternative parking space 220. Parking maneuver trajectory 261 may be ascertained based on environmental data from one or more environmental sensors 102 of vehicle 100. Intermediate position 264 may be arranged on previously recorded trajectory 201.

[0052] As mentioned above, it may happen that, in particular in parking garages or in parking lots without assigned parking spaces 210, parking end position 205 is occupied during playback of a recorded driving maneuver. This may result in the playback of a previously recorded driving maneuver being interrupted before reaching end position 205.

[0053] This document describes a driving function which, during the active reproduction of a previously recorded driving maneuver, checks possible parking spaces 220 (in particular free parking spaces) for vehicle 100 (in particular with regard to the size of the corresponding parking space 220) and (if applicable for vehicle 100) offers them via user interface 104. The user can then switch to a parking maneuver and park in a different parking space 220.

[0054] In an exemplary embodiment, the user can start to reproduce (ie, repeat) the recorded driving maneuver, so that the vehicle 100 is guided along the previously recorded driving trajectory 201 with automatic longitudinal and transverse guidance. If necessary, the recorded driving trajectory 201 can pass by other free parking spaces 220. The (control) device 101 can then check whether the free parking space 220 is suitable for the vehicle 100 and, if necessary, can output a proposal for an automatic parking maneuver to the free parking space 220 (via the user interface 104).

[0055] The user of the vehicle 100 may then decelerate the vehicle 100 to a standstill, and the user may accept the offer of the automatic parking maneuver (when the vehicle 100 is stationary). Alternatively or additionally, the user may be enabled to accept the offer while the vehicle 100 is in motion. The vehicle 100 may then be automatically braked (to a standstill).

[0056] Starting from a standstill of vehicle 100 , an automatic switch from the reproduction of the recorded driving maneuver to the automatic parking maneuver can be effected. Vehicle 100 is then automatically guided longitudinally and laterally into a free parking space 220 (identified and checked during the reproduction).

[0057] Figure 3 A flow chart of a (possibly computer-implemented) method 300 for executing a driving maneuver, in particular a parking maneuver, of a (motor) vehicle 100 is shown. The method 300 comprises guiding 301 the vehicle 100 along a previously recorded trajectory 201 with automatic longitudinal guidance and / or transverse guidance, in particular with automatic longitudinal guidance and transverse guidance, within the scope of executing a previously recorded driving maneuver. The trajectory 201 may be stored in advance in a storage unit 105 of the vehicle 100 and may be read from the storage unit 105 for execution.

[0058] The method 300 further comprises detecting 302 a parking space 220 for the vehicle 100 during the execution of the previously recorded driving maneuver. The parking space 220 may be arranged along the previously recorded trajectory 201. The parking space may be detected based on environmental data of one or more environmental sensors 102 of the vehicle 100.

[0059] Furthermore, method 300 includes, in response to detection 302 of parking space 200, causing 303 a switch from executing a previously recorded driving maneuver to executing a parking maneuver to detected parking space 200. For this purpose, parking maneuver trajectory 261 may be determined, in particular calculated (e.g. based on environmental data from one or more environmental sensors 102). Vehicle 100 may then be guided along parking maneuver trajectory 261 to detected parking space 220 using automatic longitudinal guidance and / or (in particular and) transverse guidance.

[0060] The aspects described in this document may increase the comfort of the user in an efficient and reliable manner when performing a parking maneuver.

[0061] The present invention is not limited to the embodiments shown. In particular, it should be noted that the description and drawings are intended only to illustrate the principles of the proposed methods, devices and systems.

Claims

1. A device (101) for performing a parking maneuver of a vehicle (100), wherein: The device (101) is designed to: - guiding the vehicle (100) along a previously recorded trajectory (201) using automatic longitudinal guidance and / or transverse guidance within the scope of executing a previously recorded driving maneuver; - detecting a parking space (220) for the vehicle (100) during execution of the previously recorded driving manoeuvre; and - in response to detecting the parking space (200), causing a switch from performing the previously recorded driving maneuver to performing a parking maneuver into the detected parking space (200).

2. The device (101) according to claim 1, wherein: The device (101) is designed to: - in response to detecting the parking space (200), causing a proposal to be output to a user of the vehicle (100) for performing a parking maneuver into the detected parking space (200); - when the user accepts the proposal, causing a switch from executing the previously recorded driving maneuver to executing a parking maneuver into the detected parking space (200); and - When the user does not accept the proposal, continuing to perform the previously recorded driving maneuver.

3. The device (101) according to claim 2, wherein: The device (101) is designed to: - identifying user input, the user input indicating that the user accepts the offer; - in response to the identified user input, causing the vehicle (100) to automatically decelerate to a standstill at an intermediate position (264) on the previously recorded trajectory (201); and - causing the vehicle (100) to be guided from the intermediate position (264) to the detected parking space (200) by means of automatic longitudinal guidance and / or transverse guidance within the scope of carrying out the parking maneuver.

4. The device (101) according to claim 2, wherein: The device (101) is designed to: - recognizing user input indicating that the user accepts the offer after the vehicle (100) is manually decelerated to rest at an intermediate position (264); and In response to the recognized user input, causing the vehicle (100) to be guided from the intermediate position (264) to the detected parking space (200) by means of automatic longitudinal guidance and / or transverse guidance within the scope of performing the parking maneuver.

5. The device (101) according to any one of the preceding claims, wherein: The device (101) is designed to - detecting a parking space (220) for the vehicle (100) based on environmental data from one or more environmental sensors (102) of the vehicle (100); - determining a parking maneuver trajectory (261) for a parking maneuver to the detected parking space (200) based on environmental data from one or more environmental sensors (102) of the vehicle (100); and - guiding the vehicle (100) along the determined parking maneuver trajectory (261) by means of automatic longitudinal guidance and / or transverse guidance within the scope of executing the parking maneuver of the vehicle (100).

6. The device (101) according to claim 5, wherein: The device (101) is designed to: - determining an intermediate position (264), said intermediate position being located on said previously recorded trajectory (201); and - determining a parking maneuver trajectory (261) of the parking maneuver, which extends from the intermediate position (264) to a parking end position (265) at the detected parking space (200).

7. The device (101) according to any one of the preceding claims, wherein: The device (101) is designed to detect a parking space (220) based on environmental data from one or more environmental sensors (102) of the vehicle (100), - the parking space is located in the environment of the previously recorded trajectory (201), in particular next to the previously recorded trajectory; and / or The parking space has a sufficiently large spatial area for the vehicle (100).

8. The device (101) according to any one of the preceding claims, wherein: The device (101) is designed to: - outputting a proposal for performing the previously recorded driving maneuver to a user of the vehicle (100); and - in response to a user input by said user, causing performance of said previously recorded driving manoeuvre.

9. The device (101) according to claim 8, wherein: The device (101) is designed to: - identifying that the vehicle (100) is arranged at or in a defined environment of the starting position (204) of the previously recorded driving maneuver; and - in response to said identifying, outputting a proposal for performing said previously recorded driving maneuver to a user of said vehicle (100).

10. The device (101) according to any one of the preceding claims, wherein The device (101) is designed to: - checking whether the previously recorded trajectory (201) leads to an initial parking space (210), the initial parking space being arranged in a parking area having a plurality of different parking spaces, in particular in a parking garage or a parking building; and - searching for a parking space (220) for the vehicle (200) during the execution of the previously recorded driving maneuver, in particular only when the previously recorded trajectory (201) leads to an initial parking space (210) arranged in a parking area having a plurality of different parking spaces.

11. A method (300) for performing a parking maneuver of a vehicle (100), wherein: The method (300) comprises: - guiding (301) the vehicle (100) along a previously recorded trajectory (201) by means of automatic longitudinal guidance and / or transverse guidance within the scope of executing a previously recorded driving maneuver; - detecting (302) a parking space (220) for the vehicle (100) during execution of the previously recorded driving maneuver; and - in response to detecting said parking space (200), causing (303) a switch from performing said previously recorded driving maneuver to performing a parking maneuver into the detected parking space (200).

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