Method for automatically parking motor vehicle in parking lot

Abstract

The invention relates to a method for automatically parking a motor vehicle (3) in a parking lot (1), in which a reference parking lot trajectory (2) associated with the parking lot (1) is retrieved from a trajectory memory, along which the motor vehicle (3) is automatically moved, and during the automatic movement along the reference parking lot trajectory (2), the motor vehicle (3) is automatically parked in the parking lot (1). According to the invention, environmental sensor data is detected by means of a vehicle sensor system and parking space recognition is carried out on the basis of the environmental sensor data, and the motor vehicle is automatically moved to an unoccupied parking space (1.1 u) when an unoccupied parking space (1.1 u) is recognized, the reference parking space trajectory (2) being a closed circular trajectory, and the motor vehicle (3) is moved along the reference parking space trajectory (3) until an unoccupied parking space (1.1 u) is detected.

Description

Technical Field

[0001] The invention relates to a method for automatically parking a motor vehicle in a parking lot, wherein: a reference parking lot trajectory assigned to the parking lot is called up from a trajectory memory, the motor vehicle is automatically moved along the reference parking lot trajectory, during the movement along the reference parking lot trajectory, environmental sensor data are detected by means of a vehicle sensor system, a parking space recognition is performed based on the environmental sensor data, and when an unoccupied parking space is recognized, the motor vehicle is automatically moved to the unoccupied parking space. Background Art

[0002] Such a method is known from US 2018 / 0328750 A1. Summary of the invention

[0003] The invention is based on the task of achieving reliable automatic parking in relatively busy parking lots.

[0004] According to the invention, this object is achieved by a method according to the invention for automatically parking a motor vehicle in a parking lot.

[0005] In the method according to the invention for automatically parking a motor vehicle in a parking lot, the parking lot is preferably identified based on the position data of the motor vehicle and a reference parking lot trajectory assigned to the parking lot is called up from a trajectory memory of the motor vehicle. The reference parking lot trajectory stored in the trajectory memory may, for example, have been received from a computer system external to the vehicle or may have been known by driving into the parking lot during a previous visit to the parking lot. Preferably, the reference parking lot trajectory passes through all parking spaces in the parking lot.

[0006] In the method for automatically parking a motor vehicle in a parking lot according to the invention, it is also checked based on the position data of the motor vehicle whether the motor vehicle is located at a called reference parking lot trajectory, and if the motor vehicle is located at the reference parking lot trajectory, the motor vehicle is automatically moved along the reference parking lot trajectory in a known manner. Preferably, the driver of the motor vehicle leaves the motor vehicle before the start of the automatic movement along the reference parking lot trajectory and remotely monitors the automatic parking process via a mobile device connected to the motor vehicle, for example via a smartphone connected to the motor vehicle.

[0007] In the method according to the invention for automatically parking a motor vehicle in a parking lot, during the automatic movement along a reference parking lot trajectory, environmental sensor data are detected in a known manner essentially continuously by means of a vehicle sensor system, and parking space recognition is performed based on the environmental sensor data in order to recognize whether there is an unoccupied parking space in the vicinity of the motor vehicle. The environmental sensor data may comprise, for example, radar data, lidar data, ultrasonic data or image data from a camera. For example, line markings and parking lot identification numbers may be detected based on the image data of the camera. Preferably, the size of the respective motor vehicle is also taken into account during the parking space recognition, so that only unoccupied parking spaces that are actually suitable for the parking process of the respective motor vehicle are recognized as unoccupied parking spaces.

[0008] In the method according to the invention for automatically parking a motor vehicle in a parking lot, when an unoccupied parking space is detected near the motor vehicle, a parking process is started in the detected unoccupied parking space and the motor vehicle is automatically moved to the detected unoccupied parking space in a known manner.

[0009] According to the invention, the reference parking lot trajectory is a closed loop trajectory, and the motor vehicle moves "in circles" along the reference parking lot trajectory until an unoccupied parking space is identified. Thus, the vehicle moves "in circles" along the reference parking lot trajectory designed as a closed loop trajectory, beyond the starting point of the automatic movement, until an unoccupied parking space is identified. This enables reliable automatic parking even in relatively busy parking lots.

[0010] Preferably, the reference parking lot trajectory is provided by a computer system external to the vehicle, so that the method according to the invention can also be carried out in parking lots that have not yet been visited. When entering the parking lot, the reference parking lot trajectory can be provided, for example, by the computer system of the parking lot via a local data connection. However, it is also conceivable that the reference parking lot trajectory

[0011] Provided by cloud computing systems via the Internet.

[0012] Preferably, after receiving the unparking command, the motor vehicle automatically moves to the handover position located on the reference parking lot trajectory, so that the driver of the motor vehicle does not have to move to the motor vehicle. For example, the unparking command can be transmitted to the vehicle via a mobile device connected to the vehicle. It is also conceivable that the unparking command is transmitted to the vehicle via a radio key.

[0013] Advantageously, the handover position may be any position on the reference parking lot trajectory, wherein the handover position is determined by the driver of the motor vehicle. The handover position may be determined, for example, by the driver before / when leaving the vehicle, for example as a starting position for automatic movement along the reference parking lot trajectory. However, it is also conceivable that the handover position may be determined subsequently, i.e. after leaving the vehicle, for example via a mobile device coupled to the vehicle.

[0014] In a preferred version, the hand-off position is received together with the parking-out command. The hand-off position may, for example, correspond to the current position of the mobile device that sent the parking-out command.

[0015] Preferably, for two possible turning directions along the reference parking lot trajectory (i.e. for clockwise movement and counterclockwise movement), the driving distance from the parking position along the reference parking lot trajectory to the handover position is determined respectively, and the motor vehicle automatically moves in the turning direction with the shorter driving distance of the two possible turning directions, so as to move the motor vehicle to the handover position as quickly and efficiently as possible. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The following describes an exemplary embodiment of the present invention with reference to the accompanying drawings. The following are shown in the drawings:

[0017] Figure 1 schematically shows a parking lot and a reference parking lot trajectory according to the invention assigned to the parking lot, along which a motor vehicle is automatically moved during the execution of the method according to the invention when all parking spaces are occupied,

[0018] Figure 2 yes Figure 1 , when an unoccupied parking space is available, and

[0019] Figure 3 yes Figure 1 and Figure 2 The vehicle is in Figure 2 The scenario of an unoccupied parking space in a parking lot and receiving a parking exit command. DETAILED DESCRIPTION

[0020] The figure shows a parking lot 1 with a plurality of parking spaces 1.1, wherein Figure 1 In , all parking spaces 1.1 in parking lot 1 are occupied, and in Figure 2 There are 1.1u unoccupied parking spaces.

[0021] The figure also shows a reference parking lot trajectory 2 assigned to the parking lot 1 , which, according to the invention, is designed as a closed loop trajectory and passes through all parking spaces 1 . 1 of the parking lot 1 .

[0022] The figure also shows a motor vehicle 3 which is to be automatically parked in parking lot 1 using the method according to the invention.

[0023] When entering parking lot 1 , a reference parking lot trajectory 2 is provided to motor vehicle 3 by a vehicle-external computer system 4 via a local data connection and is stored in a trajectory memory of motor vehicle 3 .

[0024] According to the invention, the motor vehicle 3 is moved by its driver to any position on the reference parking lot trajectory 2, such as Figure 1 as shown in the example.

[0025] At this any location, the driver leaves the motor vehicle 3 and sends a parking order to the motor vehicle 3 via the smartphone connected to the motor vehicle 3 .

[0026] In response to the unparking command, the parking system of the motor vehicle 3 calls up the reference parking lot trajectory 2 from the trajectory memory, and the motor vehicle 3 is automatically moved by the parking system along the reference parking lot trajectory 2 , as illustrated by the arrows in the figure.

[0027] During the automated movement along reference parking lot trajectory 2 , the parking system continuously detects ambient sensor data by means of the vehicle sensor system of motor vehicle 3 and performs parking space recognition based on the ambient sensor data in order to determine whether there is an unoccupied parking space 1 . 1 u in the vicinity of motor vehicle 3 .

[0028] According to the invention, the motor vehicle 3 is automatically moved by the parking system along the reference parking lot trajectory 2 until an unoccupied parking space 1 . 1 u is identified in the vicinity of the motor vehicle 3 .

[0029] For example, if all parking spaces 1.1 in parking lot 1 are occupied, such as Figure 1 As shown, the parking system moves the vehicle 3 in a circle along the reference parking lot trajectory 2 until one of the parking spaces 1.1 becomes free, as shown in FIG. Figure 2 As shown, unoccupied parking space 1.1u is therefore available.

[0030] If, while moving along the reference parking lot trajectory 2, the parking system detects an unoccupied parking space 1.1u, the parking process is initiated by the parking system and the motor vehicle 3 is automatically moved by the parking system to the unoccupied parking space 1.1u, as indicated by Figure 2 As shown by the arrows in Figure 3 shown.

[0031] At any time, the driver of the motor vehicle 3 transmits a parking order to the motor vehicle 3 , wherein together with the parking order the handover position 5 a located on the reference parking lot trajectory 2 is also transmitted to the motor vehicle 3 and determined thereby.

[0032] Alternatively, it is also conceivable that before / when the driver leaves the vehicle 3 , the starting position 5 b located on the reference parking lot trajectory 2 is defined as the handover position.

[0033] In response to the parking order, the parking system determines the driving distance along the reference parking lot trajectory 2 to the handover position 5a or 5b for each of the two possible turning directions, and then automatically moves the motor vehicle 3 along the reference parking lot trajectory 2 in one of the two possible turning directions to the handover position 5a or 5b with the shorter driving distance.

[0034] from Figure 3 Starting from the parking position shown, the parking system will therefore move the motor vehicle (such as Figure 3 ) moves counterclockwise along the reference parking lot trajectory 2 to the transfer position 5a, and moves clockwise along the reference parking lot trajectory 2 to the transfer position 5b.

[0035] List of reference numbers

[0036] 1 Parking lot

[0037] 1.1 Parking Space

[0038] 1.1u unoccupied parking space

[0039] 2 Reference parking lot trajectory

[0040] 3 Motor vehicles

[0041] 4 Computer systems outside the vehicle

[0042] 5a, 5b transfer position

Claims

1. A method for automatically parking a motor vehicle (3) in a parking lot (1), wherein: calling up a reference parking lot trajectory (2) assigned to the parking lot (1) from a trajectory memory, The motor vehicle (3) automatically moves along the reference parking lot trajectory (2), During the automatic movement along the reference parking lot trajectory (2), environmental sensor data are detected by means of a vehicle sensor system and a parking space recognition is performed based on the environmental sensor data, and When an unoccupied parking space (1.1u) is identified, the motor vehicle automatically moves to the unoccupied parking space (1.1u), It is characterized by: The reference parking lot trajectory (2) is a closed loop trajectory, and The motor vehicle (3) moves along the reference parking lot trajectory (3) until an unoccupied parking space (1.1u) is identified.

2. The method according to claim 1, wherein the reference parking lot trajectory (2) is provided by a computer system (4) external to the vehicle.

3. The method according to any of the preceding claims, wherein the motor vehicle (3) automatically moves to a handover position (5a, 5b) located on the reference parking lot trajectory (2) after receiving a parking unloading command.

4. The method according to claim 3, wherein the handover position (5a, 5b) is determined by a driver of the motor vehicle (3).

5. The method according to claim 4, wherein the handover position (5a) is received together with the parking-out command.

6. A method according to any one of claims 3 to 5, wherein for two possible turning directions along the reference parking lot trajectory (2), the driving distance to the handover position (5a, 5b) is determined respectively, and the motor vehicle (3) automatically moves in the turning direction with the shorter driving distance of the two turning directions.

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