Method and system for operating vehicle for parking maneuver

Abstract

The present disclosure generally relates to a method and system for operating a vehicle for a parking maneuver. The vehicle has at least one sensor, a folding exterior mirror and a control device coupled to the sensor. The control device receives or determines a parking trajectory for the vehicle to perform a parking maneuver. The sensor detects at least one object in an exterior space of the vehicle. The control device determines a distance between the folding exterior mirror and the object along the parking trajectory. When the distance is lower than a first minimum distance threshold value, the control device enables the folding type exterior rearview mirror to be folded along at least one track section of the parking track.

Description

Technical Field

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

[0002] In certain application scenarios, the vehicle is positioned in a desired control position through a suitable parking maneuver, for example, based on an autonomous, partially autonomous, or manual driving maneuver (parking maneuver or parking function). The dimensions of the desired control position may be only slightly larger than those of the base vehicle. However, autonomous or partially autonomous driving rules can be developed to essentially move the corresponding vehicle into the parking position. The vehicle to be parked typically has camera-based sensors for the autonomous or partially autonomous driving maneuver. These sensors are regularly positioned in / on the exterior mirrors to optimally capture the surroundings of the vehicle to be parked.

[0003] In these exemplary applications, a protruding obstacle may protrude into the control position or be at least partially positioned within the (approximately) cubic volume corresponding to the control position. For example, the exterior mirrors of adjacent (parked) vehicles may only limit the vehicle's intended control position (parking position, parking space) to a spatially limited subarea. On the one hand, such an obstacle (in terms of its size) can be positioned so that, in principle, the vehicle to be parked can be positioned in a suitable control position without coming into contact with the obstacle. On the other hand, however, the presence of the obstacle may result in the required parking trajectory for moving the vehicle to the control position in question, potentially leading to contact or at least unintentional contact with the obstacle. In many previous approaches, the parking maneuver is not even started or aborted, for example, to avoid being affected by a defective sensor located in or on the exterior mirror. This limits the number of possible applications.

[0004] DE 10 2021 117 012 A1 describes a system for controlling the side mirrors of a vehicle during automated parking. The vehicle comprises a sensor arrangement and an automated parking control system, which generates a folding signal for the side mirrors. The automated parking control system calculates a minimum folding distance based on the vehicle's current speed, the distance between objects in the surroundings and the vehicle, and the time required to fold the side mirrors. The side mirrors are therefore folded when a distance-dependent folding condition is met. However, this means that the side mirrors are folded regardless of whether certain parts of the parking trajectory actually require them. In other words, folding the side mirrors along part of the parking trajectory is not considered unnecessary at all. However, folding would hinder the provision of functions that rely on the side mirrors, which limits the comfort of the vehicle user and the functionality of the vehicle.

[0005] DE 10 2009 031 809 A1 and KR 10-1762726 B1 disclose methods for determining distance and environmental data relating to the surroundings of a vehicle, which methods can optionally be used in the context of a parking maneuver.

[0006] US 2022 / 0203896 A1, US 9,358,927 B2, CN 112660027 B, US 2017 / 0158136 A1, US 2021 / 0303878 A1, and WO 2019 / 141653 A1 disclose other general methods for parking a vehicle, wherein the side mirrors of the vehicle can be folded according to various conditions. However, all of these methods provide for folding the side mirrors according to the corresponding conditions over the entire parking trajectory, which hinders the provided side mirror-based functions.

[0007] Therefore, there is a need to eliminate or at least reduce the disadvantages of known methods and systems for operating a vehicle for parking maneuvers. It is desirable to create a method and system by which the relevant distances can be determined more accurately than before, thereby preventing the folding of the side mirrors along the entire parking trajectory. Summary of the Invention

[0008] This object is achieved by the subject matter of the independent claims. Advantageous embodiments are given in the dependent claims and the following description, each of which can represent an aspect of the present disclosure individually or in (sub)combinations. Some features are described from the perspective of the method, others from the perspective of the device. However, the relevant aspects must be appropriately transferred between them.

[0009] According to one aspect, some embodiments of the present disclosure relate to a method for operating a vehicle to perform a parking maneuver. The vehicle has at least one sensor, a folding exterior mirror, and a control device coupled to the sensor. The method includes at least the following steps: - The control unit receives or determines the parking trajectory for the vehicle to perform the parking maneuver.

[0010] The sensor detects at least one object in a space outside the vehicle.

[0011] - The control unit determines the distance between the folding exterior mirrors and objects along the parking trajectory.

[0012] When the distance falls below a first minimum distance threshold, the control device causes the folding exterior mirrors to be folded along at least one trajectory segment of the parking trajectory.

[0013] Thus, a method has been developed in which the folding exterior mirrors do not need to be folded along the entire parking trajectory. In contrast to previous methods, the exterior mirrors are folded only along, if necessary, a portion of the parking trajectory, depending on the distance between the folding exterior mirror and an object along the parking trajectory. Consequently, the vehicle user or the driving control system can utilize the functions provided by components of the exterior mirror or the exterior mirror itself, at least along certain portions of the parking trajectory. This improves vehicle user comfort compared to previous methods. Furthermore, this method allows for the use of a more accurate underlying driving control system. These advantages are particularly ensured by the fact that, compared to previous methods, the distance between the folding exterior mirror and the object itself is not determined, but is determined along the parking trajectory. This makes it possible to determine certain portions of the parking trajectory where the folding exterior mirrors must be folded, because the distance in the respective portion falls below a first minimum distance threshold. Therefore, by taking the parking trajectory into account when determining the distance between the folding exterior mirror and the object, the accuracy of this method is improved compared to previous methods.

[0014] In the present case, the distance between the folding exterior mirror and the object determined by the control device can be understood as the minimum distance between the folding exterior mirror and the object, ie the shortest free path length between the folding exterior mirror and the object.

[0015] In the present context, a parking maneuver is understood to be a deliberate driving maneuver of the basic vehicle in order to move the vehicle into a desired control position (parking position, parking space, parking lot).

[0016] In the present case, a parking trajectory is understood to be a driving trajectory extending between a starting position of the parking maneuver and a desired end position of the parking maneuver (parking position) in order to move the basic vehicle from the starting position to an end position corresponding to the control position.

[0017] According to another aspect, some embodiments of the present disclosure relate to a system for operating a vehicle to perform a parking maneuver. The vehicle comprises at least one sensor, a folding exterior mirror, and a control device coupled to the sensor. The sensor is configured to detect at least one environment of the vehicle. The control device is configured to: - receiving or determining a parking trajectory for the vehicle to perform a parking maneuver, - detecting objects in the vehicle's exterior space based on sensor measurement data, - determining the distance between the folding exterior mirrors and objects along the parking trajectory, and - folding the folding exterior mirrors along at least one trajectory segment of the parking trajectory when the distance falls below a first minimum distance threshold.

[0018] The advantages achieved by the method described herein are also achieved by the system in a corresponding manner.

[0019] Alternatively, in the present case, the control device can be configured to independently determine the parking trajectory. For example, measurement data from at least one sensor of the vehicle can be used to determine a suitable parking trajectory that ensures the vehicle ultimately reaches the desired end position based on the intended control position. Typically, the actual position of the vehicle is considered the starting position of the parking trajectory.

[0020] Optionally, the control device can also be coupled to a higher-level vehicle control device that is essentially configured to determine the parking trajectory. The vehicle control device can then transmit the parking trajectory thus determined to the control device of the present system / method. For example, the vehicle control device can ensure other vehicle functions, such as autonomous or partially autonomous driving functions (autonomous parking).

[0021] In a further alternative, the control device may be part of a vehicle control device.

[0022] The object can be detected based on measurement data received by the control device from at least one sensor of the vehicle. The control device can be configured to be able to draw a conclusion from these measurement data that an object is present at a certain location in the space outside the vehicle.

[0023] For example, the folding exterior mirrors can be folded by the control device sending a folding signal to an actuator, which is arranged to ensure a partial or complete folding operation of the folding exterior mirrors.

[0024] Preferably, the control device first determines, based on the determined distance, the segment of the parking trajectory along which the folding exterior mirrors are to be folded. Taking into account the vehicle's actual position along the parking trajectory, the control device can then output a folding signal in an orientation-dependent manner to trigger the folding process of the folding exterior mirrors. For example, the control device can determine the vehicle's actual position along the parking trajectory based on sensor measurement data and / or vehicle position data.

[0025] Optionally, the control device determines the distance along at least one spatial direction, preferably along at least two mutually orthogonal spatial directions, and further preferably along at least three mutually orthogonal spatial directions. This allows for partial distances along different spatial directions to be taken into account, thereby enabling the control device to determine the minimum distance between the folding exterior mirror and the object. Depending on the relative arrangement and size of the folding exterior mirror and the object, the minimum distance need not necessarily be oriented along a specific spatial direction (e.g., the transverse direction of the vehicle). This improves the accuracy of the method because the distance can be determined independently of the relative position and respective size of the folding exterior mirror and the object.

[0026] Preferably, the control device determines the distance between the folding exterior mirror and an object along the parking trajectory by taking into account the envelope of the folding exterior mirror. The envelope of the exterior mirror represents the outer contour (outer shape) of the exterior mirror and is typically three-dimensional. This allows for a more precise determination of the distance between the folding exterior mirror and an object than previously possible, since the minimum distance between the folding exterior mirror and an object does not necessarily have to be determined from a reference point of the exterior mirror. Instead, the envelope can be used to determine the minimum distance from a point on the outer contour of the folding exterior mirror. This more precise distance determination also improves the accuracy of determining the trajectory segment in which the folding exterior mirror is to be folded.

[0027] Particularly preferably, the envelope of the folding exterior mirror is taken into account when the control device determines the distance between the folding exterior mirror and the object based on the respective angular position of the exterior mirror. The envelope varies depending on the angular position of the exterior mirror, for example, depending on the different angular positions the exterior mirror assumes during or after the folding process. This makes it possible to further improve the accuracy of the determination of the relevant distance, as the distance can even be determined based on the folding process of the exterior mirror, which occurs along a path segment of the parking trajectory. This allows the folding process to be performed more accurately than before, for example, because by taking into account the angular-dependent envelope of the folding exterior mirror, the path segment over which the folding exterior mirror is to be folded can be reduced. This ensures that the functionality of the exterior mirror or components arranged in or on the exterior mirror is maintained over a longer path segment of the parking trajectory.

[0028] In some embodiments, the method can be further refined by the control unit determining a representative three-dimensional envelope of the object based on the sensor measurement data. This envelope is taken into account when determining the distance between the folding exterior mirror and the object along the parking trajectory. Thus, the shape of the object can also be taken into account when determining the distance. This further increases the accuracy of the process, as the distance between the folding exterior mirror and the object can be determined more precisely than before.

[0029] Optionally, the control device minimizes the portion of the parking trajectory taking into account a distance-related tolerance range. In other words, the control device can be configured to minimize the portion of the trajectory over which the folding exterior mirrors are folded. This allows the functionality of the folding exterior mirrors to be optimally ensured for the vehicle user or the vehicle control unit.

[0030] When minimizing the trajectory segment, the movement of the vehicle along the parking trajectory can be taken into account. This means that the trajectory segment can optionally be minimized only when the vehicle continues to move along the parking trajectory, and the vehicle does not necessarily have to be stationary for the purpose of minimization to achieve an absolutely minimized trajectory segment.

[0031] When determining the distance by the control device, the duration of the folding operation of the folding exterior mirrors is preferably taken into account. This allows the segment of the trajectory for the folding exterior mirrors to be determined and minimized, taking into account the time required for folding the folding exterior mirrors. In an exemplary embodiment, the vehicle may move along a portion of the parking trajectory and approach a point where the determined distance falls below a first minimum distance threshold. The folding process of the folding exterior mirrors now begins at a point along the parking trajectory. Therefore, taking into account the folding process, the distance between the folding exterior mirrors and the object is such that this distance falls below the first minimum distance threshold only at a later point along the parking trajectory, further shortening the trajectory segment. In other words, a portion of the parking trajectory is traversed during the folding operation (i.e., during the duration of the folding operation). Taking into account the time required for the folding process, the control device may control the triggering of the folding process to minimize the segment of the trajectory for the folding exterior mirrors to be folded.

[0032] In a corresponding manner, the method can also be designed such that, instead of taking into account the distance between the folded exterior mirrors and the object to be contacted, the time interval required for the vehicle to maneuver along the parking trajectory is taken into account. The time for folding the exterior mirrors is then determined by the duration of the folding process, which is a predetermined time relative to the distance below the first minimum distance threshold.

[0033] Optionally, the control device outputs a driving control signal based on the distance. The parking trajectory can be changed and / or stopped based on the driving control signal. For example, the driving control signal can be output by the control device to a higher-level vehicle control device. For example, the higher-level vehicle control device can perform autonomous or partially autonomous driving functions. For example, the vehicle control device can ensure that the vehicle is controlled according to the parking trajectory.

[0034] In some embodiments, a vehicle has multiple folding exterior mirrors. The method can then be applied in the same manner to the other folding exterior mirrors. The method is then configured so that one or more folding exterior mirrors can be folded individually, independently of each other, or together. This ensures the method's functionality with other folding exterior mirrors. A separate distance can be determined for each folding exterior mirror to effectively detectable objects in the vehicle's exterior space. This increases the versatility of the method.

[0035] Preferably, the method may further include a step in which the control device stops the parking maneuver when the distance falls below a second minimum distance threshold. The second minimum distance threshold is lower than the first minimum distance threshold. This means that, when the distance falls below the second minimum distance threshold, contact between the at least one folding exterior mirror and the object can no longer be prevented. In this case, the method is configured to detect that the intended parking trajectory is unsuitable for moving the vehicle to the desired control position without contact. Therefore, the control device may, for example, output a driving control signal that causes the vehicle control device to stop or at least pause the parking maneuver.

[0036] The first minimum distance threshold and / or the second minimum distance threshold may be predetermined. For example, the first minimum distance threshold and / or the second minimum distance threshold may also depend on certain parameters (eg, the type of vehicle).

[0037] In some embodiments, the control device can be arranged to unfold the folding exterior mirrors after completing a trajectory segment of the parking trajectory. In this way, the functionality provided by the folding exterior mirrors can be ensured again for the additional trajectory segments corresponding to the parking trajectory.

[0038] Optionally, when determining the distance between a folding exterior mirror and an object, a confidence level regarding the position and / or envelope of the object and / or the confidence level regarding the envelope of the vehicle's folding exterior mirrors (relative to the angular position) can be taken into account. The corresponding confidence level can be increased by having multiple sensors independently detect components, such as objects in the vehicle's exterior space. In this case, the confidence level can be higher than if the object were detected by only a single sensor. The confidence level can be used to provide a tolerance range for the determined distance relative to the first and / or second minimum distance thresholds. For example, a wider tolerance range can be provided when the corresponding confidence level is low, while a lower tolerance range can be selected for higher confidence levels.

[0039] The method is preferably configured for control positions, wherein the respective control position (parking position) provides a vehicle arrangement oriented orthogonally to the vehicle orientation at the start of the method. In this case, the control position can, for example, be described as a parking space arranged perpendicular to the road.

[0040] Alternatively, however, the method can also be applied to control positions, wherein the corresponding control position (also referred to as a parking position) provides a vehicle arrangement that is oriented parallel to the vehicle's direction at the start of the method. For example, a control position can be described as a parking space that is parallel to the road but adjacent to an obstacle (such as a wall) on the side.

[0041] In some embodiments, the method can be further refined to take traffic surrounding the vehicle into account when executing the parking maneuver. For example, the folding of the folding exterior mirrors does not necessarily have to be performed while the vehicle is moving. If it is determined that there is no traffic surrounding the vehicle, the portion of the parking trajectory where the folding exterior mirrors are to be folded can be further shortened by first moving the vehicle along the parking trajectory to a point where the exterior mirrors can be folded without contact with any objects. At this point, the vehicle can then pause or stop, for example, based on a corresponding driving control signal, as traffic is clear in the vehicle's surroundings. The corresponding folding of the folding exterior mirrors can then be triggered. Thus, the functionality of the exterior mirrors can be maintained during longer portions of the parking trajectory, further shortening the portion of the parking trajectory where the folding exterior mirrors must be folded.

[0042] Optionally, the method takes the form of a computer-implemented method. This means that the basic steps of the method can be performed with the aid of one or more data processing devices. With the aid of one or more data processing devices, the distance and folding of the folding exterior mirrors can be determined. However, other steps of the method can also be based on the use of data processing devices.

[0043] According to another aspect, the present disclosure also relates to a computer program product comprising instructions which, when executed by a computer, cause the computer to perform the method described herein. The benefits achieved by the method described herein are also achieved by the computer program product in a corresponding manner.

[0044] According to another aspect, the present disclosure also relates to a computer-readable storage medium comprising instructions, which, when executed by a computer, cause the computer to perform the method described herein. The advantages achieved by the method described herein are also achieved in a corresponding manner by the computer-readable storage medium.

[0045] In an exemplary embodiment, at least one sensor of the vehicle may be a camera-based sensor, such as an ambient camera, radar, or lidar.

[0046] Optionally, the folding exterior mirrors include at least one sensor. For example, such a sensor can be used to detect a linear structure that delimits the desired control position. Based on this method, the sensor's functionality can be ensured over the largest possible portion of the parking trajectory. This is where the advantages of the method and the underlying system become apparent. For example, when the exterior mirrors are folded, the vehicle's body may obscure parts of the vehicle's surroundings. Consequently, the detection of the surroundings by the sensors located in / on the exterior mirrors is limited. However, because, according to the method and the system outlined herein, the exterior mirrors are folded only along a portion of the parking trajectory, and this portion can be minimized, the sensor's detection functionality can be ensured over the widest possible portion of the parking trajectory. Consequently, the functionality of the method and the system is improved compared to known methods.

[0047] Preferably, the control device is further configured to output a driving control signal based on which the parking trajectory can be changed or stopped. In particular, the control device is configured to output the driving control signal to a higher-level vehicle control device that performs autonomous or partially autonomous driving functions (e.g., an automated parking system).

[0048] In some embodiments, the control device is further configured to determine, based on sensor measurement data, a plurality of objects located within a space outside the vehicle, determine a plurality of distances between the folding exterior mirror and the plurality of objects along a parking trajectory, and fold the folding exterior mirror along at least one segment of the parking trajectory when one of the distances falls below a first minimum distance threshold. This further expands the functionality of the system or underlying method. For example, the control position may represent a free parking space between adjacent vehicles. The adjacent vehicles may each have an exterior mirror that at least partially protrudes into the space between them (the parking space).

[0049] Preferably, the vehicle has a plurality of folding exterior mirrors. The control device is then further configured to determine the distances between other folding exterior mirrors and objects along the parking trajectory and to fold at least one folding exterior mirror along at least one trajectory segment of the parking trajectory when the respective distances fall below a first minimum distance threshold. This increases the functionality of the system and, therefore, the functionality of the method.

[0050] According to another aspect, the present invention is also applicable to a vehicle having the system described above. The benefits achieved by the system (and method) described herein are also achieved by the vehicle in a corresponding manner.

[0051] For the purposes of this disclosure, a vehicle may include land vehicles, i.e., off-road vehicles and road vehicles, such as, among others, passenger cars, buses, trucks and other commercial vehicles. The vehicle may be manned or unmanned. The vehicle may be at least partially electrically driven.

[0052] All features explained in relation to each aspect can be combined alone or in (sub)combination with other aspects. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] The present disclosure and further advantageous embodiments and developments of the present disclosure are described and explained in more detail below using the examples shown in the accompanying drawings. In the drawings: Figure 1 A simplified schematic diagram of a system for operating a vehicle to perform a parking maneuver according to an embodiment of the present disclosure is shown; Figure 2 shows a simplified schematic front view of a vehicle having a system according to an embodiment of the present disclosure; Figure 3 A simplified schematic diagram illustrating a method for operating a vehicle to perform a parking maneuver according to an embodiment of the present disclosure; and Figure 4 A simplified schematic diagram of a method for operating a vehicle to perform a parking maneuver according to another embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0054] The following detailed description in conjunction with the accompanying drawings (in which like reference numerals represent like elements) is intended to describe different embodiments of the disclosed subject matter and is not intended to represent each embodiment. Each embodiment described in this disclosure is provided as an example or illustration only and should not be construed as beneficial or advantageous over other embodiments. The illustrative examples contained herein are not intended to be exhaustive or to limit the claimed subject matter to the exact form disclosed. Various modifications of the described embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other embodiments and applications without departing from the spirit and scope of the described embodiments. Therefore, the described embodiments are not limited to the embodiments shown, but rather have as wide a range of applications as possible that is compatible with the principles and features disclosed herein.

[0055] All features disclosed below with respect to the exemplary embodiments and / or drawings may be combined with the features of various aspects of the present disclosure (including the features of the preferred embodiments) alone or in any subcombination, provided that the resulting feature combination is reasonable for a person skilled in the art.

[0056] For purposes of this disclosure, the phrase "at least one of A, B, and C" means, for example, (A), (B), (C), (A and B), (A and C), (B and C), or (A, B, and C), and when more than three elements are listed, all other possible combinations are included. In other words, the term "at least one of A and B" generally means "A and / or B," that is, "A" alone, "B" alone, or "A and B."

[0057] Figure 1 A simplified schematic diagram of a system 10 for operating a vehicle 11 for a parking maneuver is shown, according to an embodiment of the present disclosure.

[0058] The system 10 may be in the form of a portion of a vehicle 11. The system 10 is configured to monitor and control a parking maneuver of the vehicle 11 relative to a control location 12 (parking space). Although the control location is shown as a perpendicular control location 12, the system 10 may also be used in conjunction with a parallel control location 12. Alternatively, the system 10 may also be used with control locations 12 in other orientations, such as a diagonal parking space where the control location 12 is oriented diagonally (at an angle) to the road.

[0059] As part of the system 10, a vehicle 11 has folding exterior mirrors 14, 14A, 14B. According to the embodiment shown herein, each folding exterior mirror 14 includes a sensor 16, 16A, 16B. The sensor 16 is in the form of an ambient camera, which is typically configured to optically capture the surroundings of the vehicle 11.

[0060] In an alternative, the vehicle 11 may also have more sensors 16 that may not be arranged at least partially in the folding exterior rearview mirror 14 and may also use other detection technologies. For example, the sensor 16 may provide a radar or lidar-based detection of the surroundings of the vehicle 11 .

[0061] Each folding exterior mirror is coupled to at least one actuator 18, 18A, 18B. The respective actuator 18 is configured to move the respective folding exterior mirror 14 assigned to it at least between a deployed position and a folded position. Of course, the actuator 18 can also be configured to position the respective folding exterior mirror 14 according to an intermediate position between the deployed position and the end position of the folded position.

[0062] For example, by rotating the folding exterior mirror 14 about the vertical axis of the vehicle, the folding process of the folding exterior mirror 14 can be ensured. Alternatively, the folding exterior mirror 14 can also be rotated about a rotation axis of different orientations, for example, starting from the vehicle body and rotating at a certain angle in space.

[0063] As part of the system 10, the vehicle 11 also has a control device 20, which in this case is coupled to the actuators 18 and the sensors 16. The control device 20 has at least one data processing device 22. Overall, the control device 20 is configured to carry out the method explained below.

[0064] According to the embodiment shown here, vehicle 11 also includes a vehicle control device 24 that ensures autonomous or at least partially autonomous driving functionality. For example, vehicle control device 24 herein includes a parking assistance system that can be used to move vehicle 11 to control location 12. For example, the parking assistance system can be used to move vehicle 11 from a starting position of a parking maneuver (e.g., a position on a street road) to control location 12, which serves as the end position of the parking maneuver. In this context, sensor 16 can be configured to detect a linear structure that delimits control location 12. Thus, the parking maneuver can be adjusted so that the end position of the parking maneuver corresponds to the center position of control location 12, that is, the vehicle is oriented in the middle of control location 12 defined by the linear structure.

[0065] The folding exterior mirrors 14 of the vehicle 11 have respective outer contours, in this example referred to as envelopes 26 , 26A, 26B. In this respect, the envelopes describe the three-dimensional outer surface (outer contour) of the respective folding exterior mirror 14 .

[0066] In general, vehicle 11 moves along parking trajectory 28 to control location 12. During the parking maneuver along parking trajectory 28, control device 20 may perform functions to ensure the following method. According to the present embodiment, control device 20 may independently determine parking trajectory 28, for example based on measurement data from sensor 16, or control device 20 of system 10 may receive a corresponding parking trajectory 28, for example, from vehicle control device 24.

[0067] In this case, another vehicle is positioned adjacent to control location 12, with its exterior rearview mirror protruding at least partially as object 30 into the cubic volume corresponding to control location 12. Object 30 can be detected by system 10 (e.g., using sensor 16). System 10 is also configured to detect or determine a (three-dimensional) envelope 32 of object 30.

[0068] Based on the measurement data related to the object 30, the control device 20 of the system 10 can determine the distance A, 34 between the folding exterior mirror 14 of the vehicle 11 and the object 30 along the parking trajectory 28. "Along the parking trajectory 28" here means that the distance 34 at different positions of the vehicle 11 along the parking trajectory 28 can be determined in advance even before the vehicle 11 takes up the corresponding position.

[0069] This makes it possible to evaluate the development trend of the distance 34 and to determine whether and when contact will occur between the folding exterior mirror 14 of the vehicle 11 under consideration and the object 30 or when the distance will fall below a minimum distance threshold.

[0070] When the distance 34 is below the corresponding minimum distance threshold, the control device 20 can be configured to output a corresponding folding signal to the corresponding actuator 18 to initiate the desired folding operation of the folding exterior rearview mirror 14. By folding the folding exterior rearview mirror 14, the outer dimensions of the vehicle 11 are reduced, thereby preventing contact between the vehicle 11 and the object 30.

[0071] Figure 2 A simplified schematic front view of a vehicle 11 with a system 10 according to an embodiment of the present disclosure is shown. According to this embodiment, the control location 12 not only includes the two-dimensional parking space in which the vehicle 11 is parked, but also extends upwards, so that a cubic volume can be assigned to the control location 12, which is used for evaluation and assessment of the corresponding object 30.

[0072] It is also clear here that the method described in more detail below does not restrict the distance 34 between the folding exterior rearview mirror 14 and the object 30 to being oriented along a specific spatial direction. Instead, the distance 34 can be determined along three spatial directions that are oriented orthogonally to one another, so that, more precisely, the minimum distance between the folding exterior rearview mirror and the object 30 can be determined overall along the parking trajectory 28. This determined minimum distance can then be compared with a corresponding minimum distance threshold in order to subsequently influence the parking maneuver, for example, by folding the folding exterior rearview mirror 14.

[0073] Figure 3 A simplified schematic diagram 36 is shown for operating the vehicle 11 for a parking maneuver according to an embodiment of the present disclosure. Optional steps are shown in dashed form.

[0074] In step 38 of method 36 , control device 20 of vehicle 11 first receives or determines a parking trajectory 28 for vehicle 11 to perform a parking maneuver. To independently determine parking trajectory 28 , control device 20 can, for example, use measurement data from vehicle sensors 16 . For example, a linear structure delimiting control position 12 can be detected, allowing the optimal end parking position of the parking maneuver (the end position of parking trajectory 28 ) to be determined. Optionally, control device 20 can also receive parking trajectory 28 from vehicle control device 24 , for example, because vehicle control device 24 includes a parking assistance system that determines parking trajectory 28 .

[0075] In the following step 40, at least one sensor 16 of vehicle 11 detects at least one object 30 in the space outside vehicle 11. Corresponding measurement data indicating object 30 in the space outside vehicle 11 is sent to control device 20. Based on the received measurement data, control device 20 determines that object 30 is located at a specific position in the space outside vehicle 11.

[0076] Method 36 then comprises step 42 in which control device 20 determines distance 34 between folding exterior mirror 14 and object 30 along parking trajectory 28. For this purpose, control device 20 can in particular take into account data of vehicle 11 (eg its dimensions).

[0077] Alternatively, step 42 may also be refined in various ways. For example, step 42 may be designed such that the distance 34 to the object 30 is determined according to optional step 46 taking into account the envelope 26 of the exterior rearview mirror 14 .

[0078] The envelope 26 herein can also be considered based on different angular positions of the exterior mirror 14, which can occur during a folding operation of the exterior mirror 14. In an exemplary scenario, a first edge of the outer surface of the folding door mirror 14 is furthest from the vehicle body when the folding side mirror 14 is deployed. However, after the folding operation has been completed, a different outer edge of the outer surface of the folding exterior mirror 14 is furthest from the vehicle body when the folding exterior mirror 14 is folded. Because the folding operation of the folding exterior mirror 14 affects the outer contour of the folding exterior mirror 14, considering the angle-dependent three-dimensional envelope 26 means that the distance 34 to the object 30 can be determined more accurately. For example, the envelope 26 can be determined based on measurement data from the sensor 16 or even predetermined.

[0079] Optionally, step 42 can also be refined by determining the envelope 32 (in particular, the three-dimensional envelope 32) of the object 30 according to optional step 48. This also improves the accuracy of determining the distance 34 between the folding exterior rearview mirror 14 and the object 30. For example, the envelope 32 can be determined by using measurement data from the sensor 16.

[0080] Furthermore, step 42 may be further refined by an optional step 50 in which the duration of the folding operation of the folding exterior rearview mirror 14 is taken into account when determining the distance 34 along the parking trajectory 28 by the control device 20. During the folding operation of the exterior rearview mirror 14, the vehicle 11 may optionally move along the parking trajectory 28. For example, by taking the duration into account, it may be determined when the folding operation of the folding exterior rearview mirror 14 must be initiated to ensure a sufficient distance 34 in order to prevent contact between the folding exterior rearview mirror 14 and the object 30.

[0081] Method 36 further includes at least step 44, in which, when the distance 34 falls below a first minimum distance threshold, the control device 20 causes the folding exterior mirrors 14 to fold along at least one segment of the parking trajectory 28. According to this embodiment, the first minimum distance threshold is predetermined. To initiate the folding operation of the folding exterior mirrors 14, the control device 20 may output a folding signal to the actuator 18 assigned to the corresponding folding exterior mirror 14. The precise determination of the distance 34 allows the folding exterior mirrors 14 to be folded only along segments of the parking trajectory 28. This means that, compared to previous methods, the functionality provided by the folding exterior mirrors 14 can be provided along a greater portion of the parking trajectory 28. This improves user comfort and allows driver control functions to be performed more accurately and over a longer period of time than before.

[0082] Method 36 can also be refined with respect to step 44 by means of optional step 56, in which the control device 20 minimizes the segment of the parking trajectory 28 along which the folding exterior mirrors 14 are folded, taking into account a tolerance range related to the distance. However, in this context, the control device 20 may take into account the movement of the vehicle along the parking trajectory 28. This means that the control device 20 takes into account the time it takes to fold the folding exterior mirrors 14, during which time the vehicle 11 moves along the parking trajectory 28. This means that the segment is as short as possible, taking into account the vehicle's movement. This is because the distance 34 is determined not only for the specific position of the vehicle 11 relative to the object 30, but also along the entire parking trajectory 28. This ensures that the folding exterior mirrors remain functional over the largest possible portion of the parking trajectory 28.

[0083] Optionally, step 44 of method 36 may be further refined by optional step 58, in which traffic in the vehicle 11's surroundings is taken into account when folding the folding exterior mirrors 14. For example, traffic in the vehicle 11's surroundings may be detected based on measurement data from sensor 16. If the measurement data from sensor 16 indicates that there is little or no traffic in the vehicle 11's surroundings, the vehicle 11's trajectory segment may be further minimized in step 44 by first moving the vehicle to a position along the parking trajectory 28 where the folding exterior mirrors 14 can be folded without contact. The folding exterior mirrors 14 may then be folded while the vehicle 11 is stationary. This means that the vehicle will not move further along the parking trajectory 28 while the exterior mirrors 14 are folded. Consequently, the trajectory segment along which the folding exterior mirrors 14 must be folded can be minimized.

[0084] The method 36 may also be further refined by an optional step 52, which is located before the step 44 and in which the control device 20 outputs the driving control signal according to the step 52. For example, the driving control signal may be output to the vehicle control device 24.

[0085] According to optional step 54, the parking maneuver can be altered and / or stopped based on the driving control signal. This allows the use of the driving control signal to alter and / or stop the mechanisms of the parking assistance system if the control device 20 detects an unexpected decrease in distance 34 along the parking trajectory 28. For example, a second minimum distance threshold may be provided that is less than the first minimum distance threshold and indicates a high probability of contact between the vehicle 11 and the object 30. In this case, the control device 20 can use the driving control signal to influence the parking maneuver and alter and / or stop the parking maneuver.

[0086] Figure 4 A simplified schematic diagram of a method 60 for operating a vehicle 11 for a parking maneuver according to another embodiment of the present disclosure is shown. The method 60 corresponds to a user-directed implementation of the mechanism presented herein.

[0087] In step 62 , method 60 begins.

[0088] In a subsequent step 64 , the driver of vehicle 11 activates a parking assistance system or manually parks vehicle 11 depending on control position 12 . For example, the parking assistance system can be part of driver control unit 24 .

[0089] In a subsequent step 66 , the vehicle 11 is moved along the parking trajectory 28 to the control position 12 .

[0090] The method 60 continues to step 68 where the vehicle 11 records the environment of the vehicle 11 using the system 10 and creates a spatially resolved elevation profile based on the measurement data of the sensors 16 using the control device 20 .

[0091] In a subsequent step 70, the system 10 determines the time until the vehicle 11 (e.g., the folding exterior mirror 14) comes into contact with the object 30 detected as part of the spatially resolved elevation profile. This time is determined separately for each folding exterior mirror 14. The individual durations are determined using the control device 20.

[0092] In the following step 72, the control device 20 evaluates whether the time until contact with the corresponding object 30 is less than a time threshold. The time threshold is determined by the time required for the folding operation of the folding exterior rearview mirror 14. If the condition of step 72 is not met, the method 60 includes returning from step 72 to step 68.

[0093] If the condition of step 72 is met, the method 60 proceeds to the subsequent step 74 , in which the system 10 folds the corresponding folding exterior mirror 14 . To this end, the control device 20 activates the corresponding folding signal output to the corresponding actuator 18 .

[0094] The method 60 then includes a step 76 in which the control device 20 determines whether the parking maneuver has been completed based on the parking trajectory 28. If the condition of step 76 is not met, the method 60 includes returning from step 76 to step 68.

[0095] If the conditions of step 76 are met, method 60 ends in step 78 .

[0096] Specific embodiments disclosed herein (particularly control devices) use circuitry (e.g., one or more circuits) to implement the standards, protocols, methods, or techniques disclosed herein, functionally couple two or more components, generate information, process information, analyze information, generate signals, encode / decode signals, convert signals, transmit and / or receive signals, control other devices, etc. Any type of circuitry can be used.

[0097] In one embodiment, the circuit system (such as a control device) includes, but is not limited to, one or more data processing devices (e.g., processors (e.g., microprocessors)), central processing units (CPUs), digital signal processors (DSPs), application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), systems on a chip (SoCs), or similar devices, or any combination thereof, and may include discrete digital or analog devices, circuit elements, or electronic devices, or combinations thereof. In one embodiment, the circuit system includes a hardware circuit implementation (e.g., implementation in analog circuits, implementation in digital circuits, etc., and combinations thereof).

[0098] In one embodiment, the circuit system includes a combination of circuits and computer program products (having software or firmware instructions stored in one or more computer-readable memories), and these combinations work together to cause the device to perform one or more protocols, methods, or techniques described herein. In one embodiment, the circuit technology includes circuits that require software, firmware, etc. to operate (e.g., a microprocessor or a component of a microprocessor). In one embodiment, the circuit system includes one or more processors or components thereof and associated software, firmware, hardware, etc.

[0099] This disclosure may refer to quantities and numbers. Unless expressly stated otherwise, these quantities and numbers should not be considered limiting, but rather as examples of possible quantities or numbers relevant to this disclosure. In this context, the term "plurality" may also be used in this disclosure to refer to quantities or numbers. In this context, the term "plurality" refers to any number greater than one (e.g., 2, 3, 4, 5, etc.). Terms such as "approximately," "approximately," and "close to" refer to plus or minus 5% of the specified value.

[0100] Although the disclosure has been shown and described with respect to one or more embodiments, equivalent alterations and modifications will occur to others skilled in the art upon reading and understanding this specification and the annexed drawings.

Claims

1. A method for operating a vehicle for a parking maneuver, wherein the vehicle has at least one sensor, a folding exterior mirror, and a control device coupled to the sensor, wherein the method comprises at least the following steps: Determining a parking trajectory of the vehicle for parking maneuvers by the control device, detecting at least one object in a space outside the vehicle by means of the sensor, determining the distance between the folding exterior rearview mirror and the object along the parking trajectory by means of the control device, and When the distance is below a first minimum distance threshold, the control device folds the folding exterior rearview mirror along at least one trajectory segment of the parking trajectory.

2. The method according to claim 1, wherein the control device determines the distance along at least one spatial direction, preferably along at least two spatial directions oriented orthogonally to each other, further preferably along at least three spatial directions oriented orthogonally to each other. 3 . The method according to claim 1 , wherein the distance between the folding exterior rearview mirror and the object is determined along the parking trajectory based on an envelope of the folding exterior rearview mirror.

4. The method according to claim 1, further comprising: An envelope of the object is determined by the control device based on sensor measurement data, wherein the envelope of the object is taken into account when determining the distance between the folding exterior mirror and the object along the parking trajectory. 5 . The method according to claim 1 , wherein the control device minimizes the trajectory segment of the parking trajectory taking into account a distance-related tolerance range. 6 . The method according to claim 1 , wherein the duration of the folding operation of the folding exterior mirror is taken into account when determining the distance by the control device. 7 . The method according to claim 1 , wherein the control device outputs a driving control signal according to the distance, wherein the parking trajectory changes based on the driving control signal.

8. The method of claim 1 , wherein the vehicle has a second folding exterior rearview mirror, the control device causes the second folding exterior rearview mirror to fold along at least a second trajectory segment of the parking trajectory, wherein the folding exterior rearview mirror and the second folding exterior rearview mirror are configured to fold independently or together.

9. The method according to claim 1, further comprising: The parking maneuver is stopped by the control device when the distance falls below a second minimum distance threshold, wherein the second minimum distance threshold is smaller than the first minimum distance threshold.

10. A system for operating a vehicle to perform a parking maneuver, comprising: at least one sensor, wherein the at least one sensor is configured to detect at least an environment of the vehicle; folding exterior mirrors; A control device coupled to the sensor, wherein the control device is configured to at least: receiving or determining a parking trajectory for the vehicle to perform a parking maneuver; detecting an object arranged in an exterior space of the vehicle based on sensor measurement data; determining a distance between the foldable exterior rearview mirror and the object along the parking trajectory; as well as When the distance is below a first minimum distance threshold, the folding exterior mirror is folded along at least one trajectory segment of the parking trajectory.

11. The system of claim 10, wherein the folding exterior mirror comprises the at least one sensor. 12 . The system according to claim 10 , wherein the control device is further configured to output a driving control signal, based on which the parking trajectory can be changed or stopped.

13. The system according to claim 10 , wherein the control device is further configured to: determine a plurality of objects arranged in an exterior space of the vehicle based on sensor measurement data, determine a plurality of distances between the folding exterior rearview mirror and the plurality of objects along the parking trajectory for the plurality of objects, and fold the folding exterior rearview mirror along at least one trajectory segment of the parking trajectory based on at least one of the distances being below a first minimum distance threshold.

14. The system according to claim 13, further comprising a second foldable exterior rearview mirror, wherein the control device is further configured to fold the second foldable exterior rearview mirror along at least a second trajectory segment of the parking trajectory via the control device. 15 . The system of claim 14 , wherein the folding exterior rearview mirror and the second folding exterior rearview mirror are configured to fold independently or together.

16. The system of claim 10, wherein the control device is further configured to stop the parking maneuver when the distance falls below a second minimum distance threshold, wherein the second minimum distance threshold is less than the first minimum distance threshold.

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