Device and method for assisting a parking space exit process

Abstract

Device for assisting a parking space reversing process to prevent a collision with an object ahead in the sense of driver assistance in a motor vehicle with an electronic control unit and sensors (S1, S2, S3, S4) connected to the latter and attached to the front of the motor vehicle for measuring the distance to the front (x), wherein the control unit has an evaluation module by means of which the position of the boundary point (A) of the object in the direction of the roadway (F) in relation to the front of the vehicle's own motor vehicle can be determined by means of the detected signals from the sensors (S1, S2, S3, S4), characterized in that the sensors (S1, S2, S3, S4) each have a radiation orDetection characteristics in the form of a lobe, and that the position of the boundary point (A) can be determined by means of the evaluation module in such a way that the boundary point (A) of the object can be assigned sequentially to the lobes of the sensors (S1, S2, S3, S4) during the vehicle movement.

Description

[0001] The invention relates to a device and a method for supporting a parking maneuver according to the preamble of claim 1.

[0002] Devices and methods for assisting with parking maneuvers are often known as PDC (Park Distance Control) systems. These systems emit visual and / or acoustic signals to the driver depending on the distance to the object in front and / or behind. The distance measurement performed in this way is relatively inaccurate. Automatic parking maneuvers are not performed with these systems.

[0003] Furthermore, parking assistants are known that, after measuring the parking space, maneuver a vehicle into a parking space semi- or fully automatically. For technical background information, reference is made, for example, to DE 10146712 A1, DE 19817142 A1, or DE 3728948 A1.

[0004] German patent DE 10 2007 036 251 A1 describes a method for supporting the parking maneuvers of motor vehicles, in which data from various on-board sensors are used to determine a collision-free exit. Sensor data acquired during parking to model the physical environment are stored. When exiting the parking space, this stored data is retrieved and checked for plausibility based on current distance data.

[0005] Furthermore, DE 10 2005 015 354 A1 discloses a method for assisting a vehicle in parking in a laterally arranged parking space. As the vehicle passes the parking space, a sensor arrangement on the vehicle measures the distance to an obstacle on the first longitudinal side of the vehicle, the side furthest from the parking space.

[0006] The object of the invention is to further develop the device or method of the type mentioned above in the direction of an improved parking assistant.

[0007] This problem is solved by the subject matter of claim 1 by means of a device and by the subject matter of claim 4 by means of a method. The dependent claims are advantageous embodiments of the invention.

[0008] The use of the invention with a steering system that can adjust steering angles independently of the driver is particularly advantageous, thus creating at least a semi-automatic parking assistant. Acceleration, gear changes, and braking can still be controlled by the driver.

[0009] The invention relates only to parking situations in which the vehicle is located lengthwise to the direction of travel.

[0010] Regarding the automation of the parking assist system, various levels of support can be provided. At least steering assistance would be particularly advantageous.

[0011] After the system is activated by the driver, autonomous, driver-independent steering occurs, depending on the current gear selection, in the direction appropriate to the vehicle's position relative to the object in front, up to the full lock. The evaluation according to the invention is performed by the control unit using sensors, which can also be conventional PDC sensors. Based on the sensor signals, it automatically recognizes whether the vehicle is to exit the parking space to the left or right. Additionally, the turn signal activation is evaluated to determine the desired exit direction. This requires a suitable steering system and a corresponding display and operating system, such as those already known from parking assistants.

[0012] The invention focuses in particular on the evaluation using the sensors, which makes a particularly accurate distance measurement to the obstructing object in the front area of ​​the vehicle possible.

[0013] The drawing shows an embodiment of the invention. Fig. 1 Schematic representation of possible movement sequences of a motor vehicle that could be carried out with the parking assistant according to the invention, Fig. 2 schematically a starting position at the beginning of driver support by the parking assistant according to the invention and Fig. 3 schematically a position of the motor vehicle in relation to the object in front, from which reintegration into the surrounding traffic becomes possible

[0014] In Fig. In Figure 1 above, a vehicle (represented as a rectangle) is parked in a parallel parking space, parallel to lane F. The direction of travel is to the right. After activating a steering-assisted parking system, automatic steering maneuvers can be performed according to the individual movements shown. This requires precise knowledge of the respective dynamic distance between the most relevant points A and B. Point A is the position of the object's most relevant boundary point, located in the direction of lane F, relative to the front of the vehicle. Point B is the vehicle's most relevant boundary point for the parking maneuver. In the bottom image of Fig. 1. Point B, relative to point A, has entered an area where there is a risk of collision with the parked object ahead, in which the distance-controlled trajectory transitions to model-based trajectory control. The inventive parking assist system with distance control in the x and y directions can be deactivated when the driver can easily assume 100% control of the vehicle. The intuitive method of the takeover recommendation is an inventive enhancement of the parking assist system. Following this, for example, the vehicle can transition to lane-change control, whereby, after safely passing point A, it steers onto the open roadway without achieving a 100% precise return to the roadway.

[0015] In the Fig. 2 and Fig. Section 3 will discuss in more detail the functionality of the evaluation module of the control unit according to the invention.

[0016] In Fig. Two sensors, S1, S2, S3, and S4, are mounted on the front of a parked vehicle for measuring the distance forward in the x-direction. Each sensor has a beam pattern or detection characteristic in the shape of a cone. The control unit includes an evaluation module in the form of software that uses the signals from sensors S1, S2, S3, and S4 to determine the position of the object's boundary point A, located in the direction of the roadway F, relative to the front of the vehicle. This is done by assigning boundary point A to the beam patterns of sensors S1, S2, S3, and / or S4. Based on the beam pattern, the X and Y coordinates of point A can be precisely determined when a sensor beam enters or exits the vehicle. The measurement is dynamic, meaning...The survey is based on determining the coordinates during vehicle movement, because only then does point A "travel" through the various sensor beams. In . Fig. 2. For example, the limit point A is assigned to the beam of sensor S1. As the vehicle rotates out of parking space, the limit point A moves into the beams of the other sensors.

[0017] The evaluation module is designed in such a way that the distance x in the longitudinal direction and the distance y in the transverse direction of the most relevant boundary point B of the own vehicle for the parking maneuver to the determined position of the boundary point A is calculated or at least estimated.

[0018] In Fig. Figure 3 shows the position of the motor vehicle in relation to the object ahead, from which point reintegration into the surrounding traffic becomes possible. The driver assistance provided by the parking assistant according to the invention should end at the earliest when the vehicle has reached a position in which a collision between the boundary point B (vehicle side) and the boundary point A of the object is no longer possible. The in Fig.The position shown in Figure 3 describes the transition from regulated to controlled maneuvering. The end of the driver assistance is designed so that the driver can easily resume 100% control of the vehicle from a specific takeover point. Part of the invention is to make this takeover point intuitive for the driver. This is achieved by straightening the steering wheel at the transition to the controlled phase of the parking maneuver to guide the vehicle out of the parking space. Finally, the vehicle is gently steered to provide the driver with a recommendation for action. If the driver does not follow this recommendation, the steering input should not result in the vehicle correctly repositioning itself in the road.

[0019] Preferably, the parking assistant is deactivated after a takeover recommendation is signaled.

Claims

[1] Device for assisting a parking maneuver to prevent a collision with an object in front, in the sense of driver assistance in a motor vehicle, comprising an electronic control unit and sensors (S1, S2, S3, S4) attached to the front of the motor vehicle for measuring the distance to the front (x), wherein the control unit has an evaluation module by which, using the signals received from the sensors (S1, S2, S3, S4), the position of the boundary point (A) of the object in relation to the front of the motor vehicle can also be determined. characterized by, that the sensors (S1, S2, S3, S4) each have a beam or detection characteristic in lobe form, and that the position of the boundary point (A) can be determined by means of the evaluation module in such a way that the boundary point (A) of the object is sequentially assigned to the lobes of the sensors (S1, S2, S3, S4) during the vehicle movement. [2] Device according to claim 1, characterized by , that the evaluation module is designed in such a way that the distance (x) in the longitudinal direction and the distance (y) in the transverse direction of the most relevant boundary point (B) of the own vehicle to the determined position of the boundary point (A) of the object is calculated or at least estimated. [3] Device according to claim 2, characterized by, that the evaluation module is designed in such a way that the control of the parking maneuver in the sense of driver assistance is terminated when the vehicle has driven out of the parking space, does not fall below a minimum distance to the boundary point (A) of the object and the 100% takeover of vehicle control by the driver has been ensured by steering the vehicle towards the lane. [4] Method for assisting a parking maneuver to prevent a collision with an object in front, in the sense of driver assistance in a motor vehicle, by means of an electronic control unit and sensors (S1, S2, S3, S4) connected to it and attached to the front of the motor vehicle for measuring the distance to the front (x), wherein the control unit also determines the position of the boundary point (A) of the object in relation to the front of the motor vehicle by means of the signals received from the sensors (S1, S2, S3, S4), characterized by , that the sensors (S1, S2, S3, S4) each have a beam or detection characteristic in lobe form and the position of the boundary point (A) is determined in such a way that the boundary point (A) of the object is sequentially assigned to the lobes of the sensors (S1, S2, S3, S4) during the vehicle movement. [5] Method according to claim 4, characterized by , that in the control unit the distance (x) in the longitudinal direction and the distance (y) in the transverse direction of the most relevant boundary point (B) of the own vehicle to the determined position of the boundary point (A) of the object is calculated or at least estimated. [6] Method according to claim 5, characterized by , that the control unit terminates the control of the parking maneuver in the sense of driver assistance when the vehicle has driven out of the parking space, does not fall below a minimum distance to the boundary point (A) of the object and the 100% takeover of vehicle control by the driver has been ensured by steering the vehicle towards the lane.

Images