Method and device for parking a motor vehicle

Abstract

Method for parking a motor vehicle (EF) in a perpendicular parking space (PL) comprising the steps: measuring the parking space (PL) while driving past it (1), determining an n-pass parking trajectory (2, 3, 4, 5) with the number n greater than one, starting a parking maneuver based on the determined parking trajectory (5), measuring the parking space (PL) during the parking maneuver and determining the orientation of the motor vehicle (EF) with respect to the perpendicular parking space (PL), and correcting the parking trajectory (5) based on the results of measuring the perpendicular parking space (PL) and the orientation of the motor vehicle (EF) during the parking maneuver.

Description

The invention relates to a method for parking a motor vehicle in a perpendicular parking space and to a corresponding device.Parking assistance systems, such as a parking steering assistant for assisted parking of a motor vehicle or parking systems for fully automatic parking of a motor vehicle, are known, parking assistance systems for assisted parking of a motor vehicle in a suitable parking space now belonging to the special features of elevated motor vehicles.For example, the document U.S. Pat. No. 6,948,792 B2 shows a method and a device for parking a motor vehicle in a parallel parking space, wherein a plurality of sensors arranged around the vehicle measure the parking space, detect obstacles and maneuver the vehicle from a suitable initial position in a suitable manner into the parking space.DE 38 13 083 C2 discloses a parking aid for a motor vehicle, in which the motor vehicle has distance sensors arranged laterally on both sides at the front and at the rear for determining the parking space and the distances from obstacles, driver instructions for parking being derived and displayed from the data by means of a suitable control unit, such that the driver is assisted in the parking process and can carry out it in an assisted manner on the basis of the instructions.Furthermore, WO 2005 / 118339 A1 discloses a method and a device for supporting a parking process of a vehicle, wherein the parking space is detected by means of a sensor arrangement while the motor vehicle is driving past the latter, and corresponding distance data for supported parking are generated therefrom for forwarding to the driver.The document DE 10 2008 058 652 A1 describes a method for calculating the parking trajectory of a motor vehicle into a perpendicular parking space, in which it is provided that other perpendicular parking motor vehicles and gaps present therebetween are detected when passing by ultrasonic sensors, that the measurement data obtained by the ultrasonic sensors are processed for perpendicular parking motor vehicles on the basis of measurement data to be expected, and that the measurement data thus processed are used as the basis for the calculation of the parking trajectory.The publication DE 10 2005 032 095 A1 describes a parking device for supporting a parking process, in which sensors record a vehicle environment and an evaluation unit determines an orientation of the parking space on the basis of the parking space environment.The document DE 10 2005 046 827 A1 proposes a method for parking assistance in which, in the case of an at least partial positioning of the vehicle in a parking space which has not yet been concluded, the dimensions of the parking space are determined and a trajectory of the vehicle is determined for the conclusion of the parking process.The publication US 2006 / 0167633 A1 discloses a system for surveying the environment of a vehicle, which system ascertains information about objects located in the environment of the vehicle, and a system supporting the parking, which system uses the information of the surveying system for ascertaining a parking trajectory and for aligning the vehicle in the parking space.Furthermore, parking steering assistants are known in which a transverse parking space is measured when driving past. The trajectory of an n-speed parking process is then calculated from the measured data, the number of parking cycles resulting from the prevailing circumstances of the surroundings of the parking space. The vehicle is guided into the parking space along the calculated trajectory, wherein the parking steering assistant assumes the transverse guidance and the braking and the acceleration of the vehicle are carried out by the driver during the parking trains.A disadvantage of the known methods and devices is that measurement errors can occur in the measurement of the start of the parking space or the end of the parking space, which leads to unsafe assistance of the driver.The object of the invention is therefore to provide a method and a device for parking a motor vehicle in a perpendicular parking space with improved detection of the start and end of the parking space.This object is achieved by a method having the features of claim 1 and by a device having the features of claim 8. Preferred embodiments of the invention are the subject matter of the dependent claims.The method according to the invention for parking a motor vehicle in a perpendicular parking space comprises the following steps:measuring the parking space while the motor vehicle is driving past,determining an n-rapid parking trajectory, wherein the number n>1,beginning the execution of a parking process which is based on the determination of the parking trajectory carried out in the preceding step,measuring the parking space during the parking process and determining the orientation of the motor vehicle with respect to the perpendicular parking space, andcorrection of the parking trajectory on the basis of the results of the continuous measurement of the transverse parking space and the orientation of the motor vehicle during the parking process.When entering the parking space, the parking process is thus advantageously switched from planning the path along the calculated trajectory for continuous regulation, wherein the re-measurement of the parking spaces is present when the vehicle with the rear sensors has determined the starting point of the gap incorrectly when driving past.Preferably, the number n of parking trains is three or five.The correction of the parking trajectory preferably includes a predefined orientation of the motor vehicle relative to the parking space. In other words, during the parking process, a desired orientation of the vehicle is effected by the continuous re-measurement of the perpendicular parking space, i.e. for example the vehicles which delimit the perpendicular parking space.The alignment of the motor vehicle can be effected, for example, centrally with respect to the transverse parking space. The alignment of the vehicle with respect to the parking space can also be a function of the occupancy of the motor vehicle. In other words, if, for example, the passenger seat is occupied, the alignment should be effected in such a way that a comfortable getting-out of the passenger should be possible.Furthermore, in the case of transverse parking gaps whose width is greater than a predefined minimum width, the alignment can take place at the transverse parking gap end. In other words, if the perpendicular parking space is, for example, wider than 3.9 m, the vehicle is aligned at the end of the space, i.e. at the stationary vehicle normally defining the end of the space. It may be prescribed that the host vehicle maintains a minimum distance from the already parked vehicle, for example of 45 cm. Furthermore, the vehicle should preferably be oriented parallel to the parking space end, wherein parallel means that the deviation must be less than a predefined angle, for example 2°.A device according to the invention for carrying out the method explained above, i.e. a parking assistance system, comprises a left and / or right sensor system arranged laterally on the motor vehicle for measuring the parking space during the passing, a control unit for evaluating the measurement data, and for determining the parking space, for determining an n-speed parking trajectory with n>1 and for carrying out the parking process by means of an interaction with the driver, wherein the left and right sensor systems of the motor vehicle each comprise a sensor unit arranged at the front and at the rear, which sensor unit monitor the lateral environment of the motor vehicle.The device preferably has further sensor units which cover the front and rear environment of the motor vehicle.Further preferably, the interaction with the driver is carried out by means of a touchscreen display. Other forms of interaction are of course possible.Preferred embodiments of the invention are explained in more detail below with reference to the drawings. This shows FIG. 1 shows the sequence of an assisted perpendicular parking, FIG. 2 shows the sensor system of a motor vehicle, FIG. 3 shows the driving into a transverse parking space, FIG. 4 shows possible incorrect measurements during the determination of the parking space, FIG. 5 shows a preferred alignment in the case of oversized parking spaces, FIG. 6 shows the alignment of the parking vehicle between two objects, FIGS. 7A and 7B show the orientation of the host vehicle relative to a left and right object, respectively; and FIGS. 8A and 8B show the orientation of the own vehicle relative to a left and right small object, respectively.FIG. 1 shows a typical sequence of a parking process into a perpendicular parking space PL. The host vehicle EF measures the parking space PL during the pass 1, wherein the perpendicular parking space is defined by two parked vehicles F 1, F 2. On the basis of the width of the parking space PL and / or other environmental parameters, the assisting parking aid, such as a parking steering assistant, has calculated a three-pass parking process with a first rear train 2, a second forward train 3 and a further rear train 4, which parks the host vehicle EF into the parking space PL. In the example mentioned, the transverse guidance is taken over by the parking steering assistant. It is obvious that the dimensions of the parking space PL determined during the pass 1, in particular the start and the end of the parking space, must be known with sufficient accuracy to avoid a collision of the host vehicle with flanks of the parked vehicles F 1 or F 2.FIG. 2 shows the equipment or fitting of the host vehicle EF with the environment sensor system. In the front region, the host vehicle EF is equipped with a lateral environment sensor S at the front left and a lateral environment sensor T at the front right. Furthermore, four environment sensors K, L, M and N are arranged on the host vehicle EF for detecting the front environment, in order to cover the front area without gaps. The same situation is found in the rear region of the host vehicle EF, there is arranged a sensor U detecting laterally on the left and a surroundings sensor V detecting laterally on the right on the vehicle EF, preferably in the region of the rear lamps. In order to cover the rear region of the vehicle EF, the latter is equipped with a further four sensors O, P, Q and R in the rear region.FIG. 3 shows a schematic illustration of the driving of the host vehicle EF into a perpendicular parking space PL during a one-shot parking process. The parking vehicles F 1 and F 2 forming the parking space are again shown with their schematically indicated inner lateral flanks SF 1 and SF 2. It can be seen along the parking trajectory 5 shown as an arrow that the lateral sensors V and U are used to scan and record the parking space-limiting vehicles F 1 and F 2 along the parking trajectory 5. A collision with the lateral vehicle flanks SF 1 and SF 2, which are not protected by bumpers, is avoided by continuously detecting the surroundings of the host vehicle EF by means of the lateral sensors U and V by suitably readjustment of the parking trajectory 5.Furthermore, the lateral sensors U and V can also be used to align the alignment of the host vehicle EF in the parking space PL. An orientation that is suitable is, for example, a central orientation in the parking space PL or an orientation in the parking space PL that is dependent on the occupancy of the host vehicle EF. For example, if the passenger seat of the vehicle EF is unoccupied, the vehicle EF may be maneuvered closer to the parked right vehicle F 2 to provide the driver with more space for getting off the left vehicle F 1. In other words, the vehicle EF is parked with the side closer to the parking space boundary where no persons are seated, thereby ensuring a comfortable getting-out of the persons.FIG. 4 shows possible measurement errors which lead to deficiencies in path planning. As already explained in FIG. 1, the parking space is measured when the host vehicle EF passes, and a 1-, 3-, or 5-speed parking trajectory 5 is calculated on the basis of the measurement. If the sensor system has now incorrectly determined the start PLA of the parking space during the journey, for example too early which point B would correspond instead of point A, or too late which corresponds to point B* instead of point A, the planned parking trajectory 5 could lead to a collision with the vehicle (not shown) forming the start PLA of the parking space or with a vehicle (not shown) forming the end PLE of the parking space. Due to the rear lateral sensor system U or V, as shown in FIGS. 2 and 3, it is possible to correctly determine the parking space starting point A when the host vehicle EF enters the parking space PL, so that the parking trajectory 5 is corrected again when the host vehicle EF enters. In other words, when entering the parking space PL, the calculated path planning is switched to continuous regulation and the parking trajectory 5 is adjusted accordingly.FIG. 5 shows the assisted parking in a perpendicular parking space PL formed by the start PLA of the parking space and the end PLE of the parking space. In this case, the parking space width PLB is greater than a predefined width, for example 3.9 m. In this case, the center of the parking space PL is not used as the target position, but rather a target position is approached on the basis of the parking trajectory 5, which is parallel to and below a predefined distance from the end PLE of the parking space. The minimum parking distance PA is, for example, 45 cm from the parking space end PLE. The parking space end PLE is again usually predefined here by a parking vehicle (not shown). The parking lot start PA can also be formed by a vehicle (not shown).FIG. 6 shows the parked arrangement of the host vehicle EF between two vehicles F 1 and F 2 within a parking space PL of the width PLB, wherein the host vehicle EF has a vehicle width EFB. As a function of the parking space ready PB and of the host vehicle width EFB, lateral distances a, b, d and c are possible which must not fall below certain predefined minimum variables in order to have the host vehicle EF arranged substantially parallel to the central line of the parking space PL. This requires that an angle ψ, which defines the deviation of the vehicle longitudinal axis from the parking space axis, must be smaller than a predefined value, in the present case smaller than 2°, for example.For the target parking position of the host vehicle EF in the parking space PL having the width PB formed by the two vehicles F 1, F 2, the distances a, b, c, and d to the side vehicles F 1 measured from the outer edges of the tires of the host vehicle are applicable. F2:a, b, c, d=1 1⁄2 (PB-EFB) with deviations of + / - 10 cm, wherein it is still the case that | ψ|<2 °.Furthermore, it must be the case for the parking space width PLB that the parking space width PLB is limited downward by a minimum width and upward by a maximum width. The minimum width may be 2 m and the maximum width may be 6 m.FIGS. 7A and 7B show the schematic arrangement of the host vehicle EF in relation to a left vehicle F 1 and to a right parking space-limiting vehicle F 2, respectively. Here, the lateral distances a and d or b and c are equal to a predetermined lateral parking distance with a deviation of + / - 10 cm, wherein it is furthermore true that | ψ | <2 ° relative to the lateral object F 1, F 2FIGS. 8A and 8B show the relevant distance d and c from short lateral objects Ob 1 and Ob 2 together with the angle of deviation ψ. Short lateral objects are defined as implausible objects, such as a tree, or as objects having an extent to the depth of less than 1.5 m. Here, the distances c and d are equal to a predetermined lateral parking distance with a deviation of + / - 10 cm, and | ψ | < 1° to the lateral short object is Ob1, Ob2.

Claims

Method for parking a motor vehicle (EF) in a perpendicular parking space (PL), having the steps: measuring the parking space (PL) during the journey (1), determining an n-rapid parking trajectory (2, 3, 4, 5) having the number n greater than one, starting to carry out a parking process on the basis of the determined parking trajectory (5), measuring the parking space (PL) during the parking process and determining the orientation of the motor vehicle (EF) with respect to the perpendicular parking space (PL), and correcting the parking trajectory (5) on the basis of the results of the measurement of the perpendicular parking space (PL) and the orientation of the motor vehicle (EF) during the parking process.Method according to Claim 1, characterized in that the number n of parking trains (2, 3, 4) is 3 or 5.Method according to one of the preceding claims, characterized in that the correction of the parking trajectory (5) contains a predefined orientation of the motor vehicle (EF) relative to the parking space (PL).Method according to Claim 3, characterized in that the alignment takes place centrally with respect to the parking space (PL).Method according to Claim 3, characterized in that the alignment of the vehicle (EF) with respect to the parking space (PL) is a function of the occupancy of the motor vehicle.Method according to Claim 3, characterized in that, in the case of transverse parking spaces whose width (PLB) is greater than a predefined minimum width, the orientation of the motor vehicle (EF) takes place relative to the parking space end (PLE).Method according to Claim 6, characterized in that the alignment of the motor vehicle (EF) takes place parallel to the end (PLE) of the parking space at a predefined distance (PA), wherein the deviation from the parallelism to the end (PLE) of the parking space is less than a predefined angle.Device for parking a motor vehicle (EF) in a perpendicular parking space (PL), wherein the device is configured and designed to carry out the method according to one of the preceding claims, having a left and right sensor system (S, T, U, V) arranged laterally on the motor vehicle for measuring the parking space, a control unit for evaluating the measurement data and determining an n-rapid parking trajectory (2, 3, 4, 5) with the number n greater than one and for interaction with the driver and for carrying out the parking process, wherein the left and right sensor system each comprises a sensor unit arranged at the front and at the rear.Device according to Claim 8, characterized in that the device has further sensor units (K, L, M, N, O, P, Q, R) which monitor the front and rear environment of the motor vehicle (EF).Device according to one of claims 8 or 9, characterised in that the device has a touch screen for interaction with the driver.

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