Parking system for one vehicle

Abstract

Parking system for a vehicle (1), comprising: a sensor system consisting of several sensors (2, 3, 4, 5) for measuring distance data between the vehicle (1) and its surroundings; and a processing unit which, based on the measured distance data, determines a parking space (6) and its parking space boundaries (7a, 7b, 7c) and calculates a trajectory to be traversed during the parking process into the parking space (6), wherein at least one of the sensors (4) in its intact state is configured to detect at least one of the determined parking space boundaries (7a) when traversing the trajectory, wherein the distance between the vehicle (1) and the parking space boundary (7a) is remeasured when traversing the trajectory, wherein the remeasurement begins when a predetermined distance (d) to the parking space boundary (7a) is reached, wherein the processing unitIf the sensor (4) does not detect the parking space boundary (7a) identified as being within its detection range during the trajectory, - activates a warning element which instructs the driver to check the route himself by means of a warning signal, and - activates a braking system which automatically brakes the vehicle (1).

Description

The present application concerns a parking system and a parking assistance procedure for a vehicle. State of the art Parking systems for parking a vehicle in a parallel parking space (parking spaces between vehicles parked one behind the other, parallel to the roadway) are known, in which a sensor mounted on the side of the vehicle measures the distance to objects next to the vehicle while driving forward, and the system uses the signals it receives to determine whether and where a suitable parking space is available relative to the vehicle. Such a system is described, for example, in US 2007 / 0146464 A1. With some parking systems, the driver drives the vehicle and receives driving instructions from the system during the parking process to safely maneuver into the parking space. With so-called transverse parking systems, the system takes over the steering, so the driver only needs to operate the brake and accelerator. German patent DE 10 2005 050 576 A1 describes a system or method for parking a vehicle using multiple sensors to measure distance data between the vehicle and its surroundings. From this distance data, the boundaries of a parking space are determined, and a trajectory to be followed during the parking maneuver is calculated. A model of the parking space is created from these determined boundaries. The current vehicle speed and direction of travel are monitored, and the point in time at which the vehicle would collide with a parking space boundary represented as a model is calculated. In the event of an impending collision, a warning signal is issued to the driver. Because the vehicle boundaries are represented as a model, safe parking is possible even with a defective distance sensor, as the system does not have to rely solely on the current measurement values ​​of the distance sensors during the parking maneuver. German patent DE 10 2006 056 094 A1 discloses a driver assistance system for autonomous vehicles that uses seat occupancy detection to determine whether the driver is present. If certain conditions occur, such as a radar sensor failure, a warning signal is issued to the driver. If the driver does not react in time, the vehicle is brought to a controlled stop. German patent DE 10 2008 001 648 A1 discloses a driver assistance system that incorporates multiple distance sensors at the rear, front, and sides of a vehicle. These sensors acquire and continuously update distance information to obstacles in the vehicle's surroundings. German patent DE 10 2008 022 199 A1 discloses a driver assistance system with two separate sensor systems. The first sensor system provides initial obstacle information to the driver of the vehicle within a first detection range. The second sensor system, which has a second detection range positioned at an angle greater than 0° to the first, provides further obstacle information even when the obstacle is no longer within the second detection range. The system is designed to combine the first and second obstacle information in such a way as to correct detection errors in the sensor systems and provide updated obstacle information. Document US 7 344 205 B2 discloses a parking assistance control device and a storage medium for a parking assistance control program. German patent application DE 10 2008 027 779 A1 discloses a method for assisting a driver of a vehicle in parking into a parking space, wherein a parking space geometry is determined during the parking process and compared with the parking space geometry determined before the start of the parking process, wherein if the two parking space geometries differ from each other, any existing deviation is evaluated and the parking trajectory is corrected and / or recalculated if necessary. Document DE 10 2006 013 936 A1 discloses a method for operating an environment detection system of a vehicle. Document DE 10 2006 025 537 A1 discloses a parking assistance system. Document DE 10 2004 054 437 A1 discloses a method for automatically controlling and / or regulating the movement of a vehicle during a parking maneuver. Document DE 10 2007 049 709 A1 discloses a method for parking assistance. Document JP 2007-334 765 A discloses a remote control device for a vehicle. The document JP H09 - 160 643 A reveals a vehicle diagnostic system. Document JP H04 - 321 733 A discloses a control device for a vehicle control system. Document DE 10 2004 001 909 A1 discloses a method for processing sensor data, whereby substitute data is generated which replicates sensor data of a failed sensor when a predetermined condition occurs, if a failure of a sensor or a sensor connection is detected. Disclosure of the invention The present invention relates to a parking system, for example a parking and / or exiting system, for a vehicle, in particular a motor vehicle, which comprises a sensor system consisting of several sensors for measuring distance data between the vehicle and its surroundings, and a processing unit which, based on the measured distance data, determines a parking space and its parking space boundaries and calculates a trajectory to be followed during the parking process into the parking space, wherein at least one of the sensors, in its intact state, is configured to detect at least one of the determined parking space boundaries when the trajectory is traversed, wherein, if the sensor does not detect a parking space boundary identified as being within its detection range when the trajectory is traversed, the processing unit controls a warning element which instructs the driver by means of a warning signal to check the driving path himself.and controls a braking system that automatically brakes the vehicle, especially to a standstill. "Automatic" braking can be understood in particular to mean that the braking is initiated by the processing unit and not by the driver of the vehicle. In one embodiment, the driver is additionally instructed by the warning signal or another warning signal to take over the parking process himself. The parking system according to the invention has the advantage that model-based parking is possible, whereby the driver of the vehicle is not only informed about the status of the sensor system, but, moreover, in the event of irregularities in the sensor function, for example due to defective or temporarily degraded (temporarily blind) sensors (e.g. due to contamination (mud / slush), the driver is unequivocally instructed to check the parking process himself and, if necessary, to take over. In this way, contact with objects that move into the vehicle's path during the parking process and / or with parking space boundaries can be avoided. The warning signal can be visual, audible, and / or haptic. The warning element can be integrated, for example, into a multifunction device in the driver's control panel. The monitor of a navigation system can be used for this purpose. Alternatively or additionally, the warning element can be part of a driving instruction system that is controlled by the processing unit to issue driving instructions, particularly steering and / or braking instructions, to the driver according to the calculated trajectory. This is also known as "Park Steering Information" (PSI). The driver can then park in or out of a parking space by following the steering instructions and manually steering. For example, the driving instruction system or warning element can include a screen (display) and / or a speaker and / or one or more lights and / or a projector with which warning signals and / or driving instructions can be projected onto the windshield. In particular, the driving instructions or warning signal can be issued by a computer voice, for example, via the vehicle's stereo speakers. It is advantageous if any music or similar audio playing through the speakers is muted during the parking process, so that the driver can concentrate on the parking maneuver itself and perceive the instructions clearly and understandably. This allows the parking system to guide the driver into or out of the parking space with clear instructions regarding the timing and degree of steering wheel movement. The processing unit can also control the vehicle's steering system so that the vehicle is automatically steered according to the calculated trajectory during the parking process. The steering can be controlled by the parking system, for example, via the vehicle's network (e.g., CAN, FlexRay, etc.). In this case, the parking system can automatically perform steering maneuvers, for example, using or via the vehicle's electric power steering ("Park Steering Control" (PSC)). The vehicle's steering system can be, for example, an electric, particularly electromechanical, steering system with an automatic steering function, especially an electromechanical power steering system (EPS) with an automatic steering function. An "automatic steering function" here means that the vehicle's steering system is designed to steer the vehicle automatically, that is, without any active steering input from the driver.For example, the steering system can be an electromechanical power steering system, designed both to assist driver-induced steering movements (power steering) and to perform automatic steering movements (automatic steering function). If the driver still handles acceleration (throttle) and braking in this configuration, the parking system can be described as a semi-automatic parking system or a transverse parking system. In addition to controlling the braking system in the case according to the invention, the processing unit can also control the drive and / or steering and braking system of the vehicle in such a way that the vehicle is automatically accelerated and / or steered and braked during the parking process according to the calculated trajectory. In this case, the parking system can be described as an automatic parking system or as a transverse and longitudinal guided parking system. The sensors of the sensor system can be selected independently from the group of ultrasonic sensors, infrared sensors and / or optical cameras. The trajectory can be either a trajectory leading from the current vehicle position into the parking space or a trajectory leading out of the parking space. In one embodiment, the sensor system comprises one or more side sensors for detecting a detection area to the side of the vehicle, one or more rear sensors for detecting a detection area behind the vehicle, and optionally one or more front sensors for detecting a detection area in front of the vehicle. This allows the lateral, rear, and frontal environment of the vehicle to be monitored and measured. The parking system is therefore particularly reliable. With such a sensor system, as the vehicle passes a parking space, the side sensors measure distance data between the vehicle and its surroundings. Based on this data, the processing unit determines the parking space and its boundaries and calculates the trajectory to be followed during the parking maneuver. According to the invention, during the parking maneuver, or rather while following the trajectory, the distance to the parking space boundary calculated during the trajectory calculation is then remeasured by the rear sensors, for example, when the vehicle is reversing into the parking space, and / or optionally by the front sensors, for example, when the vehicle is moving forward into the parking space. If the calculated distance deviates from the remeasured distance, for example by more than 50 cm, the trajectory can be corrected.If the measured distance is significantly smaller, for example by 50 cm, than the calculated distance, the processing unit can also activate the warning element or another warning element, instruct the driver to check the road ahead by means of a warning signal, and activate a braking system to automatically decelerate the vehicle, particularly to a standstill. This can occur, for example, if a moving object, such as a pedestrian, enters the detection zone. "Automatic" braking can be understood in particular to mean that the braking is initiated by the processing unit and not by the driver of the vehicle. In one embodiment, the driver is additionally instructed by the warning signal or another warning signal to take over the parking process himself. According to the invention, the subsequent measurement only begins once a predetermined distance d to the parking space boundary has been reached. This is usually sufficient to correct any inaccuracies in the trajectory. In another embodiment, the sensor for detecting a parking space boundary during the trajectory is a rear sensor for capturing a detection area behind the vehicle and / or a front sensor for capturing a detection area in front of the vehicle. In a further embodiment, the sensor system comprises at least one first and one second side sensor arranged one behind the other in the direction of travel on one side of the vehicle for detecting a detection area to the side of the vehicle: In one embodiment of this system, the sensor system comprises one first and one second side sensor arranged one behind the other in the direction of travel on each side of the vehicle for detecting a detection area to the side of the vehicle. This allows any type of lateral space or parking space to be monitored. Furthermore, the parking system can include a storage unit for storing the measured distance data, the determined parking space information, the determined parking space boundary information, and / or the calculated trajectory. The storage unit can, for example, be part of or connected to the processing unit. The central processing unit is preferably designed to retrieve data stored on the storage unit and to store data on the storage unit. A further object of the present invention is a parking assistance method for a vehicle, for example a motor vehicle, in particular with a parking system according to the invention, comprising the method steps: - measuring distance data between the vehicle and its surroundings, in particular its lateral surroundings, by means of a sensor system consisting of several sensors, - determining a parking space and its parking space boundaries based on the measured distance data, - calculating a trajectory to be traversed during the parking process into the parking space, - checking whether at least one of the sensors, which in an intact state is configured to detect at least one of the determined parking space boundaries when traversing the trajectory, detects a parking space boundary determined to be located in its detection area, and,- If the sensor fails to detect a parking space boundary identified as being within its detection range while traversing the trajectory: - Issuing a warning signal instructing the driver to check the route themselves, and - Automatically braking the vehicle, especially to a standstill. In particular, a warning element can be activated to issue a warning signal, instructing the driver to check the road ahead. For automatic braking of the vehicle, a braking system that automatically decelerates the vehicle can be activated. In one embodiment, the driver is additionally instructed to take over the parking process himself by means of the warning signal or a further warning signal. In another embodiment, when the vehicle passes a parking space, distance data between the vehicle and its lateral surroundings are measured, and based on this measured distance data, the parking space and its parking space boundaries are determined, and the trajectory to be traversed during the parking process into the parking space is calculated. Additionally, as part of the procedure, driving instructions, in particular steering instructions and / or braking instructions, can be issued to the driver and / or the vehicle can be automatically accelerated and / or steered and / or braked in order to complete the trajectory. According to the invention, the method further comprises the process step: - Remeasuring the distance between the vehicle and the parking space boundary, in particular the distance between the rear of the vehicle and the parking space boundary by means of at least one rear sensor and / or optionally the distance between the front of the vehicle and the parking space boundary by means of at least one front sensor, during the parking process or when traversing the trajectory. For example, distance data can be remeasured across the vehicle's front, rear, and side surroundings. This allows for the creation of a comprehensive picture of the vehicle's environment. According to the invention, the remeasurement begins when a predetermined distance (d) to the parking space boundary is reached. Furthermore, the procedure can include the following steps: - Checking whether the distance to the parking space boundary calculated as part of the trajectory calculation matches the distance to the parking space boundary measured afterwards, - Correcting the trajectory if the calculated distance deviates from the measured distance by more than one tolerance range. The invention further relates to a computer program which enables a processor to carry out a method according to the invention. The invention further relates to a vehicle, in particular a motor vehicle, which includes a parking system according to the invention. Further advantages and advantageous embodiments of the invention are illustrated by the drawing and explained in the following description. It should be noted that the drawing is for descriptive purposes only and is not intended to limit the invention in any way. Fig. 1 shows a schematic view of a vehicle with an embodiment of a parking system according to the invention while parking in a parking space. Fig. 1 shows a vehicle 1 equipped with an embodiment of a parking system according to the invention. Fig. 1 shows that the parking system comprises a sensor system consisting of several sensors 2, 3, 4, 5 for measuring distance data between the vehicle 1 and its surroundings. In particular, Fig. 1 shows that the sensor system includes a first 2 and a second 3 side sensor arranged one behind the other in the direction of travel on both sides of the vehicle for detecting a detection area to the side of the vehicle 1, several rear sensors 4 for detecting a detection area behind the vehicle 1, and several front sensors 5 for detecting a detection area in front of the vehicle 1. The processing unit of the parking system, which uses the measured distance data to determine a parking space 6, in particular a parallel parking space, and its parking space boundaries 7a, 7b, 7c, and calculates a trajectory to be followed during the parking process into the parking space 6, is shown in Fig.1 not shown. Fig. 1 further shows a parking space 6 suitable for parking the vehicle 1. The parking space can, for example, be bounded by two vehicles 7a, 7c parked against a road boundary, such as a curb 7b. When the vehicle 1, equipped with a parking system according to the invention, drives past this parking space 6, the side sensors 2, 3 on one side of the vehicle monitor the area next to the vehicle 1. Data about the lateral surroundings of the vehicle 1 are thus measured, enabling the detection of a potential parking space. If a parking space 6 is available that is large enough to accommodate the vehicle 1, the parking system can output a signal indicating the parking opportunity to the driver.The processing unit can then calculate a trajectory from the measured distance data, starting from the current position of vehicle 1 and leading into parking space 6. It can then assist the driver during the parking process by issuing driving instructions, steering automatically, and / or steering and braking automatically. Parking maneuvers can be performed with a single maneuver or with multiple maneuvers. In the case shown in Fig. 1, the vehicle parks by reversing. During this process, the area behind the vehicle 1 is remeasured by the rear sensors. If an object detected by the side sensors 2, 3 during the drive-by is no longer detected by one or more rear sensors 4, a warning signal is issued, instructing the driver to check the trajectory and / or braking is automatically initiated. This prevents errors resulting from inaccuracies in measuring the parking space 6 during the drive-by or in determining the parking space, its boundaries, and / or the trajectory. Fig. 1 illustrates that the rear sensors 4, when functioning correctly, are designed to detect at least one 7a of the identified parking space boundaries, such as other vehicles, as the vehicle traverses the trajectory. However, if one or more rear sensors 4 are defective or malfunctioning, a parking space boundary 7a located within the detection range of the rear sensors 4, or a moving object entering the detection range of the rear sensors 4, would not be detected as the vehicle traverses the trajectory. Therefore, in this case, the processing unit (not shown) of the parking system according to the invention controls a warning element, which instructs the driver to check the driving path by means of a warning signal, and / or activates a braking system, which automatically brakes the vehicle.

Claims

Parking system for a vehicle (1), comprising: a sensor system consisting of several sensors (2, 3, 4, 5) for measuring distance data between the vehicle (1) and its surroundings; and a processing unit which, based on the measured distance data, determines a parking space (6) and its parking space boundaries (7a, 7b, 7c) and calculates a trajectory to be traversed during the parking process into the parking space (6), wherein at least one of the sensors (4) in its intact state is configured to detect at least one of the determined parking space boundaries (7a) when traversing the trajectory, wherein the distance between the vehicle (1) and the parking space boundary (7a) is remeasured when traversing the trajectory, wherein the remeasurement begins when a predetermined distance (d) to the parking space boundary (7a) is reached, wherein the processing unitIf the sensor (4) does not detect the parking space boundary (7a) identified as being within its detection range during the trajectory, - activates a warning element which instructs the driver to check the route himself by means of a warning signal, and - activates a braking system which automatically brakes the vehicle (1). Parking system according to claim 1, characterized in that the driver is additionally instructed by the warning signal or a further warning signal to take over the parking process himself. Parking system according to claim 1 or 2, characterized in that the sensor for detecting a parking space boundary (7a) during the trajectory is a rear sensor (4) for detecting a detection area behind the vehicle (1) and / or a front sensor (5) for detecting a detection area in front of the vehicle (1). Parking system according to one of claims 1 to 3, characterized in that the sensor system comprises one or more side sensors (2, 3) for detecting a detection area to the side of the vehicle (1) and one or more rear sensors (4) for detecting a detection area behind the vehicle (1) and optionally one or more front sensors (5) for detecting a detection area in front of the vehicle (1). Parking system according to claim 4, characterized in that the sensor system comprises at least a first (2) and a second (3) side sensor arranged one behind the other in the direction of travel on one side of the vehicle for detecting a detection area to the side of the vehicle (1). Parking assistance procedure for a vehicle, comprising the following procedure steps: - Measuring distance data between the vehicle (1) and its surroundings by means of a sensor system consisting of several sensors (2, 3, 4, 5), - Determining a parking space (6) and its parking space boundaries (7a, 7b, 7c) based on the measured distance data, - Calculating a trajectory to be followed during the parking maneuver into the parking space (6), - Remeasuring the distance between the vehicle (1) and the parking space boundary (7a) as the trajectory is traversed, the remeasurement commencing upon reaching a predetermined distance (d) to the parking space boundary (7a), - Checking whether at least one of the sensors (4), which in an intact state is designed to detect at least one of the determined parking space boundaries (7a) as the trajectory is traversed, detects a parking space boundary identified as being located within its detection range, and- if the sensor (4) does not detect the parking space boundary (7a) identified as being within its detection range while traversing the trajectory: - Issuing a warning signal instructing the driver to check the route himself, and - Automatic braking of the vehicle. Parking assistance method according to claim 6; characterized in that the driver is additionally instructed to take over the parking process himself by means of the warning signal or a further issued warning signal. Parking assistance method according to claim 6 or 7, characterized in that when the vehicle (1) passes a parking space (6), distance data between the vehicle (1) and its lateral surroundings are measured and, based on these measured distance data, the parking space (6) and its parking space boundaries (7a, 7b, 7c) are determined and the trajectory to be traversed during the parking process into the parking space is calculated.

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