Method and device for automatically moving a vehicle to a target position and corresponding vehicle

Abstract

Method for automatically moving a vehicle (10) to a target position, wherein an image of an environment of the vehicle (10) is captured with a camera (7), wherein at least one stopping position (4) suitable for the vehicle (10) is automatically detected within the image, wherein the image is displayed in which the at least one suitable holding position (4) is marked, wherein the target position is determined by an operator with the aid of the image as one of the at least one holding position (4), wherein the target position is determined by representing each of the at least one holding position (4) in the image with a pronounceable label and the target position is determined by pronouncing the label corresponding to the target position, and where - the image is displayed together with additional information (2, 3) and at least one indication from a group is displayed as the additional information, the group comprising • a representation of a lane (3) of the vehicle (10) under a condition that a currently set steering angle of the vehicle (10) remains constant, • a representation of a lane (2) of the vehicle (10) under a condition that the steering wheel would have been turned straight, and • if the at least one stopping position is at least one parking space (4), an indication for the at least one parking space (4) which informs whether the respective parking space is safe or only possibly suitable for the vehicle based on the image of the surroundings, and - each stopping position corresponds to a stop outside a parking space, so that moving the vehicle (10) to the target position corresponds to the vehicle (10) leaving a parking space.

Description

[0001] The present invention relates to methods for parking or reversing a vehicle as well as to correspondingly designed devices and a correspondingly designed vehicle.

[0002] DE 10 2008 019 759 A1 discloses driver assistance during a parking maneuver, in which available parking spaces are symbolized on a display unit with a hatched rectangle. A parking space can then be selected via the proximity-sensitive display unit, and the driver then receives parking assistance for this parking space.

[0003] DE 102 50 021 A1 describes a display system for locating a suitable parking space. A suitable parking space symbol is superimposed onto a live image of the current surroundings. This allows the driver to position the vehicle using appropriate steering or maneuvering movements until the parking space symbol aligns with a parking space visible in the live image. The actual parking process then begins.

[0004] DE 10 2008 004 633 A1 relates to the detection and / or measurement of a parking space, whereby three-dimensional data of a vehicle’s surroundings are recorded.

[0005] DE 10 2007 002 262 A1 discloses a method for assisting the driver of a motor vehicle when parking, wherein parameters of detected possible parking spaces are first determined by means of sensors and displayed to the driver by means of a graphical operating unit. In the method, it is provided that within a specific parking space, the target position of the vehicle can be set by means of the graphical operating unit and the set target position can be displayed graphically.

[0006] Furthermore, DE 10 2010 029 419 A1 discloses a method for assisting the parking of a vehicle in a free parking space. The position of at least one free parking space is calculated based on vehicle-to-vehicle and / or vehicle-to-infrastructure communication, starting from the current position of the vehicle, and transmitted to a navigation device of the vehicle.

[0007] DE 10 2006 026 092 A1 discloses a method for controlling an at least partially automated parking maneuver. In this method, an image of the surroundings of the motor vehicle is displayed by a display unit inside the motor vehicle. Furthermore, a virtual target object is displayed in the surroundings image, the image position of which in the surroundings image corresponds to a target position for the motor vehicle in the surroundings of the motor vehicle. Furthermore, depending on the operating actions of an operator of the motor vehicle, the image position of the target object in the surroundings image is changed. The changed image position of the target object is selected by a selection action of the operator, and a changed target position for the motor vehicle corresponding to the changed image position of the target object is adopted as the target position for the parking maneuver.

[0008] DE 10 2004 018 205 A1 discloses a device for assisting a parking maneuver of a vehicle, comprising a rear-view camera for recording a rear-view image depicting the space behind the vehicle and a screen for displaying the rear-view image. A decision mark for a first steering angle of the parking maneuver, which decision mark is to be aligned with at least part of the boundary of a parking space, can be displayed on the screen superimposed on the rear-view image. The device provides for the simultaneous display of several decision marks for the first steering angle on the screen, each corresponding to a different number of minimum moves required for the parking maneuver.

[0009] Automatic parking is state of the art, although it requires actively controllable steering. State-of-the-art systems, in which the vehicle parks itself into a parking space, generally require the vehicle to first pass the parking space sideways at low speed in order to measure the parking space. Systems that enable automatic forward parking into a parking space that has not yet been fully measured are also under development. The necessary information is recorded via a video image and interpreted using suitable image processing. To develop a spatial model of the scene ahead, several camera images from a similar perspective, which are recorded while driving slowly towards the destination, are combined.

[0010] In the known systems, the HMI (“Human Machine Interface”), i.e. the interface between human and vehicle, is a weak point, making it difficult for humans to specify the desired target position to the vehicle.

[0011] Therefore, the present invention aims to at least partially eliminate this weakness known from the prior art.

[0012] According to the invention, this object is achieved by a method for automatically moving a vehicle to a target position according to claim 1 or 2, by a device for automatically moving a vehicle to a target position according to claim 7 or 8, and by a vehicle according to claim 10. The dependent claims define preferred and advantageous embodiments of the present invention.

[0013] Within the scope of the present invention, a method is provided for automatically moving a vehicle to a target position. A camera captures an image of the surroundings of the vehicle. Within this image, at least one stopping position suitable for the vehicle is automatically detected. This image of the surroundings is shown, for example, on a corresponding display of the vehicle, with the at least one suitable stopping position marked as such. Using the image, an operator determines the target position as one of the at least one stopping positions.

[0014] In other words, one or more stopping positions suitable for the vehicle are automatically detected in the surrounding image. From these one or more stopping positions, the operator then determines the target position using the image. During a parking maneuver, the stopping positions are, in particular, parking spaces suitable for the vehicle, while during a parking maneuver, they are positions where the vehicle stops briefly, for example, to let passengers board.

[0015] Since the target position can be specified by the operator (in particular the driver of the vehicle) based on the image of the surroundings from the set of possible stopping positions, the definition of the target position is intuitive and therefore very easy to carry out even for older people without having to study manuals.

[0016] In addition, additional information, which is described in more detail below, can be displayed in the image to further facilitate the selection of the target position.

[0017] Within the scope of the present invention, a further method for automatically moving a vehicle to a target position is also provided. Environmental information from the surroundings of the vehicle is acquired, for example, using a camera or another sensor (for example, a radar system). From this information, at least one suitable stopping position for the vehicle is automatically acquired or calculated. This one or more stopping positions are displayed together with additional information, for example, on a corresponding display in the center console of the vehicle or on a separate control unit. The operator can then use this display to determine the target position as one of the at least one stopping position.

[0018] For example, the appropriate stopping position(s) are shown schematically along with the additional information. The additional information advantageously makes it easier for the operator (in particular the vehicle driver) to select the target position as the one stopping position(s) or as one of the stopping positions.

[0019] In this case, environmental information can correspond to an image of the surroundings captured by a camera (e.g., a front camera of the vehicle). The image of the surroundings can then be displayed together with the additional information, with the one or more stopping positions marked in the image.

[0020] As additional information, one or more notes from a group can be displayed, whereby this group includes the following elements (as notes): • A representation of the vehicle's trajectory assuming the vehicle's currently set steering angle remains constant. If this information is available as additional information, the trajectory in the image shows the operator how the vehicle would move if the steering wheel remained turned as it is currently. • A representation of the vehicle's trajectory if the vehicle is moving straight ahead in the current direction of travel. If this information is available as additional information, the trajectory in the image shows the operator how the vehicle would move if the steering wheel were turned straight ahead, so that the vehicle travels neither to the right nor to the left. • A note which, if at least one stopping position is one or more parking spaces, informs the user about the suitability of the parking space in question for the vehicle. If this note is available as additional information, during a parking maneuver, for each stopping position (for each parking space), for example by means of a corresponding color in the image, it is shown whether the parking space in question is definitely suitable for the vehicle as a parking space based on the current image data or whether the parking space in question is only possibly suitable for the vehicle. For example, color coding is possible. For example, a parking area colored yellow could mean that the parking space in question is possibly suitable for the vehicle and that further measurements of the parking space are necessary when approaching the parking space. A green orA parking area colored blue could mean that the corresponding parking space is suitable for the vehicle based on the current image data.

[0021] Displaying the lanes advantageously provides better orientation for the driver when selecting the desired destination or parking space. The additional information regarding the suitability of the respective parking space for the vehicle allows the driver, depending on their choice of destination or parking space, to assess how safely the automatic parking process will be carried out or how likely it is that the automatic parking process will be aborted, requiring the driver to continue the process manually or select a different destination.

[0022] Please note that the selected parking space will continue to be measured by sensors while parking (e.g., while driving forward). It cannot be ruled out that a parking space classified as suitable may be identified as unsuitable during parking (e.g., due to a previously invisible obstacle). In this case, the parking process will be aborted, and the driver will be asked to take over the vehicle.

[0023] According to the invention, the following variants are available for selecting the target position: • If the image is displayed using a touchscreen, the target position in the image can be determined or selected by touching the corresponding stop position. For this purpose, a virtual button is superimposed on the position of the stop position in the image, allowing the stop position or button to be selected by finger contact. This process is very intuitive and, advantageously, requires no additional tools. • Using a control element, a pointer is moved to the stop position corresponding to the target position in the image, and the corresponding selection is confirmed using the control element. For example, a virtual cursor can be moved to the target position in the image, and the selection can be confirmed by pressing the corresponding key. • When using voice control, the parking spaces (stopping positions) marked as suitable can be displayed in the image with a pronounceable (e.g. alphanumeric) label, so that the target position can be determined by the operator by pronouncing the label corresponding to the target position.

[0024] The following options exist for moving the vehicle from a starting position (from the current location) to the target position: • The parking process (i.e., the movement of the vehicle to the target position) is initiated within the vehicle by actuating a vehicle control element. The automatically controlled movement of the vehicle is automatically interrupted if it is detected that the distance between an obstacle and the vehicle is below a predetermined minimum distance (i.e., if it is detected that a collision with the obstacle is imminent) or if a vehicle control element (e.g., the accelerator pedal, brake, or steering) is manually actuated. • The automatic parking process is initiated, particularly outside the vehicle, by operating a mobile device (e.g., a suitably designed vehicle key). The vehicle's automatic movement is automatically interrupted if it is detected that the distance between an obstacle and the vehicle is below the predetermined minimum distance, or if a specific button on the mobile device is no longer pressed. When using this variant, the driver must therefore continuously hold down the corresponding button on the mobile device while the vehicle moves automatically. As soon as the button is released, the vehicle's movement is immediately interrupted for safety reasons.

[0025] According to the invention, it is also possible to use information via Car2X communication (communication between different vehicles, which can also take place via intermediate communication devices) or a WLAN interface when determining and classifying the stopping positions. This information includes parking spaces that have already been measured by other vehicles with positive results or parking spaces that are considered sufficiently large due to the removal of another vehicle. Parking spaces detected via this information interface are, in particular, presented as safe and suitable for the vehicle, even if the vehicle's own sensors cannot verify this information.

[0026] According to this embodiment, not only information detected by sensors of the vehicle but also information received from other vehicles is evaluated to determine possible stopping positions for the own vehicle, which advantageously significantly expands the information content.

[0027] The image can also be displayed as a 360° view of the vehicle from above. This type of 360° view is often captured by multiple surround-view cameras and is particularly useful when reversing out of a parking space, as it displays possible stopping positions of the vehicle after exiting the parking space as augmented graphics.

[0028] Within the scope of the present invention, a device for automatically moving a vehicle to a target position is also provided. The device comprises a camera, a display, and a controller. The camera is configured to capture an image of the vehicle's surroundings, while the controller detects at least one stopping position suitable for the vehicle within the captured image. Furthermore, the controller displays the image together with a correspondingly marked stopping position on the display. The device is configured to allow an operator to specify the target position as one of the at least one stopping position.

[0029] Within the scope of the present invention, a further device for automatically moving a vehicle to a target position is also provided. The device comprises detection means, a display, and a controller. Information from the surroundings of the vehicle is detected using the detection means. The controller is capable of detecting at least one stopping position suitable for the vehicle from the information, wherein the controller displays this at least one stopping position together with additional information on the display. The further device for specifying the target position by an operator is again designed as one of the at least one stopping positions.

[0030] The advantages of the device according to the invention and the further device according to the invention essentially correspond to the advantages of the two previously described methods according to the invention, so that a repetition is omitted here.

[0031] Finally, the present invention discloses a vehicle which comprises the device according to the invention or the further device according to the invention.

[0032] The present invention particularly consists in a novel user interface for selecting a target position (e.g., a parking space) for image-based movement of the vehicle to this target position (e.g., for image-based parking). For this purpose, the video image from a front camera is advantageously displayed in the vehicle and augmented with graphical information.

[0033] The present invention is particularly suitable for automatically moving a motor vehicle from a starting position to a target position during a parking process (i.e., when parking or leaving a parking space). Naturally, the present invention is not limited to this preferred field of application, since the present invention can, at least in principle, also be used in ships or aircraft, and can also be used for automatically moving a vehicle that is neither being parked nor leaving a parking space.

[0034] In the following, the present invention is described in detail using preferred embodiments of the invention with reference to the figures. In Fig. 1 shows an environmental image of a vehicle with two marked parking spaces according to an embodiment of the invention. In Fig. 2 shows the situation in which the driver of the vehicle has already selected the desired target position. In Fig. 3 schematically shows a vehicle according to the invention with a device according to the invention

[0035] In Fig. 1 shows an image of the surroundings of a vehicle, which is displayed on a touchscreen 1. Using image processing, two parking spaces 4 suitable for the vehicle have been detected in this surroundings image, which are marked by a correspondingly highlighted area 4 and by parking space markings 5. As additional information, two lanes 2, 3 are superimposed on the image. The first lane 2 corresponds to a lane that would be created if the vehicle were to continue moving straight ahead in the direction of travel of the vehicle. The second lane 3 corresponds to a lane that would be created if the currently set steering angle of the vehicle remained unchanged and the vehicle were to move forward.

[0036] Based on the graphic augmented with the corresponding additional information 2, 3, and 4, the vehicle driver now has sufficient information to determine the target position for the parking maneuver. To do so, the driver either touches the corresponding area 4 of the desired parking space or the corresponding parking space marking 5.

[0037] In Fig. 2 shows the situation where the driver has Fig. 1 has selected parking space 4, shown bottom right, as the target position. The fact that the driver has determined their target position can be recognized by the missing parking space markings 5 ​​and by the options O1 and O2 now shown on the left in display 1. Therefore, to automatically park their vehicle, the driver has the option O4: to leave their vehicle and control the parking process with the vehicle key. The driver's second option O2 is to remain seated in the vehicle and monitor the automatic parking process from inside the vehicle.

[0038] With option O1, the automatic parking process is started by pressing a corresponding button on the key and continues until the vehicle reaches the end position, the minimum distance between the vehicle and an obstacle is below a predetermined threshold, or the driver releases the button. With option O2, the automatic parking process is started by touching the field labeled "Start" on touchscreen 1. The parking process continues until the vehicle reaches the end position, the minimum distance between the vehicle and an obstacle is below the predetermined threshold, or the driver operates a vehicle control instrument (accelerator pedal, brake pedal, or steering).

[0039] In Fig.Figure 3 schematically shows a vehicle 10 according to the invention with a device 10 according to the invention for automatically moving the vehicle 10 to a target position. The device 20 itself comprises a controller 6, a camera 7, and a touchscreen 1. If the driver of the vehicle 10 has specified one of the stopping positions shown on the display 1 as the target position, they can start and monitor the automatic parking process of the vehicle 10 from outside the vehicle using their vehicle key 8.

Claims

[1] Method for automatically moving a vehicle (10) to a target position, wherein an image of an environment of the vehicle (10) is captured with a camera (7), wherein at least one stopping position (4) suitable for the vehicle (10) is automatically detected within the image, wherein the image is displayed in which the at least one suitable holding position (4) is marked, wherein the target position is determined by an operator with the aid of the image as one of the at least one holding position (4), wherein the target position is determined by representing each of the at least one holding position (4) in the image with a pronounceable label and the target position is determined by pronouncing the label corresponding to the target position, and where - the image is displayed together with additional information (2, 3) and at least one indication from a group is displayed as the additional information, the group comprising • a representation of a lane (3) of the vehicle (10) under a condition that a currently set steering angle of the vehicle (10) remains constant, • a representation of a lane (2) of the vehicle (10) under a condition that the steering wheel would have been turned straight, and • if the at least one stopping position is at least one parking space (4), an indication for the at least one parking space (4) which informs whether the respective parking space is safe or only possibly suitable for the vehicle based on the image of the surroundings, and - each stopping position corresponds to a stop outside a parking space, so that moving the vehicle (10) to the target position corresponds to the vehicle (10) leaving a parking space. [2] Method for automatically moving a vehicle (10) to a target position, wherein information is collected from an environment of the vehicle (10), wherein at least one stopping position (4) suitable for the vehicle (10) is automatically detected from the information, wherein the at least one stop position (4) is displayed together with additional information (2, 3), wherein the target position is determined by the operator as one of the at least one holding position (4) with the aid of the representation, wherein the target position is determined by representing each of the at least one holding position (4) in the image with a pronounceable label and the target position is determined by pronouncing the label corresponding to the target position, and where - as the additional information at least one reference from a group is presented, the group comprising • a representation of a lane (3) of the vehicle (10) under a condition that a currently set steering angle of the vehicle (10) remains constant, • a representation of a lane (2) of the vehicle (10) under a condition that the steering wheel would have been turned straight, and • if the at least one stopping position is at least one parking space (4), an indication for the at least one parking space (4) which informs whether the respective parking space is safe or only possibly suitable for the vehicle based on the image of the surroundings, and - each stopping position corresponds to a stop outside a parking space, so that moving the vehicle (10) to the target position corresponds to the vehicle (10) leaving a parking space. [3] Method according to claim 2, characterized by , that the information corresponds to an image of the environment which is captured by a camera (7), that the image is displayed together with the additional information (2, 3), and that at least one holding position (4) is marked in the image. [4] Method according to one of the preceding claims, characterized by , that the movement of the vehicle (10) to the target position is started by actuating an operating element of the vehicle (10), wherein the movement is interrupted when it is detected that a distance between an obstacle and the vehicle (10) is below a predetermined minimum distance, or when a vehicle control element of the vehicle (10) is manually actuated, or that the movement of the vehicle (10) to the target position is started by actuating a mobile device (8), wherein the movement is interrupted when it is detected that a distance between an obstacle and the vehicle (10) is below the predetermined minimum distance, or when a specific button of the mobile device (8) is no longer actuated. [5] Method according to one of the preceding claims, characterized bythat at least one stopping position suitable for the vehicle (10) is automatically detected within the image by transmitting and evaluating information from another vehicle (10). [6] Method according to one of the preceding claims, characterized by that the image is displayed as a 360° view from above of the vehicle (10). [7] Device for automatically moving a vehicle (10) to a target position, wherein the device (20) comprises a camera (7), a display (1) and a controller (6), wherein the camera (7) is designed to record an image of the surroundings of the vehicle (10), wherein the control (6) is designed to detect at least one stopping position (4) suitable for the vehicle (10) within the image, wherein the controller (6) displays the image in which the at least one holding position (4) is marked on the display (1), and wherein the device (20) for specifying the target position by an operator is designed as one of the at least one holding position (4), wherein the device is designed to represent each of the at least one holding position (4) in the image with a pronounceable label and to determine the target position based on pronouncing the label corresponding to the target position, and where - the device is designed to display the image together with additional information (2, 3), wherein at least one indication from a group is displayed as the additional information, wherein the group comprises • a representation of a lane (3) of the vehicle (10) under a condition that a currently set steering angle of the vehicle (10) remains constant, • a representation of a lane (2) of the vehicle (10) under a condition that the steering wheel would have been turned straight, and • if the at least one stopping position is at least one parking space (4), an indication for the at least one parking space (4) which informs whether the respective parking space is safe or only possibly suitable for the vehicle based on the image of the surroundings, and - each stopping position corresponds to a stop outside a parking space, so that moving the vehicle (10) to the target position corresponds to the vehicle (10) leaving a parking space. [8] Device for automatically moving a vehicle (10) to a target position, wherein the device (20) comprises detection means (7), a display (1) and a controller (6), wherein the detection means (7) are designed to detect information from the surroundings of the vehicle (10), wherein the controller (6) is designed to detect at least one stopping position (4) suitable for the vehicle (10) from the information, wherein the controller (6) displays the at least one stop position (4) together with additional information on the display (1), wherein the device (20) is designed for specifying the target position by an operator as one of the at least one holding position (4), wherein the device is designed to represent each of the at least one holding position (4) in the image with a pronounceable label and to determine the target position based on pronouncing the label corresponding to the target position, and where - the device is designed to display the image together with the additional information (2, 3), wherein at least one indication from a group is displayed as the additional information, wherein the group comprises • a representation of a lane (3) of the vehicle (10) under a condition that a currently set steering angle of the vehicle (10) remains constant, • a representation of a lane (2) of the vehicle (10) under a condition that the steering wheel would have been turned straight, and • if the at least one stopping position is at least one parking space (4), an indication for the at least one parking space (4) which informs whether the respective parking space is safe or only possibly suitable for the vehicle based on the image of the surroundings, and - each stopping position corresponds to a stop outside a parking space, so that moving the vehicle (10) to the target position corresponds to the vehicle (10) leaving a parking space. [9] Device according to claim 7 or 8, characterized bythat the device (20) is designed to carry out the method according to one of claims 1-6. [10] Vehicle with a device (20) according to one of claims 7-9.

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