Method and driver assistance system for supporting a parking process of a vehicle on a parking space in a vehicle garage

Abstract

Method for supporting a parking process of a vehicle (7) on a parking area (15) of a vehicle garage (12), wherein an environment of the vehicle (7) is detected by means of an image sensor system (8) arranged on the vehicle (7), the captured environmental images are evaluated using an image recognition method to detect a garage front (1), based on features of the garage front (1) a parking orientation (9) of the vehicle (7) is determined and based on the determined parking orientation (9) of the vehicle (7) and a current position of the vehicle (7), steering instructions are transmitted to a driver of the vehicle (7) and / or a control system of the vehicle (7) in order to support driving of the vehicle (7) from the current position of the vehicle (7) to a parking position (19, 25) on the parking area (15) of the vehicle garage (12), characterized in that Information from a device for automatic garage door opening as to whether a garage door (4) is open or closed is used to determine features of the garage front (1) to be determined.

Description

State of the art

[0001] The invention relates to a method for supporting a parking process of a vehicle on a parking area in a vehicle garage and a driver assistance system.

[0002] In such methods, a sensor system mounted on a vehicle, such as an ultrasonic sensor system or a video sensor system, detects the surroundings of the vehicle, and the captured images are evaluated. Depending on the determined position of the vehicle, steering instructions are transmitted to a driver of the vehicle or a vehicle control system in order to achieve semi-automatic or fully automatic driving of the vehicle to a parking position in the parking area of ​​the vehicle garage.

[0003] DE 10 2009 057 837 A1 discloses a method for assisting parking in a vehicle garage, in which a parking position is determined in such a way that the distance of the vehicle from the garage walls is optimized. For this purpose, an image recognition device detects a marking, preferably located centrally, on the rear wall of the garage. A central position in the garage is defined relative to the detected marking, and the parking assistant navigates the vehicle slightly offset to the center of the vehicle garage, allowing the driver to exit comfortably.

[0004] With this method, the marking on the rear wall must be visible so that the parking position can be determined. Therefore, this method is not suitable, for example, in larger garages where the rear wall is far from the entrance or in garages where the view of the rear wall is obscured by objects.

[0005] Document DE 10 2010 056 064 A1, as subsequently published prior art, discloses a method and a device for automatically moving a vehicle from a starting position to a target position, as well as a corresponding vehicle. The starting position is located outside a garage and the target position is located inside the garage.

[0006] It is an object of the invention to provide a method and a driver assistance system which do not require any marking to be applied by the driver himself and in which a parking process of a vehicle in a vehicle garage is supported, wherein the information of an image sensor system of the vehicle is used to enable navigation to a parking space in the vehicle garage. Disclosure of the invention

[0007] The object is achieved by a method having the features of claim 1 and by a driver assistance system having the features of claim 10. Further advantages result from the features of the dependent claims.

[0008] According to the invention, an image sensor system arranged on the vehicle records the surroundings of the vehicle. The recorded surrounding images are evaluated using an image recognition method to detect a garage front, and the parking orientation of the vehicle is determined based on features of the garage front. For this purpose, the image sensor system records a garage front, and a detection device of the vehicle determines a parking orientation based solely on the features of the garage front. It is considered essential that the garage front already provides essential information sufficient to determine the parking orientation.

[0009] Based on the determined parking orientation of the vehicle and a current position of the vehicle, steering instructions are transmitted to a driver of the vehicle and / or a control system of the vehicle in order to support driving the vehicle from the current position of the vehicle to a parking position in the parking area of ​​the vehicle garage. For this purpose, the vehicle has a control unit. The control unit has information about the current position of the vehicle and the target position determined by the determination device, for example via odometry or a GPS navigation system. From the difference between the positions, the control unit can calculate a transfer path, i.e. a vehicle trajectory from the current position to the determined target parking position.

[0010] The steering instructions can be output to the driver on a display unit, allowing them to follow the suggested path by steering, accelerating, and braking the vehicle. The control unit can also intervene in the vehicle's steering and / or drivetrain, i.e., implement semi-automatic or fully automatic driving of the vehicle to the parking position.

[0011] In one embodiment of the invention, objects present in front of or in the garage can be detected using the image sensor system and taken into account as part of a driver assistance system for collision avoidance, so that a transfer path from the current position of the vehicle to the parking position is a collision-free path. If an object is detected in the determined parking position, a signal can be output, for example an acoustic, visual, or haptic signal. In this way, the driver of the vehicle is notified that navigation to the optimal parking position is not possible. In this case, the vehicle will not be navigated semi-automatically or automatically to the occupied parking position.

[0012] In one embodiment of the invention, a closed garage door is detected, for example, based on its bottom edge, and the parking orientation is determined based on the bottom edge. It is also possible, for example, for the lowest slat in a garage door consisting of slats to be detected. Optical contrast filters, for example, are used to detect the edge or the slat. The optical distortions caused by the position of the vehicle in relation to the garage or by the technology of the image capture sensors are preferably already corrected by the image recognition process. In a wide-angle image sensor system, these can particularly be curvatures of straight lines.

[0013] In one embodiment of the invention, outlines, i.e., the contour of a closed garage door, are recognized, for example, by detecting a rectangular area, and the parking orientation is determined based on the outlines. This is important, for example, in the case where contrasts are reduced in the area of ​​the lower edge of the garage door, and this cannot be determined or cannot be determined precisely.

[0014] In one embodiment of the invention, outlines, ie the contour of a garage entrance, ie a garage door opening, for example, are recognized by detecting a rectangular area and the parking orientation is determined based on the outlines.

[0015] For example, image information such as optical contrasts or 3D information obtained from image sequences or stereoscopic cameras is used to detect the outlines. Optical distortions caused by the position of the vehicle in relation to the garage or by the technology of the image capture sensors are preferably already corrected by the image recognition process. In a wide-angle image sensor system, these distortions can be pincushion-shaped rectangular areas. If the vehicle is not aligned perpendicularly to the garage door or the garage door opening, parallelogram-shaped and / or trapezoid-shaped distorted rectangular areas result, which, however, do not impair the determination of the parking orientation.

[0016] In the case of an open garage door, as well as in the case of a closed garage door, useful or even sufficient information for determining the parking orientation can also be determined from the position of the side edges or side walls of the garage front. This is important, for example, when contrasts in the area of ​​the lower edge of the garage door are low and this cannot be determined or cannot be determined precisely, or when contrasts in the lower area of ​​the garage door opening are low and a transition from the surroundings to the garage cannot be determined or cannot be determined precisely, for example because the floor covering in the garage does not differ significantly from that in front of the garage or because contrasts are blended in by the vehicle's switched-on headlights. This is also important when lower edge detection is made more difficult by shadows, for example because stronger contrasts are present that are falsely detected.

[0017] The information about the position of the lower edge of the garage door and / or the outline of the garage door or the garage door opening and / or the side edges or side walls of the garage can be determined individually, correlated with each other and, if necessary, weighted so that a reliable statement about the optimal parking orientation can be made.

[0018] According to the invention, a detection device of the vehicle interacts with a device for automatic garage door opening and receives information about whether a garage door is closed or open. This information is used to determine features of the garage front to be detected. In the case of an open garage, the detection of the features of the garage front can be limited to the outline of the garage door opening and / or the side walls of the garage.

[0019] The parking orientation can be calculated from the determined outline of the garage door or the garage door opening and / or from the determined lower edge of the garage door. In the case of the lower edge of the garage door, the parking orientation is determined using a perpendicular bisector, i.e. the line on the ground level through the center point of the determined lower edge of the garage door, which intersects it at a right angle. In the case in which an outline of a garage door or a garage door opening is first determined, a lower edge of the determined object is preferably first determined from the available data and the perpendicular bisector is also determined from the determined data. This line passes through the center point of the determined lower edge on the ground level and intersects it at a right angle.

[0020] If the vehicle is not aligned vertically relative to the garage door, diagonal lines in the image are determined, which also enable the parking orientation to be calculated according to the invention.

[0021] Alternatively, an alignment corridor can be determined that passes through the lower corner points of the determined outline of the garage door or the garage door opening or the end points of the lower edge of the garage door and is aligned perpendicular to a lower edge.

[0022] In one embodiment of the invention, a width determination of the garage door opening is provided, and a collision warning is issued in the event that it is determined that the vehicle cannot fit through the garage door opening, for example, an acoustic, visual, or haptic signal. This notifies the driver of the vehicle that navigation to the optimal parking position is not possible. In this case, the vehicle is not navigated semi-automatically or automatically to the parking position.

[0023] According to a preferred embodiment, the parking position is determined such that the parking orientation, determined based on the outline of the garage door opening or the garage door and / or the lower edge of the garage door and at a right angle thereto, is parallel to a longitudinal axis of the vehicle. Preferably, the parking position is intended to be an aesthetically pleasing positioning of the vehicle in the garage. An aesthetic parking position is considered to be one where the vehicle is perpendicular to the garage door opening.

[0024] The preferred parking position is a central parking position relative to the garage door opening, a position that allows entry and exit on the driver's side, a position that leaves an aisle free for the garage user, or a position that allows entry and exit on both sides of the vehicle. Detected obstacles may also prevent the central parking position from being attempted.

[0025] Preferably, the specified method is designed as a garage detection system within the framework of a driver assistance system, which can be activated by a passenger, such as the driver themselves. Garage detection can also be initiated by default when the driver activates a parking assistant. However, garage detection can also be designed as part of a driver assistance system, which automatically activates it when it has been determined that the vehicle is near its home garage, which it has determined itself, for example, from GPS data.

[0026] Preferably, the driver can select from a menu in which an aesthetic parking position can be selected from several options, such as a parking position that is central with respect to all objects in the garage and / or a parking position in which getting out is made easier for an occupant, for example the driver, or which leaves an aisle free for the user of the garage and / or from others.

[0027] In one embodiment of the invention, determined features of the garage front and / or the calculated optimal parking position are displayed to the driver on an output device, such as a display. In particular, the calculated parking alignment and / or the alignment corridor can be displayed. The display can be based on the principle of augmented reality, in which the image received by the image sensor system is superimposed with the objects calculated by software, in particular highlighted in color. The driver can thus recognize whether the calculation is based on the correct data. The display can, for example, be designed as a head-up display or a head-down display and / or preferably comprise a touchscreen area which the driver can operate safely and easily from his or her position.The driver can, for example, confirm on the touchscreen that the optimal parking position has been correctly calculated or, if necessary, initiate a correction, such as a recalculation. The display can be located inside the vehicle or outside on a mobile device with a display, providing the driver with feedback on the parking process even after exiting the vehicle.

[0028] Furthermore, a driver assistance system is provided, which is particularly designed to carry out the described method. The driver assistance system comprises an image sensor system for detecting the surroundings of the vehicle, a component for recognizing a garage front from the captured surrounding images, a component for determining a parking orientation of the vehicle from features of the garage front, and a component for transmitting steering instructions based on the determined parking orientation of the vehicle and a current position of the vehicle to a driver of the vehicle and / or to a control system of the vehicle in order to support driving the vehicle from the current position of the vehicle to a parking position in the parking area of ​​the vehicle garage. Short description of the drawings

[0029] Further advantages of the invention will become apparent from the following description of the figures.

[0030] They show: Fig. 1 a schematic view of a garage front and a vehicle parked in front of it; Fig. 2 a schematic view of a garage with a vehicle parked therein according to the invention in plan view. Embodiments of the invention

[0031] Fig. 1 shows a garage front 1 comprising two side walls 2a, 2b, a top wall 3, and a garage door 4. The door 4 can, for example, comprise several slats 5 arranged one above the other. The lower edge 6 of the garage door 4 is formed by the lower edge of a slat 5. The garage door 4 is closed, and its lower edge 6 rests on the floor of the garage.

[0032] Furthermore, a vehicle 7 with an image sensor system 8 is shown schematically in plan view. The image sensor system 8 can be embodied as a monocular or stereo video camera. Preferably, the image sensor system 8 is arranged as a front camera in the center of the vehicle 7 at its front end or as a multifunctional camera behind the windshield. If the image sensor system 8 is arranged laterally offset from the center of the front end of the vehicle 7, this is taken into account when calculating the parking position.

[0033] The image sensor system 8 receives an image of the garage front 1, for example after an occupant, such as the driver of the vehicle 7, has activated a driver assistance system to park in the garage or after a driver assistance system has determined that the vehicle 7 is near a garage.

[0034] The received image is transmitted to an image recognition software, which then determines the lower edge 6 of the garage door 4 based on the features of the garage front 1 and a parking orientation 9 based on the garage door lower edge 6. Based on the parking orientation 9, an optimal parking position is determined, as described below with reference to the Fig. 2. Based on the current position of the vehicle, which is shown in Fig. 1 is indicated by the position of a central axis 10 through the vehicle 7, and based on the calculated parking orientation, a software calculates a transfer path from the current position to the optimal parking position.

[0035] When the garage door is open, a parking orientation 9 is determined, for example, by first determining the lower edges 11a, 11b and / or the side walls 2a, 2b. Additionally, a width 26 of the garage door opening can be determined, and a warning can be issued if the vehicle cannot fit through the opening from the side.

[0036] When calculating the transfer path, objects that could lead to a potential collision can be taken into account, ensuring that the transfer path is collision-free. A warning signal can also be issued at this time if transferring vehicle 7 to the optimal parking position without a collision is not possible.

[0037] The transfer of vehicle 7 from its current position to the optimal parking position can be carried out by the driver assistance system, for example, by steering instructions displayed on a head-up display or a head-down display of the vehicle, or by an automated or semi-automated movement in which the driver only retains control of the accelerator and brake, but leaves the steering to the parking assistant.

[0038] During the fully automatic parking process, the parking assistant steers the vehicle 7 into the garage by aligning the vehicle 7 using the parking alignment line 9 and moving it back and forth until the parking assistant determines that the target position has been reached using ultrasonic sensors and / or cameras and / or odometry data and / or information from a GPS system.

[0039] Fig. 2 shows a top view of a garage 12. The garage 12 comprises two side walls 13a, 13b, a rear wall 14a, and a front wall 14b, which delimit or surround a parking area 15. An obstacle 16 is also arranged in the garage 12. The vehicle 7 is shown parked in the garage 12 on the parking area 15 in an optimal parking position 26 according to a conventional method and in two optimal parking positions 19 and 25 according to the invention.

[0040] With conventional garage parking assistants, it can happen that the vehicle 7, based on the view through the garage door opening 23, is parked at an angle in the garage, as shown in dashed lines with the reference symbol 26. This is because the parking position 26 is determined solely based on the distances to the garage walls 13a, 13b and 14a, 14b and the obstacle 16, which is the only one shown here as an example.

[0041] According to the invention, it is provided that the vehicle 7 is to be aligned along the parking alignment 9 defined by features of the garage front 1, ie that in the parking position 19, 25 the parking alignment 9 is parallel to the longitudinal axis of the vehicle 7 and perpendicular to the garage door opening 23.

[0042] An optimal, Fig. 2 with the reference number 25, the parking position 25 of the vehicle 7 in the garage 12 can be determined by providing a constant distance 21 to opposite side walls 13a, 13b. This particularly aesthetic parking position 25 can also be characterized in that a constant distance 22 of the vehicle 7 to the two side walls 2a, 2b delimiting the garage door opening 23 of the garage front 1 has been selected, i.e. a central position with respect to the garage door opening 23, so that the parking orientation 9 coincides with the longitudinal axis 10 of the vehicle 7. In the optimal parking position 25, a distance 20 of the vehicle 7 to the obstacle 16 shown is different from a distance 21 of the vehicle 7 to the wall 13a opposite the obstacle 16 with respect to the vehicle 7.

[0043] If obstacles 16 are detected, a further aesthetic parking position 19 can also be provided such that a distance 17 of the vehicle 7 to the obstacle 16 is the same as a distance 18 of the vehicle 7 to a side wall 13a opposite the obstacle 16. This position of the vehicle 7 is in Fig. 2 with the reference number 19.

[0044] A distance 24 of the rear of the vehicle to the garage door opening 23 when parking forwards or to the garage rear wall 14a when parking backwards can expediently be a distance of between 1 m and 3 m, for example, so that there is sufficient maneuvering space for loading and unloading the trunk.

Claims

[1] Method for supporting a parking process of a vehicle (7) on a parking area (15) of a vehicle garage (12), wherein an environment of the vehicle (7) is detected by means of an image sensor system (8) arranged on the vehicle (7), the captured environmental images are evaluated using an image recognition method to detect a garage front (1), based on features of the garage front (1) a parking orientation (9) of the vehicle (7) is determined and based on the determined parking orientation (9) of the vehicle (7) and a current position of the vehicle (7), steering instructions are transmitted to a driver of the vehicle (7) and / or a control system of the vehicle (7) in order to support driving of the vehicle (7) from the current position of the vehicle (7) to a parking position (19, 25) on the parking area (15) of the vehicle garage (12), characterized by , that Information from a device for automatic garage door opening, whether a garage door (4) is open or closed, is used to determine features of the garage front (1) to be determined. [2] Method according to claim 1, characterized by that the parking position (19, 25) is determined such that the parking orientation (9) is parallel to a longitudinal axis (10) of the vehicle (7). [3] Method according to one of the preceding claims, characterized by that the parking position (19, 25) is perpendicular to the garage door opening (23). [4] Method according to one of the preceding claims, characterized by that the parking orientation (9) is determined based on a lower edge (6) of a closed garage door (4). [5] Method according to claim 4, characterized by that the parking orientation (9) is determined using a perpendicular bisector of the lower edge (6) of the closed garage door (4). [6] Method according to one of claims 1 to 3, characterized by that the parking orientation (9) is determined based on the outlines of a closed garage door (4) or the outlines of a garage door opening (23). [7] Method according to one of the preceding claims, characterized by that the method is a parking assistance that can be activated by the driver of the vehicle (7). [8] Method according to one of the preceding claims, characterized by that determined features of the garage front (1) are displayed on an output device and an occupant of the vehicle (7) can correct the position of the features of the garage front (1) and / or the parking orientation (9). [9] Driver assistance system, in particular for carrying out the method according to one of claims 1 to 8, comprising an image sensor system (8) for detecting an environment of the vehicle (7), a component for detecting a garage front (1) from the detected environmental images, a component for determining a parking orientation (9) of the vehicle (7) from features of the garage front (1) and a component for transmitting steering instructions based on the determined parking orientation (9) of the vehicle (7) and a current position of the vehicle (7) to a driver of the vehicle (7) and / or to a control system of the vehicle (7) in order to support driving of the vehicle (7) from the current position of the vehicle (7) to a parking position (19, 25) on the parking area (15) of the vehicle garage (12).

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