Method for supporting the execution of a parking maneuver of a vehicle, parking assistance system for a vehicle and vehicle

Abstract

Method for supporting the execution of a parking operation of a vehicle (1), wherein the environment is monitored at least in front of and behind the vehicle (1) and longitudinal (7, 8) and / or lateral guidance instructions for the vehicle (1) are issued depending on the monitoring, wherein the method is characterized by the following process steps: a) Detecting an obstacle newly added during the parking process (11) for the parking process, b) Detecting the size of a shunting space (10) on the side of the vehicle (1) opposite the newly added obstacle (11), c) Adaptation of at least one longitudinal (7, 8) and / or transverse guidance instruction depending on the size of the detected shunting space (10) after a time interval between 8s and 12s, in particular 10s, wherein After the detection of the newly added obstacle (11) and upon detection that the size of the shunting area (10) exceeds a limit, at least one longitudinal (7, 8) and / or lateral guidance instruction is issued after a first time interval, and after the detection of the newly added obstacle (11) and upon detection that the size of the shunting area (10) reaches or falls below the limit, at least one longitudinal (7, 8) and / or lateral guidance instruction is issued after a second time interval, wherein the second time interval is greater than the first time interval.

Description

[0001] The present invention relates to a method for supporting the execution of a parking operation of a vehicle, as well as a parking assistance system for a vehicle to support the execution of a parking operation of the vehicle and a vehicle with a parking assistance system. STATE OF THE ART

[0002] In modern automotive engineering, it is standard practice to provide drivers with driver assistance systems. Parking assistance systems are particularly common, enabling supported or automatic parking of the vehicle in various types of parking spaces. These systems, and the procedures they employ, offer significant relief to drivers.

[0003] The parking assistance system can not only plan the parking process in advance, but also monitor it during the process. For example, DE 10 2009 006 336 A1 discloses a method for monitoring an automatic or semi-automatic parking process. In particular, the vehicle's surroundings are continuously monitored during the parking process, and a warning signal is issued if new obstacles are detected. Interventions in vehicle steering are also possible. For example, DE 10 2009 029 388 A1 discloses the initiation of emergency braking to prevent a potential collision with a newly detected obstacle.

[0004] In small parking spaces, a single parking maneuver is often insufficient to achieve a sufficiently parallel alignment with the parking space boundary. In such cases, additional maneuvers are required. The number of these maneuvers should be kept as low as possible to ensure driver satisfaction. With automatic parking assistance systems, this also serves to reduce wear on the steering system and lower energy consumption. For this reason, automatic or semi-automatic parking assistance systems may, for example, be designed to allow only a maximum number of maneuvers. If this maximum number is reached or exceeded, the parking process is aborted.

[0005] During a parking maneuver, new obstacles may appear that hinder the process. Particularly in parking garages and large parking lots with high foot traffic, it can happen that people enter a parking space while a vehicle is parking. If a person or other new obstacle is detected, especially if the vehicle is moving towards the newly detected obstacle and is already close to it, the semi-automatic or automatic parking assistance system will stop the vehicle and continue the parking maneuver in the opposite direction. This represents an additional maneuver, and the newly added obstacle may restrict the maneuvering space in the parking space to such an extent that a sensible continuation of the parking maneuver is no longer possible.

[0006] Document DE 101 28 792 A1 discloses a method for avoiding collisions of a vehicle with obstacles, wherein distance values ​​between the vehicle and obstacles in the environment are recorded and the available driving space is calculated from these distance values.

[0007] Document DE 10 2006 045 418 A1 discloses a motor vehicle with a parking assistance system having at least one sensor for measuring the distance to an obstacle, whereby the direction of movement of a moving object can be detected.

[0008] German patent application DE 10 2007 049 709 A1 discloses a parking assistance system in which the surroundings of a vehicle are detected and a parking path of the vehicle into a parking space is calculated, in which the vehicle is slowed down if an obstacle is detected on the parking path into the parking space, and in which a notification is given of a possible continuation of the parking process in the event that the obstacle is no longer detected.

[0009] Document DE 601 01 788 T2 discloses a method for carrying out the parking of a mobile vehicle in a parking space. REVELATION OF THE INVENTION

[0010] It is therefore an object of the invention to at least partially overcome the disadvantages of known vehicle parking assistance systems described above for supporting the execution of a vehicle parking maneuver. In particular, it is an object of the present invention to provide a method for supporting the execution of a vehicle parking maneuver and a vehicle parking assistance system for supporting the execution of a vehicle parking maneuver; which avoid unnecessary maneuvers in a simple and cost-effective manner and thus accelerate the parking process.

[0011] The foregoing problem is solved by a method with the features of independent claim 1, by a parking assistance system with the features of independent claim 6, and by a vehicle with the features of claim 11. Further features and details of the invention will become apparent from the dependent claims, the description, and the drawings. Features and details described in connection with the method according to the invention naturally also apply in connection with the parking assistance system and the vehicle according to the invention, and vice versa, so that the disclosure of the individual aspects of the invention always makes, or can make, reciprocal references.

[0012] In a first aspect of the invention, the problem is solved by a method for supporting the execution of a parking maneuver of a vehicle, wherein the environment at least in front of and behind the vehicle is monitored and longitudinal and / or lateral guidance instructions for the vehicle are issued depending on the monitoring. The method according to the invention is characterized in particular by the following steps: a) Detecting a new obstacle to the parking process that has appeared during the parking process, b) Detecting the size of a maneuvering space on the side of the vehicle opposite the newly added obstacle, c) Adjustment of at least one longitudinal and / or transverse guidance instruction depending on the size of the detected shunting space after a time interval of 8s to 12s, in particular 10s.

[0013] The method according to the invention thus represents a further development and improvement of known methods for supporting the execution of a vehicle parking maneuver. A data basis is generated by monitoring the environment, at least in front of and behind the vehicle. Based on this data, a parking trajectory is calculated, and the necessary longitudinal and / or lateral guidance instructions for the vehicle are issued. During the parking maneuver, according to step a) of the method according to the invention, a newly encountered object is detected that represents an obstacle to the parking maneuver. This could be, for example, a person, but also an object. Such an obstacle is particularly problematic if it is detected in the direction of travel of the vehicle and is already very close to it. In such a case, the vehicle is stopped.Step b) of the method according to the invention involves detecting the size of a maneuvering space on the side of the vehicle opposite the newly added obstacle. If the newly added obstacle is a person, it can be assumed that this person moves cautiously in traffic. They will therefore not intentionally block the vehicle's movement for an extended period. Based on this consideration, in step c) of the method according to the invention, at least one longitudinal and / or lateral guidance instruction is adapted depending on the size of the detected maneuvering space. It can thus be assumed that a person who is aware that they are blocking a vehicle during a parking maneuver will remove this blockage as quickly as possible and move away. A blockage of the parking maneuver is particularly likely to occur with a small maneuvering space on the side of the vehicle facing away from the newly added obstacle.Small, as defined in the invention, means that meaningful maneuvering is not feasible in this shunting area. According to step c) of the method according to the invention, it is therefore possible, for example, to delay a direction-of-travel instruction, i.e., a longitudinal guidance instruction, when a small shunting area is detected. If the person has moved further during the delay and the obstacle is therefore no longer present, an unnecessary longitudinal guidance instruction has thus been avoided. The opposite case is represented by a large shunting area detected. Large, as defined in the invention, means that a meaningful maneuver is possible in this shunting area. It can be assumed that a person who represents a newly added obstacle is also aware of the large size of the detected shunting area.It can therefore assume that the available maneuvering space is sufficient for the vehicle to park and may not need to move away. If the detected maneuvering space is large, it is advantageous to issue a direction-of-travel instruction—a longitudinal guidance instruction—without delay. The described method represents one way of adapting the instructions. Of course, other methods are also conceivable, such as adapting the lateral guidance instruction if, for example, the obstacle can be bypassed.

[0014] A method according to the invention thus makes it possible to avoid unnecessary longitudinal and / or lateral guidance instructions by adapting to the size of the detected maneuvering space. This reduces the time required for a vehicle parking maneuver and increases driver satisfaction.

[0015] In a further development of a method according to the invention, it can be provided that the longitudinal and / or lateral guidance instructions are output to at least one control unit of the vehicle. By sending both longitudinal and lateral guidance instructions to at least one control unit of the vehicle, the parking process is carried out fully automatically, i.e., without intervention from the driver. This represents a particularly significant relief for the driver, since the parking process, especially in small parking spaces, is often perceived as very challenging.

[0016] According to an alternative embodiment of a method according to the invention, lateral control instructions can be sent to at least one control unit of the vehicle, and longitudinal control instructions can be sent to the driver of the vehicle via a suitable user interface, for example, a display unit and / or a loudspeaker unit. In this embodiment, the driver only controls the longitudinal control of the vehicle, i.e., they control the direction of travel by selecting a forward or reverse gear and by controlling the vehicle's acceleration. The lateral control, i.e., the steering of the vehicle, is handled by the at least one control unit of the vehicle. According to the invention, the instructions for longitudinal control are sent to the driver, and the instructions for lateral control are sent to the control unit.Steering is the more challenging aspect of controlling a vehicle during a parking maneuver. In this embodiment of the inventive method, the driver is relieved of lateral guidance, significantly reducing their workload. This is referred to as a semi-automatic parking assistance system. The driver only needs to follow the longitudinal guidance instructions, select the correct gear, and operate the accelerator pedal. This significantly reduces their workload.

[0017] According to the invention, after the detection of a newly added obstacle and upon detection that the size of the maneuvering area exceeds a limit, at least one longitudinal and / or lateral guidance instruction is issued after a first time interval. According to the invention, after the detection of a newly added obstacle and upon detection that the size of the maneuvering area reaches or falls below the limit, at least one longitudinal and / or lateral guidance instruction is issued after a second time interval. According to the invention, the second time interval is longer than the first. The main focus of the method according to the invention is to keep the number of maneuvering operations required to reach the end of the parking process as low as possible.The threshold value used to compare the size of the maneuvering space can be chosen such that, even if the size of the maneuvering space exceeds the threshold, it is still large enough to execute a meaningful maneuver. Therefore, if the size of the maneuvering space exceeds the threshold, the longitudinal and / or lateral guidance instruction is issued after an initial, short waiting period. This means that the driver only needs to wait a short time after detecting the newly encountered obstacle before continuing the parking maneuver, or before the parking maneuver continues automatically. If the size of the maneuvering space reaches or falls below the threshold, it is assumed that the size of the maneuvering space is insufficient to effectively execute a maneuver.In this case, at least one longitudinal and / or lateral guidance instruction is only issued after a second time interval has elapsed, which is longer, and in particular significantly longer, than the first time interval. Especially if the newly added obstacle is a person merely crossing the parking space, this crossing may be completed within the second time interval. The newly added obstacle is therefore no longer present. A change to the longitudinal and / or lateral guidance instruction to the state it was in before the newly added obstacle was detected is not necessary. The parking process can continue with the original instructions. Unnecessary instructions can thus be avoided.

[0018] In a method according to the invention, it is particularly preferred that the limit value is between 50 cm and 150 cm, particularly between 80 cm and 120 cm, preferably 100 cm. Furthermore, the method according to the invention can be further developed such that the first time interval has a value between 2 seconds and 4 seconds, particularly 3 seconds, and that the second time interval has a value between 8 seconds and 12 seconds, particularly 10 seconds. The size of the limit value must be adapted to the dimensions of the vehicle and its turning circle. In particular, it can also be provided that the limit value can be determined by the driver of the vehicle. The first time interval preferably assumes values ​​on the order of the driver's reaction time. In particular, the first time interval is chosen such that the driver is not annoyed by unnecessary waiting time.The second time interval is preferably chosen such that a parking space can be crossed by a person walking at a normal pace. This ensures that a longitudinal and / or lateral guidance instruction is only issued when it can be reliably assumed that the newly added obstacle will remain in the parking space.

[0019] According to a second aspect of the invention, the problem is solved by a parking assistance system for a vehicle to support the execution of a parking maneuver, comprising at least one sensor unit for monitoring the environment at least in front of and behind the vehicle and an output unit for issuing longitudinal and / or lateral guidance instructions depending on the monitoring after a time interval of between 8s and 12s, in particular 10s. In particular, a parking assistance system according to the invention provides that the sensor unit of the parking assistance system is designed to detect obstacles during the parking maneuver and to detect the size of a maneuvering space on the side of the vehicle opposite the newly added obstacle, and that the output unit is designed to adapt the output of at least one longitudinal and / or lateral guidance instruction depending on the size of the detected maneuvering space.By monitoring the area in front of and behind the vehicle using the sensor unit and issuing longitudinal and / or lateral guidance instructions based on the monitoring data from the output unit, automatic and / or semi-automatic support for parking the vehicle is possible. If, during the parking maneuver, the sensor unit of the parking assistance system detects a new obstacle, particularly one located in the vehicle's direction of travel, it also detects the size of the maneuvering space on the side of the vehicle opposite the new obstacle. The size of this detected maneuvering space allows for decisions regarding whether it is sufficient to execute a practical maneuver.Depending on this decision, the parking assistance system issues at least one longitudinal and / or lateral guidance instruction. If the maneuvering space is large enough for a practical maneuver, the parking process continues into the maneuvering space with this maneuver. If the maneuvering space is detected as too small for a practical maneuver, a certain waiting period can be initiated before issuing the next longitudinal and / or lateral guidance instruction. If the newly added obstacle has left the parking space during this waiting period, the original parking process can be continued. This avoids unnecessary additional delays, resulting in greater driver satisfaction, as the parking process is completed faster and with fewer maneuvers.

[0020] According to a further development of a parking assistance system according to the invention, the output unit can be configured to output longitudinal and / or lateral guidance instructions to at least one control unit of the vehicle and / or to output lateral guidance instructions to at least one control unit of the vehicle and longitudinal guidance instructions to the driver of the vehicle. When longitudinal and / or lateral guidance instructions are output to at least one control unit of the vehicle, whereby the at least one control unit of the vehicle handles both forward and reverse acceleration as well as steering, an automatic parking assistance system is present. The driver does not need to intervene in the parking process.In the second case, at least one control unit handles only the steering of the vehicle, with the control unit being actuated by lateral guidance instructions from the output unit. The driver is responsible for longitudinal steering, receiving longitudinal guidance instructions from the parking assistance system via the output unit. This is a semi-automatic parking assistance system. In both cases, the parking process is made easier for the driver, as the steering of the vehicle is performed automatically in both cases.

[0021] In a further development of a parking assistance system according to the invention, the output unit can be designed to provide the driver with acoustic and / or visual longitudinal guidance instructions. In particular, the output unit can include a screen and / or an audio system. It can also be connected to the vehicle's audiovisual systems. The driver can thus receive the longitudinal guidance instructions from the parking assistance system in a variety of ways.

[0022] According to a particularly preferred embodiment of a parking assistance system according to the invention, the supported parking maneuver can be either a parking maneuver into or an exit maneuver. All problems that can arise during a parking maneuver also occur analogously during an exit maneuver. With a parking assistance system according to the invention, it is possible to perform both maneuvers to the increased satisfaction of the driver. In both cases, unnecessary maneuvers can be avoided by using a parking assistance system according to the invention.

[0023] In a further preferred embodiment of a parking assistance system according to the invention, the parking assistance system may be configured to perform a method according to the first aspect of the invention. All advantages described with respect to a method according to the first aspect of the invention also apply to a parking assistance system configured to perform such a method.

[0024] According to a third aspect of the invention, the problem is solved by a vehicle with a parking assistance system, wherein the parking assistance system is designed according to the second aspect of the invention. Thus, all the advantages described with regard to a parking assistance system according to the second aspect of the invention also apply to a vehicle that has such a parking assistance system. PREFERRED EXAMPLES

[0025] The method according to the invention and its further developments, as well as their advantages, are explained in more detail below with reference to the drawings. These schematically depict: Fig. 1. a first parking maneuver of a vehicle and Fig. 2 a second parking maneuver of a vehicle.

[0026] Elements with the same function and mode of operation are in the Fig. 1 and Fig. 2 each with the same reference numerals.

[0027] In Fig. Figure 1 shows a schematic view of a vehicle 1 parking in a parking space. The parking space is bounded by other vehicles 20, 21 and a lateral parking space boundary 22. This is a so-called parallel parking space. The vehicle 1 is equipped with a parking assistance system 2 according to the invention, wherein the depicted parking assistance system 2 is a semi-automatic form of the parking assistance system 2. The parking assistance system 2 includes, among other things, a display device 3 as an output device, via which longitudinal guidance instructions 7, 8, in the depicted case an instruction to drive forward 7, can be issued to the driver of the vehicle 1. Furthermore, a control device 9 is connected to the parking assistance system 2, which can receive lateral guidance instructions from the parking assistance system 2 for steering the vehicle 1 during the parking process.The parking assistance system 2 further comprises sensor units 4 with which the area around vehicle 1 can be monitored, at least in front of and behind vehicle 1. The orientation of vehicle 5 is indicated by an arrow. In the depicted situation, vehicle 1 is moving forward in its current direction of travel 6. In the current direction of travel 6 of vehicle 1, a newly added obstacle 11 is detected by the sensor units 4 in the depicted situation. Continuing to travel in this direction is therefore not possible. On the side of vehicle 1 facing away from the newly added obstacle 11, only a small maneuvering space 10.1 remains. In the illustrated example, the distance to the other vehicle 21 is only 80 cm. A meaningful maneuver is not possible in this small maneuvering space 10.1. However, this is also known to the person, the newly added obstacle 11.It can also be assumed that the person is not intentionally blocking the parking space of vehicle 1. In the situation depicted, the person, who is a moving obstacle 11, 12, intends to cross the parking space of vehicle 1. The direction of movement of the person as a moving obstacle 11, 12 is indicated by an arrow 12.1. It is therefore to be expected that the space in front of vehicle 1 will be available for parking again after a short time, once the moving obstacle 11, 12 has left the parking space. In the parking assistance system 2 according to the invention, it is therefore provided that, when a small maneuvering space 10.1 is detected on the side of vehicle 1 facing away from the obstacle 11, the output of an instruction to change the direction of travel by the display device 3 is adjusted so that it is issued with a delay. In particular, a delay time of, for example, 10 seconds can be provided here.This provides enough time for a moving obstacle 12 to leave the parking space in front of the parked vehicle 1. The parking maneuver of vehicle 1 can then continue in its original direction of travel 6. This eliminates unnecessary maneuvering by vehicle 1 during the parking maneuver. The parking maneuver can therefore be carried out faster and to the greater satisfaction of the driver.

[0028] Fig. Figure 2 shows a vehicle 1 with a parking assistance system 2, which, like the one in Fig.The parking assistance system 2 shown in Figure 1 is designed as follows. In the depicted situation, a new obstacle 11, here a person as a stationary obstacle 13, is detected in front of the vehicle 1 in the direction of travel 6. On the side of the vehicle 1 facing away from the obstacle 11, a maneuvering space 10 remains, which in this case is a large maneuvering space 10.2. The size of the maneuvering space 10 can be, in particular, larger than 120 cm. This large maneuvering space 10.2 is sufficient to carry out a sensible maneuver for the parking maneuver of the vehicle 1. The person is also aware of this and therefore remains stationary, e.g., to load the trunk of the other vehicle 20. They assume they are not blocking the parking process of the vehicle 1. The parking assistance system 2 according to the invention therefore issues an instruction to reverse 8 to the driver of the vehicle 1 via the display unit 3.The parking maneuver of vehicle 1 will continue in this direction. This avoids unnecessary waiting time for the driver.

[0029] Without referring to a specific figure, it can be generally stated that the parking assistance system according to the invention is based on the premise that people, especially pedestrians, do not want to unnecessarily block vehicles that are parking or unparking. If a person thus creates a new obstacle in the vehicle's direction of travel, leaving only a small maneuvering space, i.e., a maneuvering space that falls below a certain threshold, the person is aware of this. In order not to unnecessarily impede the vehicle's parking process, they will leave the parking space as quickly as possible. By adjusting the longitudinal and / or lateral guidance instructions, in particular by delaying the issuance of a direction-change instruction, the person can be given sufficient time to leave the parking space.In contrast, a person entering the parking space as a newly added obstacle in the vehicle's direction of travel will assume that the parking maneuver can continue successfully within this ample maneuvering space on the opposite side of the vehicle, provided there is sufficient room to maneuver. Therefore, a swift exit from the parking space by this person is not to be expected. Consequently, the request to change direction can be issued early and, in particular, without additional delay. Both situations combined result in a faster parking process with a number of maneuvers adapted to the specific circumstances.

Claims

[1] Method for supporting the execution of a parking operation of a vehicle (1), wherein the environment is monitored at least in front of and behind the vehicle (1) and longitudinal (7, 8) and / or lateral guidance instructions for the vehicle (1) are issued depending on the monitoring, wherein the method is characterized by the following process steps: a) Detecting an obstacle newly added during the parking process (11) for the parking process, b) Detecting the size of a shunting space (10) on the side of the vehicle (1) opposite the newly added obstacle (11), c) Adaptation of at least one longitudinal (7, 8) and / or transverse guidance instruction depending on the size of the detected shunting space (10) after a time interval between 8s and 12s, in particular 10s, wherein After the detection of the newly added obstacle (11) and upon detection that the size of the shunting area (10) exceeds a limit, at least one longitudinal (7, 8) and / or lateral guidance instruction is issued after a first time interval, and after the detection of the newly added obstacle (11) and upon detection that the size of the shunting area (10) reaches or falls below the limit, at least one longitudinal (7, 8) and / or lateral guidance instruction is issued after a second time interval, wherein the second time interval is greater than the first time interval. [2] Method according to claim 1, characterized by , that the longitudinal (7, 8) and / or lateral guidance instructions are issued to at least one control unit (9) of the vehicle (1). [3] Method according to claim 1, characterized by, that lateral guidance instructions are issued to at least one control unit (9) of the vehicle (1) and that longitudinal guidance instructions (7, 8) are issued to the driver of the vehicle (1). [4] Method according to claim 3, characterized by , that the limit is between 50 cm and 150 cm, in particular between 80 cm and 120 cm, preferably at 100 cm. [5] Method according to one of claims 3 or 4, characterized by , that the first time interval has a value between 2 s and 4 s, in particular 3 s, and that the second time interval has a value between 8 s and 12 s, in particular 10 s. [6] Parking assistance system (2) for a vehicle (1) to support the execution of a parking operation of the vehicle (1), comprising at least one sensor unit (4) for monitoring the environment at least in front of and behind the vehicle (1) and an output unit for issuing longitudinal (7, 8) and / or lateral guidance instructions depending on the monitoring, characterized by, that the sensor unit (1) of the parking assistance system (2) is configured for detecting obstacles (11) during the parking process and for detecting the size of a maneuvering space (10) on the side of the vehicle (1) opposite the newly added obstacle (11), that the output unit is configured for adjusting the output of at least one longitudinal (7, 8) and / or lateral guidance instruction depending on the size of the detected maneuvering space (10) after a time interval of 8s to 12s, in particular 10s, wherein after the detection of the newly added obstacle (11) and upon detection that the size of the maneuvering space (10) exceeds a limit, the at least one longitudinal (7, 8) and / or lateral guidance instruction is output after a first time interval, and that after the detection of the newly added obstacle (11) and upon detection that the size of the maneuvering space (10) reaches the limit or falls belowwhich at least one longitudinal (7, 8) and / or transverse guidance instruction is issued after a second time interval, wherein the second time interval is greater than the first time interval. [7] Parking assistance system (2) according to claim 6, characterized by , that the output unit is designed to output longitudinal (7, 8) and / or lateral guidance instructions to at least one control unit (9) of the vehicle (1) and / or that the output unit is designed to output lateral guidance instructions to at least one control unit (9) of the vehicle (1) and longitudinal guidance instructions (7, 8) to the driver of the vehicle (1). [8] Parking assistance system (2) according to claim 7, characterized by , that the output unit is designed to provide acoustic and / or optical longitudinal guidance instructions (7, 8) to the driver of the vehicle (1). [9] Parking assistance system (2) according to one of claims 6 to 8, characterized bythat the supported parking maneuver is a parking maneuver in or out of a parking space. [10] Parking assistance system (2) according to one of claims 6 to 9, characterized by , that the parking assistance system (2) is configured to perform a method according to one of claims 1 to 6. [11] Vehicle (1) with a parking assistance system (2), characterized by , that the parking assistance system (2) is designed according to one of claims 6 to 10.

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