Driver assistance system to assist a driver when parking a vehicle

Abstract

Driver assistance system for assisting a driver when parking a vehicle, wherein the driver assistance system is designed such that it - Target parking spaces for the vehicle are recorded and - issues parking instructions to the driver on the basis of recorded information about the target parking spaces and / or carries out automated parking manoeuvres, wherein the driver assistance system comprises means designed to detect a target parking space on the basis of specific Parking space markings, and wherein the means are at least one camera and image processing devices designed to detect optically detectable markings arranged as specific parking space markings in the area of ​​the target parking space, characterized in that the driver assistance system comprises at least one device for activating the optical markings.

Description

[0001] The invention relates to a driver assistance system that serves to support a driver when parking a vehicle.

[0002] Driver assistance systems have been increasingly used in vehicles for several years. Using sensor systems, special electronic devices, and suitable software, these systems can perform various driver-supporting functions. Some driver assistance systems are already capable of detecting target parking spaces for a vehicle and, based on the recorded information (e.g., distance information) about the target parking spaces, providing parking instructions to the driver and / or performing automated parking maneuvers. Such driver assistance systems are also referred to as parking assistance systems.

[0003] For example, known parking assistance systems use ultrasonic sensors to measure distances to objects surrounding the vehicle. During a manual parking maneuver, i.e., a parking maneuver performed by the driver, the parking assistance system can continuously provide the driver with parking instructions in the form of distance information to surrounding objects. These systems provide parking instructions both via acoustic signals and via visual displays.

[0004] Other parking assistance systems, for example, work with one or more cameras, which can be used to record a target parking space, its dimensions, and distances to surrounding objects. Using suitable electronic evaluation devices, the driving maneuvers required to park the vehicle can be calculated, in particular the longitudinal and lateral control measures required to move the vehicle from a starting position to a parking position in the target parking space. Such parking assistance systems can therefore already carry out automated parking maneuvers. Automated parking maneuvers include both semi-autonomous parking maneuvers, e.g., where the driver takes over the longitudinal control (acceleration) and the parking assistance system takes over the lateral control (steering) of the vehicle, as well as autonomous parking maneuvers, where all control measures (steering and acceleration) are taken over by the parking assistance system, i.e.The vehicle is parked fully automatically in a target parking space.

[0005] DE 10 2011 082 478 A1 describes a system in which a relative position to predefined, stationary markers within a reference system is recorded using a 2D video system and the images of the markers are examined with regard to distance and perspective.

[0006] From DE 10 2012 008 374 A1 an automatic guidance system for electric vehicles in a parking lot is known, wherein the system comprises a set of charging stations, a marking system which is suitable to be detected by a vehicle, and means which are suitable for transmitting to the vehicle, via the charging stations, the information relating to the path to be followed by the vehicle.

[0007] DE 10 2009 046 912 A1 discloses a method for guiding a vehicle from a starting position to a target position, wherein the vehicle receives information about the location of the target position at the starting position and is guided from the starting position to the target position with the aid of a marker.

[0008] DE 2006 040 879 A1 describes a driver assistance system for assisting a driver when parking. The system comprises two spaced-apart transmitting and receiving devices for communication with at least one RFID element (RFID = Radio Frequency Identification, identification by radio waves), an RFID element arranged at the end of a parking space, and a triangulation device. The triangulation device determines the distance and position of the vehicle relative to the RFID element based on the communication signals between the two transmitting and receiving devices and the RFID element.

[0009] US 2006 / 0178794 A1 describes a signal-based traffic control system installed in a motor vehicle for receiving a wireless signal from one of a plurality of locating devices, the locating devices being arranged at different geographical locations, each of the locating devices being defined to have a corresponding identification code. Each of the locating devices comprises a short-range wireless transmitter for transmitting the wireless signal up to a predetermined distance, the wireless signal containing the corresponding identification code of the respective locating device. The traffic control system comprises an on-board short-range wireless receiver adapted to receive the wireless signal from one of the locating devices.

[0010] Driver assistance systems, especially those that support the driver in parking their vehicle, bear a high degree of process responsibility. If the system is configured to perform an automated parking maneuver, it must be ensured at all times during the maneuver that the target parking space is reliably recognized, especially information such as dimensions and boundary objects, so that no damage can occur to the system or other vehicles.

[0011] However, existing parking assistance systems still have problems reliably detecting or determining the target parking space to be used.

[0012] The invention is therefore based on the object of specifying a driver assistance system which supports the driver of a vehicle when parking, in particular by issuing parking instructions and / or by carrying out automated parking maneuvers, and by means of which a reliable detection or determination of the target parking space to be used is possible.

[0013] This object is achieved by a driver assistance system having the features according to claim 1. Advantageous embodiments and further developments are the subject of subclaims, whereby combinations and further developments of individual features are also conceivable.

[0014] A key idea of ​​the invention is that many drivers repeatedly use the same target parking space, i.e. the same parking space, parking space, parking bay, garage or garage parking space, etc. This is the case, for example, when the parking space is rented or when the parking space is on private property. It is therefore advisable to mark such target parking spaces in such a way that a parking assistance system can clearly detect or identify the target parking space, i.e. can recognize that the target parking space belongs to the vehicle. For marking purposes, special optically detectable markings or radio-based devices can be used, for example, which are fixed in the area of ​​the target parking space. Such markings can also be delivered directly with the vehicle.This ensures, similar to a remote key, that the vehicle and the markers are paired. Furthermore, the aforementioned markers can also be used to mark target parking spaces, for example, in public parking lots and parking garages. Unrestricted parking spaces can be marked differently than, for example, disabled parking spaces, parking spaces for families with children, residents' parking spaces, time-restricted parking spaces, etc.

[0015] In particular, the markings can also be designed in such a way that they detect whether a vehicle is approaching and only activate when that happens. Furthermore, the vehicle can include means, such as special transmitters or transponders, via which the markings are activated. These means can be activated, for example, as soon as the vehicle travels slower than a threshold or as soon as the parking assistant is activated.

[0016] A further key concept of the invention is to design a driver assistance system or a parking assistance system that supports the driver of a vehicle when parking, such that it is capable of recognizing specific markings of a target parking space or identifying a target parking space based on specific markings. The system can further be designed such that it can additionally capture information about the target parking space from the markings, for example, information about the exact location and dimensions of the target parking space, information about the owner / tenant of the target parking space, and / or information about restrictions of the target parking space. The driver can then, for example, be offered only those target parking spaces suitable for the vehicle for manual or automated parking maneuvers.

[0017] Key advantages of the invention are that by marking target parking spaces using specific markings and by detecting and processing such markings using a driver assistance system or a parking assistance system, the step of the driver informing the system of the target parking space to be used can be omitted. This results in greater automation of parking assistance systems in particular. Furthermore, target parking spaces to be used and information about the target parking spaces can be detected more quickly and reliably than with the parking assistance systems known from the prior art. Furthermore, the parking assistance system can drive to parking spaces that are only vaguely demarcated from the surroundings in the environmental sensor data or that cannot be fully detected by the environmental sensors, as can be the case, for example, when parking sideways.

[0018] The driver assistance system according to the invention serves to assist a driver when parking a vehicle. The driver assistance system is particularly designed to detect target parking spaces for the vehicle and, based on the detected information about the target parking spaces, issue parking instructions to the driver and / or perform automated parking maneuvers.

[0019] The target parking area can in principle be any area used for parking vehicles, for example marked parking spaces or parking bays in public car parks, parking spaces on the side of the road, or marked parking spaces in multi-storey car parks or underground car parks.

[0020] The destination parking area can also be a destination parking area with or without restrictions, i.e. for example a destination parking area with a time restriction (e.g. parking spaces with restricted stopping, parking spaces with a parking meter or with a parking ticket requirement) as well as a disabled parking space, women's parking space or a mother and child parking space (family parking space).

[0021] The information about the target parking spaces can be various information about the target parking space that is suitable and / or necessary for the driver assistance system to assist the driver when parking. Such information can include, for example, information about the exact location or position of the target parking space, e.g., the GPS position, as well as information about the exact dimensions of the target parking space, information about the owner or tenant, information about any restrictions on the target parking space, information about any road gradients and the associated need for a parking brake when parking, information about time restrictions for the use of the parking space (only at certain times or days of the week, etc.), and / or, for example, information about the maximum approach speed.

[0022] Depending on the detected target parking spaces and the information about the target parking spaces, the driver assistance system can implement various functions to support the driver when parking the vehicle. In particular, the information can be evaluated and the driver can then be provided with information, for example, about the target parking spaces available within a certain radius. This output can be provided by displaying the target parking spaces on a digital map of a navigation system in the vehicle. Furthermore, the driver can be given additional information about the target parking spaces, for example information about their dimensions and / or existing restrictions. If the driver assistance system supports the driver by performing automated parking maneuvers, the driver can be given one or more available target parking spaces to choose from.Furthermore, depending on the detected target parking spaces and the information about the target parking spaces, the driver assistance system can calculate the control measures required to carry out an automated parking maneuver, in particular the measures required to transfer the vehicle from a starting position to a parking position in the target parking space for longitudinal and / or lateral control of the vehicle. According to the invention, the driver assistance system comprises means designed to detect target parking spaces based on specific parking space markings. In particular, one of the driver assistance or parking assistance systems known from the prior art can also be further developed with corresponding means.

[0023] The specific parking space markings are, in particular, stationary markings that are preferably located in the area of ​​the target parking spaces, preferably at the edge of the target parking spaces or at an outer boundary of the target parking spaces. The specific parking space markings are not the usual parking space markings in the form of white or other colored lines or narrow lines. The specific parking space markings are, in particular, not the usual parking space markings, which are usually applied to the road surface as interrupted or continuous lines (predominantly with a line width of 0.10 to 0.12 m) and delimit the parking area in whole or in part.The design of such conventional parking space markings, which do not fall under the markings referred to as specific parking space markings in the context of the invention, are generally regulated by national and / or international guidelines or regulations. In Germany, for example, according to Section 41, Paragraph 3 of the VwV-StVO (Road Traffic Regulations), this is the "Guideline for the Marking of Roads." Rather, the specific parking space markings are preferably markings that are arranged in a fixed location in addition to or as an alternative to the conventional parking space markings in the area of ​​target parking spaces, for example on / at or near the conventional parking space markings. The specific markings can, in particular, also be designed in such a way that they detect, for example by means of infrared, radar, or transponder, that a vehicle is approaching and only then activate.If a parking space is equipped with a parking meter, the parking space marking can be accommodated in this parking meter.

[0024] According to a preferred embodiment of the driver assistance system according to the invention, the means for detecting the target parking spaces based on specific parking space markings comprise at least one camera and image processing devices designed to detect optically detectable markings arranged as specific parking space markings in the region of the target parking space. The optically detectable markings can be various markings that stand out optically from the ground, in particular from the road surface and / or the usual parking space markings, and can thus be detected by the camera. Optically detectable markings can also be passive markings, e.g. objects arranged on the ground in a specific color and / or with a specific coating, or active markings.Lamps can be used as active markers, for example, individual (LED) light sources that actively emit light in a specific color or within a specific wavelength range. The lamps can also be designed as flashing lights, for example, with a specific and / or adjustable pattern or flashing sequence.

[0025] The at least one camera and the image processing devices of the driver assistance system according to the invention can be designed, in particular, to capture information about the target parking space from the optically detectable markings. If the optically detectable markings are passive markings, the information about the target parking space can be encoded and captured, for example, in the form of barcodes or color codes. If the optically detectable markings are active markings, in particular active light sources, the information can be encoded and captured, for example, by means of infrared data transmission, flashing sequences or flashing codes, color changes, adapted or adjustable patterns, etc.

[0026] In an advantageous embodiment, the driver assistance system can further comprise at least one device for activating the optically detectable markings. The device for activating the optically detectable markings can, for example, be an active transmitting device which transmits a signal for activating the optically detectable markings, for example within a defined radius around the vehicle, continuously or as needed, e.g. when the driver wishes or activates the detection of target parking spaces using the driver assistance system. The device for activating the optically detectable markings can, for example, also be a passive component, such as an RFID chip. This can be recognized by the optically detectable markings, particularly if they themselves have suitable transmitting and receiving devices.Preferably, the markings are activated when the vehicle is located or is within a defined radius of the target parking space. The transmitting device or RFID chip and the optically detectable markings can be paired, for example, such that the markings are only activated when the parking space owner, tenant, or authorized parking user approaches the parking space, e.g., depending on the respective restrictions.

[0027] According to a further preferred embodiment of the driver assistance system according to the invention, the means for detecting the target parking spaces based on specific parking space markings are at least one receiving device which is designed to detect transponder signals which are emitted by active or passive transponders which are arranged as specific parking space markings in the region of the target parking space.

[0028] The at least one receiving device of the driver assistance system according to the invention can be designed in particular to detect information about the target parking area which is transmitted by the active or passive transponders by means of the transponder signals.

[0029] In an advantageous embodiment, the driver assistance system may further comprise at least one transmitting device for activating the transponders and / or for querying the information about the target parking area from the transponders.

[0030] According to a further preferred embodiment of the driver assistance system according to the invention, the means for detecting the target parking spaces based on specific parking space markings comprise at least one communication device designed to detect radio signals emitted by radio devices arranged as specific parking space markings in the area of ​​the target parking space. Suitable radio systems include, for example, Bluetooth, RKE (Remote Keyless Entry, keyless entry for the vehicle locking system), ZigBee, and V2X communication (Vehicle-to-X communication, particularly based on IEEE802.11p or ITS-G5). The radio devices arranged as specific parking space markings in the area of ​​the target parking space can, in particular, continuously transmit so-called beacons containing the GPS position and, optionally, further information about the target parking space.There are also methods available that allow the distance of the marking units from the vehicle to be determined directly from the radio signals. These include, in particular, time-of-flight measurement and triangulation or angle-of-arrival measurement methods. Regarding radio devices, it is also advisable to use different systems for marking than those in the vehicle, but to configure the vehicle system so that it can be switched to a mode compatible with the marking system. For example, it is advisable to use ZigBee for marking (due to its low energy consumption) and to configure an RKE system in the vehicle so that it can transmit in a ZigBee-compatible manner.

[0031] The at least one communication device of the driver assistance system according to the invention can further be designed to detect information about the target parking area, which information is transmitted by the radio devices by means of the radio signals.

[0032] According to a preferred embodiment, the driver assistance system may comprise at least one device for activating the radio devices and / or for querying the information about the target parking area from the radio devices.

[0033] According to a particularly advantageous embodiment of the driver assistance system according to the invention, said system comprises a locating device or is connected to a locating device of the vehicle. Furthermore, the driver assistance system is preferably designed such that geographical data of at least one detected target parking space can be stored. The locating device can be a GPS (Global Positioning System), for example, in particular in conjunction with a navigation device in the vehicle, which includes digital maps that can be displayed to the driver in the vehicle. Target parking spaces can either already be stored in the digital maps and / or the target parking spaces detected by the driver assistance system, i.e. their position, can be stored. Furthermore, the driver can be provided with the available target parking spaces, for example within a certain radius around the vehicle.The saving of target parking spaces can be initiated in particular by the driver, for example by means of suitable control elements and / or the target parking spaces detected by the driver assistance system can be saved automatically.

[0034] It is particularly advantageous if the geographical data of target parking spaces where the vehicle has already been parked at least once is automatically stored. The driver assistance system can be designed in such a way that it independently learns, e.g., using neural networks or the Bayesian method, which target parking spaces the vehicle is parked in more frequently and then stores these data.

[0035] It is also advantageous if the stored target parking spaces can be called up for display to the driver or for the driver to select a target parking space to be used.

[0036] According to a particular embodiment, the driver assistance system according to the invention can be designed such that a distance to a detected target parking area can be determined and at least one threshold value for the distance is specified, wherein the driver assistance system - automatically performs an automated parking maneuver into the target parking space when the at least one threshold value is undershot and / or - if at least one threshold value is exceeded, a confirmation request is issued to the driver as to whether an automated parking maneuver should be carried out in the target parking space.

[0037] This ensures that the driver only needs to park the vehicle near a detected and to-be-used target parking space if they wish the vehicle to be automatically parked in the target parking space by the driver assistance system, particularly if an automated parking maneuver into the target parking space is automatically performed when the at least one threshold value is undershot. Furthermore, it prevents the driver assistance system from automatically parking in a nearby target parking space contrary to the driver's wishes, particularly if a confirmation request is issued to the driver when the at least one threshold value is exceeded.

[0038] In particular, additional threshold values ​​for the distance can also be defined, each of which triggers a specific system behavior in the driver assistance system. For example, an additional threshold value can be defined, whereby if this threshold value is exceeded, the driver assistance system does not react to the specific marking of the target parking spaces.

[0039] According to a particular embodiment of the driver assistance system according to the invention, it is designed to detect the target parking space and / or information about the target parking space using specific parking space markings arranged on a parking meter. The specific parking space markings can be one or more of the markings mentioned above. For example, transponders and / or communication or radio devices can be arranged on or in a parking meter, using which the driver assistance system recognizes a target parking space and preferably obtains further information about the target parking space. The parking meter can, for example, be a parking meter assigned to a single parking space, or a parking meter, or rather a parking ticket machine, that is arranged in the area of ​​several parking spaces.

Claims

[1] Driver assistance system for assisting a driver when parking a vehicle, wherein the driver assistance system is designed in such a way that it - Target parking spaces for the vehicle are recorded and - issues parking instructions to the driver on the basis of recorded information about the target parking spaces and / or carries out automated parking manoeuvres, wherein the driver assistance system comprises means designed to detect a target parking space on the basis of specific Parking space markings, and wherein the means are at least one camera and image processing devices designed to detect optically detectable markings arranged as specific parking space markings in the area of ​​the target parking space, characterized by , that the driver assistance system comprises at least one device for activating the optical markings. [2] Driver assistance system according to claim 1, characterized by that the camera and the image processing devices are further designed to capture information about the target parking area from the optically detectable markings. [3] Driver assistance system according to one of the preceding claims, characterized by that the means are at least one receiving device designed to detect transponder signals emitted by active or passive transponders arranged as specific parking space markings in the region of the target parking space. [4] Driver assistance system according to claim 3, characterized by that the receiving device is further designed to detect information about the target parking area which is transmitted by the active or passive transponders by means of the transponder signals. [5] Driver assistance system according to claim 3 or 4, characterized bythat the driver assistance system comprises at least one transmitting device for activating the transponders and / or for querying the information about the target parking area from the transponders. [6] Driver assistance system according to one of the preceding claims, characterized by that the means are at least one communication device designed to detect radio signals emitted by radio devices arranged as specific parking space markings in the area of ​​the target parking space. [7] Driver assistance system according to claim 6, characterized by that the communication device is further designed to detect information about the target parking area which is transmitted by the radio devices by means of the radio signals. [8] Driver assistance system according to claim 6 or 7, characterized bythat the driver assistance system comprises at least one device for activating the radio devices and / or for querying the information about the target parking area from the radio devices. [9] Driver assistance system according to one of the preceding claims, characterized by that the driver assistance system comprises a positioning device or is connected to a positioning device of the vehicle and geographical data of at least one detected target parking area can be stored. [10] Driver assistance system according to claim 9, characterized by that the geographical data of target parking spaces where the vehicle has already been parked at least once is automatically saved. [11] Driver assistance system according to one of claims 9 or 10, characterized by that the stored target parking spaces can be called up for display to the driver or for the driver to select a target parking space to be used. [12] Driver assistance system according to one of the preceding claims, designed in such a way that a distance to a target parking area can be determined and at least one threshold value for the distance is predetermined, wherein the driver assistance system - automatically performs an automated parking maneuver into the target parking space when the at least one threshold value is undershot and / or - if at least one threshold value is exceeded, a confirmation request is issued to the driver as to whether an automated parking maneuver should be carried out in the target parking space. [13] Driver assistance system according to one of the preceding claims, designed to detect the target parking space and / or information about the target parking space based on specific parking space markings, in particular based on specific parking space markings according to one of the preceding claims, which are arranged on a parking meter.