Parking assist system for a vehicle

Abstract

Control unit (110) for a vehicle (100), wherein the control unit (110) is configured, - to determine that the vehicle (100) is parked; - to recognize a parking situation; and - to initiate a countermeasure to eliminate the obstruction situation, wherein the countermeasure includes sending information regarding the obstruction situation to a personal communication device of the driver, who is outside the vehicle (100) with the personal communication device.

Description

[0001] The invention relates to a parking assistant for a vehicle. In particular, the invention relates to an assistance function for a vehicle that can reduce the risk of the vehicle being blocked in and / or that can assist a driver of the vehicle when exiting a parking space.

[0002] Vehicles (especially passenger cars or automobiles) have a variety of driver assistance systems that support the driver in different driving situations, thus increasing safety and / or comfort. To implement these systems, vehicles typically have a variety of sensors (cameras, ultrasonic sensors, LiDAR, etc.) that gather information about the vehicle's surroundings. One example of a driver assistance system is the parking assistant, which helps the driver find a suitable parking space and / or park the vehicle in a parking space.

[0003] German patent application DE 10 2009 058 034 A1 describes a method for operating a collision avoidance system for a vehicle, comprising an environmental sensing device with sensors for detecting objects and determining available clearance in the vicinity of the vehicle. The vehicle further comprises a device for issuing warning signals, preferably visual or acoustic, which are perceptible outside the vehicle, depending on the determined available clearance.

[0004] Furthermore, reference is made to the publication DE 10 2012 024 151 A1 as a further state of the art.

[0005] This document describes an assistance function that supports the driver when backing out of a parking space. In particular, the described assistance function helps the driver to reduce the risk of being blocked in (by neighboring vehicles in the vicinity).

[0006] According to one aspect, a control unit for a vehicle (e.g., a two-track vehicle) is described. The control unit is configured to determine that the vehicle is parked. The fact that the vehicle is parked can be determined based on one or more of the following indicators: the vehicle's engine is off; there is no ignition key in the vehicle; a driver's seat is unoccupied; the vehicle is locked; and / or the vehicle's location corresponds to a parking space on a digital map (e.g., by using the vehicle's navigation system).

[0007] The control unit is further configured to detect an obstruction situation. This obstruction situation can encompass a situation where the vehicle's distance to one or more obstacles (e.g., one or more other parked vehicles) is so small that the obstacle(s) impede the vehicle's exit maneuver. In other words, it can detect a situation where the vehicle's distance to the one or more obstacles is equal to or less than a predefined distance threshold (e.g., a longitudinal distance threshold). This distance threshold can be defined such that reaching or falling below this threshold impedes the vehicle's exit maneuver. The distance threshold can depend, for example, on the vehicle's maximum steering angle, its dimensions, and / or the positioning of the wheels relative to the vehicle's body.

[0008] Alternatively or additionally, the obstruction situation can encompass a situation where the distance between the vehicle and one or more obstacles (e.g., other parked vehicles) is so small that the obstacle impedes access to the vehicle. In other words, the situation can be recognized where the lateral distance of the vehicle to one or more obstacles is equal to or less than a predefined lateral distance threshold. This lateral distance threshold can be defined such that, upon reaching or falling below this threshold, access is impossible without a vehicle door touching the one or more obstacles. The lateral distance threshold can depend on the dimensions of the vehicle door. Furthermore, the lateral distance threshold (as well as the longitudinal distance threshold) could be adjustable by the vehicle's driver (e.g., to adjust the vehicle's speed).to determine the desired comfort when entering the vehicle or when parking the vehicle).

[0009] The control unit can be set up to receive sensor data from one or more sensors of the vehicle and to recognize the parking situation based on the sensor data.

[0010] The control unit is further configured to initiate countermeasures to resolve the obstruction situation. These countermeasures include sending information regarding the obstruction situation to the driver's personal communication device, which is located outside the vehicle. The countermeasures may also include one or more of the following: performing an autonomous maneuver to counteract the obstruction situation, and / or storing information regarding the obstruction situation (e.g., as evidence for future legal proceedings).

[0011] Consequently, the control unit can autonomously detect situations where access to the vehicle and / or the vehicle's removal from its parking space is obstructed. Furthermore, appropriate countermeasures can be initiated autonomously. This can reduce or prevent unpleasant consequences for the driver arising from obstruction situations. In particular, the obstruction situation can be resolved, if necessary, through autonomous maneuvering.

[0012] The control unit can be configured to detect that the vehicle is parked in a parking space along an access route to that space. In other words, it can detect that the vehicle is in a parking space, with possible obstacles in front of and / or behind the vehicle. Furthermore, the front distance to an obstacle in the vehicle's immediate vicinity can be determined (e.g., using a distance sensor in the front of the vehicle). Similarly, the rear distance to an obstacle in the vehicle's rear vicinity can be determined (e.g., using a distance sensor in the rear of the vehicle). The control unit can be configured to detect that the front distance and / or the rear distance is equal to or less than the predefined longitudinal distance threshold, thus creating a situation where the vehicle is blocked.The predefined longitudinal distance threshold can differ for the front and rear of the vehicle (to account for different maneuvering requirements at the front and rear). Consequently, the control unit can be configured to detect an obstruction in a parking space along a street and then initiate an appropriate countermeasure.

[0013] For example, a parking obstruction situation can be detected where both the front and rear distances are equal to or less than the (potentially respective) predefined longitudinal distance threshold. This indicates that the vehicle is so tightly wedged that even an immediate maneuver cannot resolve the obstruction. In this case, a countermeasure could be, for example, sending information about the obstruction situation to a receiver outside the vehicle. Furthermore, the control unit can be configured to regularly check whether an increased front or rear distance occurs at any given time (e.g., due to a vehicle pulling out of a parking space in front of or behind the obstructed vehicle).Once it is detected that there is a sufficiently large front or rear clearance, the control unit can then initiate a suitable maneuvering maneuver to also increase the rear or front clearance, thereby reducing the risk of another parking situation.

[0014] Furthermore, the control unit can be configured to detect that while the front distance is equal to or less than the predefined (possibly front-specific) longitudinal distance threshold, the rear distance is greater than the predefined (possibly rear-specific) longitudinal distance threshold. As a countermeasure, the control unit can then initiate the vehicle's movement to ensure the front distance is sufficient to exit the parking space without reversing. In other words, the control unit can determine that there is enough space behind the vehicle to reverse, thus resolving the obstruction situation. This increases driver convenience, as the driver can exit the parking space directly without having to reverse first.

[0015] The control unit can be configured to detect when a vehicle is parked perpendicular to an access path in a parking space. In other words, it can recognize that the vehicle is in a parking space with potential lateral obstacles (e.g., other parked vehicles). It can determine the driver-side distance to an obstacle (e.g., another vehicle) in the immediate vicinity of the vehicle. It can also determine the passenger-side distance to an obstacle (e.g., another vehicle) in the immediate vicinity of the vehicle. Furthermore, the control unit can be configured to detect when the driver-side distance is equal to or less than a predefined lateral distance threshold (where the threshold may be specific to the driver's side), thus creating an obstruction situation (e.g., blocking access to the vehicle).

[0016] Furthermore, it can be detected that the passenger-side distance is greater than the predefined lateral distance threshold (where the distance threshold may be specific to the passenger side). As a countermeasure, the vehicle can then be moved in such a way that the driver-side distance is sufficient to allow access to the vehicle from the driver's side (e.g., by exceeding the lateral distance threshold). This increases driver comfort by ensuring that the driver can access their vehicle (and does not have to enter via the passenger side).

[0017] The control unit can be configured to detect when a parking vehicle is creating a situation where it is obstructing another vehicle. As a countermeasure, an acoustic and / or visual signal can be emitted to inform the driver of the parking vehicle about the obstruction. This can potentially prevent such situations from occurring in the first place.

[0018] On the other hand, since a warning from the driver of the parking vehicle may be ignored and could cause disturbance to others, the control unit can be configured to check whether the obstruction can be resolved by the vehicle performing an autonomous maneuver. The control unit can then refrain from issuing an audible and / or visual signal if the obstruction can be resolved by the vehicle performing an autonomous maneuver. This avoids unnecessary disturbance to the surroundings (through the emission of signals).

[0019] According to another aspect, a vehicle is described which includes the control unit described in this document.

[0020] According to another aspect, a procedure is described that is executed, for example, on the control unit. The procedure may include features that correspond to the features of the control unit described in this document.

[0021] Another aspect described is a software (SW) program. The SW program can be configured to run on a processor and thereby execute the procedure described in this document.

[0022] Another aspect describes a storage medium. This storage medium can include a software program configured to run on a processor and thereby execute the procedure described in this document.

[0023] It should be noted that the methods, devices, and systems described in this document can be used both alone and in combination with other methods, devices, and systems described in this document. Furthermore, any aspect of the methods, devices, and systems described in this document can be combined with one another in a variety of ways. In particular, the features of the claims can be combined with one another in a variety of ways.

[0024] The invention will now be described in more detail using exemplary embodiments. Fig. 1. A block diagram of an example vehicle; and Fig. 2a, Fig. 2b, Fig. 2c and Fig. 2d exemplary parking situations.

[0025] Fig. Figure 1 shows a block diagram of an example vehicle 100 (e.g., a two-track vehicle such as a passenger car or an automobile). The vehicle 100 includes a variety of sensors 101, 102, 103. These sensors 101, 102, 103 can include, for example, cameras that can take images or video recordings of the vehicle 100's surroundings, ultrasonic sensors that can measure the distance and / or shape of obstacles, and / or LIDAR (Laser Interferometry Detection and Ranging), which can also measure the distance and / or shape of obstacles. Other sensors that can detect the vehicle's surroundings are also conceivable.

[0026] The exemplary vehicle 100 includes sensors 101 on the front of the vehicle 100, with which the environment in front of the vehicle 100 (i.e. in the front area) can be detected, sensors 102 on the sides of the vehicle 100, with which the lateral environment of the vehicle 100 can be detected, and sensors 103 on the rear of the vehicle 100, with which the environment behind the vehicle 100 (i.e. in the rear area) can be detected.

[0027] The sensor data acquired by sensors 101, 102, and 103 can be evaluated by a control unit 110. The control unit 110 can be configured to provide a driver assistance function (e.g., a parking assistant) based on the sensor data. For this purpose, the control unit 110 can instruct other control units 112 of the vehicle 100 to implement specific vehicle functions.

[0028] As explained at the outset, this document deals with an assistance function that reduces the risk of vehicle 100 being blocked in. It can happen that a parked vehicle 100 is surrounded by other vehicles in such a way that it becomes difficult or impossible to move it out. Vehicle 100 (in particular, the control unit 110) can be configured to detect such a situation and initiate appropriate countermeasures to enable and / or expedite the removal of vehicle 100.

[0029] The Fig. Figures 2a to 2d show exemplary scenarios for blocking vehicle 100. Fig. Figure 2a (above) shows a scenario in which a front vehicle 201 is parked so close to vehicle 100 that vehicle 100 does not have sufficient space in its immediate vicinity (i.e., in front of the front bumper) to exit the parking space. The control unit 110 of vehicle 100 may be configured to detect such a situation (in particular based on the sensor data from the front sensors 101).

[0030] In the Fig. In scenario 2a (above), vehicle 100 has sufficient space at the rear of a vehicle 202 behind it. The control unit 110 can be configured (e.g., based on sensor data from the rear sensors 103) to determine the distance (also called rear clearance) to the vehicle 202 behind it and to ascertain that the available space is sufficient for a maneuvering operation. Furthermore, the control unit 110 can be configured to cause vehicle 100 to independently change its parking position in order to increase the distance to the vehicle 201 in front (i.e., the front clearance). For this purpose, the control unit 110 can send instructions to other control units 112 of vehicle 110 (e.g., the engine control unit, the steering unit, etc.). Vehicle 100 is then automatically reversed (i.e., without driver intervention) so that the distance to the vehicle 201 in front is sufficient for vehicle 100 to park out of the space. Fig. 2b, below). In particular, the distance to the vehicle 201 in front can be adjusted so that vehicle 100 can leave the parking space without the driver having to reverse beforehand. This makes it easier for the driver to exit vehicle 100. Furthermore, the risk of being blocked in can be reduced, as sufficient space is now provided at the front and rear of vehicle 100 to ensure it can exit.

[0031] Fig. Figure 2b (above) shows another scenario in which vehicle 100 does not have sufficient space available at the front or rear to maneuver out of a parking space. The control unit 110 can be configured to detect such a situation (based on sensor data). The control unit 100 can also be configured to monitor the available space in front of and / or behind vehicle 100. For example, if it is determined that sufficient space is available at a later time, for instance because the vehicle 201 in front has moved away, the control unit 110 can (similar to the scenario in Figure 2b) Fig. 2a) Arrange for vehicle 100 to be moved in order to provide sufficient clearance for vehicle 100 to exit the parking space, both at the rear and at the front. In the scenario from Fig. 2b, vehicle 100 is moved forward to increase the distance to the rear vehicle 202. Thus, the control unit 110 can be configured to eliminate a parking obstruction situation even at a later time (when sufficient distance is available at the rear or front).

[0032] Fig. Figure 2c shows a scenario in which vehicle 100 is parked sideways. In the example shown, the control unit 110 (based on sensor data from the side sensors 102) detects that the driver's side vehicle 201 is parked too close to vehicle 100, thus obstructing the driver's entry on the driver's side of vehicle 100. In other words, the control unit 110 can be configured to detect that the distance to the driver's side vehicle 201 is below a predefined lateral distance threshold. Furthermore, the control unit 110 can detect that the distance to the passenger side vehicle 202 is above the predefined lateral distance threshold. The control unit 110 can then initiate an autonomous maneuvering operation, increasing the distance to the driver's side and decreasing the distance to the passenger side.Since such a maneuvering operation typically requires autonomous forward and backward movement of the vehicle 100, the control unit 110 can be configured to also monitor the front and rear surroundings of the vehicle 100 during the maneuvering operation (using sensor data) in order to avoid collisions.

[0033] The control unit 110 can be further configured to detect the risk of being blocked in. In addition, the driver of a vehicle 202 that is blocking in can be informed that they are in the process of blocking in the parked vehicle 100. This is exemplified in Fig. Shown in 2D. Vehicle 100 recognizes the parking vehicle 202 ( Fig. 2d, below). In particular, the control unit 110 of vehicle 100 recognizes (based on the sensor data) that the distance to the parking vehicle 202 is below a predefined distance threshold. Furthermore, it can be recognized that the distance to a front obstacle (e.g., the vehicle 201 in front) is also below a predefined distance threshold. Specifically, it can be determined that if the parking vehicle 202 does not increase the distance to the parked vehicle 100, the parked vehicle 100 will no longer be able to exit the parking space. In other words, the risk of a blockage situation can be detected.

[0034] The control unit 110 can then be configured to inform the driver of the parking vehicle 202 (by means of visual (e.g., flashing lights of vehicle 100) and / or acoustic (e.g., horn) signals) that they are in the process of blocking vehicle 100. The driver of the parking vehicle 202 can then actively increase the distance to vehicle 100. The output of visual and / or acoustic signals can be omitted if it is recognized that the obstruction situation can be resolved by an autonomous maneuvering operation (e.g., if the distance to the vehicle 201 in front is sufficiently large).

[0035] The examples in the Fig.Figures 2a to 2d show that autonomous maneuvering of vehicle 100 can reduce the risk of it being blocked in and / or assist the driver when maneuvering vehicle 100 out of a parking space. Vehicle 100 can be configured to independently determine the necessity and feasibility of a maneuvering operation (e.g., based on sensor data), even without communication with other vehicles 201 and 202 (e.g., neighboring ones). Furthermore, vehicle 100 can be configured to perform the maneuvering operation independently (without explicit instructions from the driver). Thus, vehicle 100 can be configured to independently detect available space in its vicinity and maneuver the vehicle autonomously using this space.

[0036] In other words, this document describes the autonomous maneuvering of a vehicle 100 to prevent it from being blocked in. For this purpose, the vehicle 100 can include a control unit 110, which detects a potential situation in which the vehicle 100 is blocked in. Furthermore, the control unit 110 can be configured to detect the necessary clearance to mitigate the identified blockage situation and then initiate an autonomous maneuvering process. This maneuvering process allows the vehicle 100 to be parked in a safe position where it is no longer at risk of being blocked in and / or where faster removal of the vehicle 100 is possible.

[0037] The control unit 110 can also detect free spaces and critical areas to the right or left of the vehicle 100 and, if necessary, initiate an autonomous maneuvering process that facilitates the driver's entry or prevents damage caused by neighboring vehicles approaching too closely. Only the maneuvering vehicle 100 itself requires a corresponding control unit 110 and suitable sensors 101, 102, 103, such as distance sensors. Communication with other vehicles 201, 202 or any other unit outside the vehicle 100 is not required.

[0038] Vehicle 100 has the advantage of being able to initiate autonomous maneuvering independently, without a driver to initiate the maneuvering and without an interface for communication with neighboring vehicles 201 and 202. Vehicle 100 can independently secure an optimal parking position and thus compensate for potential obstructions. Communication between different vehicles is not required.

[0039] For example, after detecting that a neighboring vehicle 201 is parking too close, vehicle 100 can increase the tight maneuvering distance. To do this, vehicle 100 automatically moves in the opposite direction to the neighboring vehicle 201 if sufficient space is available there or becomes available at a later time.

[0040] The control unit 110 of vehicle 100 can be configured to take into account information regarding no-stopping and / or no-parking zones. Such information can be determined using digital maps and the location of vehicle 100 (e.g., GPS coordinates). Furthermore, entrances or intersections can be detected using sensors 101, 102, and 103. This information can be considered during the maneuvering process. In particular, it can be checked whether the autonomous maneuvering process would result in the vehicle 100 being in an unauthorized position. If this is the case, the autonomous maneuvering process can be omitted.

[0041] As explained above, the automatic repositioning of the vehicle 100 can result in the vehicle 100 being able to be parked out of a parking space more quickly and / or easily (e.g., without the driver having to reverse beforehand). This leads to increased driver comfort. The autonomous maneuvering function utilizes hardware already installed in the vehicle 100 (especially sensors 101, 102, and 103) and can therefore be provided at low cost.

[0042] Vehicle 100 is configured to send information regarding the parking situation to the driver's personal communication device, which is located outside of vehicle 100. For this purpose, the vehicle may include a communication unit 111, which is configured to communicate with the driver's personal communication device (e.g., a smartphone or computer). For example, the communication unit 111 may be configured to communicate via a UMTS (Universal Mobile Telecommunication Service), LTE (Long Term Evolution), or WLAN (Wireless Local Area Network) network. The control unit 110 may be configured to send information about the status of vehicle 110 via the communication unit 111.In particular, the control unit 110 can send information that vehicle 110 is blocked in, or that a vehicle 202 entering or exiting a parking space is getting too close to vehicle 100, so that there is a risk of collision or blocking in.

[0043] In particular, the control unit 110 can be configured to provide distance data from vehicle 100 to adjacent vehicles 201, 202 via the communication unit 111 to receivers outside vehicle 100 and to send this data, for example, to an assigned mobile phone or smartphone. This remote transmission of distance data and / or status information can serve as a warning signal for the receiver, especially if the detected distance data indicates insufficient clearance in the front and / or rear area of ​​the vehicle. Critical distance data (distance, time, PDC (Park Distance Control) sensor readings) can be stored (possibly anonymously). The stored distance data can be used as evidence in the event of a dispute and can assist in clarifying parking damage or in answering the question of which of the neighboring vehicles 201, 100, 202 was parked too close to the other vehicle.

[0044] By transmitting information regarding the parking status of vehicle 100, the driver of vehicle 100 is informed early about potential difficulties in maneuvering their vehicle out of its parking space and can then take appropriate action. If the vehicle owner is informed that their vehicle 100 is blocked in, they can take this into account when planning their appointments and, if necessary, inform the police, a tow truck, or similar services.

[0045] The present invention is not limited to the embodiments shown. In particular, it should be noted that the description and the figures are intended only to illustrate the principle of the proposed methods, devices, and systems.

Claims

[1] Control unit (110) for a vehicle (100), wherein the control unit (110) is configured, - to determine that the vehicle (100) is parked; - to recognize a parking situation; and - to initiate a countermeasure to eliminate the obstruction situation, wherein the countermeasure includes sending information regarding the obstruction situation to a personal communication device of the driver, who is outside the vehicle (100) with the personal communication device. [2] Control unit (110) according to claim 1, wherein the parking situation comprises one or more of: - a situation in which the distance between the vehicle (100) and an obstacle (201, 202) is so small that the obstacle (201, 202) hinders the vehicle (100) from exiting its parking space; and / or - a situation in which the distance between the vehicle (100) and an obstacle (201, 202) is so small that the obstacle (201, 202) obstructs access to the vehicle (100). [3] Control unit (110) according to any preceding claim, wherein the countermeasure further comprises one or more of: - Performing an autonomous shunting maneuver to counteract the parking situation; - and / or - Storing information regarding the parking situation. [4] Control unit (110) according to any one of the preceding claims, wherein the control unit (110) is configured, - to determine that the vehicle (100) is parked in a parking space along an access route to the parking space; - to determine a frontal distance to an obstacle (201) in the front vicinity of the vehicle (100); - to determine a rear distance to an obstacle (202) in a rear area of ​​the vehicle (100); and - to detect that the front distance and / or the rear distance is equal to or less than a predefined distance threshold, thereby creating a parking situation. [5] Control unit (110) according to claim 4, wherein the control unit (110) is configured, - to detect that the tail clearance is greater than the predefined clearance threshold; and - as a countermeasure, to ensure that the vehicle (100) is moved in such a way that the front distance is sufficient to leave the parking space without reversing. [6] Control unit (110) according to any one of claims 1 to 3, wherein the control unit (110) is configured, - to determine that the vehicle (100) is parked in a parking space perpendicular to an access route to the parking space; - to determine a driver-side distance to an obstacle (201) in a driver-side environment of the vehicle (100); - to determine a passenger-side distance to an obstacle (202) in a passenger-side environment of the vehicle (100); - to detect that the distance on the driver's side is equal to or less than a predefined distance threshold, thereby creating a parking situation; - to detect that the passenger-side distance is greater than the predefined distance threshold; and - as a countermeasure, to arrange for the vehicle (100) to be moved in such a way that the distance on the driver's side is sufficient to allow access to the vehicle (100) from the driver's side. [7] Control unit (110) according to any one of the preceding claims, wherein the control unit (110) is configured, - to recognize that a parking vehicle (202) is causing a blocking situation for vehicle (100); and - as a countermeasure to arrange for an acoustic and / or visual signal to be issued to inform a driver of the parking vehicle (202) about the parking situation. [8] Control unit (110) according to claim 7, wherein the control unit (110) is configured, - to check whether the parking situation for vehicle (100) can be resolved by an autonomous maneuvering maneuver of vehicle (100); and - the acoustic and / or optical signal is not issued if the parking situation for the vehicle (100) can be resolved by an autonomous maneuvering maneuver of the vehicle (100). [9] Control unit (110) according to any one of the preceding claims, wherein the control unit (110) is configured, - To receive sensor data from one or more sensors (101, 102, 103) of the vehicle (100); and - to recognize the parking situation based on sensor data. [10] Control unit (110) according to any prior claim, wherein the fact that the vehicle (100) is parked is determined by one or more of the following indicators: - one of the vehicle's engines (100) is off; - there is no ignition key in the vehicle (100); - one driver's seat of the vehicle (100) is unoccupied; - the vehicle (100) is locked; and / or - one vehicle location (100) corresponds to one parking space on a digital map.

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