Method for assisting a driver of a motor vehicle in parking into a parking space, driver assistance system and motor vehicle

Abstract

Method for assisting a driver of a motor vehicle (1) in parking in a parking space (13) by means of a driver assistance system (2), in which, while the driver moves the motor vehicle (1) relative to the parking space (13), a sensor device (10) of the driver assistance system (2) detects an area (9) around the motor vehicle (1), a control unit (3) of the driver assistance system (2) checks whether a predetermined activation criterion for starting at least a semi-autonomous parking maneuver in the parking space (13) is met, and the assistance to the driver in parking in the parking space (13) takes place after the predetermined activation criterion has been met. characterized by the fact that the predetermined activation criterion includes that the motor vehicle (1) moves backwards in the direction of the parking space (13) and that at least one object (11, 12) delimiting the parking space (13) is detected by means of the sensor device (10) and that by means of the sensor device (10) an outer contour of at least one object (11, 12) is detected and stored in a storage unit of the control device (3).

Description

[0001] The present invention relates to a method for assisting a driver of a motor vehicle when parking in a parking space using a driver assistance system. While the driver is moving the motor vehicle relative to the parking space, a sensor device of the driver assistance system detects an area surrounding the motor vehicle. A control device of the driver assistance system checks whether a predetermined activation criterion for initiating an at least semi-autonomous parking maneuver into the parking space is met. Assisting the driver when parking in the parking space occurs after the predetermined activation criterion has been met. The invention also relates to a driver assistance system and a motor vehicle.

[0002] Methods for assisting a motor vehicle driver during parking, or so-called parking assistance systems, are known in a wide variety of designs from the prior art. For example, driver assistance systems are known that, with the help of appropriate sensor devices, can detect parking spaces or free parking spaces and assist the driver during the parking process. The driver can be assisted with both parallel and perpendicular parking. Furthermore, driver assistance systems are known that maneuver the motor vehicle semi-autonomously during a parking process. In this case, the driver assistance system takes over the steering of the motor vehicle, while the driver operates the accelerator and brake. Furthermore, driver assistance systems that enable autonomous maneuvering of the motor vehicle are already known.

[0003] Furthermore, the prior art describes parking systems in which a parking space is measured and the driver is assisted during parking. For example, DE 10 2009 040 373 A1 describes a method for carrying out an at least semi-autonomous parking process of a vehicle. Before the parking process is initiated, a parking space immediately bordered on two opposite sides by an object is detected by a sensor device of the parking assistance system. During the parking process, a parking trajectory is determined depending on the detected parking space. After the parking process is initiated, a distance of the vehicle from the objects is detected by the sensor device, and once a predetermined correction criterion related to at least one of the distances has been met, the parking trajectory is corrected.

[0004] Furthermore, EP 2 289 768 A2 describes a method for assisting a driver of a motor vehicle when parking in a perpendicular parking space using a driver assistance device. Here, ambient conditions of the motor vehicle are detected by a sensor device, and a parking path to be traveled by the motor vehicle at least semi-autonomously is determined depending on the ambient conditions. The motor vehicle is parked forward into the parking space. Furthermore, it can be provided that a predetermined activation criterion is taken into account for starting the at least semi-autonomous parking.

[0005] DE 10 2010 030 486 A1 describes a method for automatically controlling and / or regulating a movement of a motor vehicle by a parking system during a parking process of the motor vehicle.

[0006] DE 10 2008 014 130 A1 further describes a method for controlling a parking assistance system to assist the driver when parking in a parking space, wherein distance data to obstacles in the vehicle's surroundings and wheel rotation data of the vehicle are recorded, from which surroundings, speed and direction of travel information are obtained, and wherein steering direction information leading into a parking space recognized on the basis of the surroundings information is output to the driver.

[0007] It is the object of the present invention to show a solution how a driver of a motor vehicle can be assisted in a simple manner when parking in a parking space.

[0008] This object is achieved according to the invention by a method, a driver assistance system, and a motor vehicle having the features according to the respective independent patent claims. Advantageous embodiments of the invention are the subject of the dependent patent claims, the description, and the figures.

[0009] A method according to the invention serves to assist a driver of a motor vehicle when parking into a parking space using a driver assistance system. While the driver moves the motor vehicle relative to the parking space, an area surrounding the motor vehicle is detected by a sensor device. Furthermore, a control device of the driver assistance system checks whether a predetermined activation criterion for starting an at least semi-autonomous parking maneuver into the parking space is met, and the driver is assisted when parking into the parking space once the predetermined activation criterion has been met.The predetermined activation criterion comprises that the motor vehicle moves backwards in the direction of the parking space and that at least one object delimiting the parking space is detected by means of the sensor device and that an outer contour of the at least one object is detected by means of the sensor device and stored in a memory unit of the control device.

[0010] The method according to the invention can assist the driver when reversing into a parking space. It is not necessary for the parking space to be measured first. If the predetermined activation criterion is met, the at least semi-autonomous parking process into the parking space can be initiated. During the semi-autonomous parking process, the driver is, for example, instructed to accelerate and brake. Steering, and thus turning the steerable wheels of the motor vehicle, is carried out automatically and thus independently of the driver by means of the driver assistance system. Alternatively, the driver is responsible for steering, and the driver assistance system informs the driver how to steer the vehicle. During an autonomous or fully automatic parking process, the driver assistance system can additionally intervene in a drive train of the motor vehicle and / or a braking system of the motor vehicle.

[0011] In order to check whether the predetermined activation criterion is met, a check is carried out to see whether the driver is moving the motor vehicle backwards towards the parking space. Furthermore, a check is carried out to see whether at least one object which borders the parking space is detected by the sensor device. The sensor device can be arranged in a rear region of the motor vehicle. The sensor device can detect at least one object which is substantially located behind the motor vehicle. For example, a vehicle which borders the parking space can be detected as the at least one object. It is also conceivable that only part of the motor vehicle is detected as the object. For example, at least part of a body of a vehicle can be detected. In particular, a corner of a vehicle can be detected. Other objects which border the parking space can also be detected as the object.For example, a curb or a wall can be detected. Alternatively, a corresponding road marking can also be detected.

[0012] Preferably, a distance to the at least one object is detected by means of the sensor device, and the predetermined activation criterion comprises that the detected distance falls below a predetermined threshold. For this purpose, the sensor device can comprise one or more distance sensors, for example ultrasonic sensors, radar sensors, laser sensors, or cameras. These sensors can detect the distance between the motor vehicle and the object. If the distance falls below a predetermined threshold, the predetermined activation criterion is met, and the at least semi-autonomous parking process can be started. Thus, the driver can be offered assistance when parking into the parking space as soon as they move the motor vehicle into the parking space.

[0013] In a further embodiment, if the predetermined activation criterion is met, an information signal is output to the driver via the control device. This information signal can be displayed, for example, on a display device of the motor vehicle. Alternatively or additionally, the information signal can be output via an acoustic output device of the motor vehicle. This allows the driver to be informed acoustically about the possibility of activating the driver assistance system. It is also conceivable for the information signal to be output to the driver haptically, for example via corresponding actuators in the steering wheel. This allows the driver to be informed that assistance when reversing into the parking space is possible using the driver assistance system.

[0014] Furthermore, it is advantageous if the driver assistance when parking into the parking space is additionally dependent on an activation signal provided by the driver's input. For example, the driver can initially be informed by the information signal that the driver assistance system can assist them when reversing into the parking space. If the driver wishes to make use of the driver assistance system's support, they can enable it during the semi-autonomous parking process by making a corresponding input. The driver can make this input, for example, using an operating device on the motor vehicle, such as a control element or a touchscreen. The driver can thus control the at least semi-autonomous parking process accordingly.

[0015] In a further embodiment, the at least semi-autonomous parking maneuver into the parking space is started automatically when the predetermined activation criterion is met. Once the activation criterion is met, driver assistance can be initiated automatically, i.e., independently of any driver input. It can also be provided that the driver can interrupt or stop the at least semi-autonomous parking maneuver by performing a corresponding control action, such as steering intervention or applying the brake. This allows the driver to be reliably assisted when reversing into the parking space.

[0016] In a further embodiment, the control device determines a driving trajectory along which the motor vehicle is moved during the at least semi-autonomous parking process. The driving trajectory describes, in particular, a parking path along which the motor vehicle is moved when reversing into the parking space. To determine the driving trajectory, a distance between the motor vehicle and the at least one object can be determined. In particular, the relative position of the motor vehicle to the at least one object can be determined. Furthermore, the dimensions of the motor vehicle, which are stored, for example, in a memory of the control device, can be taken into account. The driving trajectory is determined, in particular, such that the motor vehicle is moved into the parking space without collision. The driver can thus be reliably assisted when reversing into a parking space.

[0017] Furthermore, it is advantageous if a relative position between the motor vehicle and the at least one object is continuously detected as the motor vehicle moves into the parking space, and the driving trajectory is adjusted depending on the detected relative position. As the motor vehicle moves into the parking space, the parking space or the objects bordering the parking space can be detected more precisely using the sensor device. This information can be continuously used to adjust or correct the driving trajectory accordingly. This enables continuous improvement of a model of the motor vehicle's surroundings.

[0018] To move the motor vehicle along the travel trajectory, an intervention in the steering of the motor vehicle is preferably carried out by means of the control device. This allows lateral control of the motor vehicle by the control device of the driver assistance system. In this case, it can further be provided that the driver operates the accelerator pedal and / or the brake. This allows the driver to be assisted in steering the motor vehicle while reversing into the parking space. In this way, it is possible, in particular, to prevent the motor vehicle from colliding with an object bordering the parking space while reversing into the parking space.

[0019] To move the motor vehicle along the travel trajectory, an intervention in a braking system and / or a drive train of the motor vehicle is preferably carried out by means of the control device. This makes it possible to provide a solution in which the motor vehicle is fully guided when reversing into the parking space. This means that the motor vehicle can also be guided longitudinally. In this case, it is particularly provided that control over the movement of the motor vehicle remains with the driver. To this end, the driver can, for example, provide a corresponding abort signal, as a result of which the movement of the motor vehicle is stopped. The abort signal can be output as a result of an operating input that the driver enters on an operating device of the motor vehicle.

[0020] To stop the movement of the motor vehicle along the travel trajectory, a cancellation signal is preferably provided by an operator input from the driver to a communication device external to the motor vehicle. The movement of the motor vehicle along the travel trajectory can thus be stopped as a result of the cancellation signal. The cancellation signal can be transmitted from the communication device external to the motor vehicle to the control device. After receiving the cancellation signal, the control device can actuate the braking system of the motor vehicle. This proves to be particularly advantageous when the width of the parking space is very narrow and it is no longer possible for the driver to exit the vehicle after parking the motor vehicle in the parking space, but software-guided or at least semi-autonomous parking is still possible.In this case, the driver can, for example, leave the motor vehicle before parking in the parking space and control the parking process using a communication device external to the vehicle. It can also be provided that the fact that the parking space is too narrow is only detected when the motor vehicle is moved into the parking space. In this case, a further driving maneuver can be provided in which the motor vehicle is moved out of the parking space again. When the motor vehicle is outside the parking space, the motor vehicle can be stopped. At this point, the driver can get out of the motor vehicle or leave the motor vehicle. The motor vehicle can then be moved back into the parking space. The movement of the motor vehicle can be stopped by an operator input on a communication device external to the vehicle. Such a communication device external to the vehicle can, for example, be a smartphone or the like.This allows the driver to stop the vehicle from outside the vehicle by sending the abort signal via their smartphone. If the communication device is a smartphone, a corresponding application or app can be launched, for example, and the abort signal transmitted to the vehicle's control unit.

[0021] In one embodiment, an outer contour of the at least one object is detected by the sensor device and stored in a memory unit of the control unit. For example, information about the outer dimensions of the object can be stored in order to control the motor vehicle at least semi-autonomously. For example, to avoid potential collisions, an area located behind the motor vehicle that can no longer be detected while the motor vehicle is moving can be stored accordingly. Thus, a collision between the motor vehicle and the at least one object that borders the parking space can be reliably prevented.

[0022] Furthermore, it is advantageous if the sensor device is controlled by the control device when detecting the surrounding area in such a way that a detection range of the sensor device is expanded starting from a predetermined reference detection range. The detection range can also be referred to as the detection range. The detection range describes the area around the sensor device in which an object can be detected or in which a distance to the object can be determined. When carrying out the method or when assisting the driver when parking, this detection range can be expanded. For example, a transmission power of the sensor device can be increased. This allows objects in the surrounding area of ​​the motor vehicle to be detected more quickly and reliably.

[0023] The parking space into which the motor vehicle is moved is preferably designed for perpendicular or diagonal parking. The parking space can be configured, for example, as a perpendicular parking space. A perpendicular parking space can be understood, in particular, as a parking space whose main extension direction is substantially perpendicular to a main extension direction of a roadway adjacent to the parking space.

[0024] An angled parking space or a parking space for angled parking can be a parking space whose main extension direction has a predetermined angle to a main extension direction of a roadway adjacent to the parking space.

[0025] A driver assistance system according to the invention comprises a control device designed to carry out a method according to the invention. The control device can be provided, for example, by an electronic control unit (ECU) of the motor vehicle.

[0026] A motor vehicle according to the invention comprises a driver assistance system according to the invention. The motor vehicle is designed, in particular, as a passenger car.

[0027] The preferred embodiments presented with reference to the method according to the invention and their advantages apply accordingly to the driver assistance system according to the invention and to the motor vehicle according to the invention.

[0028] Further features of the invention emerge from the claims, the figures, and the description of the figures. All features and combinations of features mentioned above in the description, as well as the features and combinations of features mentioned below in the description of the figures and / or shown alone in the figures, can be used not only in the respective specified combination, but also in other combinations or even on their own.

[0029] The invention will now be explained in more detail using a preferred embodiment and with reference to the accompanying drawings.

[0030] Showing: Fig. 1 shows a schematic representation of a motor vehicle according to an embodiment of the present invention; and Fig. 2 to 4 show the arrangement of the motor vehicle in relation to objects that delimit a parking space when carrying out a method according to the invention at different times.

[0031] Fig. 1 shows a motor vehicle 1 according to an embodiment of the present invention. In the present exemplary embodiment, the motor vehicle 1 is embodied as a passenger car. The motor vehicle 1 comprises a driver assistance system 2. The driver assistance system 2, in turn, comprises a control device, which may, for example, be an electronic control unit of the motor vehicle 1. Furthermore, the driver assistance system 2 comprises a sensor device 10.

[0032] In the present exemplary embodiment, the sensor device 10 comprises four distance sensors 4, 5, 6, 7. The four distance sensors 4, 5, 6, 7 are arranged in a rear region of the motor vehicle 1. The distance sensors are designed in particular to detect an object 11, 12 in a surrounding region 9 of the motor vehicle 1. Furthermore, the distance sensors 4, 5, 6, 7 are configured to determine a distance to an object 11, 12 in the surrounding region 9 of the motor vehicle 1. The distance sensors 4, 5, 6, 7 can be designed, for example, as radar sensors, laser scanners, cameras, or the like. The distance sensors 4, 5, 6, 7 are preferably designed as ultrasonic sensors. The distance sensors 4, 5, 6, 7 can detect the surrounding area 9 behind the motor vehicle 1 and at least partially a lateral surrounding area 9 of the motor vehicle 1.

[0033] In order to detect the object 11, 12 in the surrounding area 9 of the motor vehicle 1 with the distance sensors 4, 5, 6, 7 or to determine the distance to the object 11, 12, a signal can be emitted by the distance sensors 4, 5, 6, 7. This signal can be reflected by the object 11, 12 and received again by the distance sensors 4, 5, 6, 7. The distance to the object 11, 12 can be determined based on the signal's propagation time.

[0034] The driver assistance system 2 can also determine the current position of the motor vehicle 1. For this purpose, the signals from a satellite-based positioning system can be taken into account, for example. Furthermore, the current position of the motor vehicle 1 can be determined using odometry. For this purpose, for example, the wheel revolutions of at least one wheel of the motor vehicle 1 and / or a steering angle of the motor vehicle 1 can be determined. Based on the current position of the motor vehicle 1 and / or the distance between the motor vehicle 1 and the object 11, 12, the relative position of the motor vehicle 1 with respect to the object 11, 12 can be determined.

[0035] Furthermore, the control device 3 is configured to calculate a travel trajectory of the motor vehicle 1. Such a travel trajectory can, for example, describe a collision-free movement of the motor vehicle past the object 11, 12. For this purpose, the external dimensions of the motor vehicle 1, which are stored, for example, in a memory unit of the control device, can also be taken into account. By means of the driver assistance system 2, the motor vehicle 1 can be moved semi-autonomously along the travel trajectory.

[0036] Furthermore, the driver assistance system 2 comprises an output device 8. The output device 8 is connected to the control device 3 for data communication. The output device 8 can, for example, comprise a corresponding screen or display on which information can be presented to the driver of the motor vehicle 1. Furthermore, the output device 8 can be designed to output an acoustic signal, for example, via a corresponding loudspeaker.

[0037] The driver assistance system 2 is intended to assist the driver when parking the motor vehicle 1 in a parking space 13. For this purpose, Fig. 2 shows an embodiment in which the motor vehicle 1 is to be reversed into a parking space 13. The parking space 13 is bounded by the two objects 11, 12. The objects 11, 12 are formed by parked vehicles. Furthermore, Fig. 2 shows the respective detection areas A, B, C, D of the distance sensors 4, 5, 6, 7. The distance sensor 4 has a detection area A, the distance sensor 5 has a detection area B, the distance sensor 6 has a detection area C, and the distance sensor 7 has a detection area D. The area behind the motor vehicle 1 can be detected with the two middle distance sensors 5 and 6. The outer distance sensors 4, 7 can also detect a side area of ​​the motor vehicle 1, at least in part.

[0038] The driver assistance system 2, which supports the driver when parking in the parking space 13, should only be activated if a predetermined activation criterion is met. In this case, the driver of the motor vehicle 1 moves the motor vehicle towards the parking space 13. In this case, the motor vehicle 1 is moved without the support of the driver assistance system 2. When the motor vehicle 1 moves backwards towards the parking space 13, Fig. In the example shown in Figure 2, the distance sensor 5 detects the first object 11 and the distance sensor 7 detects the second object 12.

[0039] The predetermined activation criterion can be met, for example, if the distance between the motor vehicle 1 and one of the objects 11, 12 falls below a predetermined threshold value.

[0040] If the predetermined activation criterion is met, this can also be communicated to the driver on the output device in the form of a corresponding information signal. This can be done, for example, via a corresponding display on a screen, an acoustic signal, and / or a haptic signal. If the activation criterion is met, an at least semi-autonomous parking maneuver into the parking space 13 can be initiated.

[0041] The at least semi-autonomous parking of motor vehicle 1 can occur automatically if the predetermined activation criterion is met. In this case, the control device 3 outputs a corresponding control signal to the steering system of motor vehicle 1, and the motor vehicle 1 is moved along the driving trajectory or parking path into the parking space 13. The driver assistance system 2 intervenes in the steering. The driver assistance system 2 thus assumes the lateral guidance of the motor vehicle 1. The driver continues to operate the accelerator pedal and the brake.

[0042] Alternatively, or in addition, it may be provided that the at least semi-autonomous parking process is not started automatically. In this case, it is conceivable, for example, that an additional control input must be performed by the driver. The control input can be made using a corresponding control device of the motor vehicle 1. Thus, the driver can authorize the at least semi-autonomous parking process of the motor vehicle 1 into the parking space 13 by means of an activation signal.

[0043] Fig. 3 shows the arrangement according to Fig. 2 occurs at a later point in time with the steering angle. This change in the steering angle leads to an optimized orientation of the motor vehicle 1 relative to the objects 11, 12 or the parked vehicles. As the motor vehicle 1 moves into the parking space 13, the distance of the motor vehicle 1 relative to the objects 11, 12 can be continuously detected. Depending on the detected distance between the motor vehicle 1 and the objects 11, 12, the driving trajectory or the parking path can be adjusted accordingly.

[0044] Fig. 4 shows the arrangement according to Fig.3 at a later point in time. The motor vehicle 1 is now shortly before the end of the at least semi-autonomous parking maneuver. The ratio of the distance between the motor vehicle 1 and the object 11 to the left of the motor vehicle 1 and the distance between the motor vehicle 1 and the object 12 to the right of the motor vehicle 1 can also be entered as a parameter. If the width of the parking space 13 is too narrow or falls below a predetermined threshold, a further driving maneuver can be added to the at least semi-autonomous parking maneuver. In this further driving maneuver, the motor vehicle 1 is moved out of the parking space 13 again. The motor vehicle 1 is therefore moved forward. The driver can then get out of the motor vehicle 1. The motor vehicle can then be moved autonomously into the parking space 13 without the driver.The movement of the motor vehicle 1 when reversing into the parking space 13 can be stopped by the driver, for example, using a communication device external to the motor vehicle, for example a smartphone.

Claims

[1] Method for assisting a driver of a motor vehicle (1) when parking in a parking space (13) by means of a driver assistance system (2), in which, while the driver moves the motor vehicle (1) relative to the parking space (13), a surrounding area (9) of the motor vehicle (1) is detected by means of a sensor device (10) of the driver assistance system (2), a control device (3) of the driver assistance system (2) checks whether a predetermined activation criterion for starting an at least semi-autonomous parking process in the parking space (13) is met, and the driver is assisted when parking in the parking space (13) after the predetermined activation criterion has been met, characterized by , that the predetermined activation criterion comprises that the motor vehicle (1) moves backwards in the direction of the parking space (13) and that at least one object (11, 12) delimiting the parking space (13) is detected by means of the sensor device (10) and that by means of the sensor device (10) an outer contour of the at least one object (11, 12) is detected and stored in a memory unit of the control device (3) [2] Method according to claim 1, characterized by that a distance to the at least one object (11, 12) is detected by means of the sensor device (10) and the predetermined activation criterion comprises that the detected distance falls below a predetermined threshold value. [3] Method according to claim 1 or 2, characterized by that when the predetermined activation criterion is met, an information signal is output to the driver by means of the control device (3). [4] Method according to one of the preceding claims, characterized by that the driver is additionally assisted when parking in the parking space (13) in dependence on an activation signal provided by an operating input from the driver. [5] Method according to one of claims 1 to 3, characterized by that the at least semi-autonomous parking process into the parking space (13) is started automatically when the predetermined activation criterion is met. [6] Method according to one of the preceding claims, characterized by that a travel trajectory is determined by means of the control device (3), along which the motor vehicle (1) is moved during the at least semi-autonomous parking process. [7] Method according to claim 6, characterized bythat a relative position between the motor vehicle (1) and the at least one object (11, 12) is continuously detected when the motor vehicle (1) moves into the parking space (13) and the travel trajectory is adapted depending on the detected relative position. [8] Method according to claim 6 or 7, characterized by that in order to move the motor vehicle (1) along the travel trajectory, an intervention in a steering of the motor vehicle (1) is carried out by means of the control device (3). [9] Method according to one of claims 6 to 8, characterized by that in order to move the motor vehicle (1) along the travel trajectory, an intervention in a braking system and / or a drive train of the motor vehicle (1) is carried out by means of the control device (3). [10] Method according to one of claims 6 to 9, characterized bythat in order to stop the movement of the motor vehicle along the travel trajectory, a cancellation signal is provided by the driver's operating input on a communication device external to the motor vehicle. [11] Method according to one of the preceding claims, characterized by that the sensor device (10) is controlled by means of the control device (3) when detecting the surrounding area (9) in such a way that a detection range (A, B, C, D) of the sensor device (10) is expanded starting from a predetermined reference detection range. [12] Method according to one of the preceding claims, characterized by that the parking space (13) into which the motor vehicle (1) is moved is designed for transverse or diagonal parking. [13] Driver assistance system (2) with a control device (3) which is designed to carry out a method according to one of the preceding claims. [14] Motor vehicle (1) with a driver assistance system (2) according to claim 13.

Images