Detection of a parking maneuver of a motor vehicle

Abstract

A method for detecting a parking maneuver of a motor vehicle (1) comprising the steps of: -- determining the speed of the motor vehicle (1) and determining, based on the determined speed, whether the motor vehicle (1) has come to a standstill; -- if it has been determined that the motor vehicle (1) has come to a standstill, determining whether a reverse gear of the motor vehicle (1) has been engaged; -- if it has been determined that the reverse gear of the motor vehicle (1) has been engaged, determining a steering wheel angle of a steering wheel (2) of the motor vehicle (1) and comparing the determined steering wheel angle with a first angle threshold; -- if the determined steering wheel angle is greater than the first angle threshold, detecting the parking maneuver of the motor vehicle (1); -- if at least one inference condition is satisfied, determining the end of the parking maneuver;and-- Deactivating an auto-hold function of the motor vehicle (1) as long as the presence of a parking process is detected.;

Description

[0001] The invention relates to a method for detecting a parking maneuver of a motor vehicle and a motor vehicle that can detect a parking maneuver.

[0002] To increase comfort, more and more driver assistance systems are being incorporated into vehicle designs. These systems are intended to help drivers in frequently recurring, annoying, difficult, or dangerous driving situations. Examples include adaptive cruise control, which automatically adjusts the vehicle's speed to maintain a safe distance from the vehicle ahead; lane change assistants, which check the blind spot for other vehicles when changing lanes; and parking assistants, which maneuver a vehicle into a parking space semi- or fully automatically.

[0003] One problem with some of these driver assistance functions is their low acceptance among drivers because their presence and operation are unfamiliar and can therefore seem more difficult than the task they are supposed to perform. Furthermore, a parking assistant can alter the vehicle's handling compared to normal driving. An example of this is an "auto-hold" function, which keeps a vehicle stopped by braking until the driver presses the accelerator. In a parking situation, however, it may be desirable to move the vehicle at idle speed without using the accelerator.

[0004] The invention therefore introduces a method for detecting a parking maneuver of a motor vehicle. The method comprises at least the following steps: – Determining the speed of the motor vehicle and, based on the determined speed, ascertaining whether the motor vehicle has come to a standstill; – if it has been determined that the motor vehicle has come to a standstill, determine whether the motor vehicle has been put into reverse gear; – if it has been determined that the reverse gear of the motor vehicle has been engaged, determine a steering wheel angle of the motor vehicle's steering wheel and compare the determined steering wheel angle with a first angle threshold; and – if the specified steering wheel angle is greater than the first angle threshold, detection of the vehicle's parking process.

[0005] The method of the invention has the advantage that a parking maneuver initiated by a driver can be automatically detected. Accordingly, a parking assistant can be activated or the vehicle's operating behavior can be adapted to the requirements of a parking maneuver. In particular, for example, an auto-hold function can remain deactivated as long as the method of the invention detects the presence of a parking maneuver.

[0006] The parking maneuver of the vehicle can be detected under the additional condition that the specified steering wheel angle is smaller than a second angle threshold at a first angle measurement time and larger than the first angle threshold at a second angle measurement time. This means that the detection of a parking maneuver is linked to the shape of the steering wheel angle. For example, a parking maneuver can only be detected if a sharp steering wheel movement, typical for a parking maneuver, is observed based on the specified steering wheel angle.

[0007] There can be a first predetermined time interval between the first and second angle measurement points, for example a time interval of no more than ten seconds.

[0008] In preferred embodiments of the method according to the invention, it can be determined that the motor vehicle has come to a standstill if, at a first speed measurement point, the speed of the motor vehicle is greater than a first predetermined threshold speed, and at a second speed measurement point, the speed of the motor vehicle is less than a second predetermined threshold speed. This reliably distinguishes a complete stop of the motor vehicle from continuous parking or very slow driving.

[0009] A second predetermined time interval can elapse between the first and second speed measurements. This second predetermined time interval can be, for example, five seconds or less.

[0010] To inform the driver of a detected parking maneuver, a signal can be generated. This can be done, for example, through a corresponding indicator light, an audible signal, or a text display indicating the detection. This alerts the driver to potentially changed operating procedures or the availability of a parking assistant.

[0011] The process can be aborted after the signal is generated if user input is detected indicating a desire to abort. This gives the driver the opportunity to report a false detection or to retain full control of the vehicle by preventing the activation of parking assistance systems and the like. A button can be provided for this purpose, or control fields can be created on a touchscreen (which, for example, is used to display text) to either confirm or deny the detection of the parking maneuver.

[0012] The parking process can be concluded when at least one condition is met. Once the parking process is complete, a parking assistant can be deactivated or the vehicle's operating behavior can be reset to normal driving mode. For example, an auto-hold function can be reactivated once the parking process is complete.

[0013] At least one of the concluding conditions can be met if the vehicle's ignition is switched off, if it is determined that the driver has left the vehicle, if it is determined that the steering wheel angle is less than a third angular threshold, if the gear selector of an automatic transmission is moved to a park position, if a parking brake is applied, if the vehicle remains stationary for longer than a third predetermined period, or if the vehicle's speed exceeds a third predetermined threshold. The concluding conditions listed above can be freely combined, or individual conditions can be omitted. It can also be stipulated that several of the concluding conditions must be met simultaneously before the parking maneuver is considered complete.

[0014] Particularly preferred in the inventive method is the activation of an automatic parking assistant when the parking process of the motor vehicle is detected. This can involve a graphical or acoustic display of the distances between the motor vehicle and obstacles defining a parking space, or the like.

[0015] A second aspect of the invention introduces a motor vehicle with a speedometer, a first sensor, a second sensor, and a control unit connected to the speedometer, the first sensor, and the second sensor. The first sensor is configured to detect an engaged gear in the motor vehicle's transmission. The second sensor is configured to determine the steering wheel angle of the motor vehicle's steering wheel. The control unit is configured to execute the method according to the invention.

[0016] The invention is explained in more detail below with reference to illustrations of exemplary embodiments. These show:

[0017] Fig. 1 a motor vehicle according to the invention which can detect a parking maneuver; and

[0018] Fig. 2 a flowchart of an embodiment of the method according to the invention.

[0019] Fig. Figure 1 shows a motor vehicle according to the invention. 1 , which can detect a parking maneuver. On a steering wheel 2 of the motor vehicle 1 is a steering wheel angle sensor 3 arranged to provide an angle for the steering wheel 2 determined and connected to a control unit 8 transmitted. The steering wheel angle sensor 3 It can also be located at another point that allows an indirect determination of the steering angle, for example on the steering mechanism of the motor vehicle. 1, for example on a rack and pinion of the steering system or on a servo motor of the steering system.

[0020] Furthermore, the motor vehicle 1 the invention a gear selection sensor 5 on, which is attached to a gear selector lever 4 of the motor vehicle 1 It can be arranged in various ways. Alternative arrangements of the gear selector sensor are also possible here. 5 It is conceivable, for example, directly in a motor vehicle's gearbox. 1 The gear selector sensor 5 is also connected to the control unit 8 connected and transmits a message from a driver of the motor vehicle 1 or a gear selected by an automatic transmission. The motor vehicle 1 It is also equipped with at least one speedometer 7 equipped, which allows for a speed of the motor vehicle 1 determined and connected to the control unit 8 transmitted. In Fig. 1 is the speedometer 7for example, on a rear axle 6 of the motor vehicle 1 arranged, but alternatives known in the prior art are also applicable, for example, on the wheels of the motor vehicle 1 Sensors for determining the respective wheel speed are arranged in each case.

[0021] The control unit 8 is trained to read the measured values ​​from the various sensors and to carry out the method of the invention.

[0022] Fig. Figure 2 shows a flowchart of an embodiment of the method according to the invention. The method starts in a start step S1 and then continues with a test step S2, in which it is checked whether the motor vehicle 1 has been brought to a standstill. This can be achieved, for example, by observing the speed of the vehicle. 1This will be done as described above. If it was determined in step S2 that the motor vehicle 1 If the vehicle has been brought to a standstill, the process continues with step S3; otherwise, it returns to the start or terminates until a restart. In step S3, it is checked whether the vehicle is in reverse gear. 1The process is interrupted if reverse gear is engaged. If this is not the case within a predetermined time period, the system either returns to the start or terminates. If reverse gear is engaged within the predetermined time period, step S4 checks whether the steering wheel has been turned by at least a predetermined steering angle difference within a predetermined time period. If this check is also successful, step S5 detects the presence of a parking maneuver. Otherwise, the process is aborted or returns to the start. If a parking maneuver is detected, an optional step S6 can generate a signal to the driver of the vehicle. 1 The detection is signaled. This could be, for example, a text display. Alternatively or additionally, in step S6, a parking assistant can be started or the vehicle's operating behavior can be adjusted. 1The process is modified. Subsequently, in step S7, it is checked whether the parking process has ended by verifying that at least one closing condition has been met. Step S7 can be executed until the end of the parking process has been determined. In this case, the method according to the invention is terminated in step S8, or the process branches back to its starting point.A final condition may be met if the ignition of the motor vehicle is switched off, if it is detected that the driver of the motor vehicle is leaving the motor vehicle (for example, by a sensor in the driver's seat or door, or the like), if it is detected that the steering wheel angle is less than a third angular threshold (for example, by detecting that the steering wheel has been moved to a straight-ahead position or in a parking direction), if a gear selector lever of an automatic transmission of the motor vehicle is moved to a park position, if a parking brake is activated, if the motor vehicle remains stationary for longer than a third predetermined period (for example, longer than ten seconds), or if the speed of the motor vehicle increases above a third predetermined threshold speed, which may indicate that the motor vehicle is exiting a parking space or that the parking maneuver is being aborted.

[0023] The invention allows a parking assistant to be activated without requiring any action from the driver. Furthermore, the invention enables automatic adaptation of the operating behavior, in particular the vehicle's responses to pedal inputs, to the specific characteristics of the parking situation and, after the parking maneuver is complete, a return to normal operating behavior.

[0024] The invention has been explained in more detail with reference to exemplary embodiments, but is not limited by the disclosed examples. Variations of the invention can be derived by a person skilled in the art from the exemplary embodiments without departing from the scope of protection of the invention as defined in the claims. Reference symbol list 1 motor vehicle 2 Steering wheel 3 Steering wheel angle sensor 4 gear selector lever 5 gear selection sensor 6 Rear axle 7 speedometers 8 Control unit

Claims

[1] A method for detecting a parking maneuver of a motor vehicle ( 1 ) and with the following steps: – Determining the speed of a motor vehicle ( 1 ) and determining, based on the specified speed, whether the motor vehicle ( 1 ) has come to a standstill; – if it was determined that the motor vehicle ( 1 ) has come to a standstill, determine whether the vehicle has a reverse gear ( 1 ) was inserted; – if it was determined that the reverse gear of the motor vehicle ( 1 ) was inserted, determining a steering wheel angle of a steering wheel ( 2 ) of the motor vehicle ( 1 ) and comparing the specified steering wheel angle with a first angle threshold; and – if the specified steering wheel angle is greater than the first angle threshold, detection of the vehicle's parking process ( 1 ). [2] The method of the preceding claim, wherein the parking process of the motor vehicle ( 1 ) is detected under the additional condition that the specified steering wheel angle is smaller than a second angle threshold at a first angle measurement time and larger than the first angle threshold at a second angle measurement time. [3] The method of the preceding claim, wherein a first predetermined time interval exists between the first and the second angle measurement time. [4] The method of one of the preceding claims, in which it is determined that the motor vehicle ( 1 ) has come to a standstill when, at the first speed measurement point, the speed of the motor vehicle ( 1 ) greater than a first predetermined threshold speed and at a second speed measurement time the speed of the motor vehicle ( 1) is smaller than a second predetermined threshold velocity. [5] The method of the preceding claim, wherein a second predetermined time interval exists between the first and the second speed measurement time. [6] The method of one of the preceding claims, wherein a signal is sent to a driver of the motor vehicle ( 1 ) is generated when the parking process of the motor vehicle ( 1 ) is detected. [7] The method of the preceding claim, wherein the method is aborted after the signal has been generated if a user input is detected that signals a request to abort. [8] The method of one of the preceding claims wherein the end of the parking process is determined when at least one concluding condition is satisfied. [9] The method of the preceding claim, wherein at least one conclusion condition is satisfied when ignition of the motor vehicle ( 1 ) is deactivated if it is detected that the driver of the motor vehicle ( 1 ) the motor vehicle ( 1 ) exits when it is determined that the steering wheel angle is less than a third angle threshold when a gear selector lever ( 4 ) of an automatic transmission of the motor vehicle is moved into a park position when a parking brake is activated, when the motor vehicle ( 1 ) remains stationary for longer than a third predetermined period of time, or if the speed of the motor vehicle ( 1 ) increases above a third predetermined threshold velocity. [10] The method of one of the preceding claims, wherein an automatic parking assistant is started when the parking process of the motor vehicle ( 1 ) was detected. [11] A motor vehicle ( 1 ) with a speedometer ( 7 ), a first sensor ( 5 ), which is trained to engage a gear in the transmission of a motor vehicle ( 1 ) to detect, a second sensor ( 3 ), which is designed to control the steering angle of a steering wheel ( 2 ) of the motor vehicle ( 1 ) to determine, and with a speedometer ( 7 ), the first sensor ( 5 ) and the second sensor ( 3 ) connected control unit ( 8 ), who is trained to carry out the method of one of the preceding claims.

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