Parking assistance system

Abstract

Parking assistance system for supporting a parking maneuver of a motor vehicle, in which the motor vehicle is automatically brought into a target position, characterized in that The parking assistance system has a user-activated unloading mode to allow the unloading of an object and / or the exit of a passenger before the completion of the parking maneuver. where this unloading operating mode can be activated by the user both before and after the start of the parking maneuver, where, in response to the activation of this unloading operating mode, a temporary standstill of the vehicle in an unloading position is automatically brought about before reaching the target position, wherein the parking assistance system is configured to determine, in the event of activation of the unloading operating mode before the start of the parking maneuver, a trajectory to be traveled by the motor vehicle to reach the target position depending on an area of ​​the motor vehicle specified by the user, from which the unloading or exiting is to take place, wherein the motor vehicle is configured to bring itself to a standstill in the event of activation of the unloading operating mode after the start of the parking maneuver, wherein the current position of the motor vehicle at that time represents the unloading position, and wherein The parking assistance system is configured to disregard, in unloading mode, the presence of any abort condition which would trigger a final abort of the parking maneuver outside of unloading mode, with regard to the continuation of the parking maneuver.

Description

[0001] The invention relates to a parking assistance system for supporting a parking maneuver of a motor vehicle, in which the motor vehicle is automatically brought into a target position.

[0002] Future generations of parking assistance systems will be able to perform parking maneuvers fully automatically, taking over both the lateral control of a vehicle via the steering wheel and the longitudinal control via the accelerator, brake pedal, and transmission. The driver will still be responsible for monitoring the maneuver, for example, by continuously pressing an activation button.

[0003] Such parking assistance systems may include specific operating modes, such as a "pause mode" and a "cancel mode." In "pause mode," the vehicle is immediately brought to a standstill and held in place by the vehicle's brakes when a specific "pause condition" is met. This could occur, for example, if the driver releases the activation button, an object is detected at a greater distance, or the passenger door is opened. The parking maneuver resumes as soon as the pause condition is no longer met. Furthermore, the pause mode is typically time-limited, with the parking maneuver being aborted after a predetermined period (e.g., 3 minutes). In "cancel mode," the vehicle is immediately brought to a standstill and held in place when a cancel condition occurs. This could, for example,This can occur if the driver's door is opened, the gearshift lever is operated, or an object in the immediate vicinity of the vehicle is detected. In this case, the parking brake is applied, and the maneuver cannot be resumed. During the parking maneuver itself, the stop-start mode is typically deactivated to prevent the engine from switching off unintentionally.

[0004] The movement path or "trajectory" during the parking process, as well as the final position of the vehicle in a specific parking space, are determined in such a way as to optimally utilize the available parking space. For example, in a relatively small parking space, the vehicle's position can be chosen precisely in the center of the space, whereas in a larger parking space, the vehicle's position can be chosen, for example, closer to the vehicle in front.

[0005] However, in certain operating situations, the operating modes described above may prove insufficient. For example, a situation may arise where a person with limited mobility (e.g., an elderly person, a pregnant woman, a wheelchair user, an injured person, etc.) wishes to exit the vehicle. Since such individuals typically require more space to get out, it may be necessary to fully open the respective vehicle door, and they usually require a longer exit time. Depending on the current environmental conditions, the trajectory and strategy intended for parking the vehicle may then prove suboptimal.Furthermore, if a passenger's exit process takes too long, the pause mode may be completely deactivated, forcing the driver to complete the maneuver manually. The engine will also continue to run throughout the entire exit process.

[0006] Furthermore, a situation may arise, for example, where the driver of a vehicle transporting bulky objects such as furniture, suitcases, a refrigerator, etc., requires additional space to unload these items. Unloading such objects from the trunk typically necessitates leaving a considerable amount of free space behind the vehicle. Depending on the specific environmental conditions, the intended parking trajectory (e.g., parking in a position perpendicular to the road) and the vehicle alignment strategy may prove suboptimal in this case as well. Even when the pause mode is used, the parking assistance system may deactivate completely if the driver takes too long to unload the vehicle, potentially forcing the driver to complete the maneuver manually.Furthermore, the engine runs throughout the entire unloading process.

[0007] In other situations, it may happen that, as a result of certain actions by the driver during the unloading process, an automatic transition to abort mode occurs, for example, if the driver applies the handbrake, moves the selector lever to the park position, or opens the driver's door.

[0008] From EP 1 249 379 B1, a method and a device for moving a motor vehicle into a target position are known, wherein the vehicle's surroundings are continuously analyzed by means of suitable environmental sensors. If a parking and maneuvering system detects and signals the possibility of carrying out the desired parking or maneuvering maneuver, any passengers present can leave the vehicle. Before the signal is given, the vehicle is brought to a safe state, e.g., by applying the brakes. After exiting the vehicle, the driver starts the parking or maneuvering process using a transmitter, which can, for example, be integrated into the vehicle key.

[0009] From DE 10 2012 015 922 A1, among other things, a method for carrying out a parking operation of a vehicle using a driver assistance system is known, wherein the user of the driver assistance system has a choice between at least two parking maneuvers at the beginning of the automatic parking operation, wherein one of these parking maneuvers is a direct parking maneuver and wherein, in the other of these parking maneuvers, a stopping point for a user to exit the vehicle is determined.

[0010] From DE 10 2012 201 038 A1, a parking assistance system for supporting a parking maneuver of a motor vehicle is known, in which the motor vehicle is automatically brought into a target position. The known parking assistance system has an unloading operating mode to enable the unloading of an object and / or the exit of a passenger before the completion of the parking maneuver, for which purpose a temporary standstill of the motor vehicle in an unloading position is automatically brought about before reaching the target position.

[0011] DE 10 2011 112 578 A1 concerns an assistance system for the automatic execution of a driving maneuver, which may be a parking maneuver, and in this context in particular with a safety reaction in the case of a camera-based detection of restrictions during the automatic driving maneuver.

[0012] DE 10 2008 051 982 A1 describes the automatic activation of a parking brake to complete an automated parking maneuver.

[0013] For further examples of the state of the art, reference is made only to EP 2 289 768 A2, DE 10 2011 084 366 A1 and DE 10 2004 027 869 A1.

[0014] It is an object of the present invention to provide a parking assistance system which enables a passenger to exit the vehicle and / or to unload objects in a comfortable and effective manner.

[0015] This task is solved by the parking assistance system according to the features of independent claim 1.

[0016] A parking assistance system according to the invention for supporting a parking maneuver of a motor vehicle, in which the motor vehicle is automatically brought into a target position, has an unloading operating mode that can be activated by a user to enable the unloading of an object and / or the exit of a passenger before completion of the parking maneuver, wherein in response to the activation of this unloading operating mode, a temporary standstill of the motor vehicle in an unloading position is automatically brought about before reaching the target position.

[0017] The parking assistance system is further configured to determine, in the event of activation of the unloading operating mode before the start of the parking maneuver, a trajectory to be driven by the vehicle to reach the target position, depending on an area of ​​the vehicle specified by the user, from which the unloading or exiting is to take place.

[0018] The present invention provides an additional and novel operating mode in the form of an “unloading operating mode”, which can be activated by the driver both before and during a parking maneuver.

[0019] The parking assistance system according to the invention differs in particular from conventional parking assistance systems, which merely offer a selection of different trajectories, by providing an additional, novel operating mode which can be activated by the driver or user and – when activated – results in a change to the parking assistance strategy. The activation of the unloading operating mode according to the invention is accompanied by specific interactions with other vehicle subsystems.

[0020] The concept according to the invention for enabling the unloading of an object and / or the exit of a passenger by means of user activation of a special operating mode allows, in particular, the driver to make a corresponding decision spontaneously – e.g., after a parking maneuver has already begun. In this context, the driver or user also has the option of changing the vehicle's position and / or status even after activating the special unloading operating mode.

[0021] The possibility provided by the invention of (potentially spontaneous) activation of a special unloading operating mode by the driver or user has the further advantage that no additional hardware, such as sensors, is required. Furthermore, the driver or user is enabled to perform certain actions that are normally not possible during a parking maneuver (such as opening the vehicle doors, reactivating the stop-start system, etc.).

[0022] Because the area of ​​the vehicle from which unloading or exiting is to take place can be specified by the driver or user, and furthermore, this user-specified area is already taken into account when determining the trajectory to be traveled by the vehicle to reach the target position, the additional advantage arises that, for example, a wheelchair user or a person lying on a hospital bed can be unloaded as close as possible to an entrance door (e.g., of a hospital).

[0023] According to one embodiment, the parking assistance system is configured to determine, in the event of activation of the unloading operating mode before the start of the parking maneuver, a trajectory to be followed by the motor vehicle to reach the target position, depending on a distance to be left behind the motor vehicle that can be specified by the user.

[0024] If the unloading mode is activated before a parking maneuver begins, the driver is given the option, for example via a suitable HMI interface (Human-Machine Interface), to specify the side of the vehicle from which a passenger should be allowed to exit or from which an object should be unloaded. Depending on the characteristics of the parking space intended for the maneuver, a suitable modified parking trajectory can first be determined, whereby an intermediate stop at the optimal unloading position can be planned or offered. Subsequently, suitable corrective maneuvers can be offered by means of which the final target position can be reached.

[0025] According to one embodiment, the parking assistance system is configured to bring the vehicle to an immediate standstill if the unloading mode is activated after the parking maneuver has begun. Thus, if the unloading mode is activated after the parking maneuver has already started, the vehicle is brought to a standstill, and the vehicle's current position at that point represents the unloading position.

[0026] According to one embodiment, the parking assistance system is configured to resume a parking maneuver begun before the vehicle has come to a standstill in the unloading position, in response to user input. In particular, an automatic check of the vehicle's status, specifically the open / closed status of the vehicle doors or the position of the gear selector lever, can be performed before resuming the parking maneuver. Furthermore, depending on the result of this check, a signal can be sent to the user and / or a request to change the vehicle's status can be issued.

[0027] According to the invention, the parking assistance system is configured to disregard any termination condition that would trigger a final termination of the parking maneuver outside of the unloading operating mode, in particular exceeding a holding time of the vehicle, activation of the handbrake or the gear selector lever, with regard to the continuation of the parking maneuver. In other words, such a termination condition is ignored, so that, for example, even after a prolonged unloading or exiting process, the parking maneuver is not permanently and undesirably terminated, but rather resumed after the unloading or exiting process is completed.

[0028] According to one embodiment, the parking assistance system is configured to automatically activate a parking brake after reaching the unloading position.

[0029] According to one embodiment, the parking assistance system is configured to automatically switch off the engine of the motor vehicle after reaching the unloading position.

[0030] The steps taken after reaching the unloading position can therefore be as follows: - The vehicle is brought to a standstill and held in place by means of the brakes. - The electronic parking brake is automatically activated (or the driver must apply the handbrake), after which the brake pedal can be released again. - The stop-start function is activated and the engine is switched off after a predetermined time period (e.g. 10s). - The driver will be informed. The parking assistance system remains "frozen" regardless of any actions taken by the driver (e.g., changing the gear selector position, opening any doors, turning the steering wheel, pressing the pedals, etc.), meaning that no reaction occurs to such actions or a corresponding cancellation signal (in particular, no final cancellation of the maneuver). However, the parking assistance system can still be deactivated by the driver via a suitable HMI interface, or the ignition can be switched off to end the "frozen state". - The further planned parking maneuver is held in memory (corresponding to the "pause mode" in conventional systems).

[0031] The concept according to the invention can generally also be implemented in applications with remote-controlled parking.

[0032] Further embodiments of the invention can be found in the description and the dependent claims.

[0033] The invention is explained in more detail below with reference to exemplary embodiments shown in the accompanying figures.

[0034] They show: Fig. 1 a flowchart to explain a possible operating mode of the parking assistance system according to the invention in one embodiment; Fig. 2a-c schematic diagrams to illustrate a parking maneuver in one possible embodiment; and Fig. 3a-c schematic representations to illustrate a parking procedure in another possible embodiment.

[0035] In the following, a possible operation of the parking assistance system according to the invention will be described with reference to the one in Fig. 1. Flowchart shown, as well as the schematic representations of Fig. 2a-c and Fig. 3a-c described.

[0036] In Fig. Figures 2a-c schematically depict a parking maneuver in one possible embodiment, where parking is performed in a target position parallel to the roadway or direction of travel. The vehicle performing the parking maneuver is designated "210", and during parking, between two other vehicles 220 and 230, according to... Fig. 2b a temporary stop is carried out in which a person exits with the passenger door 215 open. Fig. 2c shows the final target position achieved.

[0037] In Fig. Figures 3a-c schematically depict a parking maneuver in another possible embodiment, wherein a motor vehicle performing the parking maneuver is designated "240" and wherein parking is carried out in a target position perpendicular to the roadway or direction of travel. Starting from the situation according to Fig. 3a is carried out in accordance with Fig. 3b the unloading of one or more objects before in accordance Fig. 3c the final target position has been reached.

[0038] The in Fig. The sequence shown assumes that the driver of a motor vehicle wants to perform a parking maneuver, has activated the parking assistance system, and wants to unload an object from the vehicle or allow a person from the vehicle to exit (step S10). Fig. For the sake of simplicity and only as an example, 1 is simply referred to as the unloading of an object.

[0039] In step S20, the system first checks whether the automatic parking maneuver has already started. If so, the driver activates the "unloading mode" in step S30, after which the vehicle is brought to a standstill in step S40. If, according to the check in step S20, the automatic parking maneuver has not yet started, the driver activates the "unloading mode" in step S21, selects the unloading side of the vehicle in step S22, and optionally selects the distance to be left behind the vehicle in an optional step S23. The parking assistance system according to the invention then determines a parking trajectory, taking into account or planning an intermediate unloading stop, and determines the necessary (corrective) maneuvers to reach the final target position (step S24).In step S25 the vehicle reaches the unloading position, after which a transition to step S40 takes place, in which the vehicle is brought to a standstill.

[0040] In step S50, the electronic parking brake is activated. Then, in step S60, the stop-start function is activated, and the engine is switched off – possibly after a short interruption or waiting period. In step S70, the functionality of the parking assistance system, which normally aborts the parking maneuver upon receiving a corresponding signal, is deactivated (i.e., there will be no response to this signal until further notice). In step S80, the parking maneuver data can optionally be saved in memory. After the driver has been informed accordingly in step S90, the driver unloads the object in step S100 (or allows the person wishing to exit the vehicle) and reactivates the parking assistance system in step S110, after which the engine is restarted in step S120.In step S130, the system checks whether the vehicle is in a state where the automatic parking maneuver can continue (e.g., whether the doors are closed and the gear selector is in the appropriate position). If this is not the case, the driver is informed so that they can first bring the vehicle into this state.

[0041] To resume or continue the parking maneuver, the driver must first bring the vehicle to a state in which automatic operation via the parking assistance system is possible or permitted (i.e., all doors closed, gear selector in neutral, etc.). The vehicle's status can be checked, and the driver may be prompted to correct it via the HMI interface if necessary. The engine can be restarted by pressing a suitable activation button, after which the parking maneuver resumes. If additional corrective maneuvers are required, these are automatically initiated by the parking assistance system to achieve the optimal final target position (e.g., in...). Fig. 2 a corresponding trajectory is represented by arrows).

[0042] Once the vehicle is in a condition that allows the parking maneuver to continue, the driver is informed in step S140, and the parking maneuver continues from the unloading position.

Claims

[1] Parking assistance system to support a parking maneuver of a motor vehicle, in which the motor vehicle is automatically brought into a target position, characterized by , that The parking assistance system has a user-activated unloading mode to allow the unloading of an object and / or the exit of a passenger before the completion of the parking maneuver. where this unloading operating mode can be activated by the user both before and after the start of the parking maneuver, where, in response to the activation of this unloading operating mode, a temporary standstill of the vehicle in an unloading position is automatically brought about before reaching the target position, wherein the parking assistance system is configured to determine, in the event of activation of the unloading operating mode before the start of the parking maneuver, a trajectory to be traveled by the motor vehicle to reach the target position depending on an area of ​​the motor vehicle specified by the user, from which the unloading or exiting is to take place, wherein the motor vehicle is configured to bring itself to a standstill in the event of activation of the unloading operating mode after the start of the parking maneuver, wherein the current position of the motor vehicle at that time represents the unloading position, and wherein The parking assistance system is configured to disregard, in unloading mode, the presence of any abort condition which would trigger a final abort of the parking maneuver outside of unloading mode, with regard to the continuation of the parking maneuver. [2] Parking assistance system according to claim 1, characterized by , that it is configured to determine, in the event of activation of the unloading operating mode before the start of the parking maneuver, a trajectory to be followed by the motor vehicle to reach the target position, depending on a distance to be left behind the motor vehicle that can be specified by the user. [3] Parking assistance system according to one of claims 1 or 2, characterized by that it is configured to bring the vehicle to an immediate standstill in the event of activation of the unloading operating mode after the start of the parking maneuver. [4] Parking assistance system according to one of the preceding claims, characterized by that it is configured to resume a parking maneuver started before the vehicle came to a standstill in the unloading position in response to a user input. [5] Parking assistance system according to claim 4, characterized by , that before resuming the parking maneuver, an automatic check of the vehicle's condition is carried out, in particular the opening status of the vehicle doors or the position of the gear selector lever. [6] Parking assistance system according to claim 5, characterized by , that depending on the result of this check, a signal will be sent to the user and / or a request will be made to change the vehicle's condition. [7] Parking assistance system according to one of the preceding claims, characterized by, that the termination condition, which would trigger a final termination of the parking maneuver outside of the unloading operating mode, includes exceeding a holding time of the vehicle, actuation of the handbrake or the gear selector lever. [8] Parking assistance system according to one of the preceding claims, characterized by that it is configured to automatically activate a parking brake after reaching the unloading position. [9] Parking assistance system according to any of the preceding claims, characterized by that it is configured to automatically switch off the vehicle's engine after reaching the unloading position.

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