Method and device for automated or semi-automated parking of a motor vehicle

Abstract

Method for automated or semi-automated parking of a motor vehicle (100), comprising the following process steps: a) Providing a trajectory (23) as a search path for the motor vehicle (100), wherein the motor vehicle (100) automatically or semi-automatically follows the trajectory (23) as long as at least one termination condition is not met, b) Detection of parking spaces (PL) using parking space sensors (4) while driving along the trajectory (23), c) Offering a detected parking space (PL) to the user, wherein, after selection of the parking space (PL), the motor vehicle (100) is maneuvered into the parking space (PL) automatically or semi-automatically, wherein the automated or semi-automated maneuvering into a parking space (PL) constitutes a termination condition for the process step a).

Description

[0001] The invention relates to a method and a device for automated or semi-automated parking of a motor vehicle.

[0002] DE 10 2010 043 742 A1 discloses a method for parking a motor vehicle into a parking space with at least one sensor. Data for detecting a parking space is continuously recorded as the vehicle passes by using this at least one sensor. Upon detection of at least two parkable parking spaces, at least two trajectories are determined depending on the respective parking space geometry of the parkable parking spaces, a position, and an orientation of the motor vehicle for a possible fully or semi-automatic parking maneuver. A control unit then automatically decides which parking space is selected for a possible parking maneuver based on the calculated trajectory. The method is activated when the driver of the vehicle is traveling below a certain speed limit.

[0003] DE 10 2013 015 348 A1 discloses a method for approaching a parking space in a hidden zone. Using environmental data, the vehicle detects that it is near a home parking space or home parking zone. Trained trajectories are stored for this home parking space or spaces, which are then offered to the driver for selection or, if only one trajectory is available, are automatically followed. If multiple trajectories are available, the selected trajectory is followed automatically.

[0004] From DE 10 2014 212 843 A1 a method for parking space allocation is known, wherein road users determine information about free parking spaces and transmit the information to a cloud computing system, wherein the cloud computing system records information about the free parking spaces in a retrievable parking space map, wherein information about the provided parking space is visually displayed on a display device of the road user.

[0005] From the subsequently published DE 10 2016 100 730 A1 a method for automated or partially automated parking of a motor vehicle is known, comprising the following method steps: - Providing a trajectory as a search path for the motor vehicle, whereby the motor vehicle follows the trajectory automatically or semi-automatically as long as at least one termination condition is not met, - Detection of parking spaces using a parking space sensor while driving along the trajectory, - Automated maneuvering of the motor vehicle into a detected parking space, whereby the automated or partially automated maneuvering into a parking space is a termination condition for the trajectory.

[0006] The invention is based on the technical problem of providing a method for automated or semi-automated parking of a motor vehicle that further reduces the burden on the driver. Another technical problem is the creation of a suitable device.

[0007] The technical problem is solved by a method having the features of claim 1 and a device having the features of claim 6. Further advantageous embodiments of the invention emerge from the subclaims.

[0008] The procedure for automated or semi-automated parking of a motor vehicle comprises the following procedural steps: a) Providing a trajectory as a search path for the motor vehicle, whereby the motor vehicle follows the trajectory automatically or semi-automatically as long as at least one termination condition is not met, b) Detection of parking spaces using a parking space sensor while driving along the trajectory, c) Offering a detected parking space to the user, whereby after selecting the parking space the motor vehicle is maneuvered into the parking space automatically or semi-automatically, whereby the automated or semi-automated maneuvering into a parking space represents a termination condition for process step a).

[0009] By providing a trajectory as a search path, the driver is relieved of the task of steering the vehicle past potential parking spaces. The entire parking process is therefore carried out automatically at an early stage.

[0010] The provided trajectory as a search path can basically be provided by two alternatives.

[0011] In a first alternative, the provided trajectory is a trained trajectory. For example, if the driver frequently drives into their garage or a specific parking space in front of their house, this and the associated trajectory are stored, so that the vehicle is then able to offer an automated journey from a specific point in front of the garage or parking space. Another possibility is that if a driver drives into the same parking garage multiple times, the device remembers the trajectories driven and saves a trajectory for driving through the parking garage as a trained trajectory.

[0012] Alternatively, the trajectory can also be provided as a search path by a third party. For example, the operator of a parking garage can send the trajectory to the vehicle upon entering the parking garage, allowing the vehicle to then follow the trajectory automatically.

[0013] In another embodiment, in addition to the trajectory, information is transmitted that can be used to distinguish between a permitted parking space and an illegal one. For example, this includes map data of parking options.

[0014] In a further embodiment, parked vehicles are detected while driving along the trajectory and stored as information about the permissibility of a parking space. Alternatively or additionally, parking space lines, signs, and / or signs are detected and stored.

[0015] The device for automated or semi-automated parking of a motor vehicle comprises an evaluation and control unit, an actuator system, and at least one parking space sensor system. The parking space sensor system is designed to detect parking spaces. The evaluation and control unit is designed to control the actuator system depending on a detected parking space such that the motor vehicle is maneuvered into the parking space automatically or semi-automatically. The evaluation and control unit is designed to read in a trajectory as a search path, wherein the actuator system is then controlled such that the motor vehicle automatically follows the trajectory as long as at least one termination condition is not met. The parking space sensor system is designed to detect parking spaces while the search path is being followed.The evaluation and control unit is further configured to offer a detected parking space to the user. After selecting the parking space, the vehicle maneuvers into the space automatically or semi-automatically. In semi-automated maneuvering, for example, the driver still has to press the accelerator pedal, whereas the steering movements are automatically adjusted by the actuators.

[0016] With regard to further details, reference can be made to the previous explanations.

[0017] The invention is explained in more detail below using a preferred embodiment. The figures show: Fig. 1 a schematic block diagram of a device for automated or partially automated parking of a motor vehicle and Fig. 2 a schematic representation of a parking space or a parking deck of a parking garage.

[0018] In the Fig. 1 shows a schematic block diagram of a device 1 for automated or semi-automated parking of a motor vehicle, comprising an evaluation and control unit 2, an actuator system 3, a parking space sensor system 4, an input and output unit 5, a memory 6 with at least one trained trajectory and a wireless interface 7.

[0019] The evaluation and control unit 2 reads a trajectory as a search path, for example, from memory 6. The reading is performed depending on a detected position of the motor vehicle. For example, the position is determined using a GPS receiver, and a check is carried out to determine whether a trajectory exists for this position. Alternatively, a trajectory and, if necessary, additional information can be received via interface 7. The evaluation and control unit 2 then controls the actuators 3 such that the motor vehicle automatically follows the trajectory until at least one termination condition is met.

[0020] While the motor vehicle travels along the trajectory as a search path, the parking space sensor system 4 searches for parking spaces. The parking space sensor system 4 can, for example, comprise at least one camera and / or ultrasonic and / or radar sensors. If a parking space is detected, two variants are possible. In a first variant, not according to the claims, the trajectory is aborted and the motor vehicle is automatically maneuvered into the parking space.

[0021] In a second variant according to the invention, the parking space is initially presented to the user, for example, on the input and output unit 5, which is designed, for example, as a touchscreen. If the user rejects the parking space, the motor vehicle continues to drive along the trajectory automatically. If, however, the user confirms the parking space, the motor vehicle is maneuvered into the parking space automatically or semi-automatically.

[0022] Preferably, the device also records parked vehicles in order to obtain information about permitted parking spaces for future journeys.

[0023] In the Fig. 2 shows an exemplary situation. A motor vehicle 100 with a device 1 according to the invention (see Fig. 1) drives to a barrier 21 of a parking space 20. A transmitting unit 22 of the parking space 20 transmits a trajectory 23 as a search path to the motor vehicle 100. The trajectory 23 leads across the entire parking space 20 with all parking spaces (occupied P and unoccupied PL) to a barrier 24 at the exit. In a parking garage, the trajectory 23 can extend over several levels. The motor vehicle 100 then automatically drives along the trajectory 23, and the parking space sensor system 4 searches for unoccupied parking spaces PL, as already described. Fig. 1 was described.

[0024] Parking is prohibited in an area 25, which is indicated, for example, by signs or road markings. This information can be transmitted along with the trajectory so that the motor vehicle 100 is not parked in illegal parking spaces. Alternatively, this can also be done by image analysis of the parking space sensor system 4.

Claims

[1] Method for automated or semi-automated parking of a motor vehicle (100), comprising the following method steps: a) providing a trajectory (23) as a search path for the motor vehicle (100), wherein the motor vehicle (100) automatically or semi-automatically follows the trajectory (23) as long as at least one termination condition is not met, b) detecting parking spaces (PL) by means of a parking space sensor (4) while driving along the trajectory (23), c) offering a detected parking space (PL) to the user, wherein after selection of the parking space (PL) the motor vehicle (100) is maneuvered into the parking space (PL) in an automated or semi-automated manner, wherein the automated or semi-automated maneuvering into a parking space (PL) represents a termination condition for method step a). [2] Method according to claim 1, characterized bythat a trajectory trained by the motor vehicle (100) is used as the provided trajectory (23). [3] Method according to claim 1, characterized by that a trajectory transmitted to the motor vehicle (100) is used as the provided trajectory (23). [4] Method according to claim 3, characterized by that, in addition to the trajectory (23), information is transmitted which can be used to distinguish a permissible parking space (PL) from an impermissible parking space. [5] Method according to one of the preceding claims, characterized by that when driving along the trajectory (23) parked vehicles are detected and stored as information about the admissibility of a parking space (PL). [6] Device (1) for the automated or partially automated parking of a motor vehicle (100), comprising an evaluation and control unit (2), an actuator (3) and at least one parking space sensor (4), wherein the parking space sensor (4) is designed to detect parking spaces (PL), wherein the evaluation and control unit (2) is designed to control the actuator (3) depending on a detected parking space (PL) such that the motor vehicle (100) is maneuvered into the parking space (PL) in an automated or partially automated manner, characterized byin that the evaluation and control unit (2) is designed in such a way that it can read in a trajectory (23) as a search path, wherein the actuator system (3) is then controlled in such a way that the motor vehicle (100) automatically travels the trajectory (23) as long as at least one termination condition is not met, wherein the parking space sensor system (4) is designed in such a way to detect parking spaces (PL) while the search path is being traveled, wherein the evaluation and control unit (2) is further designed in such a way that a detected parking space (PL) is offered to a user, wherein after selection of the parking space (PL) the motor vehicle (100) is maneuvered into the parking space (PL) in an automated or semi-automated manner, wherein the automated or semi-automated maneuvering into a parking space (PL) represents a termination condition. [7] Device according to claim 6, characterized by that the read trajectory (23) is a trained trajectory of the motor vehicle (100). [8] Device according to claim 6, characterized by that the device (1) is designed with an interface (7) for receiving a trajectory (23) as a search path. [9] Device according to claim 8, characterized by that the evaluation and control unit (2) is designed to take into account information about permissible parking spaces (PL) transmitted with the trajectory (23). [10] Device according to one of claims 6 to 9, characterized by that the device (1) is designed such that the parking space sensor system (4) detects parked vehicles while the trajectory (23) is being followed, which vehicles are stored as information about the admissibility of a parking space (PL).

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