AUTONOMOUS PARKING OF VEHICLES IN VERTICAL PARKING BAYS

Abstract

Vehicle (100), comprising: a front corner (208); a camera (122); and an autonomous vehicle parking device (130) for: detecting, via the camera (122), a vertical parking bay (102, 402) and an outer boundary (206) of the vertical parking bay (102, 402) and for autonomously steering into the vertical parking bay (102, 402), characterized in that the front corner (208) is a section of the vehicle (100) in which a front surface (116) and a side surface of the vehicle (100) meet, and that the autonomous vehicle parking device (130) is configured to determine a linear parking path (202, 400) that is arranged within the vertical parking bay (102, 402) and is based on the outer boundary (206), wherein the front corner (208) moves along the linear parking path (202, 400), wherein the autonomous vehicle parking device (130) Target parking position (204, 418) identified, which is located within the vertical parking bay (102, 402),and determines the linear parking path (202, 400), which is further based on the target parking position (204, 418).

Description

TECHNICAL AREA

[0001] The present disclosure relates generally to autonomous parking and in particular to autonomous parking of vehicles in perpendicular parking bays. GENERAL STATE OF THE ART

[0002] Vehicles often incorporate autonomous or semi-autonomous driving systems, which allow the vehicle to be driven with reduced driver input. A vehicle with an autonomous or semi-autonomous driving system typically includes sensors that collect information about the vehicle's surroundings. In such cases, the autonomous or semi-autonomous driving system performs driving functions (e.g., steering, accelerating, braking, etc.) based on the collected information. Some driving systems use information gathered by sensors to park a vehicle autonomously or semi-autonomously in an empty parking space (e.g., parallel parking). SUMMARY

[0003] The attached claims define this application. The present disclosure summarizes aspects of embodiments and should not be used to limit the claims. Other implementations are considered in accordance with the techniques described herein, as will be apparent to the person skilled in the art upon review of the following drawings and detailed description, and these implementations are intended to be within the scope of this application.

[0004] Exemplary embodiments for autonomously parking vehicles in vertical parking bays are disclosed. An exemplary disclosed vehicle includes a front corner, a camera, and an autonomous vehicle parking device. The autonomous vehicle parking device serves to detect, via the camera, a vertical parking bay and an outer boundary of the vertical parking bay, determine a linear parking path located within the vertical parking bay and based on the outer boundary, and autonomously steer the vehicle into the vertical parking bay such that the front corner moves along the linear parking path.

[0005] An exemplary disclosed method for autonomously parking a vehicle in a vertical parking space includes detecting, via a sensor, a vertical parking space and an outer boundary of the vertical parking space, and determining, via a processor, a linear parking path located within the vertical parking space and based on the outer boundary. The exemplary disclosed method also includes autonomously steering the vehicle into the vertical parking space such that a front corner of the vehicle moves along the linear parking path.

[0006] An exemplary disclosed tangible, computer-readable medium includes instructions which, when executed, cause the detection, via a camera, of a vertical parking space and an outer boundary of the vertical parking space, and the determination, via a processor, of a linear parking path located within the vertical parking space and based on the outer boundary. The instructions, when executed, also cause the vehicle to autonomously steer into the vertical parking space such that a front corner moves along the linear parking path. List of characters

[0007] For a better understanding of the invention, reference may be made to embodiments illustrated in the following drawings. The components in the drawings are not necessarily to scale, and related elements may be omitted, or in some cases, proportions may be enlarged to highlight and clearly illustrate the novel features described herein. Furthermore, system components may be arranged in various ways, as is known in the field. In addition, corresponding parts in the different views of the drawings are identified by the same reference numerals. Fig. Figure 1 illustrates an example vehicle approaching a vertical parking bay. Fig. 2 displays the vehicle Fig. 1 represents, which moves along a linear parking path to reach the vertical parking bay from Fig. 1. to park according to the teachings of this scripture. Fig. 3 also exhibits the vehicle Fig. 1, which extends along the linear park path from Fig. 2 moves. Fig. 4 displays the vehicle Fig. 1, which moves along a linear parking path to park in another perpendicular parking bay according to the teachings of this writing. Fig. 5 is a block diagram of the vehicle's electronic components. Fig. 1. Fig. Figure 6 is a flowchart of an exemplary procedure for autonomously parking a vehicle in a vertical parking space by moving along a linear path according to the teachings of this document. DETAILED DESCRIPTION OF EXAMPLE EXECUTIONS

[0008] Although the invention can be implemented in different forms, some exemplary and non-limiting embodiments are shown in the drawings and described below, whereby it is understood that the present disclosure is to be regarded as an explanation of the invention by means of examples and is therefore not intended to limit the invention to the specific embodiments illustrated.

[0009] Vehicles often incorporate autonomous or semi-autonomous driving systems, which allow the vehicle to be driven with reduced driver input. Generally, a vehicle with such a system includes sensors that gather information about its surroundings. In these cases, the driving system performs driving functions (e.g., steering, accelerating, braking, etc.) based on the collected information. For example, the vehicle might include a sensor to detect nearby objects, enabling the driving system to avoid them.

[0010] Some driving systems also use the collected information to park a vehicle autonomously or semi-autonomously in an available parking space. Such systems are used, for example, to park a vehicle in a parallel parking space, a diagonal parking space, a perpendicular parking space, and so on. In some cases where an autonomous or semi-autonomous driving system is used to park in a perpendicular parking space, the system may require a readjustment maneuver (e.g., readjusting the vehicle's position by reversing and then returning to forward motion) and / or an increased clearance between the vehicle and the perpendicular parking space to allow the vehicle to park in the space.

[0011] Exemplary methods, devices and computer-readable media allow a vehicle to autonomously steer into a vertical parking bay such that a front corner of the vehicle moves along a linear parking path within the vertical parking bay in order to reduce a passing distance between the vehicle and the vertical parking bay and / or to reduce a width of the vertical parking bay in which the vehicle is able to park in a single forward movement.

[0012] The vehicles disclosed here include an autonomous parking system and a camera and / or sensor. The autonomous parking system parks the vehicle autonomously in a parking space. In the context of this text, "autonomous parking" refers to a form of autonomous driving in which a vehicle's actions (e.g., steering, turning, accelerating, decelerating, etc.) are controlled by the vehicle without direct driver input in order to park the vehicle in a parking space. In the context of this text, "autonomous driving" refers to a vehicle maneuvering system in which a vehicle's actions (e.g., steering, accelerating, decelerating, etc.) are controlled by the vehicle without direct driver input. In the context of this text, "semi-autonomous driving" refers to a vehicle maneuvering system in which some routine vehicle actions are controlled by the vehicle without direct driver input.In the sense used here, “autonomous steering” refers to a sequence of autonomous parking, autonomous driving and / or semi-autonomous driving in which the steering of a vehicle is controlled by the vehicle without direct driver input.

[0013] The autonomous vehicle parking system of the examples disclosed herein detects a perpendicular parking space and its outer boundary via the camera and / or sensor. In the sense used here, a "perpendicular parking space" refers to a parking space for a vehicle whose outer boundary runs perpendicular to an adjacent, designated direction of travel of the vehicle.

[0014] Furthermore, the autonomous vehicle parking system determines a linear parking path, located within the perpendicular parking bay, based on the outer boundary, and autonomously steers the vehicle into the perpendicular parking bay such that a front corner of the vehicle moves along this linear parking path. In some examples, the autonomous vehicle parking system determines the linear parking path to be offset from and parallel to the outer boundary of the perpendicular parking bay. In the sense used here, a "linear parking path" refers to a linear path along which a section of a vehicle (e.g., a front corner) moves when the vehicle turns into a parking bay. In the sense used here, a "front corner" of a vehicle refers to a section of the vehicle where a front surface and a side surface of the vehicle meet.A vehicle, for example, has a left front corner and a right front corner. In some examples, a vehicle's front corner includes a curved surface connecting the front surface and the side surface of the vehicle. By autonomously steering the vehicle so that the front corner moves in a single forward motion along the linear parking path, the autonomous vehicle parking system reduces the clearance between the vehicle and the vertical parking path and / or reduces the width of the vertical parking bay in which the autonomous vehicle parking system can park the vehicle. In the context of this text, "clearance" refers to the distance between a vehicle and a series of vertical parking bays before the vehicle turns into an empty one.

[0015] In some examples, the autonomous parking system identifies a target parking position located within the vertical parking bay. In such examples, the autonomous parking system determines the linear parking path based on the outer boundary of the vertical parking bay and the target parking position. As used here, a "target parking position" refers to a position within a parking bay that an autonomous parking system intends to park in.

[0016] When determining the linear parking path, the autonomous vehicle parking system further identifies a first end and a second end opposite the first end of the linear parking path. In some examples, the autonomous vehicle parking system determines the first end of the linear parking path based on the target parking position and a minimum turning radius of the vehicle. For example, the autonomous vehicle parking system steers the vehicle at the minimum turning radius between the first end of the linear parking path and the target parking position. In the sense used here, a "minimal turning radius" refers to the smallest turning radius that a vehicle can physically make.

[0017] Additionally or alternatively, the autonomous parking system determines the second end of the linear parking path based on the outer boundary of the perpendicular parking bay. For example, the autonomous parking system determines an orientation in which the vehicle is to be positioned at the second end of the linear parking path, based on the target parking position, the minimum turning radius, and the length of the linear parking path. In some such examples, the autonomous parking system further determines whether to park in the perpendicular parking bay based on the vehicle's orientation at the second end of the linear parking path, the vehicle's minimum turning radius, and the clearance distance between the vehicle and the perpendicular parking bay.

[0018] The autonomous vehicle parking system in the examples disclosed herein also determines steering radii of the vehicle that cause the front corner of the vehicle to move along the linear parking path. For example, the autonomous vehicle parking system determines the steering radii based on physical characteristics of the vehicle (e.g., a distance between a front axle and a rear axle, a vehicle width, and / or a distance between the front axle and the front corner). For example, the steering radii vary to allow the front corner to move along the linear parking path when the autonomous vehicle parking system autonomously steers the vehicle into the perpendicular parking space.

[0019] In relation to the figures, illustrated Fig. 1. An exemplary vehicle 100 , which is an unoccupied vertical parking bay 102 approaches. As in Fig. As illustrated in Figure 1, the vertical parking bay is... 102 between other perpendicular parking bays 104 positioned by other corresponding vehicles 106 are occupied. The vehicle 100 It can be a standard gasoline-powered vehicle, a hybrid vehicle, an electric vehicle, a fuel cell vehicle, and / or a vehicle with any other type of mobility implementation. The vehicle 100 It includes parts related to mobility, such as a powertrain with an internal combustion engine, a transmission, a suspension, a drive shaft and / or wheels, etc. The vehicle 100 can be semi-autonomous (e.g., some routine driving functions are performed by the vehicle) 100 controlled) or autonomous (e.g., driving functions are controlled by the vehicle) 100 (controlled without direct driver input).

[0020] In the illustrated example, the vehicle 100through a passing distance 108 from the vertical parking bays 102 , 104 spaced apart. Furthermore, as in Fig. 1 illustrates a front axle 110 and a rear axle 112 of the vehicle 100 through a distance 114 (e.g., a first gap) spaced out. The front axle 110 and a front 116 of the vehicle (e.g. a front corner) 208 from the Fig. 2- Fig. (including 4) are separated by a distance 118 (e.g., a second distance) spaced out. The vehicle 100 It also has a width 120 on. For example, the distance defines 114 between the front axle 110 and the rear axle 112 , the distance 118 between the front axle 110 and the front corner, the width 120 of the vehicle 100 and / or a road wheel angle of the vehicle 100a minimum steering radius of the vehicle 100 The road wheel angle, or wheel camber angle, is an angle between the vertical axes of the vehicle's wheels. 100 and a surface is formed on which the vehicle 100 is positioned.

[0021] As in Fig. As illustrated in 1, the vehicle includes 100 a camera 122 , a sensor 124 , a magnetometer 126 and a recipient 128 of the global positioning system (GPS). For example, the camera 122 towards the front 116 of the vehicle 100 positioned to fit into the vertical parking bays 102 , 104 , which the vehicle 100 to monitor approaching vehicles and collect information about them. Additionally or alternatively, the vehicle uses... 100 the sensor 124for monitoring and / or collecting information (e.g. positions, outer boundaries, etc.) about the vertical parking bays 102 , 104 For example, the sensor can 124 a lidar sensor (e.g. a lidar sensor) 516 out of Fig. 5), a radar sensor (e.g. a radar sensor) 518 out of Fig. 5), an ultrasonic sensor (e.g. an ultrasonic sensor) 520 out of Fig. 5) and / or any other sensor capable of detecting the vertical parking bays 102 , 104 to monitor and / or collect information about it. The magnetometer 126 measures the magnetic alignment of the vehicle 100 and / or a direction in which the vehicle is moving 100 It moves. Furthermore, the GPS receiver communicates. 128 with a global positioning system (e.g., transmits signals to it, receives signals from it) to determine the vehicle's position 100to monitor the vehicle 100 It also includes an autonomous vehicle parking facility. 130 , which autonomously parks the vehicle in unoccupied parking spaces, such as the perpendicular parking space 102 , parks. For example, the autonomous vehicle parking system can 130 It can be implemented in a fully active parking assistance system, in which braking, acceleration, and steering are operated autonomously, and / or in a semi-active parking assistance system, in which steering is operated autonomously and acceleration and braking are user-operated. The autonomous vehicle parking device 130 parks the vehicle 100 autonomously in a single forward movement in the vertical parking bay 102 , which defines a passage distance (e.g. the passage distance) 108 ) reduced, from which the vehicle 100 is able to park in the vertical parking bay 102to park, and / or reduces the width of the vertical parking bay in which the vehicle 100 is able to park.

[0022] Fig. 2 represents the vehicle 100 which runs along a linear park path 202 moved to reach a target parking position 204 within the vertical parking bay 102 to park according to the teachings of this scripture.

[0023] Before turning along the linear parking path 202 detects the autonomous vehicle parking facility 130 the vertical parking bay 102 and determined based on the information obtained via the camera 122 and / or the sensor 124 of the vehicle 100 It was collected that the vertical parking bay 102 is not occupied. Furthermore, the autonomous vehicle parking system detects 130 an external border 206 the vertical parking bay 102and identifies the target parking position 204 within the vertical parking bay 102 based on the information obtained via the camera 122 and / or the sensor 124 were collected. For example, the vehicle 100 completely within the vertical parking bay 102 ordered when the vehicle 100 at the target parking position 204 is located.

[0024] The autonomous vehicle parking facility 130 determined based on the target parking position 204 and the external border 206 the perpendicular parking bay 102 furthermore the linear parking path 202 , along which the front corner 208 of the vehicle 100 It is intended to move. In the illustrated example, the autonomous vehicle parking system determines 130 the linear parking path 202 so that he is from the outer border 206is offset and runs parallel to it, such that the linear park path 202 within the vertical parking bay 102 is arranged. For example, the linear parking path 202 through a buffer distance 210 from the external border 206 spaced apart to protect the vehicle 100 to prevent it from entering the other vertical parking bay 104 to extend beyond the external border 206 is located.

[0025] When determining the linear parking path 202 identifies the autonomous vehicle parking facility 130 a length 212 a first end 214 and a second one, the end of the first 214 opposite end 216 of the linear parking path 202 In some examples, the autonomous vehicle parking system serves 130 for autonomous steering of the vehicle 100 at its minimum steering radius, when the vehicle 100 from the first end214 of the linear parking path 202 to the target parking position 204 moved. In such examples, the autonomous vehicle parking system determines 130 a position of the first end 214 of the linear parking path 202 based on the target parking position 204 and the minimum steering radius of the vehicle 100 .

[0026] Furthermore, the autonomous vehicle parking facility determines 130 a position at the second end 216 of the linear parking path 202 , which is the front corner 208 of the vehicle 100 allows one to move along the linear park path 202 to move when the vehicle 100 the target parking position 204 approximates. In such examples, the autonomous vehicle parking system determines 130 the position of the second end 216 based on the external border 206 (e.g., the length of the outer boundary) 206) the vertical parking bay 102 , the target parking position 204 and / or the minimum steering radius of the vehicle 100 The autonomous vehicle parking facility 130 determines the length 212 of the linear parking path 202 based on the position of the first end 214 and the position of the second end.

[0027] Furthermore, the autonomous vehicle parking facility determines 130 Clearings where the vehicle 100 at corresponding positions along the linear parking path 202 to be positioned which is the front corner 208 of the vehicle 100 enable one to move along the linear park path 202 to move when the vehicle 100 the target parking position 204 approaches. For example, the autonomous vehicle parking system determines 130 a first orientation for a first intermediate position 218 of the vehicle 100, if the front corner 208 at the first end 214 is located, a second alignment for a second intermediate position 220 of the vehicle 100 , if the front corner 208 at the second end 216 is located, and orientations for other intermediate positions of the vehicle 100 between the first intermediate position 218 and the second intermediate position 220 .

[0028] In some examples, the autonomous vehicle parking facility determines 130 the orientations in which the vehicle 100 along the linear park path 202 to be positioned based on the target parking position 204 , the minimum steering radius of the vehicle 100 and / or the length 212 of the linear parking path 202 For example, the autonomous vehicle parking system determines 130 the first alignment at the first intermediate position218 based on the target parking position 204 and the minimum steering radius at which the vehicle 100 between the target parking position 204 and the first intermediate position 218 turns. The autonomous vehicle parking system then determines 130 an alignment of an adjacent intermediate position along the linear park path 202 based on the initial alignment at the first intermediate position 218 , the minimum steering radius and a distance between the first intermediate position 218 and the adjacent intermediate position. The autonomous vehicle parking system determines this in a similar way. 130 one alignment for each position along the linear parking path 202 up to the second intermediate position 220 In other examples, the autonomous vehicle parking system asks 130 a lookup table regarding the orientations in which the vehicle100 along the linear park path 202 to be positioned. In such examples, the autonomous vehicle parking system asks 130 the lookup table based on the target parking position 204 , the minimum steering angle of the vehicle 100 and / or the length 212 of the linear parking path 202 , determined by the autonomous vehicle parking facility 130 , away.

[0029] The autonomous vehicle parking facility 130 determines the vehicle's turning radius 100 , which allow the front corner 208 of the vehicle 100 along the linear park path 202 moved, based on the orientations in which the vehicle 100 along the linear park path 202 to be positioned. For example, the autonomous vehicle parking system determines 130 the vehicle's turning radii 100 , which gives the vehicle100 enabling alignment at a position along the linear parking path 202 to a different orientation at a different position along the linear parking path 202 to transition. The autonomous vehicle parking facility 130 can determine the turning radius associated with a specific position along the linear parking path 202 is associated based on the vehicle's physical characteristics. 100 determine, for example, the distance 114 between the front axle 110 and the rear axle 112 , the width 120 of the vehicle 100 and / or the distance 118 between the front axle 110 and the front 116 (e.g. the front corner) 208 For example, the vehicle's turning radius varies. 100 , to allow the front corner 208 along the linear park path 202moves when the autonomous vehicle parking system 130 the vehicle 100 autonomously into the vertical parking bay 102 allows one to change course.

[0030] Furthermore, the autonomous vehicle parking facility determines 130 also whether the autonomous vehicle parking facility 130 is able to control the vehicle 100 at the target parking position 204 within the vertical parking bay 102 to park in a single forward movement. For example, the autonomous vehicle parking system determines 130 , whether it's the passing distance 108 of the vehicle 100 the vehicle 100 enables the linear parking path 202 when oriented relative to the linear parking path 202 to reach which is the front corner 208 allows one to move along the linear park path 202 to the target parking position 204to move. In such examples, the autonomous vehicle parking system determines 130 , whether the vehicle 100 is able to park in the vertical parking bay 102 to park, based on the passing distance 108 , the minimum steering radius of the vehicle 100 and / or the orientation in which the vehicle 100 at the second end 216 of the linear parking path 202 to be positioned. In response to the determination that the autonomous vehicle parking facility 130 is able to control the vehicle 100 The autonomous vehicle parking system steers the vehicle to park in a single forward movement. 130 the vehicle 100 autonomously into the vertical parking bay 102 and in the direction of the target parking position, so that a front corner 208 (e.g. a front left corner in Fig. 2) of the vehicle 100 along the linear park path 202 moved.

[0031] Fig. 3 also represents the vehicle 100 which runs along the linear park path 202 and into the vertical parking bay 102 moved, which are located between the other perpendicular parking bays 104 is arranged. In Fig. 3 is the vehicle 100 at a third intermediate position 302 along the linear park path 202 positioned, that is, between the first intermediate position 218 at the first end 214 and the second intermediate position 220 at the second end 216 . At the third intermediate position 302 is the vehicle 100 at an angle 304 relative to the linear parking path 202 aligned. Furthermore, the autonomous vehicle parking system utilizes 130 Equation 1 provided below to determine the vehicle's turning radius 100 at the third intermediate position 302and the vehicle's turning radii 100 in other positions (e.g. the first intermediate position) 218 , the second intermediate position 220 ) to determine which of the front corners 208 of the vehicle 100 allows one to move along the linear park path 202 to move while the vehicle is in the vertical parking bay 102 turns. R ( x ) = W B + L f − tan ω ( x ) ⋅ V W 2 tan w ( x )

[0032] In the equation 1 provided above, x represents a position along the linear parking path. 202 (e.g. the first intermediate position) 218 , the second intermediate position 220 , the third intermediate position 302 ) represents, R represents the steering angle at which the vehicle 100 WB sets the distance when the vehicle is to turn at x. 114 between the front axle 110 and the rear axle 112 represents, L f the distance 118 between the front axle110 and the front 116 VW represents the breadth 120 of the vehicle 100 represents and ω represents an orientation of the vehicle relative to the linear parking path 202 at x (e.g. the angle) 304 at the third intermediate position 302 For example, the autonomous vehicle parking system uses 130 Equation 1 for determining the vehicle's steering radius 100 at every position along the linear parking path 202 , which gives it to the vehicle 100 allows within the vertical parking bay 102 to park in a single forward movement. In other examples, Equation 1 is used to generate data in a lookup table, which the autonomous vehicle parking system... 130 queries to determine the vehicle's steering radius 100 at every position along the linear parking path 202 to determine.

[0033] Fig. 4 represents the vehicle100 This illustrates how the path runs along another exemplary linear park route. 400 moved to another vertical parking bay 402 to park according to the teachings of this scripture. As in Fig. As illustrated in section 4, the vertical parking bay is... 402 positioned between other perpendicular parking bays occupied by other similar vehicles 404 are occupied. Furthermore, the vertical parking bay 402 out of Fig. 4 a width that is smaller than that of the perpendicular parking bay 102 from the Fig. 1- Fig. 3 is. By determining and autonomously steering the vehicle 100 , so that the front corner 208 along a linear park path (e.g. the linear park path) 400 ) moves the autonomous vehicle parking facility 130 able to determine the width of a perpendicular parking bay (e.g. the perpendicular parking bay) 402 ) to reduce, in which the vehicle100 is capable of parking in a single forward movement.

[0034] To park in the vertical parking bay 402 To park, the vehicle 100 initially at a passing distance 408 positioned. The autonomous vehicle parking system then steers 130 the vehicle 100 autonomously, to proceed along the first section of the park path 410 to move. In the illustrated example, the autonomous vehicle parking system steers. 130 the vehicle 100 at the vehicle's minimum steering radius 100 autonomously, to determine the passing distance 408 to reduce, from which the vehicle 100 is able to move in a single forward movement in the vertical parking bay 402 to park. The autonomous vehicle parking system 130 steers the vehicle 100 then autonomously enters to proceed along the second section of the park path 412to move. During the second section of the park path 412 can the vehicle 100 the turning radius at which the vehicle 100 The steering angle may vary over time and / or be larger than the vehicle's minimum steering radius. 100 the vertical parking bay 402 Once reached, the autonomous vehicle parking system steers 130 the vehicle 100 autonomously, so that the front corner 208 of the vehicle 100 along the linear park path 400 moved. By moving along the linear park path. 400 reduces the autonomous vehicle parking facility 130 the passing distance 408 , from which the vehicle 100 is able to move in a single forward movement in the vertical parking bay 402 to park. After the vehicle 100 along the linear park path 400The autonomous vehicle parking system steers the vehicle. 130 the vehicle 100 autonomously, it moves along a fourth section of the park path. 416 moved to reach a target parking position 418 to arrive. For example, the autonomous vehicle parking system steers 130 the vehicle 100 autonomously at the vehicle's minimum turning radius along the fourth parking lane section 416 a.

[0035] Fig. 5 is a block diagram of electronic components 500 of the vehicle 100 As in Fig. As illustrated in section 5, the electronic components include 500 an onboard computing platform 502 , the camera 122 , the GPS receiver 128 , sensors 504 , electronic control units (ECUs) 506 and a vehicle data bus 508 .

[0036] The onboard computing platform 502includes a microcontroller, controller, or processor 510 , a storage 512 and a database 514 In some examples, the processor 510 the onboard computing platform 502 structured so that it enables the autonomous vehicle parking facility 130 It includes. Alternatively, in some examples, the autonomous vehicle parking system is used. 130 into another electronic control unit (ECU) with its own processor 510 and storage 512 integrated in the processor 510This can be any suitable processing device or set of processing devices, such as, but not limited to, a microprocessor, a microcontroller-based platform, an integrated circuit, one or more field-programmable gate arrays (FPGAs), and / or one or more application-specific integrated circuits (ASICs). Regarding the memory 512 It can be volatile memory (e.g., RAM, including non-volatile RAM, magnetic RAM, ferroelectric RAM, etc.); non-volatile memory (e.g., disk storage, FLASH memory, EPROMs, EEPROMs, memristor-based non-volatile solid-state memory, etc.); immutable memory (e.g., EPROMs), read-only memory, and / or high-capacity storage devices (e.g., hard disks, solid-state drives, etc.). In some examples, the memory includes 512Several types of storage, in particular volatile storage and non-volatile storage.

[0037] Regarding the storage 512 These are computer-readable media on which one or more sets of instructions, such as the software for executing the methods of this disclosure, may be embedded. The instructions may, as described herein, embody one or more of the methods or logic. For example, during execution, the instructions may be stored wholly or at least partially within any one or more of the memory locations. 512 , the computer-readable medium and / or within the processor 510 condition.

[0038] The terms “non-transitory computer-readable medium” and “computer-readable medium” include a single medium or multiple media, such as a centralized or distributed database and / or associated caches and servers, on which one or more sets of instructions are stored. Furthermore, the terms “non-transitory computer-readable medium” and “computer-readable medium” include any tangible medium capable of storing, encrypting, or carrying a set of instructions for execution by a processor, or capable of causing a system to perform any one or more of the methods or operations disclosed herein. As used herein, the term “computer-readable medium” is expressly defined to include any type of computer-readable storage device and / or storage disk and excludes the propagation of signals.

[0039] In some examples, the autonomous vehicle parking system calculates 130 and / or the processor 510 Alignments in which the vehicle 100 should be positioned at appropriate positions when the vehicle 100 the target parking position 204 approaches (e.g. when the front corner 208 of the vehicle 100 along the linear park path 202 (moved). Additionally or alternatively, the autonomous vehicle parking system asks 130 and / or the processor 510 a lookup table of the database 514 off, to identify orientations in which the vehicle 100 should be positioned at appropriate positions when the vehicle 100 the target parking position 204 approximates. For example, it can be the lookup table of the database. 514 the autonomous vehicle parking facility 130 and / or the processor 510enable vehicle alignment 100 at a specific position along the linear parking path 202 based on length 212 of the linear parking path 202 , the target parking position 204 within the vertical parking bay 102 and the minimum steering radius of the vehicle 100 to identify.

[0040] The sensors 504 are in and around the vehicle 100 arranged around to highlight the vehicle's characteristics 100 and / or an environment in which the vehicle 100 to monitor one or more of the sensors. 504 can be used to measure properties around the outside of the vehicle 100 be mounted around it. Additionally or alternatively, one or more of the sensors can be used. 504 inside a cabin of the vehicle 100 or in the body of the vehicle 100(e.g., in an engine compartment, wheel wells, etc.) to provide features in the interior of the vehicle 100 to measure. For example, the sensors include 504 Accelerometers, odometers, speedometers, pitch and yaw sensors, wheel speed sensors, microphones, tire pressure sensors, biometric sensors and / or sensors of any other suitable type.

[0041] In the illustrated example, the sensors include 504 a lidar sensor 516 , a radar sensor 518 , an ultrasonic sensor 520 and the magnetometer 126 For example, the sensor includes 124 of the vehicle 100 , which is used to detect the vertical parking bay 102 , the external border 206 the vertical parking bay 102 and / or the target parking position 204 within the vertical parking bay 102 can be used to use the lidar sensor516 , the radar sensor 518 and / or the ultrasonic sensor 520 The lidar sensor 516 detects and locates an object (e.g., the vertical parking space) 102 ) via laser, the radar sensor 518 detects and locates the object using radio waves and the ultrasonic sensor 520 It detects and locates the object using ultrasound waves. Furthermore, the magnetometer measures... 126 the magnetic alignment of the vehicle 100 , when it enters the vertical parking bay 102 gives in.

[0042] The ECUs 506 monitor and control the vehicle's subsystems 100 For example, the ECUs 506 Discrete sets of electronic components that include their own circuitry (e.g., integrated circuits, microprocessors, memory, data storage, etc.) and firmware, sensors, actuators, and / or mounting hardware. The ECUs 506communicate via a vehicle data bus (e.g. the vehicle data bus) 508 ) and exchange information about it. Additionally, the ECUs can 506 each other's properties (e.g., status of the ECUs) 506 (Sensor readings, control status, fault and diagnostic codes, etc.) communicate with each other and / or receive requests from each other. For example, the vehicle can 100 seventy or more of the ECUs 506 exhibiting features located at various points around the vehicle 100 are positioned and communicate via the vehicle data bus 508 are coupled. In the illustrated example, the ECUs include 506 a brake control module 522 , a speed control unit 524 and a telematics control unit 526 For example, the brake control module operates 522 the vehicle's brakes 100 autonomous and the speed control unit 524controls a speed at which the vehicle travels 100 moved. In some examples, the brake control module receives 522 and the speed control unit 524 Signals from the processor 510 the onboard computing platform 502 , to control the brakes or the speed of the vehicle 100 to control. Furthermore, the telematics control unit controls 526 the pursuit of the vehicle 100 using data obtained from the GPS receiver 128 of the vehicle 100 were received.

[0043] The vehicle data bus 508 pairs the camera 122 , the GPS receiver 128 , the onboard computing platform 502 , the sensors 504 and the ECUs 506 communicative. In some examples, the vehicle data bus includes 508 one or more data buses. The vehicle data bus 508can be in accordance with a Controller Area Network (CAN) bus protocol as defined by the International Standards Organization (ISO) 11898 - 1 , a Media-Oriented Systems Transport (MOST) bus protocol, a CAN Flexible Data (CAN FD) bus protocol (ISO 11898-7) and / or a K-line bus protocol (ISO 9141 and ISO 14230-1) and / or an Ethernet™ bus protocol IEEE 802.3 (from 2002 onwards) etc. will be implemented.

[0044] Fig. Figure 6 is a flowchart of an example procedure. 600 for the autonomous parking of a vehicle in a vertical parking space by moving along a linear path. The flowchart from Fig. 6 is representative of machine-readable instructions that are stored in memory (such as memory). 512 out of Fig. 5) are stored and contain one or more programs which, when executed by a processor (such as the processor) 510 out of Fig. 5) the vehicle 100 to cause the exemplary vehicle parking facility 130 from the Fig. 1 and Fig. 5 to implement. While the exemplary program refers to the one in Fig. As illustrated in the flowchart 6, many other methods can alternatively be used to implement the exemplary autonomous vehicle parking system. 130 can be used. For example, the execution order of the blocks can be rearranged, changed, removed, and / or combined to modify the process. 600 to perform the procedure 600 in conjunction with the components from the Fig. 1- Fig. Furthermore, as disclosed in section 5, some functions of these components are not described in detail below. Initially, the autonomous vehicle parking system determines 130 at block 602 a feature of the vehicle 100 For example, the autonomous vehicle parking system determines130 the distance 114 between the front axle 110 and the rear axle 112 . At Block 604 identifies the autonomous vehicle parking facility 130 , whether another characteristic of the vehicle needs to be determined 100 is present. In response to the determination that another feature to be determined is present, the autonomous vehicle parking system repeatedly 130 the blocks 602 , 604 until no further features are identified. For example, the autonomous vehicle parking system repeatedly 130 the blocks 602 , 604 , to increase the distance 118 between the front axle 110 and the front 116 (e.g. the front corner) 208 ), the width 120 the vehicle 100 and / or to determine the minimum turning radius.

[0045] At Block 606 determines the autonomous vehicle parking facility 130via the camera 122 and / or the sensor 124 Whether a free or open perpendicular parking space is detected. In response to the autonomous vehicle parking system. 130 If no free vertical parking space is detected, the block will be used. 606 repeatedly. In response to the fact that the autonomous vehicle parking system 130 a free perpendicular parking bay (e.g. the perpendicular parking bay) 102 ) detected, the procedure continues 600 to block 608 about, in which the autonomous vehicle parking facility 130 the external border 206 the vertical parking bay 102 via the camera 122 and / or the sensors 124 definitely. At Block 610 identifies the autonomous vehicle parking facility 130 via the camera 122 and / or the sensor 124 the passing distance 108 of the vehicle 100 to the vertical parking bay 102Furthermore, the autonomous vehicle parking system determines 130 at block 612 the target parking position 204 within the vertical parking bay 102 , in which the vehicle 100 It is to be parked there.

[0046] At Block 614 determines the autonomous vehicle parking facility 130 the linear parking path 202 , along which the front corner 208 of the vehicle 100 should move when the vehicle 100 the target parking position 204 approaching in a single forward movement. For example, the autonomous vehicle parking system determines 130 the linear parking path 202 based on the external border 206 the vertical parking position 102 and the target parking position 204 , which are within the vertical parking position 102 is arranged. At block 616 determines the autonomous vehicle parking facility 130Alignments in which the vehicle 100 along the linear park path 202 to be positioned. For example, the autonomous vehicle parking system determines 130 an alignment of the vehicle 100 at a corresponding position based on the target parking position 204 , the minimum steering radius of the vehicle 100 and / or the length 212 of the linear parking path 202 .

[0047] At Block 618 determines the autonomous vehicle parking facility 130 Turning radii, which give the front corner 208 of the vehicle 100 enable one to move along the linear park path 202 to move. That is, the turning radii determined by the autonomous vehicle parking system. 130 Determined, enable the vehicle 100 , from an alignment at a position along the linear park path 202into a different orientation at a different position along the linear parking path 202 to move on when the front corner 208 along the linear park path 202 moves. For example, the autonomous vehicle parking system determines 130 the turning radii based on the target parking position 204 , the external border 206 the vertical parking bay 102 and / or features of the vehicle 100 Additionally or alternatively, the autonomous vehicle parking facility determines 130 the turning radii by querying the lookup table of the database 514 based on the target parking position 204 , the external border 206 the vertical parking bay 102 and / or features of the vehicle 100 .

[0048] At Block 620 determines the autonomous vehicle parking facility 130 , whether the vehicle 100 is able to park in the vertical parking bay102 to be parked. For example, the autonomous vehicle parking system determines 130 , whether the vehicle 100 is able to follow the linear parking path 202 in such a way as to approach the front corner 208 of the vehicle 100 allows one to move along the linear park path 202 to move. In response to the fact that the autonomous vehicle parking system 130 determined that the vehicle 100 is unable to park in the vertical parking bay 102 Being parked reverses the procedure 600 to block 606 back. In response to the determination that the vehicle 100 is able to park in the vertical parking bay 102 To be parked, the autonomous vehicle parking system steers 130 the vehicle 100 autonomously into the vertical parking bay 102 one that the front corner 208 along the linear park path202 moves and the vehicle 100 the target parking position 204 approaches.

[0049] In this application, the use of disjunction should include conjunction. The use of definite or indefinite articles should not indicate cardinality. In particular, a reference to "the" object or "a" object should also refer to one of a possible multitude of such objects. Furthermore, the conjunction "or" can be used to indicate features that are present simultaneously, rather than mutually exclusive alternatives. In other words, the conjunction "or" should be understood as including "and / or." The expressions "includes," "containing," and "include" are inclusive and have the same scope as "comprises," "comprising," and "encompassing," respectively.

[0050] The embodiments described above, and in particular any "preferred" embodiments, are possible examples of implementations and are presented solely for the purpose of clearly understanding the principles of the invention. Many variations and modifications can be made to the embodiment(s) described above without substantially departing from the spirit and principles of the techniques described herein. It is intended that all modifications herein are included within the scope of this disclosure and protected by the following claims. QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited non-patent literature

[0000] ISO 11898-7

[0043] ISO 9141

[0043] ISO 14230-1

[0043]

Claims

[] Claimed is: [1] Vehicle, comprising: a front corner; a camera; and an autonomous vehicle parking facility for: Detect, via camera, a vertical parking bay and an outer boundary of the vertical parking bay; Determine a linear parking path that is located within the perpendicular parking bay and is based on the outer boundary; and autonomous steering into the vertical parking bay, such that the front corner moves along the linear parking path. [2] Vehicle according to claim 1, wherein the autonomous vehicle parking device identifies a target parking position located within the vertical parking bay and determines the linear parking path which is further based on the target parking position. [3] Vehicle according to claim 1, wherein the autonomous vehicle parking device determines the linear parking path such that it runs parallel to the outer boundary of the vertical parking bay. [4] Vehicle according to claim 1, wherein the autonomous vehicle parking device identifies a first end and a second end opposite the first end of the linear parking path. [5] Vehicle according to claim 4, wherein the autonomous vehicle parking device determines the first end based on a target parking position and a minimum steering radius. [6] Vehicle according to claim 5, wherein the autonomous vehicle parking device turns at the minimum steering radius between the first end of the linear parking path and the target parking position. [7] Vehicle according to claim 4, wherein the autonomous vehicle parking device determines the second end based on the outer boundary of the vertical parking bay. [8] Vehicle according to claim 7, wherein the autonomous vehicle parking device: a vehicle orientation in which the vehicle is to be positioned at the second end of the linear parking path, determined on the basis of a target parking position, a minimum turning radius and a length of the linear parking path; and determines whether parking is to be carried out in the vertical parking bay based on a passing distance to the vertical parking bay, the vehicle orientation at the second end of the linear parking path and the minimum turning radius. [9] Vehicle according to claim 1, wherein the autonomous vehicle parking device determines turning radii which cause the front corner to move along the linear parking path on the basis of a first distance between a front axle and a rear axle, a vehicle width and a second distance between the front axle and the front corner. [10] Vehicle according to claim 9, wherein the steering radii vary when the autonomous vehicle parking device steers autonomously along the linear parking path. [11] Vehicle according to claim 1, wherein the autonomous vehicle parking device steers in a single forward movement along the linear parking path to reduce at least one of a passing distance between the vehicle and the linear parking path or a width of the vertical parking bay in which the autonomous vehicle parking device is able to park. [12] Vehicle according to claim 1, comprising at least one radar sensor, one lidar sensor and one ultrasonic sensor to further detect the vertical parking bay and the outer boundary of the vertical parking bay. [13] Method for autonomously parking a vehicle in a vertical parking space, the method comprising: Detect, via a sensor, a vertical parking bay and an outer boundary of the vertical parking bay; Determine, via a processor, a linear parking path that is arranged within the vertical parking bay and is based on the outer boundary; and autonomous steering into the vertical parking bay, such that a front corner of a vehicle moves along the linear parking path. [14] The method according to claim 13 further comprising identifying a first end and a second end opposite the first end of the linear parking path based on the outer boundary of the vertical parking bay, a target parking position and a minimum steering radius of the vehicle. [15] Method according to claim 14, further comprising: Determining a vehicle orientation in which the vehicle is to be positioned at the second end of the linear parking path, based on a target parking position, the minimum turning radius, and a length of the linear parking path; and Determine whether to park in the vertical parking bay based on a passing distance between the vehicle and the vertical parking bay, the vehicle orientation at the second end of the linear parking path, and the minimum turning radius of the vehicle.

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