Method for at least partially autonomous driving of a vehicle during a parking process

Abstract

Method for at least partially autonomous driving of a vehicle (6), comprising the following method steps: - manual or at least partially autonomous driving of the vehicle (6) to a parking space (7) and, in the process, detecting the respective position of the vehicle (6) and determining the deviation of the detected respective position of the vehicle (6) from at least one stored trajectory (9, 11, 12, 13, 14) and - Parking the vehicle (6) in the parking space (7) and storing the deviation of the position of the parked vehicle (7) from the stored trajectory (9, 11, 12, 13, 14) and - semi-autonomous reversing of the vehicle (6) from the parking space (7) by maneuvering to the stored trajectory (9, 11, 12, 13, 14) with the aid of the stored deviation of the position of the parked vehicle (6) from the stored trajectory (9, 11, 12, 13, 14) and continuing to drive along the stored trajectory (9, 11, 12, 13, 14).

Description

[0001] The invention relates to a method for at least partially autonomous driving of a vehicle during a parking process.

[0002] A new category of automated parking systems is home-trained parking. For home-trained parking, the driver must train the vehicle on a specific path, which the vehicle should then follow according to their wishes. Modern semi-autonomous vehicles are already configured to park themselves. To achieve this, they must know the geometry of their surroundings.Trained parking systems use various sensors to record information from the environment, called landmarks, that correspond to a previously trained trajectory. During a subsequent "replay," they relate the newly acquired information to previously stored information to determine their position relative to the stored trajectory, which is then used to make decisions about how to maneuver the vehicle until it finally parks at the stored parking space.

[0003] The system should now also be able to perform a parking maneuver at least partially autonomously. At the request of a system user, the vehicle should be driven out of the parking space and navigate to a position where the user can get in. This can be problematic if the vehicle is parked in a garage or another location where no satellite navigation signal can be received and determining the position is otherwise difficult or impossible. This would also be the case, for example, if the vehicle uses a front sensor to determine its position and is parked directly in front of a wall, meaning that the front sensor cannot collect any information that can be used for navigation.

[0004] DE 10 2014 018 192 A1 discloses a method for controlling a vehicle in which a target trajectory is determined from the vehicle's driving data, which serves as the basis for the vehicle's automatic driving. When the driving environment changes, a trajectory determined from the vehicle's current driving data is compared with the target trajectory, deviations between the new trajectory and the target trajectory are determined, and a new target trajectory is set depending on the deviations.

[0005] DE 10 2014 016 237 A1 describes a method for operating a vehicle, in particular for approaching a parking position, in which method environmental data of the vehicle's surroundings are acquired. The environmental data are acquired and stored upon activation by a driver or after identification of a predetermined zone. A three-dimensional environmental map is generated or updated from the environmental data, comprising real image data of the surroundings and / or virtual image data generated from the environmental data. The three-dimensional environmental map is displayed on a display device, and a possible drivable trajectory for approaching a parking position is displayed in the three-dimensional environmental map.

[0006] From DE 10 2013 015 348 A1 a method for operating a vehicle is known, in particular for approaching a parking space in a parking zone that is not visible / far from the street, in which method environmental data of the vehicle are recorded, wherein - when approaching a parking space in the parking zone it is identified whether this is a home parking space or the parking zone is a home parking zone, and - when a home parking space or home parking zone is identified and the vehicle approaches the identified home parking space orenvironmental data or driving data recorded for the identified home parking zone are stored or updated, wherein - in a learning mode, based on the environmental data or driving data, a plurality of trajectories for the at least one home parking space of the at least one home parking zone are determined and stored, and wherein - in an operating mode, when approaching the at least one home parking space of the at least one home parking zone, possible drivable trajectories are output for selection and activation, or if only one of the determined trajectories is drivable, this is automatically activated.

[0007] Furthermore, DE 10 2016 222 258 A1 describes a method for providing data from trajectories, wherein data from trajectories are acquired at different times and wherein a fusion data set comprising positions of the acquired trajectories is generated by a trajectory data comparison.

[0008] DE 10 2016 117 743 A1 describes a method for at least partially autonomous driving of a vehicle, comprising the steps of manually or at least partially autonomously driving a vehicle to a parking space, thereby detecting the respective position of the vehicle and determining the deviation of the detected respective position of the vehicle from a stored trajectory, and parking the vehicle in the parking space and storing the deviation of the position of the parked vehicle from the stored trajectory.

[0009] Finally, DE 10 2011 107 974 A1 describes a method and a maneuvering assistance system for maneuvering a vehicle in an environment, wherein in a learning mode the vehicle carries out a reference maneuvering process in the environment, which is stored, and in a repeat maneuvering process to be carried out at least semi-autonomously by the vehicle in this environment after the learning mode, the stored reference maneuvering process is taken into account for the repeat maneuvering.

[0010] The object of the invention is to improve the position detection during at least partially autonomous driving of a vehicle during a parking process.

[0011] This object is achieved by the subject matter of the independent patent claims. Preferred developments of the invention are described in the subclaims.

[0012] According to the invention, a method for at least partially autonomous driving of a vehicle is provided, comprising the following method steps: - manual or at least semi-autonomous driving of the vehicle to a parking space and thereby recording the respective position of the vehicle and determining the deviation of the recorded respective position of the vehicle from at least one stored trajectory and - Parking the vehicle in the parking space and saving the deviation of the position of the parked vehicle from the saved trajectory and - semi-autonomous reversing of the vehicle (6) from the parking space (7) by maneuvering to the stored trajectory (9, 11, 12, 13, 14) with the aid of the stored deviation of the position of the parked vehicle (6) from the stored trajectory (9, 11, 12, 13, 14) and continuing to drive along the stored trajectory (9, 11, 12, 13, 14).

[0013] It is therefore a key aspect of the invention that the deviation of the position of the parked vehicle from the stored trajectory is stored when the vehicle is parked in the parking space. To enable this, the invention provides that when the vehicle is driven manually or at least semi-autonomously to a parking space, the respective position of the vehicle is recorded and the deviation of the recorded respective position of the vehicle from a stored trajectory is determined. Since the system cannot necessarily predict when the vehicle will be parked in the parking space, this ensures that the deviation of the position of the parked vehicle from the stored trajectory is always available, and thus in any case also when the vehicle is parked in the parking space.

[0014] Preferably, the deviation of the detected respective position of the vehicle from a stored trajectory is given by the distance line between the detected respective position and the stored trajectory. This means that the deviation of the detected respective position of the vehicle from a stored trajectory is given by the distance of the respective position of the vehicle from the stored trajectory, i.e., the smallest distance of the vehicle position from the stored trajectory, as well as by the orientation of the route defined thereby. In other words: The deviation is given by a length, namely the distance between the position of the vehicle and the stored trajectory, and by a direction vector, which is given by the orientation of this route.

[0015] The method according to the invention can be helpful for a number of parking space reversing operations, as will be explained below.

[0016] According to a preferred development of the invention, the vehicle is partially autonomously exited from the parking space by maneuvering to the stored trajectory using the stored deviation of the position of the parked vehicle from the stored trajectory and continuing along the stored trajectory. In this case, the method uses the stored trajectory to guide the vehicle away from the parking space, with the stored trajectory being achieved from the parking space by using the stored deviation of the position of the parked vehicle from the stored trajectory to maneuver toward the stored trajectory.

[0017] According to a preferred development of the invention, a plurality of stored trajectories are provided and the method comprises the following steps: - manual or at least semi-autonomous driving of the vehicle to the parking space and thereby recording the respective position of the vehicle and determining the respective deviation of the recorded respective position of the vehicle from the stored trajectories, - Parking the vehicle in the parking space and saving the respective deviations of the position of the parked vehicle from the saved trajectories, - at least partially autonomously reversing the vehicle from the parking space by navigating to a stored trajectory selected by a user of the method using the stored deviation of the position of the parked vehicle from the selected stored trajectory and continuing along the selected stored trajectory. This preferred embodiment of the invention allows the user to choose from various scenarios when reversing: Depending on the user's location, the user can select different trajectories, in particular one in which the vehicle is maneuvered close to them.

[0018] A preferred development of the invention also lies in the fact that the method comprises the following steps: - detecting objects in the environment of the vehicle and detecting the trajectory driven by the vehicle during manual or at least semi-autonomous driving of the vehicle to the parking space, - Determining a drivable area based on the detected objects in the surroundings of the vehicle and the detected trajectory driven by the vehicle, - Determining a trajectory that can be driven by the vehicle within the drivable area and - when leaving a parking space, maneuver the vehicle away from the parking space along the specified drivable trajectory.

[0019] Preferably, the trajectory that the vehicle can follow within the drivable area is determined using a predetermined optimization criterion. The optimization criterion may, for example, include the determined trajectory describing the fastest route, the shortest route, or the route with the fewest number of changes of direction between the parking space and a predetermined location where the user intends to board.

[0020] Preferably, the deviations of the trajectory traveled by the vehicle from the at least one stored trajectory are recorded continuously or at predetermined temporal and / or spatial intervals. In this way, particularly when short temporal or spatial intervals occur, e.g., in the range of ≤ 1 s or ≤ 1 m, a high degree of accuracy in determining the position of the parked vehicle can be achieved.

[0021] According to a preferred embodiment of the invention, it is further provided that the respective position of the vehicle is detected at least partially by means of odometry. The respective position of the vehicle is most preferably detected by means of odometry if a satellite navigation signal can no longer be received at the position of the vehicle and / or if the position of the vehicle can no longer be determined by means of vehicle sensors that detect the surroundings of the vehicle. This enables a procedure according to which the position of the vehicle is determined with the aid of satellite navigation signals as long as these can be received by the vehicle. If this is no longer possible because the vehicle, for example,enters a garage, the position of the vehicle relative to the last position determined on the basis of the received satellite navigation signals is determined by means of odometry, i.e. via the vehicle's propulsion system, e.g. by detecting the wheel revolutions and the steering angle.

[0022] Furthermore, a preferred embodiment of the invention provides that, before leaving a parking space, a check is performed to determine whether the vehicle has been moved since the vehicle was parked in the parking space and the deviation of the position of the parked vehicle from the stored trajectory was saved. In this context, it is particularly preferred that, after the vehicle has been parked and before leaving a parking space, the orientation of at least one wheel of the vehicle is recorded, and the check to determine whether the vehicle has been moved since the vehicle was parked in the parking space and the deviation of the position of the parked vehicle from the stored trajectory was saved is carried out based on a comparison of the orientation of the wheel recorded after parking or before leaving a parking space. The term "orientation of the wheel" preferably refers to the angle of rotation of the wheel, recorded by so-called "wheel ticks."A determination that the vehicle has been moved since being parked in the parking space and the deviation of the parked vehicle's position from the trajectory being recorded is therefore made by detecting that the wheel has rotated. Additionally or alternatively, the wheel's orientation can also be determined by the angle it forms with respect to the vehicle's body.

[0023] Alternatively or additionally, according to a preferred development of the invention, after the vehicle has been parked and before it has been left out of the parking space, objects in the vicinity of the vehicle are detected, and the check as to whether the vehicle has been moved since the vehicle was parked in the parking space and the deviation of the position of the parked vehicle from the stored trajectory has been stored is carried out on the basis of a comparison of the objects detected in the vicinity of the vehicle after it has been parked or before it has been left out of the parking space.

[0024] With the last-described preferred embodiments of the invention, it can be checked whether the position determined and stored when the vehicle is parked is actually the position that represents the starting position when leaving the parking space.

[0025] The invention also relates to the use of a method as described above in a motor vehicle.

[0026] Furthermore, the invention relates to a non-volatile, computer-readable storage medium having instructions stored thereon which, when executed on a processor, effect a method as described above.

[0027] The invention will be explained in more detail below with reference to the drawings using preferred embodiments of the invention. The features presented can represent an aspect of the invention both individually and in combination. Features of different embodiments are transferable from one embodiment to another.

[0028] The drawings show: Fig. 1 schematically shows a method according to a first preferred embodiment of the invention, Fig. 2 schematically shows a method according to a second preferred embodiment of the invention, Fig. 3 schematically shows a method according to a third preferred embodiment of the invention and Fig. 4 schematically shows a method according to a fourth preferred embodiment of the invention.

[0029] Out of Fig. 1 shows a method according to a first preferred embodiment of the invention. Fig. 1 schematically shows a plan view of a property 1 with a parking area 2 and objects such as an outer boundary 3, plants 4 and a residential building 5. When parking a vehicle 6 in a designated parking space 7 in the parking area 2, the following procedure is followed according to the first preferred embodiment of the invention described here:

[0030] The vehicle 6 is manually driven by a user into the parking area 2 and parked there. The position of the vehicle 6 along the driven trajectory 8 is continuously recorded using satellite navigation signals (GPS) and sensors that detect the surroundings of the vehicle 6. In addition, the current position of the vehicle 6 is tracked using odometry. The position data of the vehicle 6 determined from this on its path along the driven trajectory 8 are continuously compared with a stored trajectory 9 that leads from an initial position 10 to the parking space 7. With the continuous recording of the current position of the vehicle 6, the current deviation of the recorded position of the vehicle 6 from the stored trajectory 9 is simultaneously determined. The distance line of the current position of the vehicle 6 from the stored trajectory 9 is used as the deviation.During manual driving, the current sensor data is compared with the trajectory 9 to determine the relative position of the vehicle 6 to this trajectory 9. This relative position is saved.

[0031] In Fig. 2 now shows how the vehicle is driven not manually, but semi-autonomously, into the parking space 7 in the parking area 2, namely by "playing back" a stored trajectory 12. When driving along the trajectory 12, as in the case of the previously described manual driving, the position of the vehicle 6 is continuously determined and the deviation from two other stored trajectories 9, 11 is determined.

[0032] Out of Fig. 3 shows a third preferred embodiment of the invention, in which the parking area 2 is formed by a lockable garage. The vehicle 6 has driven into the parking space 7 in the parking area 2 formed by the garage in a manner as previously described in connection with the first and second preferred embodiments. The position of the vehicle 6 in the parking space 7 relative to a stored trajectory 13, 14 is therefore known. Although no satellite navigation signals can be received in the parking area 2 located in the garage and, in this case, localization of the vehicle 6 is not possible due to the position of the sensors of the vehicle 6, the user of the method can be offered the two stored trajectories 13, 14 for exiting the parking space of the vehicle 7 based on navigation by odometry.The position deviations for both stored trajectories 13, 14 were determined during parking, so that both stored trajectories 13, 14 can be approached and then driven along by the vehicle semi-autonomously.

[0033] The trajectories 13, 14 differ in that in trajectory 14 the vehicle turns so that, if it has been parked frontally, the property 1 can be left in forward direction.

[0034] Out of Fig.Figure 4 shows a fourth preferred embodiment of the invention, according to which, for exiting the vehicle 6 from the parking area 2 formed by a garage, a stored trajectory 13 and a trajectory 15 are offered, which was determined based on the area 16 determined to be drivable within the boundary lines 17, 18 when the vehicle 6 entered the parking space 7. Both trajectories 13, 15 can be approached and then departed, as described above.

[0035] In all of the preferred embodiments of the invention described above, before leaving the parking space, a check is carried out to determine whether the vehicle 6 has been moved since the vehicle was parked in the parking space 7 and the deviation of the position of the parked vehicle 6 from a stored trajectory 9, 11, 12, 13, 14 was saved. This is done, for example, by detecting the orientation of a wheel of the vehicle 6 after parking the vehicle 6 and before leaving the parking space, i.e. the angle of rotation of the wheel and / or the angle that the wheel forms with respect to the body of the vehicle 6, and checking whether the vehicle 6 has been moved since the vehicle 6 was parked in the parking space and the deviation of the position of the parked vehicle 6 from the stored trajectory 9, 11, 12, 13, 14 was saved, based on a comparison of the orientation of the wheel detected after parking and before leaving the parking space.

[0036] It is also possible that after the vehicle 6 has been parked and before it has been left out of the parking space, objects in the vicinity of the vehicle 6 are detected and that the check as to whether the vehicle 6 has been moved since the vehicle 6 was parked in the parking space and the deviation of the position of the parked vehicle from the stored trajectory 9, 11, 12, 13, 14 has been stored is carried out on the basis of a comparison of the objects detected in the vicinity of the vehicle 6 after it has been parked or before it has been left out of the parking space. List of reference symbols 1 plot 2 parking area 3 Outer boundary 4 plants 5 residential buildings 6 vehicles 7 Parking 8 driven trajectory 9 saved trajectory 10 Starting position 11 saved trajectory 12 saved trajectories 13 saved trajectories 14 saved trajectories 15 trajectory determined as drivable 16 mobile area 17 boundary line 18 boundary line

Claims

[1] Method for at least partially autonomous driving of a vehicle (6), comprising the following method steps: - manual or at least partially autonomous driving of the vehicle (6) to a parking space (7) and, in the process, detecting the respective position of the vehicle (6) and determining the deviation of the detected respective position of the vehicle (6) from at least one stored trajectory (9, 11, 12, 13, 14) and - Parking the vehicle (6) in the parking space (7) and storing the deviation of the position of the parked vehicle (7) from the stored trajectory (9, 11, 12, 13, 14) and - semi-autonomous reversing of the vehicle (6) from the parking space (7) by maneuvering to the stored trajectory (9, 11, 12, 13, 14) with the aid of the stored deviation of the position of the parked vehicle (6) from the stored trajectory (9, 11, 12, 13, 14) and continuing to drive along the stored trajectory (9, 11, 12, 13, 14). [2] Method according to claim 1, wherein a plurality of stored trajectories (9, 11, 12, 13, 14) is provided, with the following steps: - manually or at least partially autonomously driving the vehicle (6) to the parking space (7) and thereby detecting the respective position of the vehicle (6) and determining the respective deviation of the detected respective position of the vehicle (6) from the stored trajectories (9, 11, 12, 13, 14), - parking the vehicle (6) in the parking space (7) and storing the respective deviations of the position of the parked vehicle (6) from the stored trajectories (9, 11, 12, 13, 14), - at least partially autonomously reversing the vehicle (6) from the parking space (7) by navigating to a stored trajectory (9, 11, 12, 13, 14) selected by a user of the method with the aid of the stored deviation of the position of the parked vehicle (6) from the selected stored trajectory (9, 11, 12, 13, 14) and continuing to drive along the selected stored trajectory (9, 11, 12, 13, 14). [3] Method according to claim 1, comprising the following method steps: - detecting objects (3, 4, 5) in an environment of the vehicle (6) and detecting the trajectory (8) driven by the vehicle (6) during the manual or at least semi-autonomous driving of the vehicle (6) to the parking space (7), - determining a drivable area (16) based on the detected objects (3, 4, 5) in the surroundings of the vehicle (6) and the detected trajectory (8) driven by the vehicle (6), - determining a trajectory (15) that can be driven by the vehicle (6) within the drivable area (16) and - when leaving a parking space, maneuvering the vehicle (6) away from the parking space (7) along the determined drivable trajectory (15). [4] Method according to one of the preceding claims, wherein the deviation of the detected respective position of the vehicle (6) from a stored trajectory (9, 11, 12, 13, 14) is given by the distance line of the detected respective position of the vehicle (6) from the stored trajectory (9, 11, 12, 13, 14). [5] Method according to one of the preceding claims, wherein the detection of the deviations of the respective position of the vehicle (6) from the at least one stored trajectory (9, 11, 12, 13, 14) takes place continuously or at predetermined temporal and / or spatial intervals. [6] Method according to one of the preceding claims, wherein the respective position of the vehicle (6) is detected at least partially by means of odometry. [7] Method according to claim 6, wherein the respective position of the vehicle (6) is detected by means of odometry if no satellite navigation signal can be received at the position of the vehicle (6) and / or no determination of the position of the vehicle (6) is possible by means of vehicle sensors detecting the surroundings of the vehicle. [8] Method according to one of claims 1 to 7, wherein before leaving the parking space, a check is carried out as to whether the vehicle (6) has been moved since the vehicle (6) was parked in the parking space (7) and the deviation of the position of the parked vehicle (6) from the stored trajectory (9, 11, 12, 13, 14) was stored. [9] Method according to claim 8, wherein after the vehicle (6) has been parked and before leaving the parking space, a detection of objects (3, 4, 5) in an environment of the vehicle (6) takes place, and the checking of whether the vehicle (6) has been moved since the vehicle (6) has been parked in the parking space (7) and the storage of the deviation of the position of the parked vehicle (6) from the stored trajectory (9, 11, 12, 13, 14) takes place on the basis of a comparison of the objects (3, 4, 5) detected in the environment of the vehicle (6) after parking or before leaving the parking space. [10] Method according to claim 8, wherein after the vehicle (6) has been parked and before leaving the parking space, the orientation of at least one wheel of the vehicle (6) is detected and the checking as to whether the vehicle (6) has been moved since the vehicle (6) has been parked in the parking space and the deviation of the position of the parked vehicle (6) from the stored trajectory (9, 11, 12, 13, 14) has been stored is carried out on the basis of a comparison of the orientation of the wheel detected after the vehicle has been parked or before leaving the parking space. [11] Use of a method according to one of the preceding claims in a motor vehicle (6) [12] A non-transitory, computer-readable storage medium having instructions stored thereon which, when executed on a processor, effect a method according to any one of claims 1 to 10.

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