Improving parking space utilization with a parked motor vehicle

Abstract

The invention relates to a method for the driverless operation of a driverless motor vehicle (1) parked in a parallel parking space (3) after completion of a parking maneuver, comprising checking a trigger condition by a trigger condition checking device (5) of the motor vehicle (1); detecting a free area in front of a vehicle front (8) of the motor vehicle (1) or a free area behind a vehicle rear (7) of the motor vehicle (1) as a parkable free area (11a, 11b) by an environment detection device (10) of the motor vehicle (1); and, if the trigger condition is met, driving the motor vehicle (1) driverless into the parkable free area (11a, 11b) in order to improve the use of parking space in a parallel parking space (3).

Description

[0001] The invention relates to methods and a device for driverless operation of a driverless motor vehicle parked in a parallel parking space after completion of an initial parking process.

[0002] A variety of parking assistance systems are known for modern motor vehicles. Reference is made here to US Pat. No. 6,483,442 B2, for example, in which the driver is shown the current position of the motor vehicle and the parking position that can be reached at the steering angle. Semi-automatic or even fully automatic parking assistance systems are also known. For example, US Pat. No. 2009 0259 365 A1, in which the steering angle of a motor vehicle is automatically adjusted when parking the vehicle in, for example, a parallel parking space, and the driver only needs to accelerate or brake.

[0003] However, none of the known methods takes into account changes in the parking situation over a period of time that extends beyond the duration of the parking maneuver itself. For example, in the case of a parallel parking lot, i.e. a parking lot with usually several parking spaces for vehicles parked one behind the other in a row along the length of the vehicle, comparatively large gaps often arise between the parked vehicles, for example due to vehicles of different sizes parking in and out at staggered times. However, these gaps are often too small for another vehicle and then unnecessarily block parking space. On the other hand, vehicles parked too close to one another result in gaps that are so small that not even a pedestrian can walk between the vehicles and thus comfortably cross a roadway running parallel to the parallel parking lot, for example.Especially in small spaces, which are barely large enough or even too small for a parking vehicle, so-called “parking bumps” occur when parking or attempting to park, in which the parked vehicle collides with at least one already parked vehicle at low speed.

[0004] DE 10 2015 221 224 A1 describes a method for optimizing parking space in a longitudinally parkable parking lane, with driverless, automated relocation of a buffer space in a row of several parked vehicles toward a vehicle attempting to exit. The determined distances between the vehicles can be transmitted via vehicle-to-vehicle communication or vehicle-to-infrastructure communication.

[0005] The invention is therefore based on the object of improving the use of parking space in a parallel parking lot.

[0006] This problem is solved by the subject matter of the independent patent claims. Advantageous embodiments and / or further features emerge from the dependent patent claims, the description, and the figures.

[0007] One aspect relates to a method for the driverless (or "person-less") operation of a driverless motor vehicle parked in a parallel parking space after completion of a parking process. The completed parking process can also be referred to as an "initial parking process" and is usually controlled and / or initiated and / or monitored by a driver (a person-in-charge). Thus, a predetermined time may have passed since the completion of a parking process, in particular several (for example, at least 3, 5, or 10) seconds, several (for example, at least 3, 5, or 10) minutes, or several (for example, at least 3, 5, or 10) hours. A parallel parking space can refer to a parking space intended for one or more motor vehicles to be parked in a row in their longitudinal direction, one behind the other, and / or to be parked with their longitudinal direction along a roadway running alongside the parallel parking space.

[0008] The method comprises a series of method steps. One method step is checking a triggering condition by a triggering condition checking device of the motor vehicle. The triggering condition checking device can, for example, have a time measuring device or clock and, as a triggering condition (or part of the triggering condition), check whether a certain period of time has elapsed, possibly after the end of the initial parking process, and / or whether a predetermined point in time, for example a predetermined clock time, has been reached. Alternatively or additionally, the triggering condition checking device can have a movement detection device and, as a triggering condition (or part of the triggering condition), check whether the motor vehicle is jostled (e.g., accelerated externally) and / or whether an object external to the vehicle is moving, preferably towards the motor vehicle, in a predetermined area surrounding the motor vehicle.The trigger condition checking device can also have a receiving device for receiving a wirelessly transmitted signal, for example, a radio and / or mobile radio signal, in particular for receiving a signal from another vehicle, in particular an ultrasonic and / or radio signal from another vehicle. For example, the signal from the other vehicle can include or be an evasive request signal, with which the driverless driving into the detected free area described below is requested. The trigger condition can also be checked repeatedly or continuously.

[0009] The motion detection device can, for example, comprise a motion detector for contactless detection of movement in a monitored environmental area. Such motion detectors are available with a power consumption of a few mA (at 12 V). Therefore, in particular, movement in an environmental area of ​​the motor vehicle monitored by the respective motion detector, in front of a vehicle's front end and / or behind a vehicle's rear end, can be specified as a trigger condition or part of the trigger condition. The motion detection device can also comprise a gesture detector. This allows movements with different trajectories to be detected and, for example, a vehicle approaching the motor vehicle in the monitored environmental area to be distinguished from a gesture of a pedestrian attempting to pass between the parked motor vehicle and another adjacent vehicle.

[0010] A further method step involves detecting an open space in front of the front end of the motor vehicle and / or an open space behind the rear end of the motor vehicle as a parkable open space using an environmental detection device of the motor vehicle. The open space is preferably an area of ​​the parallel parking space. The parkable open space is thus an open space in front of and / or behind the parked motor vehicle, which could be used by the parked motor vehicle at least as part of a parking space occupied by the parked motor vehicle in the parallel parking space.

[0011] The free space can have a predetermined minimum size, so that a detected area of ​​the surroundings or of the parallel parking space that is smaller than the minimum size is not detected as a free space. The size of the respective area can be determined, for example, by its length, its extension in the longitudinal direction of the parallel parking space and thus in the longitudinal direction of the motor vehicles to be parked in the parallel parking space. A required width can also be specified for the free space, for example a width of the motor vehicle plus a tolerance. To detect a free space as "parkable", the environment detection device can have a classifier unit that is designed to classify a detected free space as a parkable part of the parallel parking space based on predetermined criteria. Such classifier units are often also part of known parking assistance systems.

[0012] The environment detection device can comprise, for example, a camera, a lidar, or an ultrasonic sensor. The at least one free area can also be detected repeatedly or continuously. The detection and checking can be performed sequentially, preferably with one method step a) checking as a condition for the other method step b) detecting, or independently of one another, for example, simultaneously.

[0013] Only if the trigger condition is met, i.e., the check yields a positive result (and, of course, a free space has been identified as a parkable free space), does the next procedural step involve driverless driving of the vehicle into the parkable free space (or, if two free spaces are identified, into one of the identified free spaces). If two free spaces are identified as parkable, a decision can be made based on a predefined criterion as to which free space the vehicle will enter—for example, preferentially the smaller of the two free spaces.This method step is controlled by a driving control device of the motor vehicle, either by the driving control device actively driving the motor vehicle into the free parking area or by the driving control device allowing the motor vehicle to drive passively into the free parking area, for example by the driving control device releasing a parking brake and / or at least partially coupling a transmission from the wheels and thus enabling the motor vehicle to be pushed into the free parking area.

[0014] As an upstream process step, a check can also be provided to determine whether the motor vehicle is parked in a parallel parking space during the initial parking process. This can be verified, for example, using map information in conjunction with a position detection system. This allows, for example, the trigger condition verification device to be activated only if the motor vehicle is also parked in a parallel parking space, thus saving power.

[0015] The triggering condition can comprise detecting an ultrasonic signal from another vehicle, and in this embodiment, the triggering condition is only considered fulfilled if the ultrasonic signal is a distance determination signal from a parking assistance system of the other vehicle. Accordingly, the detected ultrasonic signal can then be checked by an ultrasonic signal checking device to determine whether the ultrasonic signal is a distance determination signal. A distance determination signal can be recognized, for example, by its repetitive nature and distinguished from a data transmission signal. A distance determination signal can thus be regarded as a signal without an intended communication function to another vehicle, whereas a data transmission signal aims at communication with another vehicle, i.e., has an intended communication function.

[0016] This has the advantage that the parking position of the vehicle can be adjusted to a situation that only arises later in the parallel parking space, even after the initial ("actual" in the sense of "consciously controlled by the driver") parking maneuver has been completed, thus making better use of the available parking space. This can also prevent or reduce damage to the parked vehicle by other vehicles during their respective parking maneuvers, particularly in cramped parking conditions and thus limited space in the parking lot: for example, if another vehicle collides with the parked vehicle longitudinally and shifts it (passive yielding of the vehicle) or would collide with the parked vehicle without the driverless driving of the vehicle (active evasive action of the vehicle).

[0017] The above-mentioned process steps can also be performed several times in succession. This allows the vehicle's parking position to be adjusted several times over a longer period of time to changing or altered conditions.

[0018] In an advantageous embodiment, the motor vehicle has an electric drive motor. This has the advantage that the motor vehicle can react to the triggering condition with a particularly short time delay.

[0019] The triggering condition comprises the presence of a movement of an object external to the vehicle, in particular an approach of the object external to the vehicle, for example an approach of another vehicle, to the motor vehicle and / or a predetermined movement trajectory of the object external to the vehicle, for example a gesture of a walking stick and / or foot such as pivoting the walking stick and / or foot up and / or down, in a predetermined environmental area behind the rear of the vehicle and / or in a predetermined environmental area in front of the front of the vehicle. The movement of the object external to the vehicle can be a movement of a person. In particular, in this case, the movement can be a gesture, be it a limb such as the foot or hand or with a tool, for example a walking aid such as a walking stick, an umbrella or the like.In this case, when checking the trigger condition, it is checked whether a movement, in particular an approach or a movement with a predetermined movement trajectory, in short: a predetermined movement trajectory, is present in the predetermined environmental area. Accordingly, the trigger condition checking device can comprise, for example, a movement detection device with a motion detector.

[0020] It can further be provided that, during driverless driving, the motor vehicle drives into the free space detected as a parkable free space, briefly the parkable free space, in front of the vehicle's front end if the movement is detected by the trigger condition checking device in the predetermined surrounding area behind the vehicle's rear end, and the motor vehicle drives into the parkable free space behind the vehicle's rear end during driverless driving if the movement is detected by the trigger condition checking device in the predetermined surrounding area in front of the vehicle's front end. This is particularly advantageous if a movement of the object external to the vehicle is an approach of the object external to the vehicle.

[0021] Accordingly, if, for example, a movement of the external object is detected as a movement of the external object away from the motor vehicle, a reverse movement dependency can also be provided. Thus, during driverless driving, the motor vehicle can drive into the detected free space in front of the vehicle's front if the movement is detected as a movement of the external object away from the vehicle in the predetermined surrounding area in front of the vehicle's front, and correspondingly, during driverless driving, the motor vehicle can drive into the detected free space behind the vehicle's rear if the movement is detected as a movement of the external object away from the vehicle in the predetermined surrounding area behind the vehicle's rear.

[0022] This has the advantage of preventing damage to the parked vehicle caused by another parking vehicle, as the parked vehicle can independently move out of the way of the other parking vehicle or at least give way. This makes parking easier for the other parking vehicle, allowing even smaller parking spaces to be used and ensuring more efficient use of the parking space overall.This also generally allows parking closer together in the parallel parking space without, for example, obstructing pedestrians attempting to cross the parallel parking space. For example, a pedestrian can swing a walking stick or foot from bottom to top into a space monitored by the trigger condition checking device, which is located between the parked motor vehicle and another external object, such as another vehicle, and cause the parked motor vehicle to enlarge the space by driving into a parkable space in front of the other end of the motor vehicle. This allows the pedestrian to walk comfortably between the parked motor vehicle and the external object, such as other parked vehicles, even in densely packed spaces.Because the parked motor vehicle can also follow a moving object external to the vehicle, fluctuations in parking density can also be better compensated for, as, for example, a free space can be increased in the direction opposite to the movement of the parked motor vehicle, so that the parking space there can in turn be used more efficiently.

[0023] In a further advantageous embodiment, driverless driving includes releasing a parking brake of the motor vehicle and / or at least partially decoupling a transmission of the motor vehicle from the wheels of the motor vehicle. In particular, driverless driving cannot include any self-initiated movement, i.e., exclusively an externally initiated movement, such as occurs when another vehicle parking into the vehicle collides with the vehicle's own parked motor vehicle with the parking brake released and the transmission decoupled, i.e., in neutral. In particular, during driverless driving, the parked motor vehicle is pushed into the detected free area by the object external to the vehicle, in particular another vehicle.It can also be provided that the motor vehicle activates a brake during driverless driving (then being pushed) as soon as it reaches an end of the free parking area in order to avoid damage to an object located at the end of the free parking area, such as another parked vehicle.

[0024] This has the advantage of allowing more efficient use of parking space, as even in the case of a "parking bump," which occasionally occurs in tight parking spaces, damage to the parked vehicle is prevented or at least reduced. Furthermore, the demands on the parked vehicle are particularly low here; even without an electric drive motor, the vehicle can react quickly to the triggering condition, for example, by releasing the parking brake, thus preventing damage.

[0025] In another advantageous embodiment, it is provided that during driverless driving, a predetermined minimum distance from the object external to the vehicle is maintained, which is preferably >0, for example at least 5 cm, at least 10 cm, at least 15 cm, or at least 20 cm. In particular, the predetermined minimum distance can be maintained as long as a parkable or drivable remaining area of ​​the parkable open space into which the motor vehicle drives driverless is still available and / or a (or the) open space into which the motor vehicle drives driverless is detected as a parkable open space. This prevents damage to the parked motor vehicle and possibly to a third vehicle by the parked motor vehicle.

[0026] This has the advantage that a collision or parking bump between the parked vehicle and the moving object outside the vehicle, for example another vehicle parking in or out of a parking space, is avoided as far as possible and thus parallel parking spaces with little available space can also be used more efficiently.

[0027] In a further advantageous embodiment, the triggering condition comprises a, particularly passive, detection of a signal from another vehicle, in particular a detection of an ultrasonic signal generated, for example, by an ultrasonic parking assistance device of the other vehicle. However, the signal from the other vehicle can also be or comprise a radio signal, for example, an evasive request signal that specifically instructs the parked vehicle to perform the above-described method steps of detection b) and driverless driving c).

[0028] This has the advantage that driverless driving, and thus the improvement of parking space utilization, is only carried out when parking space is actually needed. Furthermore, especially when a parking assistance system of the other vehicle is active, it can be assumed that an existing (parking) gap in the parallel parking space already roughly meets the requirements of the other vehicle, so even a particularly short driverless driving period—i.e., a short distance traveled by the parked vehicle during driverless driving—helps to utilize the available parking space effectively.

[0029] In another advantageous embodiment, it is provided that the triggering condition comprises the elapse of at least one predetermined time interval since the completion of the parking process, in particular the initial parking process, and / or since the last check of the triggering condition. In particular, the triggering condition can comprise a recurring elapse of the predetermined time interval, which can also be carried out repeatedly, for example regularly, regardless of the respective check result. In this case, it can also be provided that the motor vehicle drives into one of the detected free areas during driverless driving, in particular only drives into one of the detected free areas if the total size of the detected free areas is greater than a predetermined total size.Advantageously, the vehicle drives to one end of the free parking area, i.e., until there is no more parking space in the direction of driverless travel. This size can be defined in particular as a length in the longitudinal direction of the parallel parking space. The specified total size can, for example, be a typical car parking space length, for example, 5 m, plus a parking length, for example, 1 m.

[0030] This has the advantage that the parked motor vehicle independently, without the activity of an object external to the vehicle, optimizes the parking space by, if possible, freeing up additional parking space by driving along the longitudinal direction of the parallel parking space.

[0031] In a further advantageous embodiment, it is provided that the size of the detected clear area in front of the front of the motor vehicle and / or the size of the detected clear area behind the rear of the motor vehicle is compared with a (preferably in each case) predetermined minimum size, and, at least if the size of one detected clear area is smaller than the minimum size, the motor vehicle drives or drives into one or one of the detected clear areas during driverless driving, i.e. is allowed to drive into it, so that the other clear area increases in size at least to the (preferably for it) predetermined minimum size and / or both clear areas have the same size except for a predetermined deviation of, for example, 5% or 10%. In this case, in particular if only one detected clear area is assumed to be zero.

[0032] This has the advantage of automatically creating and homogenizing the existing clearance between the parked vehicle and other external objects (e.g., another vehicle or the end of the parallel parking space), thus reducing the likelihood of a collision when entering and / or exiting the parallel parking space. This allows for particularly efficient and safe use of the parking space.

[0033] In another advantageous embodiment, it is provided that during driverless driving, the vehicle does not travel further than a predetermined maximum distance, in particular a maximum distance of 3 m or 1.5 m or 1 m or 0.5 m or 0.2 m. This has the advantage that irritation of the driver due to a movement or movement of the motor vehicle occurring in his absence is reduced.

[0034] In a particularly advantageous embodiment, after the initial parking process has been completed, a position detection device detects the original position of the motor vehicle and permanently stores it. During driverless driving (c), the motor vehicle does not move further than a predetermined distance of, for example, 5 m, 3 m, 1.5 m, or 1 m from the original position, particularly during repeated driverless driving.

[0035] This has the advantage that, even during repeated driverless driving (c), the parked vehicle always remains close to its original parking position, which also reduces the driver's irritation caused by the vehicle moving in their absence. Thanks to the position detection device, the driver, user, or owner of the vehicle can also be informed of a change in position.

[0036] It can also be provided here that the method steps of detection b) and driverless driving c), in particular also checking a), are carried out several times and then, when the free space in front of the vehicle's front end and / or the free space behind the vehicle's rear end is detected as a parkable free space, it is additionally checked which of the detected free spaces is closer to the original position of the motor vehicle, and that the motor vehicle drives into the parkable free space that is closer to the original position of the motor vehicle during driverless driving (if the other conditions permit this).

[0037] This has the advantage that the vehicle remains as close to its original position as possible while making optimal use of the available parking space.

[0038] In a further advantageous embodiment, it is provided that a predetermined maximum speed is not exceeded during driverless driving, in particular a maximum speed of 5 km / h, 2 km / h, or 1 km / h. This has the advantage of reducing both the probability of an accident and the expected damage in the event of a potential accident.

[0039] In another advantageous embodiment, it is provided that in response to the detected triggering condition, a signal or warning signal, in particular an acoustic and / or visual warning signal, is emitted by the motor vehicle. The warning signal can also be emitted if the triggering condition and another condition are met. For example, a driver or a driver assistance device of another vehicle parking in or out of a parking space in front of or behind the parked motor vehicle can be signaled that they are getting dangerously close to the parked motor vehicle. This or another warning signal can also be emitted by the motor vehicle during driverless driving. This has the advantage that collisions with the parked motor vehicle can be avoided or their effects reduced.

[0040] A further aspect relates to a device for the driverless operation of a driverless motor vehicle parked in a parallel parking space after completion of an initial parking process, comprising a trigger condition checking device, an environment detection device, and a driving control device. A "driverless motor vehicle" can be understood as a motor vehicle whose authorized users and / or owners are all located outside of a line of sight, for example, more than 20 m away. The trigger condition checking device is designed to check a trigger condition. The environment detection device is designed to detect an open space in front of a vehicle front of the motor vehicle and / or an open space behind a vehicle rear of the motor vehicle as a parkable open space.The drive control device is designed to drive the motor vehicle into the open parking space, i.e., one of the detected open parking spaces that has been classified as open parking, without a driver, only if the trigger condition is met. The device can be part of the motor vehicle to be controlled and / or designed to be installed in the motor vehicle to be controlled and / or structurally coupled to it.

[0041] Advantages and advantageous embodiments of the device correspond to advantages and advantageous embodiments of the described method.

[0042] One aspect also relates to a motor vehicle with such a device.

[0043] The features and feature combinations mentioned above in the description, as well as the features and feature combinations mentioned below in the description of the figures and / or shown alone in the figures, can be used not only in the respective combination specified, but also in other combinations without departing from the scope of the invention. Thus, embodiments are also to be considered encompassed and disclosed by the invention that are not explicitly shown and explained in the figures, but which emerge and can be produced by separate feature combinations from the explained embodiments. Embodiments and feature combinations are also to be considered disclosed that therefore do not have all the features of an originally formulated independent or dependent claim.Furthermore, embodiments and combinations of features are to be regarded as disclosed, in particular by the embodiments set out above, which go beyond or deviate from the combinations of features set out in the reliances of the claims.

[0044] Embodiments of the invention are explained in more detail below with reference to schematic drawings. They show: Fig. 1 An exemplary device for driverless operation of a motor vehicle parked in a longitudinal parking process after completion of a parking process; Fig. 2 shows an example scenario for a first advantageous embodiment of a method for driverless operation of a driverless motor vehicle parked in a parallel parking space after completion of a parking process; Fig. 3 an example scenario for a second advantageous embodiment of a method for driverless operation of a driverless motor vehicle parked in a parallel parking space after completion of a parking process Fig. 4 an example scenario for a third advantageous embodiment of a method for driverless operation of a driverless motor vehicle parked in a parallel parking space after completion of a parking process

[0045] In the figures, identical or functionally identical elements are provided with the same reference symbols.

[0046] In Fig. 1 schematically shows a motor vehicle 1 with an exemplary device 2 for driverless operation of a motor vehicle parked in a parallel parking space 3 after completion of a parking process. In this case, the parallel parking space 3 is designed parallel to a roadway 4 as a shoulder of the roadway 4. In the example shown, the parallel parking space 3 is partially bordered by a curb 14.

[0047] The device 2 comprises a trigger condition checking device 5, which in the example shown comprises a plurality of motion detectors 6a to 6d. In the example shown, two motion detectors 6a, 6b are arranged at a vehicle rear 7 and two motion detectors 6c, 6d at a vehicle front 8. Corresponding detector regions 9a to 9d are assigned to the motion detectors 6a to 6d. In the example shown, the detector regions 9a-9d are limited to regions in a longitudinal direction L (y-direction) of the motor vehicle 1 behind (9a, 9b) and in front (9c, 9d) of the motor vehicle 1. In the present case, the detector regions are arranged exclusively in an extension of the motor vehicle 1 in front of or behind the motor vehicle 1, i.e., they do not extend laterally beyond the motor vehicle 1 in a transverse direction Q (in the x-direction).

[0048] The device 2 also includes an environment detection device 10, which is designed to detect an open space 11A in front of the front end 8 of the motor vehicle 1 as a parkable free space and / or to detect an open space 11B behind the rear end 7 of the motor vehicle 1 as a parkable free space. In the example shown, the environment detection device 10 has cameras 12a and 12b mounted on the front end 8 and the rear end 7 of the vehicle for this purpose.

[0049] The device 2 also comprises a drive control device 13, which is designed to actively drive the motor vehicle 1 into the open parking space, i.e., the open parking space 11a or 11b recognized or classified as parkable, without a driver, or to allow it to drive passively into it if the triggering condition is met. Accordingly, during active entry, the drive control device 13 can, for example, control a drive motor, preferably an electric drive motor, of the motor vehicle 1, or during passive entry, for example, can release a parking brake and / or at least partially decouple a transmission from the wheels.

[0050] In the figures relating to the example scenarios described below, the respective motor vehicle 1 is shown without the device 2 or only with parts of the device 2 for the sake of clarity.

[0051] In Fig. Figure 2 illustrates how the described method or device is used to avoid obstructing other road users, such as pedestrians, in a densely parked parallel parking space, thus enabling more efficient use of the parallel parking space. Figures 2A and 2B show an example scenario in a top view.

[0052] In partial image 2A, the parked motor vehicle 1 is located in the parallel parking space 3 behind two other parked vehicles 15a, 15b. A pedestrian 16 now wishes to cross the roadway 4. A distance d between the motor vehicle 1 and the nearest neighboring vehicle 15a is too small in this case to allow the pedestrian 16 to pass through a gap 17 between the two vehicles 1, 15a. Since the triggering condition in this case comprises a movement of an object external to the vehicle, the pedestrian 16 can, by swinging, for example, his leg or a walking stick into an area behind or, in this case, in front of the motor vehicle 1, into the gap 17 between the motor vehicle 1 and the other vehicle 15a, cause the gap 17 to be enlarged and the pedestrian 16 can pass through the gap 17 to cross the roadway 4.

[0053] The environment detection device 10, for example, with the camera 12a, detects at least the open space behind the motor vehicle 1 as the open space 11b for parking. The motion detector 6c detects the movement of the pedestrian 16. The check of the trigger condition by the trigger condition checking device 5 of the motor vehicle 1 yields a positive check result for the trigger condition specified in this example. Consequently, the motor vehicle 1 drives driverless into the open space 11B for parking according to arrow 18, actively in this example, i.e., self-initiated by means of its own drive motor.

[0054] As shown in partial figure 2B, the distance d between the motor vehicle 1 and the other vehicle 15a is increased accordingly at a later point in time, so that the intermediate area 17 between the two vehicles 1, 15a is large enough to allow the pedestrian 16 to comfortably cross the roadway 4. Here and also in the scenarios of the other figures, the other vehicles 15a, 15b, 15c (except for vehicle 15a in Fig. 4A) maintain their respective parking position and therefore do not need to move to achieve the described advantages.

[0055] In Fig. Figure 3 illustrates how the described method or device is used to avoid collisions and, consequently, damage when parking in a parallel parking space, thus enabling more efficient use of the parallel parking space. Figures 3A and 3B show an example scenario in a top view.

[0056] Partial image 3A shows how the vehicle 15a parks in front of the parked motor vehicle 1 into the parallel parking space 3. The vehicle 15a drives towards the parked motor vehicle 1 in the direction of travel indicated by arrow 19. Again, a movement, here the movement of the vehicle 15a as an external object towards the parked motor vehicle 1, is detected by the trigger condition checking device 5 of the parked motor vehicle 1, in this case by means of the motion sensor 6d. In the example shown, the trigger condition checking device 5 also includes an ultrasonic sensor device 19, which is used to determine the distance d to the external object, here the vehicle 15a.

[0057] Again, the environment detection device 10, here with the camera 12a, detects an open space in front of or behind the parked motor vehicle 1, in this case behind the parked motor vehicle 1, as a parkable free space 11b. In this case, the trigger condition includes, in addition to the detected movement, the object external to the vehicle, i.e., in this case, the vehicle 15a, falling below a minimum distance. In the example scenario shown, the vehicle 15a now approaches the parked motor vehicle 1 closer than the minimum distance permits; thus, the distance d falls below the permissible minimum distance.

[0058] As a result, the triggering condition is met, and motor vehicle 1 drives into the free parking space 11b behind the rear end 7 of motor vehicle 1. This can occur passively, for example, if only a parking brake in motor vehicle 1 is released and / or a transmission is at least partially decoupled from the wheels, so that motor vehicle 1 is pushed by vehicle 15a into the free parking space 11b when distance d becomes zero, i.e., a collision occurs. In this case, damage is at least minimized by passively driving into the free parking space 11b, since part of the energy transferred from vehicle 15a to motor vehicle 1 is converted into kinetic energy of motor vehicle 1.

[0059] In a preferred embodiment, however, the driverless driving of motor vehicle 1 into the free parking space 11b occurs actively. Motor vehicle 1 then drives into the free parking space 11b self-initiated or on its own initiative before the distance d decreases to zero, thus avoiding damage. This is illustrated in partial image 3B, in which vehicle 15a continued driving in the positive y-direction and motor vehicle 1 swerved into the free parking space 11b, thus also in the positive y-direction, and in this case even increased the distance d from the other vehicle 15a.

[0060] In Fig.Figure 4 illustrates how the described method or device is used to drive into a parking space in front of or behind the parked vehicle after another vehicle has exited a parking space, thus enabling more efficient use of the parallel parking space. Figures 4A, 4B, and 4C show an example scenario in a top view.

[0061] In partial image 4A, the parked motor vehicle 1 is again parked in the parallel parking space 3. Again, further vehicles 15a, 15b are parked in front of the motor vehicle 1. The nearest adjacent vehicle 15a is parked at a short distance d in front of the motor vehicle 1, which does not allow any parking space in front of the motor vehicle 1. Behind the motor vehicle 1, another vehicle 15c is parked at a greater distance d'. The greater distance d' results in a parking space 11b between the motor vehicle 1 and the other vehicle 15c.

[0062] In partial image 4B, the nearest neighboring vehicle 15a is no longer parked in parallel parking space 3. Accordingly, vehicle 15b is now the nearest neighboring vehicle in front of motor vehicle 1. This vehicle is now located at the now greater distance d from the parked vehicle 1. In this case, the distance d is so large that it also allows for a parkable free space 11a. In the example shown, a respective size Ga and Gb is now determined for the two free spaces 11a, 11b and compared with a predetermined minimum size. Since in the example shown both free spaces 11a, 11b are very small, for example because vehicle 15a was a particularly short vehicle, e.g., a two-seater, only very small vehicles, e.g., a two-seater, can park in free space 1a, and only smaller vehicles, e.g., a motorcycle at most, can park in free space 11b.

[0063] The parked motor vehicle 1 can now, for example, if the trigger condition includes the expiration of a predetermined time interval, automatically drive into one of the free spaces 11a, 11b, for example, free space 11b, after the time interval has elapsed. Alternatively or additionally, the trigger condition here can also include a detected movement, such as is to be expected when the vehicle 15a is leaving a parking space. By driving into one of the two free spaces 11a, 11b, the other free space, in this case the free space 11a in front of the motor vehicle 1, becomes larger by the amount by which one free space, here free space 11b, becomes smaller. After the motor vehicle 1 has now driven into one of the free spaces 11b up to the end of this, an additional parking space P with the size GP, which is determined by the sum of the sizes Ga and Gb, is created on the parallel parking space 3 due to the enlarged free space 11a. This is shown in sub-figure 4C.

Claims

[1] Method for the driverless operation of a driverless motor vehicle (1) parked in a parallel parking space (3) after completion of a parking operation, comprising the following method steps: a) checking a triggering condition by a triggering condition checking device (5) of the motor vehicle (1); b) detecting an open space in front of a vehicle front (8) of the motor vehicle (1) or an open space behind a vehicle rear (7) of the motor vehicle (1) as a parkable open space (11a, 11b) by an environment detection device (10) of the motor vehicle (1); and, c) if the triggering condition is met: driverless driving of the motor vehicle (1) into the open parking area (11a, 11b) characterized by , that -the triggering condition comprises the presence of a movement of a person as an external object in a predetermined environmental area behind the rear of the vehicle (7) or in a predetermined environmental area in front of the front of the vehicle (8); and that -the motor vehicle (1) drives into the detected parking area (11a, 11b) in front of the vehicle front (8) during driverless driving if the movement is detected in the predetermined surrounding area behind the vehicle rear (7), and -the motor vehicle (1) drives into the detected parkable free area (11a, 11b) behind the rear of the vehicle (7) during driverless driving if the movement is detected in the predetermined surrounding area in front of the front of the vehicle (8). [2] Method according to claim 1, characterized by , that -the triggering condition comprises the presence of a predetermined movement trajectory, in particular a gesture, of the person in a predetermined environmental area behind the rear of the vehicle (7) or in a predetermined environmental area in front of the front of the vehicle (8). [3] Method according to one of the preceding claims, characterized by that the driverless driving comprises releasing a parking brake of the motor vehicle (1) and / or decoupling a transmission of the motor vehicle (1) from wheels of the motor vehicle (1), and in particular the motor vehicle (1) is pushed into the detected free area (11a, 11b) by the object external to the vehicle, in particular another vehicle (15a). [4] Method according to one of claims 2 or 3, characterized bythat during driverless driving a predetermined minimum distance to the object external to the vehicle is maintained, in particular as long as a remaining area of ​​the free parking space (11a, 11b) is still available and / or a free space is detected as a free parking space (11a, 11b). [5] Method according to one of the preceding claims, characterized by that the triggering condition comprises a, in particular passive, detection of a signal from another vehicle (15a), in particular an ultrasonic signal from another vehicle. [6] Method according to one of the preceding claims, characterized by , that -the triggering condition includes the expiration of at least one predetermined time interval since the completion of the parking process or since the last checking of the triggering condition, and that -the motor vehicle (1) drives into one of the detected free parking spaces (11a, 11b) during driverless driving if a size (Ga, Gb) of the detected free parking spaces (11a, 11b) together is greater than a predetermined total size. [7] Method according to one of the preceding claims, characterized by , that -the size (Ga) of the detected free parking space (11a) in front of the front end (8) of the motor vehicle (1) and / or the size (Gb) of the detected free parking space (11a, 11b) behind the rear end (7) of the motor vehicle (1) is compared with a predetermined minimum size, and -the motor vehicle (1) during driverless driving drives into one of the detected free parking spaces (11a, 11b) to such an extent that the other free parking space (11a, 11b) increases at least to the predetermined minimum size or both free parking spaces have the same size except for a predetermined deviation, wherein in particular in the case of only one detected free parking space (11a, 11b) the size (Gb, Ga) of the other free parking space (11b, 11a) is assumed to be equal to zero. [8] Method according to one of the preceding claims, characterized by that driverless driving does not exceed a specified maximum distance, in particular a maximum distance of 1.5 m or 1 m or 0.5 m or 0.2 m. [9] Method according to one of the preceding claims, characterized bythat after completion of the parking process, an original position of the motor vehicle (1) is detected and stored by a position detection device and the motor vehicle (1) does not move further than a predetermined distance from the original position during driverless driving according to method step c), in particular even during repeated driverless driving according to method step c). [10] Device for the driverless operation of a motor vehicle (1) parked in a parallel parking space (3) after completion of a parking process, with - a trigger condition checking device (5) which is designed to check a trigger condition; - an environment detection device (10) which is designed to detect an open space in front of a vehicle front end (8) of the motor vehicle (1) or an open space behind a vehicle rear end (7) of the motor vehicle (1) as a parkable open space (11a, 11b); and - a driving control device (13) which is designed to drive the motor vehicle (1) into the open parking area (11a, 11b) without a driver or to allow it to drive into the open parking area if the triggering condition is met, characterized by that the triggering condition comprises the presence of a movement of a person as an external object in a predetermined environmental area behind the vehicle rear (7) or in a predetermined environmental area in front of the vehicle front (8); and that the driving control device (13) is designed, -to drive the motor vehicle (1) into the detected parking area (11a, 11b) in front of the vehicle front (8) during driverless driving if the movement is detected in the predetermined surrounding area behind the vehicle rear (7), and -to drive the motor vehicle (1) into the detected free parking area (11a, 11b) behind the rear of the vehicle (7) during driverless driving if the movement is detected in the predetermined surrounding area in front of the front of the vehicle (8).

Images