Procedure for assisting with parking a vehicle

Abstract

Procedure for assisting in the parking of a vehicle, comprising the following steps: - Detecting two parked vehicles and determining their positions relative to the vehicle; - Exchange of parking information using wireless communication between the vehicle and one of the two parked vehicles at a first position of the vehicle and at a second position of the vehicle; - Determine, based on the travel time of electromagnetic signals of wireless communication, a first distance between the one parked vehicle and the vehicle at the first position and a second distance between the one parked vehicle and the vehicle at the second position; - Determine with which of the two parked vehicles this parking information was exchanged, based on the first and second distances, and assign the parking information to that parked vehicle; - Assisting with parking the vehicle based on the assigned parking information.

Description

[0001] The invention relates to a method for assisting in the parking of a vehicle and a vehicle with a parking assistance system.

[0002] Many modern vehicles are equipped with a parking assistance system that helps the driver park their vehicle. Some parking assistance systems allow the driver to remain outside the vehicle while it parks itself fully autonomously and / or while it autonomously drives itself out of a parked position. This means the driver doesn't need to open any doors while the vehicle is parked. As a result, vehicles with such parking assistance systems can be parked closer together than vehicles without them. However, since not all vehicles are equipped with these systems, cars are still often parked with a standard distance between them, thus not using the parking space as efficiently as possible.

[0003] German patent application DE 10 2016 009 921 A1 describes a device for communication between a parked vehicle bordering a parking space and a vehicle to be parked, wherein the device is designed to allow the transmission of at least a vehicle-specific minimum distance from the parked vehicle to the vehicle to be parked.

[0004] The US patent application describes a mobile terminal for assisting in the parking of a vehicle, wherein the mobile terminal comprises a camera, a display unit and a controller for determining parking spaces corresponding to the total width of the vehicle by detecting a distance between a multitude of objects in an image captured by the camera, for providing information about the parking spaces in the image through the display unit and for selecting one of the parking spaces.

[0005] The object of the invention is to further improve the use of a parking area. BRIEF SUMMARY OF THE INVENTION

[0006] The object of the invention is achieved by providing a method according to claim 1 and a vehicle according to claim 6.

[0007] A procedure for assisting with the parking of a vehicle is described, which includes the following steps: - Detecting two parked vehicles and determining their positions relative to the vehicle; - Exchange of parking information using wireless communication between the vehicle and one of the two parked vehicles at a first position of the vehicle and at a second position of the vehicle; - Determine, based on the travel time of electromagnetic signals of wireless communication, a first distance between the one parked vehicle and the vehicle at the first position and a second distance between the one parked vehicle and the vehicle at the second position; - Determine with which of the two parked vehicles this parking information was exchanged, based on the first and second distances, and assign the parking information to that vehicle; and - Assisting with parking the vehicle based on the assigned parking information.

[0008] Each of the vehicles mentioned can be a car, motorcycle, van, or truck. It can also be a bicycle or scooter. Instead of one of the two parked vehicles transmitting parking information, one of the two infrastructure units (such as a traffic light, a road sign, or a building) can also transmit parking information to ensure an optimal parking distance between the infrastructure unit and the vehicle to be parked. In this case, the parking information is attributed to the one of the two infrastructure units that exchanged the parking information.

[0009] The vehicle to be parked can approach one or more parked vehicles. If the vehicle is to be parked next to or close to one or more parked vehicles, it can determine their position relative to the vehicle(s) and to each other using technologies known in engineering, such as radar, lidar, ultrasonic sensors, or cameras.

[0010] To optimize vehicle parking, the vehicle can request parking information from one or more parked vehicles.

[0011] The wireless technology used to exchange parking information can be based on WiFi, 3G, 4G, 5G, or other wireless communication technologies. It can also be based on infrared communication technology. When wireless technology is used to exchange parking information, electromagnetic signals are transmitted from the approaching vehicle (the vehicle to be parked) to the parked vehicle and from the parked vehicle to the approaching vehicle.

[0012] This parking information can specify a minimum distance between the parked vehicle providing this information and any other vehicle intended to be parked next to it. The parking information can also include details on whether the parked vehicle providing this information is capable of autonomously leaving or exiting its parked position.

[0013] When the vehicle to be parked approaches two or more parked vehicles, it can receive parking information from one of the two or more parked vehicles without being able to determine from which of the parked vehicles the parking information was sent.

[0014] The parking information may include information about the GPS position of the parked vehicle providing the parking information, however, this information may be incorrect (for example, if the parked vehicle is parked in a parking space inside a building).

[0015] Furthermore, the parking information may include details for identifying the parked vehicle providing the information, such as a license plate number. However, it may be the case that the vehicle being parked is unable to identify the parked vehicle providing the parking information based on this data, for example, because the license plate is not visible from the approaching vehicle's position.

[0016] The term “transit time” in this document may refer to a period of time during which an electromagnetic signal travels (through the air) from a first unit to a second unit and optionally from the second unit back to the first unit.

[0017] One or more of the electromagnetic signals transmitted by the approaching vehicle or one of the parked vehicles can be reflected back to the transmitting vehicle by at least part of the body of the receiving vehicle. Alternatively, the receiving vehicle can immediately send a reply signal.

[0018] The reflected signal, or response signal, can then be received by the vehicle that initially transmitted one or more of the electromagnetic signals. Based on (i) the time elapsed between the transmission of the electromagnetic signals and the reception of the response signal, and (ii) the speed of the electromagnetic signals in air, a distance between the approaching vehicle and the parked vehicle providing the parking information can be calculated.

[0019] Additionally or alternatively, the response signal can include a timestamp indicating the time at which one or more of the electromagnetic signals were received. Furthermore, a timestamp indicating the time at which one or more of the electromagnetic signals were transmitted can be generated. Based on (i) the time between these timestamps and (ii) the speed of the electromagnetic signals in the air, a distance between the approaching vehicle and the parked vehicle providing the parking information can be calculated.

[0020] Additionally or alternatively, one of the vehicles can measure the signal strength of the electromagnetic signal it has received and that transmitted by the other vehicle. Based on (i) the measured signal strength, (ii) information about the signal strength of the electromagnetic signal when it was transmitted, and (iii) information about the expected attenuation of electromagnetic signals traveling through the air (per unit length), a distance between the approaching vehicle and the parked vehicle providing the parking information can be calculated.

[0021] As the vehicle to be parked approaches the parked vehicles, the distance can be determined at two different positions of the approaching vehicle, i.e., at a first position and a second position. A first and a second distance between the approaching vehicle and the vehicle transmitting the parking information can then be determined.

[0022] The first and second positions can both be within a distance of 10 meters, or preferably within 5 meters, of the two parked vehicles.

[0023] Based on the two distances and the two positions, it is possible, for example, to determine which of the parked vehicles transmitted the parking information using a triangulation algorithm.

[0024] Based on this determination, the parking information can be assigned to that vehicle, thus indicating that the parking information is to be interpreted as pertaining to that vehicle. In particular, a minimum parking distance contained in the parking information can then be assigned to that parked vehicle.

[0025] Additionally or alternatively, the parking information may indicate that the parked vehicle is equipped with an automatic parking system as described above, enabling it to park itself fully autonomously.

[0026] The term "autonomous parking" in this document refers to a vehicle's ability to park itself and leave a parked position without at least one driver steering the vehicle (although it may be necessary for a driver to operate the accelerator and / or brake pedals). The term "fully autonomous parking" can refer to a vehicle's ability to park itself and leave a parked position without a driver inside the vehicle.

[0027] Based on this information, the approaching vehicle can determine a preset minimum parking distance to be maintained in relation to the specific parked vehicle. This preset minimum parking distance may be smaller than the standard minimum parking distance that must be maintained in relation to a parked vehicle when no further parking information is available.

[0028] Based on this assigned parking information, the parking assistance system of the approaching vehicle can, for example, assist in parking the vehicle. The assigned parking information can be provided to a parking assistance system of the approaching vehicle to enable parking based on the assigned parking information.

[0029] Based on the assigned parking information, the parking assistance system can indicate to the driver of the approaching vehicle whether the distance to the parked vehicles is greater than the set minimum parking distance.

[0030] Additionally or alternatively, the parking assistance system can use the assigned parking information to park the vehicle (fully) autonomously.

[0031] Since the parking information is assigned to one of the parked vehicles, it is possible to park closer to the parked vehicle that provided the parking information.

[0032] One advantage is that the identification of the vehicle transmitting parking information is based on the electromagnetic signals used to transmit that information. Therefore, no additional signals need to be exchanged for identification, and no additional hardware is required.

[0033] According to another aspect of the invention, a vehicle is provided with a parking assistance system, wherein the vehicle has the following: - a detection unit for detecting two parked vehicles and determining their positions relative to the vehicle; - a communication unit for exchanging parking information using wireless communication between the vehicle and one of the two parked vehicles at a first position of the vehicle and at a second position of the vehicle; - a measuring unit for determining, based on the travel time of electromagnetic signals of wireless communication, a first distance between the one parked vehicle and the vehicle at the first position and a second distance between the one parked vehicle and the vehicle at the second position; - an assignment unit for determining with which of the two parked vehicles this parking information was exchanged, based on the first and second distances, and assigning the parking information to that parked vehicle; and - the parking assistance system for receiving the assigned parking information and assisting in parking the vehicle based on the assigned parking information.

[0034] The parking assistance system can also be configured to park the vehicle (fully) autonomously based on the assigned parking information. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] For a more comprehensive understanding of the present invention, reference is made to the following description in conjunction with the accompanying drawings, in which: Fig. Figure 1 shows a schematic overview of a parking situation in which the invention can be applied, Fig. 2 shows a schematic overview of an embodiment of the method according to the invention; and Fig. Figure 3 shows a schematic overview of an embodiment of the vehicle according to the invention. DETAILED DESCRIPTION OF THE INVENTION

[0036] In Fig. Figure 1 shows a schematic overview of a parking situation in which the invention can be applied. Vehicle 110 approaches two parked vehicles 120 and 130. The two parked vehicles 120 and 130 are detected, for example, by a detection unit 310 of vehicle 110, and their positions relative to vehicle 110 are determined.

[0037] Vehicle 110 can have a parking assistance system 300 which determines, based on the specific positions of vehicles 120 and 130, whether it is possible to park vehicle 110 between vehicles 120 and 130.

[0038] The standard minimum parking distance can be used for this purpose. The standard minimum parking distance is the minimum distance between the vehicle and one of the parked vehicles that must be maintained when the vehicle is parked next to a parked vehicle if no further parking information is available.

[0039] In Fig. 1. This standard minimum parking distance is specified as d1. Furthermore, in Fig. A distance d2 is specified, which is smaller than d1. Using this standard minimum parking distance, the parking assistance system determines that vehicle 110 cannot be parked between vehicles 120 and 130 at position A, because the distance between the two vehicles is less than the width of vehicle 110 + 2 times the standard minimum parking distance.

[0040] A communication unit 320 of vehicle 110 can attempt to exchange parking information with the parked vehicles 120 and 130 while vehicle 110 approaches the parked vehicle and / or moves from position B to position C.

[0041] At two positions, B and C, of ​​vehicle 110, parking information is exchanged between vehicle 110 and at least one of the parked vehicles 120 and 130 using wireless communication. Fig. 1. Parking information is only exchanged with vehicle 130.

[0042] If one of the parked vehicles is providing parking information, it may be unclear which of the two parked vehicles is providing this information. This could be because the parking information does not contain any identification information that would allow the sender of the parking information to be recognized or identified, or because the identification information (such as a license plate number) contained in the parking information cannot be used for identification (for example, the field of view between a camera in vehicle 110 and the license plate of parked vehicle 130 is blocked).

[0043] Wireless communication can be based on WiFi, 4G or 5G, or any other wireless communication technology that involves the transmission of electromagnetic waves or signals. These signals can be transmitted from the communication unit 320 of vehicle 110 to vehicle 130.

[0044] Some of these electromagnetic signals can be reflected from the body of vehicle 130 back to vehicle 110. The reflected signals can be received by the communication unit 320 of vehicle 110. Additionally or alternatively, vehicle 130 can send a reply signal back to vehicle 110. The reply signal can be received by the communication unit 310.

[0045] Based on the received reflected and / or response signal, a so-called propagation time for the electromagnetic signal can be determined. The propagation time refers to the time it takes for electrical signals to travel from the transmitter to the receiver and, optionally, back to the transmitter.

[0046] Using the travel time and speed of the electrical signal in the air, a distance between the transmitter and the receiver can be determined.

[0047] Thus, based on the reflected and / or response signal, a first distance r1 is determined at a first position B and a second distance r2 is determined at a second position C, for example by a measuring unit 330 of the vehicle 110.

[0048] Based on the two distances r1 and r2 and the determined positions of vehicles 120 and 130, it can be determined (e.g., by an allocation unit 340) that it was vehicle 130, and not vehicle 120, with which vehicle 110 exchanged parking information. The parking information can then be assigned to vehicle 130.

[0049] Alternatively or additionally, it can be determined as follows that it was vehicle 130 and not vehicle 120 with which vehicle 110 exchanged parking information: the approaching vehicle 110 can send a signal to the parked vehicle instructing it to activate its turn signals. A camera on vehicle 110 can detect these turn signals and generate information about their position relative to vehicle 110. This information can then be used to determine which vehicle exchanged parking information.

[0050] The parking information may include a minimum parking distance specific to the vehicle 130 and / or information on the vehicle 130's ability to park fully autonomously. Based on the parking information, the parking assistance system 300 may use a different minimum parking distance for the vehicle 130 than the standard minimum parking distance. This different or configured minimum parking distance is displayed in Fig. 1 with d2 specified.

[0051] Using the standard minimum parking distance d1 with respect to vehicle 120 and the set minimum parking distance d2 with respect to vehicle 130, the parking assistance system 300 can determine that it is possible to park vehicle 110 between vehicles 120 and 130. The parking assistance system 300 can be configured to park vehicle 110 (fully) autonomously between vehicles 120 and 130.

[0052] Fig. Figure 2 shows a schematic overview of an embodiment 200 of the method according to the invention for assisting in the parking of a vehicle.

[0053] In step 210, at least two parked vehicles are detected and their positions relative to the vehicle are determined.

[0054] In step 220, parking information is exchanged using wireless communication between the vehicle and one of the at least two parked vehicles at a first position of the vehicle and at a second position of the vehicle.

[0055] The parking information can show whether the parked vehicle is capable of fully autonomous parking and / or a minimum parking distance between the parked vehicle and another parked vehicle and / or a GPS position of the parked vehicle and / or an orientation of the parked vehicle.

[0056] Wireless communication can be based on WiFi or 5G technology.

[0057] In step 230, a first distance between a parked vehicle and the vehicle at the first position and a second distance between the one parked vehicle and the vehicle at the second position are determined based on the travel time of electromagnetic signals of the wireless communication.

[0058] The first and / or the second position can both be located within a distance of 10 meters, or preferably within 5 meters, of the parked vehicles.

[0059] The transit time can be determined based on a reflected signal (i.e., reflected from at least part of the body of the parked vehicle with which parking information is exchanged) or based on a response signal (i.e., sent by the parked vehicle with which parking information is exchanged).

[0060] In step 240, it is determined with which of the at least two parked vehicles this parking information was exchanged, based on the first and second distances, and the parking information is assigned to this parked vehicle.

[0061] Step 250 provides assistance when parking the vehicle based on the assigned parking information. Step 250 may include the step of (fully) autonomous parking of the vehicle based on the assigned parking information.

[0062] Fig. Figure 3 shows a schematic overview of an embodiment of the vehicle 110 according to the invention.

[0063] Vehicle 110 has a detection unit 310 configured to detect the two parked vehicles 120 and 130 and to determine their positions relative to vehicle 110. It also has a communication unit 320 configured to exchange parking information wirelessly between vehicle 110 and one of the two parked vehicles 120 and 130.

[0064] The vehicle 110 has a measuring unit 330, which is arranged to determine a first distance r1 between the parked vehicle and the vehicle at a first position B and a second distance r2 between the parked vehicle and the vehicle at a second position C based on the transit time of electromagnetic signals of the wireless communication, and an assignment unit 340, which is arranged to determine, based on the first and the second distance, with which of the two parked vehicles the parking information was exchanged, and to assign the parking information to that parked vehicle.

[0065] The vehicle 110 also has a parking assistance system 300, which is arranged to receive the assigned parking information and to assist in parking the vehicle 110 based on the assigned parking information.

Claims

[1] Method for assisting in the parking of a vehicle comprising the following steps: - Detecting two parked vehicles and determining their positions relative to the vehicle; - Exchange of parking information using wireless communication between the vehicle and one of the two parked vehicles at a first position of the vehicle and at a second position of the vehicle; - Determine, based on the travel time of electromagnetic signals of wireless communication, a first distance between the one parked vehicle and the vehicle at the first position and a second distance between the one parked vehicle and the vehicle at the second position; - Determine with which of the two parked vehicles this parking information was exchanged, based on the first and second distances, and assign the parking information to that parked vehicle; - Assisting with parking the vehicle based on the assigned parking information. [2] Method according to claim 1, wherein the parking information indicates whether one of the two parked vehicles is capable of fully autonomous parking and / or a minimum parking distance between the parked vehicle and another parked vehicle. [3] Method according to claim 1 or 2, wherein the first and second positions are located within a distance of 10 meters or preferably within a distance of 5 meters from the parked vehicles. [4] Method according to any of the preceding claims, wherein the wireless communication is based on Wi-Fi or 5G technology. [5] Method according to any of the preceding claims, wherein the transit time is determined based on a reflected signal or on a response signal. [6] Vehicle with a parking assistance system, wherein the vehicle has the following features: - a detection unit arranged to detect two parked vehicles and determine their positions relative to the vehicle; - a communication unit arranged for the exchange of parking information using wireless communication between the vehicle and one of the two parked vehicles at a first position of the vehicle and at a second position of the vehicle; - a measuring unit arranged to determine, based on the travel time of electromagnetic signals of wireless communication, a first distance between one parked vehicle and the vehicle at the first position and a second distance between one parked vehicle and the vehicle at the second position; - an allocation unit arranged to determine with which of the two parked vehicles this parking information was exchanged, based on the first and second distances, and to assign the parking information to that parked vehicle; and - the parking assistance system, which is arranged to receive the assigned parking information and to assist in parking the vehicle based on the assigned parking information. [7] Vehicle according to claim 6, wherein the wireless communication is based on Wi-Fi technology. [8] Vehicle according to claim 6 or 7, wherein the travel time is determined based on a reflected signal or on a response signal. [9] Vehicle according to one of claims 6-8, wherein the parking assistance system is further arranged for autonomous parking of the vehicle based on the assigned parking information.

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