Method for maneuvering a vehicle into an angled parking space while avoiding a collision between the vehicle's front bumper and a boundary of the angled parking space, driver assistance system and vehicle

Abstract

Procedure for maneuvering a vehicle (1) into an angled parking space (12) comprising the following steps: - Determining parking space data that describe the spatial dimensions of the angled parking space (12), - Providing vehicle data describing the external dimensions of the vehicle (1), - Determining a reference object (17) in the vicinity (8) of the vehicle (1), wherein the reference object (17) is assigned to a roadway (11) adjacent to the angled parking space (12), - Determining a position of the reference object (17) relative to the angled parking space (12), - wherein the following steps are continuously carried out while maneuvering the vehicle (1) in the forward direction into the angled parking space (12): ◯ Determining an angle (α) of the vehicle (1) to the roadway (11), ◯ Calculating a maximum residual distance (b R) between the vehicle (1) and the reference object (17) for a predetermined parking position in the angled parking space (12), wherein the maximum remaining distance (b R ) is calculated based on the position of the reference object (17), the parking space data, the vehicle data and the angle (α), ◯ Measuring a distance between the vehicle (1) and the reference object (17) using a distance sensor (4) in a rear area (5) of the vehicle (1) and ◯ Comparing the measured distance with the maximum remaining distance (b) R ).

Description

[0001] The present invention relates to a method for maneuvering a vehicle into an angled parking space. Furthermore, the present invention relates to a driver assistance system for a vehicle. Finally, the present invention relates to a vehicle with such a driver assistance system.

[0002] Various driver assistance systems are known from the prior art, designed to support a driver when parking and / or exiting a parking space. These systems include environmental sensors or distance sensors that detect the parking space and its boundaries. Based on measurements from these sensors, the parking space can be measured, and using the vehicle's known dimensions, a decision can be made as to whether the space is suitable. Furthermore, these systems are configured to calculate the appropriate trajectory for the parking maneuver. They can also take over lateral and / or longitudinal control of the vehicle during the parking process.

[0003] Furthermore, driver assistance systems are known from the prior art that continuously determine the distance to objects defining the parking space boundaries while parking. If the distance between the vehicle and an object defining the parking space falls below a predetermined minimum, a corresponding warning can be issued. In particular, when maneuvering the vehicle into an angled parking space, there is a risk of the vehicle's front bumper colliding with a curb that defines the parking space. When maneuvering the vehicle forwards into the angled parking space, the curb, once a certain minimum distance between the vehicle and the curb is reached, moves out of the detection range of the distance sensors and / or out of the field of view of the imaging evaluation sensors, such as a front stereo camera.This means that the curb can no longer be detected by these distance sensors, such as ultrasonic sensors or the like.

[0004] In this context, WO 2014 / 041209 A1 describes a method for determining the orientation of a parking space relative to a motor vehicle using the vehicle's parking assistance system. A camera in the parking assistance system captures an image of the vehicle bordering the parking space, and a computer within the system determines the orientation of the parking space based on this image of the vehicle. Furthermore, the computer identifies a predefined object on the depicted vehicle in the image and, in determining the orientation of the parking space, uses this object to ascertain whether the parking space is parallel or perpendicular. Angled parking spaces can also be detected in this way.

[0005] Furthermore, EP 3 421 328 A1 describes a parking assistance system for use in a vehicle, wherein the parking assistance system comprises: an object detection device configured to generate information about an object located outside a vehicle, and a controller configured to generate a sloping parking path for the vehicle to enter the available parking space when, based on the information, it is determined that an available parking space is an angled parking space. The object detection device includes a side sensor configured to detect an object located on one side of the vehicle and a diagonal sensor configured to detect an object located diagonally to the vehicle.

[0006] Furthermore, DE 10 2015 116 220 A1 discloses a method for at least semi-autonomous maneuvering of a motor vehicle, in which a parking space in the vicinity of the motor vehicle is detected using sensor data from at least one ultrasonic sensor, a distance between the motor vehicle and an object bounding the parking space is determined, a driving trajectory for parking the motor vehicle in the parking space is determined, the motor vehicle is maneuvered along the driving trajectory, and during the maneuvering of the motor vehicle at a predetermined position, a first distance value and a second distance value are determined based on odometry and the determined distance, respectively, wherein the first and second distance values ​​each describe the distance between the motor vehicle and the object.and wherein a correction value for correcting the driving trajectory is determined by comparing the first distance value and the second distance value.

[0007] The object of the present invention is to provide a solution for maneuvering a vehicle into an angled parking space more reliably. Furthermore, a suitable vehicle is to be provided.

[0008] This problem is solved according to the invention by a method, a driver assistance system, and a vehicle with the features according to the independent claims. Advantageous embodiments of the present invention are specified in the dependent claims.

[0009] A method according to the invention serves to maneuver a vehicle into an angled parking space. The method comprises determining parking space data that describe the spatial dimensions of the angled parking space. Furthermore, the method comprises providing vehicle data that describe the vehicle's external dimensions. The method also comprises determining a reference object in the vicinity of the vehicle, wherein the reference object is assigned to a roadway adjacent to the parking space. Finally, the method comprises determining the position of the reference object relative to the angled parking space.While maneuvering the vehicle forward into the angled parking space, the following steps are performed continuously: Determining the vehicle's angle to the roadway; calculating the maximum remaining distance between the vehicle and the reference object for a predetermined parking position in the angled parking space, whereby the maximum remaining distance is calculated based on the position of the reference object, the parking space data, the vehicle data, and the angle. Furthermore, the distance between the vehicle and the reference object is measured using a distance sensor located at the rear of the vehicle, and this measured distance is compared with the maximum remaining distance.

[0010] This method is designed to assist a driver or vehicle user when maneuvering into an angled parking space. An angled parking space, in this context, is defined as a parking space adjacent to a roadway, designed for angled parking of the vehicle. The vehicle can be positioned at an angle between 45° and 81° to the roadway or the direction of travel. The vehicle is maneuvered into such an angled parking space in the forward direction, and to exit, it is moved backward into the roadway. As explained in more detail below, the parking space data, which describes the spatial dimensions of the angled parking space, is used to maneuver the vehicle into the space. Specifically, the parking space data describes the spatial dimensions of the angled parking space perpendicular to the direction of travel and / or parallel to the direction of travel.Furthermore, the process utilizes vehicle data that describes the vehicle's external dimensions, specifically the dimensions of its outer shell. This vehicle data can include, in particular, the vehicle's length and width. It can also describe the vehicle's height, specifically the height of the front bumper. Here, it can be advantageous to consider the current tire pressure as an operational parameter to accurately determine the height. This vehicle data can be specific to the vehicle or stored in a memory.

[0011] Furthermore, the reference object in the vicinity of the vehicle is determined. This reference object can be located on the roadway adjacent to the angled parking space. For example, this reference object can be positioned on the roadway itself. However, it is specifically intended that the reference object be located on the side of the roadway opposite the angled parking space. The reference object can also be located in an area adjacent to the roadway on the side opposite the angled parking space. In addition, the position of the reference object relative to the angled parking space is determined. In other words, the relative position of the reference object to the angled parking space can be ascertained. The aforementioned steps of the procedure can be carried out, for example, while the vehicle is on the roadway or maneuvering towards the angled parking space.The parking space data, vehicle data and / or the position of the reference object can also be determined at a different time.

[0012] During the maneuvering of the vehicle forward into the angled parking space, the following steps are performed repeatedly. These steps can therefore be carried out as soon as the vehicle is moved or steered towards the angled parking space. For example, the respective steps can be performed at predetermined times. First, the angle of the vehicle to the road surface is determined. In particular, the angle between the vehicle's longitudinal axis and the direction of travel of the road surface can be determined. Data from a steering angle sensor, a yaw rate sensor, or similar sensors can be used for this purpose. Furthermore, the maximum remaining distance between the vehicle and the reference object is calculated. This maximum remaining distance is calculated for a predetermined parking position in the angled parking space. This predetermined parking position describes the final position or...Target position that the vehicle should assume in the angled parking space.

[0013] The maximum remaining distance is calculated based on the position of the reference object, the parking space data, the vehicle data, and the angle. Furthermore, the distance between the vehicle and the reference object is continuously measured while maneuvering the vehicle into the angled parking space. At least one distance sensor, located at the rear of the vehicle, is used for this purpose. The measured distance is then compared with the calculated maximum remaining distance. This allows the system to determine when the vehicle has reached the predetermined parking position. This occurs when the measured distance matches the maximum remaining distance.

[0014] According to the present invention, the underlying principle is that when maneuvering a vehicle into an angled parking space, objects that define the parking space can no longer be detected by the distance or environmental sensors at the front of the vehicle after a certain point. Such boundaries can be, in particular, curbs or similar features that separate the angled parking space from an adjacent sidewalk or similar feature. Due to the installation position and / or the detection range of the front-mounted distance sensors, the defining object moves out of the detection range or field of view of the distance sensor after a certain depth of entry into the angled parking space. According to the present invention, at least one rear-facing distance sensor of the driver assistance system is also used, with which the distance to the reference object located behind the vehicle can be continuously measured.By comparing the measured distance with the maximum remaining distance derived from the predetermined parking position or the vehicle's target position in the angled parking space, it is possible to reliably prevent the vehicle's front apron or bumper from colliding with the boundary object of the angled parking space. This allows for more reliable maneuvering of the vehicle into the angled parking space.

[0015] Preferably, the reference object is defined as an object that borders the roadway on the side opposite the angled parking space. This reference object could be, for example, a curb that borders the roadway on the side opposite the angled parking space. Alternatively, the reference object could be another object that borders the roadway, such as a wall, a guardrail, or the like. The reference object could also be located in an area adjacent to the roadway and opposite the angled parking space, such as part of the infrastructure. The reference object is, in particular, a stationary object, i.e., a non-moving object. Such a reference object can be detected using measurements from the vehicle's environmental sensors and / or distance sensors.Alternatively or additionally, such an object can be extracted from a digital map. This allows the reference object, which serves as a reference point for the parking maneuver in the angled parking space, to be reliably determined or recorded.

[0016] In another embodiment, the maximum remaining distance is determined as a function of the roadway width and the vehicle's spatial extent in the parked position, perpendicular to the direction of travel. If the reference object is a roadway boundary on the side of the roadway opposite the angled parking space, the distance between the angled parking space and the reference object corresponds to the roadway width. This roadway width can be determined using measurements from the vehicle's distance or environmental sensors. Alternatively or additionally, the roadway width can be taken from a digital map. As already explained, the vehicle's parking position, or target position, within the angled parking space is determined. The vehicle's spatial extent perpendicular to the direction of travel can then be determined for this parking position.This determines the extent of the vehicle or the space occupied by the vehicle in a direction perpendicular to the direction of travel of the road.

[0017] The vehicle's spatial extent perpendicular to the direction of travel can be determined based on the vehicle's angle and known dimensions. This allows for the calculation of the maximum remaining distance perpendicular to the direction of travel. When the reference object, which defines the roadway, is detected by the distance sensor at the rear of the vehicle, the measured distance corresponds to the shortest distance between the rear of the vehicle (or the distance sensor) and the reference object. Therefore, even with an elongated object, such as a curb, from which multiple distance values ​​might be recorded, the shortest distance can be determined. This allows for a precise determination of the measured distance.

[0018] As previously explained, the position of the reference object can preferably be determined using measurements from the vehicle's environmental sensor or distance sensor and / or from map data from a digital map. Furthermore, it can be provided that the data relating to the reference object and / or the width of the roadway are transmitted from another vehicle, which has recorded this data, to the vehicle or the driver assistance system via vehicle-to-vehicle communication. In this way, the relative position of the reference object to the angled parking space can be reliably determined.

[0019] Furthermore, it is advantageous if the parking space data is provided based on measurements from a vehicle's environmental sensor and / or map data from a digital map and / or data transmitted from another vehicle to the vehicle. To determine the parking space data, corresponding measurements can be taken with the vehicle's environmental sensor. For example, a vehicle camera can capture relevant lane markings or parking space markings that define the boundaries of the angled parking space. Additionally, the parking space data can be extracted from a digital map. Alternatively or additionally, the parking space data can be transmitted from another vehicle to the vehicle or driver assistance system via vehicle-to-vehicle communication.The parking space data may, for example, have been determined by another vehicle that previously parked in the angled parking space. This data can describe, in particular, the spatial extent of the angled parking space perpendicular to the direction of travel. Furthermore, the data can describe the angle at which the vehicle should be positioned within the angled parking space. In addition, legal or structural requirements that define the dimensions and / or angles of these angled parking spaces can be taken into account when determining the parking space data.

[0020] During maneuvering the vehicle into the angled parking space, the angle between a longitudinal axis of the vehicle and the direction of travel or a main extension direction of the roadway is continuously determined. Data from a steering angle sensor and / or a yaw rate sensor of the vehicle can be used for this purpose. Furthermore, the vehicle's own movement can be continuously determined using odometry. This can also be used to verify whether the angle between the longitudinal axis of the vehicle and the roadway corresponds to the approach angle for the angled parking space. If so, the maximum remaining distance can then be calculated and compared with the measured distance to the reference object.

[0021] In a further embodiment, while maneuvering the vehicle into the angled parking space, an additional boundary of the angled parking space is detected by an environmental sensor located at the front of the vehicle. When the vehicle is maneuvering forward into the angled parking space, the boundary of the angled parking space, or a curb adjacent to the space, can be detected by the front-mounted environmental sensor. The front-mounted environmental sensor can be, for example, a distance sensor, particularly an ultrasonic sensor. Alternatively, a camera can be used as the environmental sensor. Based on the measurements taken by the front-mounted environmental sensor, the distance between the vehicle and the boundary can be continuously determined. If this boundary or...When the curb enters the detection range of the surround-view sensor, measurements can then be taken with the rear distance sensor and the measured distance compared with the maximum remaining distance. In particular, it is intended that parallel measurements with the front and rear sensors are carried out while the vehicle is maneuvering.

[0022] Preferably, the parking position is determined such that the vehicle's front bumper maintains a predetermined distance from a boundary of the angled parking space. This boundary, in particular, separates the angled parking space from a sidewalk adjacent to it. When entering the angled parking space, the boundary is located in front of the vehicle, especially in the direction of travel. The boundary may, in particular, be a curb. The parking position, or the intended position of the vehicle in the angled parking space, is thus determined in such a way as to reliably prevent a collision between the vehicle's front bumper and the boundary. This prevents damage to the vehicle.

[0023] In another embodiment, a warning signal is issued and / or the vehicle's maneuvering is stopped if the measured distance corresponds to the remaining distance. If the driver manually maneuvers the vehicle into the angled parking space, a corresponding warning signal, such as an acoustic, visual, and / or haptic warning signal, can be issued if the measured distance corresponds to the maximum remaining distance. This alerts the driver that the parking position has been reached. If the vehicle is maneuvered into the angled parking space automatically using the driver assistance system, the vehicle's movement can be stopped or the vehicle braked once the parking position has been reached.

[0024] A driver assistance system according to the invention for a vehicle is configured to carry out a method according to the invention in advantageous embodiments thereof. The driver assistance system can have a memory in which the vehicle data is stored. In addition, the driver assistance system can have a distance sensor and / or an environment sensor with which the parking space data can be acquired. Furthermore, the reference object can be detected with this environment sensor and / or distance sensor, and the relative position between the reference object and the angled parking space can be determined. Alternatively or additionally, the driver assistance system can have access to a digital map to determine the parking space data and / or data relating to the reference object. Furthermore, the driver assistance system can have a corresponding sensor with which the angle between a longitudinal axis of the vehicle and the direction of travel of the road can be determined.Furthermore, the driver assistance system can include a distance sensor in the rear of the vehicle, which determines the distance to the reference object. The driver assistance system can also include a communication device for vehicle-to-vehicle communication and / or for receiving data. Additionally, the driver assistance system can include a computing unit with which the maximum remaining distance can be calculated. This computing unit can, for example, be an electronic control unit of the vehicle. A corresponding computer program can be executed on this computing unit to carry out the method according to the invention.

[0025] A vehicle according to the invention comprises a driver assistance system according to the invention. The vehicle is in particular designed as a passenger car.

[0026] The preferred embodiments and their advantages presented with reference to the driving according to the invention apply accordingly to the driver assistance system according to the invention and to the vehicle according to the invention.

[0027] Further features of the invention will become apparent from the claims, the figures, and the description of the figures. The features and combinations of features mentioned above in the description, as well as the features and combinations of features mentioned below in the description of the figures and / or shown in the figures alone, can be used not only in the combinations specified, but also in other combinations or on their own, without departing from the scope of the invention.

[0028] The invention will now be explained in more detail with reference to preferred embodiments and the accompanying drawings. These show: Fig. 1 a schematic representation of a vehicle which has a driver assistance system; Fig. 2 a schematic representation of the vehicle being maneuvered into an angled parking space; and Fig. 3 A schematic representation of the vehicle which is in a parking position within the angled parking space.

[0029] In the figures, identical or functionally equivalent elements are given the same reference symbols.

[0030] Fig. Figure 1 shows a schematic top view of a vehicle 1, which in this case is a passenger car. The vehicle 1 is defined by a longitudinal direction x and a transverse direction y. The vehicle 1 includes a driver assistance system 2, which serves to assist the driver or user of the vehicle 1 when parking in a parking space. The driver assistance system 3 includes a computing unit 3, which can, for example, be an electronic control unit of the vehicle 1. Furthermore, the driver assistance system 2 includes a distance sensor 4, which is located in a rear section 5 of the vehicle 1. The distance sensor 4 can, for example, be a radar sensor, lidar sensor, or the like. The driver assistance system 2 also includes an environment sensor 6, which is located in a front section 7 of the vehicle 1.The distance sensor 4 and the environment sensor 6 can continuously perform measurements, and the sensor data provided can be transmitted to the computing unit 3. The computing unit 3 can then evaluate this sensor data and thus detect objects in the vicinity 8 of the vehicle 1.

[0031] Furthermore, the driver assistance system 2 includes a sensor 9, which continuously determines the steering angle and / or yaw rate of the vehicle 1. The sensor data from this sensor 9 can also be transmitted to the computing unit 3. The driver assistance system 2 also includes a communication unit 10. This communication unit 10 can, for example, provide map data from a digital map. Furthermore, this communication unit 10 can receive data from other vehicles via vehicle-to-vehicle communication.

[0032] Fig. Figure 2 shows a schematic representation of vehicle 1, which is located on a roadway 11. Several angled parking spaces 12 adjoin this roadway 11, and vehicle 1 is to be maneuvered into one of these angled parking spaces 12. As indicated, vehicle 1 is to be maneuvered along a trajectory 13 so that it assumes parking position 14, or a target position, in the angled parking space 12. This parking position 14 is defined such that a front apron or bumper in the front area 7 of vehicle 1 maintains a predetermined minimum distance from a boundary 15 of the angled parking space 12. The boundary 15 of the angled parking space 12 is designed as a curb. This boundary 15 can separate the angled parking space 12 from a sidewalk, which is not shown.

[0033] While the vehicle 1 is maneuvering on the roadway 11, the angled parking space 12 can be detected using measurements from the environment sensor 6. Furthermore, parking space data describing the spatial dimensions of the angled parking space 12 can be determined. This parking space data describes, in particular, a width b. p The angled parking space 12, which is determined perpendicular or transverse to a direction of travel 16 of the roadway 11, is defined. This parking space data can be determined based on measurements with the environmental sensor 6 or taken from the data of the digital map. In addition, a reference object 17 is detected in the surroundings 8, which is assigned to the roadway 11. In this case, the reference object 17 is a boundary 18 of the roadway 11, which is opposite the angled parking space 12. Based on measurements with the environmental sensor 6 and / or based on the digital map, the width of the roadway b can be determined. fThe distance between the reference object 17 and the angled parking space 12 in a direction perpendicular to the direction of travel 16 of the roadway 11 is to be determined.

[0034] During the maneuvering of vehicle 1 into the angled parking space 12, an angle α between the direction of travel 16 and the roadway 11 and the longitudinal direction x of vehicle 1 is continuously determined. Furthermore, a maximum residual distance b is determined for the predetermined parking position 15. R calculated. This maximum remaining distance b R is determined using the angle α of the parking space data, the vehicle data, and the position of the reference object 17. This is shown below. Fig.Figure 3 shows a schematic representation of vehicle 1, which is located in parking position 14 in the angled parking space 12. For right-hand traffic, the parking position is determined such that the front right area of ​​vehicle 1 has a minimum distance to the boundary 15 of the angled parking space 12. For left-hand traffic, the parking position can be determined such that the front left area of ​​vehicle 1 has a minimum distance to the boundary 15. For this parking position, a spatial extent of vehicle 1 transverse to the direction of travel 16 of the roadway 11 can be determined. The spatial extent of vehicle 1 results from a first area I, a second area II, and a third area III. The installation position can be taken into account when determining the spatial extent of vehicle 1.If the distance sensor 4 is located centrally in the rear area 5 of the vehicle 1, its spatial extent can be determined by the sum of areas I and II. If the distance sensor 4 is located in a left rear corner of the vehicle 1, its spatial extent can be determined by the sum of areas I, II, and III. Areas I, II, and III can be calculated using the following formulas: I=y1(x1)2⋅arcsin(β(y1(x1))), II=x1⋅arccos(∝), III=y1(x1)2⋅arcsin(β(y1(x1))).

[0035] Here, x1 describes the length of vehicle 1 and y1 the width of vehicle 1. The angle β describes the angle between the boundary 15 of the angled parking space 12 and the vehicle's transverse axis y. While maneuvering vehicle 1 into the angled parking space, the distance to the reference object 17 or the boundary 18 can be continuously measured using the distance sensor 4 on the rear section 5 of vehicle 1. If the measured distance does not correspond to the maximum remaining distance b R If the system matches, vehicle 1 has reached the parking position. In this case, a corresponding message can be issued to the driver of vehicle 1, or vehicle 1 can be stopped automatically using driver assistance system 2.

Claims

[1] Method for maneuvering a vehicle (1) into an angled parking space (12) comprising the steps: - Determining parking space data that describe the spatial dimensions of the angled parking space (12), - Providing vehicle data describing the external dimensions of the vehicle (1), - Determining a reference object (17) in the vicinity (8) of the vehicle (1), wherein the reference object (17) is assigned to a roadway (11) adjacent to the angled parking space (12), - Determining a position of the reference object (17) relative to the angled parking space (12), - wherein the following steps are continuously carried out while maneuvering the vehicle (1) in the forward direction into the angled parking space (12): ◯ Determining an angle (α) of the vehicle (1) to the roadway (11), ◯ Calculating a maximum residual distance (b R) between the vehicle (1) and the reference object (17) for a predetermined parking position in the angled parking space (12), wherein the maximum remaining distance (b R ) is calculated based on the position of the reference object (17), the parking space data, the vehicle data and the angle (α), ◯ Measuring a distance between the vehicle (1) and the reference object (17) using a distance sensor (4) in a rear area (5) of the vehicle (1) and ◯ Comparing the measured distance with the maximum remaining distance (b) R ). [2] Method according to claim 1, characterized by , that as a reference object (17) an object is determined which limits the roadway (11) on one side opposite the angled parking space (12). [3] Method according to claim 2, characterized by , that the maximum remaining distance (b R ) depending on a width (b f) the roadway (11) and a spatial extent of the vehicle (1) in the parking position in a direction perpendicular to a direction of travel (16) of the roadway (11). [4] Method according to any one of the preceding claims, characterized by , that the position of the reference object (17) is determined by measurements with an environmental sensor (6) of the vehicle (1) and / or by map data from a digital map. [5] Method according to any one of the preceding claims, characterized by , that the parking space data are provided based on measurements with an environmental sensor (6) of the vehicle (1) and / or based on map data from a digital map and / or based on data transmitted from another vehicle to the vehicle (1). [6] Method according to any one of the preceding claims, characterized by, that during the maneuvering of the vehicle (1) into the angled parking space (12) an additional boundary (15) of the angled parking space (12) is detected by an environment sensor (6) in a front area (7) of the vehicle (1). [7] Method according to any one of the preceding claims, characterized by , that the parking position is determined such that a front apron of the vehicle (1) has a predetermined distance to a boundary (15) of the angled parking space (12). [8] Method according to any one of the preceding claims, characterized by , that a warning signal will be issued and / or the maneuvering of the vehicle (1) will be stopped if the measured distance does not exceed the maximum remaining distance (b R ) corresponds. [9] Driver assistance system (2) for a vehicle (1) which is equipped to carry out a method according to one of the preceding claims. [10] Vehicle (1), in particular passenger car, with a driver assistance system (2) according to claim 9.

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