Procedure for performing parking space detection

Abstract

Method for performing a parking space detection in a parking aid (2) of a vehicle (1), wherein the following steps are carried out: - Performing a recording (101) of a vehicle speed (201), - Performing a comparison (102) of the recorded vehicle speed (201) with at least one speed threshold (202) to determine whether the vehicle speed (201) exceeds the speed threshold (202), - Performing a control (103) of an active accelerator pedal (3) of the vehicle (1) depending on the comparison (102) in order to inform a driver of the vehicle (1) of the detected exceedance, wherein at least one speed threshold (202) comprises at least two different speed thresholds (202) which are specific for different operating states of the parking aid (2), and wherein the control (103) of the accelerator pedal is designed to communicate the operating states differently to the driver.

Description

[0001] The present invention relates to a method for performing parking space detection. Furthermore, the invention relates to a system for performing parking space detection.

[0002] Active accelerator pedals for vehicles are known from the state of the art, which can give a driver haptic feedback depending on the traffic situation via vibration or counter-pressure.

[0003] Furthermore, parking assistance systems for vehicles that enable at least partially automated parking are known from the prior art. In addition to displaying the distance, such parking assistance systems can completely take over the steering maneuvers required for parking. A further distinction can be made between active parking assistance systems, which only take over the steering and require the driver to operate the accelerator and brake (hereinafter also referred to as Park Assist, or PLA), and those that automatically take over acceleration and braking (hereinafter also referred to as Intelligent Parking Assist, or IPA). These parking assistance systems utilize the vehicle's sensors, such as ultrasonic sensors, cameras, and / or a radar system.

[0004] Parking aids are known from FR 2 855 481 A1 or DE 10 2006 057 230 A1, which can initiate feedback via an active accelerator pedal during a parking maneuver.

[0005] Before the actual parking maneuver, the surroundings are typically scanned and parking spaces are detected. This can be done by the parking assist system during a search drive, where it analyzes sensor data. After the parking assist is activated (e.g., by pressing a button or by dropping below a certain speed), the sensors measure the parking space, particularly perpendicular to the direction of travel, as the vehicle drives past it. If the parking space is large enough, this can be indicated to the driver. The driver can then stop at the parking space and begin the parking maneuver. As described above, the parking assist can control the steering into and out of the parking space and, if necessary, also the vehicle's movement.

[0006] However, parking space detection is only possible if a predetermined maximum speed is not exceeded. If this maximum search speed for parking spaces is exceeded during an active search, the driver can be notified by a corresponding text message or pictogram. This notification appears, for example, in the instrument cluster or the infotainment system.

[0007] The problem can arise that the warning light is not always noticed by the driver, and thus exceeding the speed limit goes unnoticed. This reduces the reliability of automatic parking maneuvers.

[0008] It is therefore an object of the present invention to at least partially overcome the disadvantages described above. In particular, it is an object of the present invention to provide an improved implementation of parking space detection.

[0009] The foregoing problem is solved by a method having the features of claim 1 and by a system having the features of claim 9. Further features and details of the invention will become apparent from the respective dependent claims, the description, and the drawings. Features and details described in connection with the method according to the invention naturally also apply in connection with the system according to the invention, and vice versa, so that the disclosure of the individual aspects of the invention always makes, or can make, reciprocal references.

[0010] The problem is solved in particular by a method for performing parking space detection in a vehicle's parking assistance system. Specifically, the following steps are to be carried out, preferably sequentially in the order given, and the steps can also be repeated: - Performing a measurement of the (current) vehicle speed, e.g. by receiving a speed value from the vehicle's speedometer, - Performing a comparison of the recorded vehicle speed (in particular the speed value) with at least one speed threshold (in particular a predefined threshold value) in order to determine whether the vehicle speed exceeds the speed threshold, in particular by determining, based on the result of the comparison, if the speed value is greater than the threshold value, - Performing an activation of an active accelerator pedal of the vehicle depending on the comparison in order to inform a driver of the vehicle of the detected exceedance, whereby the activation takes place in particular when the exceedance of the speed threshold is detected by the vehicle speed.

[0011] The method according to the invention makes it possible to provide a driver of a vehicle with more reliable feedback that the speed threshold has been exceeded. The speed threshold is, for example, implemented as a maximum search speed for the parking aid, so that if the vehicle speed exceeds the speed threshold, parking space detection is no longer possible and / or the parking space detection or the parking aid is suspended or deactivated.

[0012] It is also conceivable that the speed threshold is implemented as a maximum search speed for parking space detection. Alternatively or additionally, if a parking space is successfully detected, the parking assist system can provide automated parking into the space. If the vehicle speed is detected as exceeding the speed threshold, the parking space detection can be deactivated, or in particular, suspended, until the vehicle speed falls below the threshold again. This has the advantage that parking space detection is only performed when it is possible with sufficient reliability at the current vehicle speed.

[0013] Furthermore, it is intended that at least one speed threshold includes at least two different speed thresholds, which are specific to different operating states of the parking aid. In other words, at least a first and second, and possibly at least one further, operating state can be provided. The first operating state is, for example, a standby state in which the parking space detection is suspended. The second operating state can be an inactive state of the parking aid in which the parking aid remains deactivated until the next activation. The next activation can, for example, be (exclusively) a manual activation by the driver. Each operating state can be assigned its own speed threshold.

[0014] Preferably, the invention provides that when the vehicle speed exceeds a first speed threshold, the parking aid switches to a first operating state in which parking space detection is temporarily deactivated, i.e., suspended. In this first operating state, parking space detection can be automatically reactivated when the vehicle speed falls below the first speed threshold again. Furthermore, it is possible that when the vehicle speed exceeds a second speed threshold, the parking aid switches to a second operating state. In this second operating state, the automatic reactivation of parking space detection may be deactivated. Alternatively, the parking aid may remain deactivated in this second operating state until the next (possibly manual) activation.Furthermore, the second speed threshold can be higher than the first. This allows for a multi-stage functional design, enabling at least two, and possibly more, operating states. This increases the flexibility and reliability of the parking aid.

[0015] The accelerator pedal control can be configured to communicate different operating states to the driver. In other words, each operating state can be communicated to the driver through its own control parameterization, allowing the driver to identify the specific current operating state based on the control signal. For example, the parking assist system can have two or three operating states related to vehicle speed. In a first operating state, the parking assist system can be in "standby" mode, meaning it is in a ready-to-use state. In this first operating state, parking space detection cannot be performed, but it can be automatically reactivated if the vehicle speed falls below the initial speed threshold again. This subsequent speed range for the first operating state can be set for vehicle speeds of, for example...The system is designed for speeds between 41 km / h and 50 km / h. If the vehicle speed exceeds the second speed threshold, the first operating state can be exited and a second operating state can be entered. In the second operating state (i.e., above the standby range), the parking aid can be deactivated. Unlike the first operating state, a display of the parking aid and / or automatic reactivation of the parking space detection is then no longer possible. Furthermore, at least one additional operating state can be provided. In this additional operating state, for example, an active search for a parking space can be performed. It can be provided that this additional operating state is activated when the vehicle speed falls below the first speed threshold. For this purpose, the first speed threshold could, for example, be...The trigger thresholds are set to 41 km / h, meaning the system operates in a range from 0 km / h to 40 km / h. The trigger thresholds, corresponding to the speed limits (e.g., 41 km / h as the first speed limit and 51 km / h as the second), can be parameterized to allow for variable configuration of the operating states and associated speed ranges. Accordingly, the values ​​for the speed limits can be stored in non-volatile memory and read out by a processing unit of the parking aid system as needed. These operating states can also be referred to as system states or operating ranges of the parking aid system, particularly a PLA or IPA.

[0016] In another possibility, the execution of the control (of the accelerator pedal) may include the following step: - Initiating at least one feedback impulse, which may include at least one movement and / or vibration impulse of the accelerator pedal and / or a counter-pressure impulse of the accelerator pedal, in particular to provide the driver with haptic feedback to communicate the detected exceedance.

[0017] This allows the driver to receive haptic feedback, for example in the form of a vibration in the accelerator pedal, regarding the current operating status of the parking assist system. This haptic feedback from the control unit can be used to prompt the driver to brake if the parking space detection is to continue.

[0018] It may also be possible that carrying out the control includes the following step: - Performing parameterization of the (at least one) feedback pulse depending on a functional state of the parking aid.

[0019] For example, at least one feedback pulse with a first parameter setting can be initiated when the first speed threshold is exceeded by the vehicle speed, and a feedback pulse with a second parameter setting can be initiated when the second speed threshold is exceeded by the vehicle speed. The first and second parameter settings can differ, for example, in terms of the duration of the feedback pulse, the number of feedback pulses, the interval between feedback pulses, and / or the intensity of the feedback pulse.

[0020] Furthermore, it is conceivable that at least two different speed thresholds are provided and that the parameterization can be carried out differently, particularly depending on which speed threshold has been exceeded. This allows the driver to recognize the current operating state based on the control signal and, in particular, the feedback signal at the accelerator pedal.

[0021] A further advantage is the ability to parameterize the vibration pulses in terms of duration, number of pulses, and / or intensity. This allows for separate parameterization of the number of vibration pulses for different speed thresholds. Thus, the number of vibration pulses, or the parameterization in general, contributes to differentiating between operating states. Alternatively or additionally, the intensity of the vibration pulses can be parameterized differently for each speed threshold to enable haptic differentiation of the operating states. Furthermore, it is possible to parameterize the duration of the vibration pulse and / or the interval between vibration pulses, further refining the differentiation of operating states.

[0022] For example, in addition to the accelerator pedal activation, a warning message may be displayed to the driver depending on the comparison. This message could be presented as text or graphically as a pictogram (e.g., a brake pedal symbol) or similar. The display could be shown in the instrument cluster and / or via the vehicle's infotainment system, for example, in the center console area. The accelerator pedal activation ensures that even if the driver overlooks this message, exceeding the speed threshold is reliably communicated. This provides the driver with haptic feedback in addition to visual feedback.

[0023] The invention also relates to a system, preferably a parking aid for a vehicle, comprising a (particularly electronic) processing device for carrying out the steps of a method according to the invention. The system according to the invention thus offers the same advantages as those described in detail with reference to a method according to the invention. The processing device comprises, for example, at least one processor and / or microcontroller.

[0024] A parking aid is defined in particular as a (according to the invention) system, preferably a driver assistance system, of a vehicle designed to perform a parking maneuver, at least partially automatically. For this purpose, the parking aid may, for example, comprise at least one control unit (especially with the processing device) which automatically takes over steering and / or braking and / or acceleration maneuvers of the vehicle for parking. The parking aid may use at least one sensor of the vehicle to detect the vehicle's surroundings and, based on this detection, control the steering and / or braking and / or acceleration of the vehicle. The parking aid may be designed as a parking steering assistant or an intelligent parking assistant.Before the parking maneuver is carried out, parking spaces can be detected; within the scope of the invention, this is also referred to as parking space detection or search driving. For this purpose, the parking aid can measure potential parking spaces based on the surroundings and / or detect obstacles that prevent parking.

[0025] The vehicle is designed specifically as a land and / or motor vehicle, e.g., as a passenger car or truck. In particular, the vehicle may be designed as an electric vehicle and alternatively or additionally have an internal combustion engine for propulsion. The vehicle may have sensors to assist with parking.

[0026] It is possible that at least one of the vehicle's sensors, i.e., the vehicle's sensors used for parking space detection, includes at least one of the following sensors: - at least one ultrasonic sensor, in particular an ultrasonic sensor system, preferably arranged on the bumper of the vehicle, - a radar system of the vehicle, - at least one camera, in particular a camera system of the vehicle.

[0027] Further advantages, features, and details of the invention will become apparent from the following description, in which exemplary embodiments of the invention are described in detail with reference to the drawings. The features mentioned in the claims and in the description can each be essential to the invention individually or in any combination. The drawings show: Fig. 1 a schematic representation for visualizing a method according to the invention, Fig. 2 a schematic representation of a system according to the invention, Fig. 3 a schematic representation to visualize different speed thresholds and Fig. 4 A schematic representation for visualizing different parameterizations.

[0028] In the following figures, identical reference numerals are used for the same technical features even for different embodiments.

[0029] In Fig. Figure 1 shows the process steps of a method according to the invention for carrying out a parking space detection in a parking aid 2 of a vehicle 1.

[0030] In Fig. Figure 2 shows the corresponding system according to the invention with a processing device 5 for carrying out the process steps. According to a first process step, a vehicle speed 201 is detected 101. Subsequently, a comparison 102 of the detected vehicle speed 201 is performed with at least one speed threshold 202 in order to determine whether the (detected) vehicle speed 201 exceeds the speed threshold 202. Then, depending on the comparison 102, an active accelerator pedal 3 of the vehicle 1 is controlled 103 in order to inform the driver of the vehicle 1 of the detected exceedance.

[0031] The at least one speed threshold 202 can comprise at least two different speed thresholds 202a, 202b, which are specific for different operating states of the parking aid 2. This is in Fig. 3 and Fig. Section 4 provides further details. If the vehicle speed 201 exceeds a first speed threshold 202a, the parking aid 2 can switch to a first operating state in which parking space detection is temporarily deactivated and automatically reactivated when the vehicle speed 201 falls below the first speed threshold 202a again. Furthermore, if the vehicle speed 201 exceeds a second speed threshold 202b, the parking aid 2 can switch to a second operating state in which the automatic reactivation of parking space detection is deactivated, where the second speed threshold 202b is higher than the first speed threshold 202a. The execution of the control signal 103 can include initiating at least one feedback pulse 210 depending on the operating state of the parking aid 2.Furthermore, the parameterization of the vibration pulses 210 can be carried out with regard to a pulse duration 211 and / or a pulse count 212 and / or a pulse intensity 213 and / or a pulse pause 214. Thus, as in . Fig. As shown in Figure 4, different vibration impulses 210a, 210b are provided for different operating states.

[0032] In Fig. Figure 3 shows that when the vehicle speed 201 exceeds the first speed threshold 202a, the feedback pulses 210, in particular vibration pulses 210, with a first pulse intensity 213a and a first pulse duration 211a are initiated by the control unit 103 for the first operating state. In the first operating state, the parking aid 2 can be in standby mode, and the search for parking space detection can be terminated or suspended. During parking space detection, for example, parking spaces are measured using the sensors of the vehicle 1, and it is checked whether the parking space is suitable for parking. However, this can no longer be reliably done from the first speed threshold 202a onwards. This is communicated by the feedback pulses 210.Subsequently, if the vehicle speed 201 exceeds the second speed threshold 202b, the feedback pulses 210 with a second pulse intensity 213b and a second pulse duration 211b for the second operating state can be initiated by means of control 103. This signals that the parking aid 2 is deactivated.

[0033] In Fig.Figure 4 shows that further parameters of the feedback pulses 210 can also be varied. The pulse intensity 213 over time t is shown. When switching to the first functional state, initial feedback pulses 210a can be initiated, which have a lower pulse intensity 213a and / or a shorter pulse duration 211a and / or a lower number of pulses 212a and / or longer pulse pauses 214a than the second feedback pulses 210b, which are initiated when switching to the second functional state. For example, three feedback pulses 210b can be provided for the second functional state according to the number of pulses 212b, and only two feedback pulses 210a for the first functional state according to the number of pulses 212a. The pulse intensity 213b for the second functional state can also be higher than for the first functional state. Conversely, the pulse pause 214b for the second functional state can be shorter and the pulse duration 211b longer.

[0034] The preceding explanation of the embodiments describes the present invention solely by way of examples. Naturally, individual features of the embodiments can be freely combined with one another, provided this is technically feasible, without departing from the scope of the present invention. Reference symbol list 1 vehicle 2 Parking aid 3 active accelerator pedal 5 Processing device 101 Recording 102 Comparison 103 Control 201 Vehicle speed 202 Speed ​​limit 202a first speed threshold 202b second speed threshold 210 Feedback pulse, vibration pulse 210a Feedback pulses for the first functional state 210b Feedback pulses for the second functional state 211 Pulse duration 211a Pulse duration for the first functional state 211b Pulse duration for the second functional state 212 pulse count 212a Number of pulses for the first functional state 212b Number of pulses for the second operating state 213 Impulse intensity 213a Pulse intensity for the first functional state 213b Pulse intensity for the second functional state 214 Impulse break 214a Pulse pause for the first functional state 214b Pulse pause for the second functional state t time

Claims

[1] Method for performing a parking space detection in a parking aid (2) of a vehicle (1), wherein the following steps are carried out: - Performing a recording (101) of a vehicle speed (201), - Performing a comparison (102) of the recorded vehicle speed (201) with at least one speed threshold (202) to determine whether the vehicle speed (201) exceeds the speed threshold (202), - Performing a control (103) of an active accelerator pedal (3) of the vehicle (1) depending on the comparison (102) in order to inform a driver of the vehicle (1) of the detected exceedance, wherein at least one speed threshold (202) comprises at least two different speed thresholds (202) which are specific for different operating states of the parking aid (2), and wherein the control (103) of the accelerator pedal is designed to communicate the operating states differently to the driver. [2] Method according to claim 1, characterized by , that the speed threshold (202) is implemented as a maximum search speed for parking space detection, wherein, upon successful detection of a parking space, automated parking into the parking space is provided by the parking aid (2), wherein, upon detection of exceeding the speed threshold (202) by the vehicle speed (201), the parking space detection is deactivated until the speed threshold (202) is again undercut by the vehicle speed (201). [3] Method according to any one of the preceding claims, characterized by , that when the vehicle speed (201) exceeds a first speed threshold (202), the parking aid (2) switches to a first operating state in which the detection of parking spaces is temporarily deactivated, and is automatically reactivated when the vehicle speed (201) falls below the first speed threshold (202) again, and that when a second speed threshold (202) due to the vehicle speed (201) the parking aid (2) switches to a second operating state in which the automatic reactivation of the parking space detection is deactivated, where the second speed threshold (202) is higher than the first speed threshold (202). [4] Method according to any one of the preceding claims, characterized by , that performing the control (103) includes the following step: - Initiating at least one feedback pulse (210) comprising at least one movement and / or vibration pulse (210) of the accelerator pedal (3) to provide the driver with haptic feedback to communicate the detected exceedance. [5] Method according to claim 4, characterized by , that performing the control (103) includes the following step: - Performing parameterization of the feedback pulse (210) depending on a functional state of the parking aid (2). [6] Method according to claim 5, characterized by , that at least two different speed thresholds (202) are provided, and the parameterization is carried out differently depending on the determination of which of the speed thresholds (202) has been exceeded. [7] Method according to any one of claims 4 to 6, characterized by, that the parameterization is carried out with regard to a pulse duration (211) and / or a pulse number (212) and / or an intensity of the vibration pulses (210). [8] Method according to any one of the preceding claims, characterized by , that in addition to the control (103) of the accelerator pedal (3) depending on the comparison (102) a message is displayed to the driver. [9] System comprising a processing device (5) for carrying out the steps of a method according to any one of claims 1 to 8.

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