Devices and methods for the automated parking of a vehicle, vehicle with a device for automated parking

Abstract

Devices and methods for the automated parking of a vehicle (101), wherein a trajectory, particularly one that serves as a reference, is determined for parking the vehicle (101), wherein a target position and orientation are received from a charging infrastructure (100) for wirelessly charging a battery of the vehicle (101), wherein, depending on the trajectory and the target position and orientation, a modified trajectory is determined that terminates at the target position and orientation, and wherein the vehicle (101) is parked automatically at the target position and orientation using the modified trajectory. Vehicle (101) with a device for automated parking.

Description

[0001] The invention relates to devices and methods for automated parking of a vehicle and to a vehicle with a device for automated parking.

[0002] US 20200192362 A1 discloses aspects of positioning a motor vehicle in a charging position on a charging plate.

[0003] The devices and methods according to the independent claims enable an automated parking process based on a manually trained trajectory with automatically optimized positioning and orientation or position for charging.

[0004] A method for the automated parking of a vehicle provides that a trajectory for parking the vehicle, in particular one that is useful for reference, is determined, wherein a preferably ideal target position and target orientation is received from a charging infrastructure for wirelessly charging a battery of the vehicle, wherein a modified trajectory is determined depending on the trajectory and depending on the particularly ideal target position, which ends at the particularly ideal target position, and wherein the vehicle is automatically parked with the modified trajectory in the particularly ideal target position and target orientation. The particularly reference-useful trajectory is a reference trajectory that can be followed automatically. This is, for example, manually learned. The trajectory and parking position may deviate from the ideal target position to a certain extent, since this could be left behind during the automated departure as a basis for optimization.

[0005] Preferably, the trajectory is learned in a manual parking process of the vehicle or is received from a server in which the trajectory learned in a manual parking process of another vehicle is stored or is received from a parking infrastructure in which the trajectory learned in a manual parking process of the vehicle (101) or of another vehicle is stored.

[0006] Preferably, a particularly ideal position and in particular ideal orientation of a free charging plate for wirelessly charging the battery is detected via a direct communication interface, in particular via wireless LAN or a transmission protocol within a specific transmission radius and / or with at least one sensor of the vehicle, in particular a camera or corner radar, a LiDAR sensor or an ultrasonic sensor. In a calculation unit located in the vehicle (control unit), the vehicle position / orientation is evaluated in relation to the ideal position and ideal orientation of one or more free charging plates and an ideal trajectory for approaching these is determined. This calculation can, but does not have to, use a known manually learned trajectory for the specific charging plate and determine a modified trajectory for the automated approach to the ideal charging position depending on the vehicle position and orientation.The modified trajectory enables an adaptation of the manually trained trajectory to the charging plate, adapted to local conditions, positioning inaccuracies due to the manual drive to the charging plate, and furthermore, in particular, a search for an alternative free charging plate if a charging plate specified by the manually learned or received trajectory cannot be parked or is not available.

[0007] Preferably, the position of an obstacle is detected using at least one sensor of the vehicle, in particular a camera or corner radar, a LiDAR sensor, or an ultrasonic sensor. The modified trajectory avoids a collision of the vehicle with the obstacle and is determined depending on the position of the obstacle. This allows obstacles to be effectively avoided.

[0008] A method for automated parking of a vehicle provides for coupling a vehicle to a charging infrastructure for wirelessly charging a vehicle battery. A target position and target orientation for the vehicle, in particular a relative position and orientation of the charging plate to the vehicle, are determined and sent to the vehicle. The charging infrastructure thus enables the vehicle to determine the modified trajectory in order to optimally and automatically approach the charging plate, taking into account the parking position to be reached, the vehicle positioning and vehicle orientation parameters.

[0009] A device for automated parking of a vehicle provides that the device is designed to park the vehicle automatically and to execute the method for automated parking in the vehicle. Furthermore, this process involves covering additional distances, for example, several hundred meters, which can be understood as a transfer journey along a trajectory.

[0010] A device for automated parking of a vehicle provides that the device is designed to charge the vehicle wirelessly and to carry out the method for automated parking in the charging infrastructure.

[0011] A vehicle which comprises the device for automated parking of the vehicle, which is designed to park the vehicle automatically and to carry out the method for automated parking in the vehicle, has corresponding advantages.

[0012] Further advantageous embodiments can be seen from the following description and the drawing. The drawing shows: Fig. 1 supervision of a charging infrastructure and a vehicle, Fig. 2 a schematic representation of an architecture of devices for automated parking, Fig. 3 a schematic representation of a first (training / reference) trajectory from a manual parking process with manually approached communication radius of the charging plate, Fig. 4 a schematic representation of a first modified trajectory of automated parking, Fig. 5 a schematic representation of a second trajectory and a second modified trajectory for automated parking, Fig. 6 a sequence diagram with steps of automated parking methods.

[0013] In Fig. 1 shows a schematic plan view of a parking lot with charging infrastructure 100 and a vehicle 101.

[0014] The charging infrastructure 100 and the vehicle 101 can be wirelessly coupled to one another within a known communication area 102, which is not necessarily designed as a circular radius, but can also be designed, for example, to be directed towards the roadway, starting from the charging infrastructure 100, for the exchange of information about the parking space with charging infrastructure and information relevant to the charging process, such as, in particular but not limited to, position and orientation.

[0015] The charging infrastructure 100 includes a charging plate 103 for wirelessly charging a battery of the vehicle 101.

[0016] The vehicle 101 is designed for automated parking on the charging plate 103.

[0017] A trajectory 105 for automated parking is shown in Figure 1. The vehicle 101 can be configured to detect a position of the charging plate 103 depending on a sensor, in particular a camera or a corner radar, a LiDAR sensor or an ultrasonic sensor of the vehicle 101, and to determine the trajectory for automated parking depending on the detected position in order to enable guidance of the vehicle 101 along the trajectory 105 to the ideal charging position and orientation of the vehicle 101 on the charging plate 103. The vehicle 101 can be configured to learn the trajectory for automated parking, in particular during a manual parking process, and to modify it when optimization potential is detected in such a way that guidance of the vehicle 101 along the trajectory 105 to the ideal charging position and orientation of the vehicle 101 on the charging plate 103 is enabled.The vehicle 101 can be designed to receive the trajectory for automated parking, in particular from a parking infrastructure, and to modify it when optimization potential is detected so that the route guidance of the vehicle 101 along the trajectory 105 enables the ideal charging position and orientation of the vehicle 101 on the charging plate 103.

[0018] The vehicle 101 can be configured to detect obstacles and determine a modified trajectory to avoid the obstacles. Figure 1 shows a point mass, e.g., of radar points. The vehicle 101 is configured, for example, to determine obstacles depending on the point mass. Instead of the point mass, it can also detect lines from camera detection with the camera, or objects and parking spaces from an ultrasound perception of the ultrasonic sensor, or objects from LiDAR sensor data processing along the trajectory. The obstacles are extracted, e.g., as a coherent static map. The manual trajectory is stored in relation to this map and used as a reference.It may be provided to use the map to locate the obstacles and / or the vehicle 101 and / or the charging plate 103 with GPS, or to compare landmarks or markers located in the map (artificially introduced or natural) with the real environment and thus derive a location of the vehicle 101 in the map or relative to the map coordinate system.

[0019] The vehicle 101 is designed to detect the position of the charging plate 103, at the end or along the trajectory, particularly but not necessarily exclusively within the direct communication range 102, and to park automatically over the charging plate 103.

[0020] Charging occurs when the vehicle 101 is coupled to the charging infrastructure 100 and parked in a suitable position and with a suitable orientation. In the suitable position and orientation, the charging plate 103 is arranged in an area below the vehicle 101. An inaccurate position or orientation reduces the charging efficiency and can be used to achieve a desired or specifically adjustable lower charging power consumption of the vehicle 101. These parameters can be set via the charging control of the vehicle 101.

[0021] In the example, the target position is a relative position and orientation of the loading plate 103 to the vehicle 101.

[0022] The charging infrastructure 100 is configured to determine a target position and orientation for the vehicle 101 and send it to the vehicle, in which the vehicle 101 is charged with optimal efficiency or an adjustable behavior can be set in the event of a non-optimal target position and orientation through the automated parking process. The vehicle 101 is configured to determine a modified trajectory, depending on the trajectory, with which the vehicle 101 is parked in the target position and orientation.

[0023] This allows for optimization of the position and orientation in which the vehicle 101 is parked and thus optimization of the charging efficiency or a targeted adjustment thereof.

[0024] In Fig. Figure 2 shows a schematic diagram of an architecture of devices for automated parking.

[0025] The vehicle 101 comprises at least one sensor 200, in particular a camera 201, an ultrasonic sensor 202, a LiDAR sensor, a radar sensor 203 and a global satellite navigation system 204.

[0026] The vehicle 101 comprises a device 205 for automated parking. The device 205 for automated parking comprises a device 206 for mapping the surroundings of the vehicle 101 based on signals 207 from at least one sensor 200. The device 205 for automated parking comprises a device 208 for determining a trajectory 209 and a device 210 for automatically following the trajectory 209.

[0027] The device 205 for automated parking comprises a device 211 for coupling and communicating with the charging infrastructure 100, in particular via WLAN, and for determining a modified trajectory 212 depending on the trajectory 209 and a target position and target orientation 213.

[0028] The device 205 for automated parking comprises a device 214 for automatically following the changed trajectory 212. It can be provided that the device 214 for automatically following the changed trajectory 212 determines the changed trajectory 212 to avoid a collision with an obstacle depending on at least one sensor signal 215 from at least one sensor 200, in particular as described for the trajectory 209.

[0029] The charging infrastructure 100 comprises a device 216 for coupling and communicating with the vehicle 101, in particular via WLAN.

[0030] The charging infrastructure 100 comprises a device 217 for authenticating the vehicle 101 for charging.

[0031] The charging infrastructure 100 comprises a device 218 for determining the target position and target orientation 213. The device 218 for determining the target position and target orientation 213 is designed to determine the target position and target orientation 213 for the vehicle 101, in particular a relative position of the charging plate 103 to the vehicle 101, and to send it to the vehicle 101.

[0032] In Fig. 3 shows a first trajectory 300, e.g., a manually driven or received reference for the subsequent automated parking. The first trajectory 300 is recorded, e.g., during manual parking. Crucial for subsequent optimization as an automated parking process based on this is that the driver hits the vehicle 100 within a parameterizable deviation range 301 of, e.g., approximately 0.5 meters above the target position and within a parameterizable deviation range of, e.g., 30 degrees from the target orientation of the charging plate 103.

[0033] In Fig. 4 shows a first modified trajectory 302 for automated parking. The first modified trajectory 302 is determined as a function of the first trajectory 301 and is modified at the end, for example, within the deviation range 301. In the example, the modified trajectory 302 ends at the ideal target position and target orientation provided by the charging infrastructure 100.

[0034] In Fig. 5, a second trajectory 500 and a second modified trajectory 501 for automated parking in a deviation area 502 in which the vehicle 101 can detect the charging plate 103 are schematically shown.

[0035] The second modified trajectory 501 deviates from the second trajectory 500 within the area 502 and hits 103 in target position and target orientation.

[0036] In Fig.Figure 6 shows a sequence diagram with steps of automated parking methods.

[0037] In a step 600, a trajectory, e.g., the first trajectory 300 or the first trajectory 500, is determined for parking the vehicle 101.

[0038] For example, the trajectory is learned in a manual parking process, or a trajectory learned in a manual parking process is received from another vehicle or a server, e.g. a vehicle backend in which the trajectories of fleet vehicles are stored or from a parking infrastructure.

[0039] It can be provided that in step 600, a trajectory modified from the learned or received trajectory is determined. For example, a position and orientation of a free charging plate 103 for wirelessly charging the battery is detected by the at least one sensor 200 of the vehicle 101, and the modified trajectory is determined depending on the position and orientation.

[0040] In a step 601, the vehicle 101 is coupled to the charging infrastructure 100 for wirelessly charging the battery of the vehicle 101.

[0041] In step 602, a target position and target orientation for the vehicle 101 are determined. The target position is determined by the charging infrastructure 100. For example, a relative position of the charging plate 103 to the vehicle 101 is determined.

[0042] In a step 603, the target position is transmitted from the charging infrastructure 100 to the vehicle 101.

[0043] In a step 604, a modified trajectory is determined depending on the trajectory or the modified trajectory, and depending on the target position and target orientation. This modified trajectory ends at the target position and with the target orientation. For example, the first modified trajectory 301 or the second modified trajectory 501 is determined.

[0044] It can be provided that the position of an obstacle is detected with the at least one sensor 200, and the modified trajectory avoids a collision of the vehicle with the obstacle. This means that the modified trajectory is determined depending on the position of the obstacle.

[0045] In a step 605, the vehicle 101 with the changed trajectory is automatically parked in the target position and target orientation.

[0046] In addition to optimizing the target position and target orientation at the end of the trajectory, the method also includes, if necessary, a search for a parking space with a suitable charging plate 103. This means that there is an automated turning from the learned or received trajectory to a modified trajectory, which leads to an optimal charging position and charging orientation on a charging plate that has been passed or is to be passed.

[0047] The method may also include parallel evaluation of the environment and collision avoidance.

[0048] In one example, the method is carried out under the supervision of a driver of vehicle 101. This means that the driver can initiate the method upon returning to a starting area, e.g., a garage or supermarket parking lot. The localization of the charging plate 103 and the parking process are automated in the method.

[0049] Monitoring can be performed in the vehicle 101 or after leaving the vehicle 101 using a dead man's switch, e.g., in an application on a mobile device, in particular a mobile phone. This means that the vehicle 101 parks automatically as long as the driver operates the dead man's switch as intended, and stops otherwise. QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] US 20200192362 A1

[0002]

Claims

[1] Method for automated parking of a vehicle (101), characterized by in that a trajectory (300, 500) for parking the vehicle (101), in particular one which is useful for reference, is determined (600), wherein a target position and target orientation are received (603) from a charging infrastructure (100) for wirelessly charging a battery of the vehicle (101), wherein a modified trajectory (301, 501) is determined (604) depending on the trajectory (300, 500) and depending on the target position and target orientation, which trajectory ends at the target position and target orientation, and wherein the vehicle (101) is automatically parked in the target position and target orientation with the modified trajectory (301, 501) (605). [2] Method according to claim 1, characterized bythat the trajectory (300, 500) is learned in a manual parking process of the vehicle (101) or received from a server in which the trajectory learned in a manual parking process of another vehicle is stored or is received (600) from a parking infrastructure in which the trajectory learned in a manual parking process of the vehicle (101) or of another vehicle is stored. [3] Method according to one of the preceding claims, characterized bythat a position and orientation of a free charging plate (103) for wirelessly charging the battery is detected via a direct communication interface, in particular via wireless LAN or a transmission protocol in a specific transmission radius and / or with at least one sensor (200) of the vehicle (101), in particular a camera (201) or a radar (202) or a LiDAR sensor or an ultrasonic sensor (203), and the changed trajectory (301, 501) is determined depending on the position (600). [4] Method according to one of the preceding claims, characterized by that a position of an obstacle is detected with at least one sensor (200) of the vehicle (101), in particular a camera (201) or a radar (202) or a LIDAR sensor or an ultrasonic sensor (203), wherein the changed trajectory (301, 501) avoids a collision of the vehicle (101) with the obstacle and is determined depending on the position of the obstacle (604). [5] Method for automated parking of a vehicle (101), characterized by that a vehicle (101) is coupled (601) to a charging infrastructure (100) for wirelessly charging a battery of the vehicle (101), wherein a target position and target orientation for the vehicle (101), in particular a relative position and orientation of the charging plate (103) to the vehicle (101), is determined (602) and sent to the vehicle (101) (603). [6] Device (205) for automated parking of a vehicle (101), characterized by that the device (205) is designed to park the vehicle (101) automatically and to carry out the method according to one of claims 1 to 4. [7] Device (100) for automated parking of a vehicle (101), characterized by that the device (100) is designed to charge the vehicle (101) wirelessly and to carry out the method according to claim 5. [8] Vehicle (101), characterized bythat the vehicle (101) comprises the device (205) according to claim 6.

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