Method and device for assisting the execution of a parking maneuver

Abstract

A device for assisting a vehicle in performing a parking maneuver is described. The device is designed to detect the vehicle's intention to perform a parking maneuver and to initiate at least one action aimed at keeping and / or clearing the maneuvering area for the parking maneuver.

Description

[0001] The invention relates to a method and a corresponding device designed to enable a comfortable and reliable parking maneuver of a motor vehicle.

[0002] A vehicle may have one or more driver assistance systems designed to automatically guide the vehicle longitudinally and / or laterally. In particular, the vehicle may include a maneuvering assistant, such as a parking assistant, designed to perform an automated maneuvering maneuver, especially an automated parking maneuver.

[0003] This document addresses the technical challenge of achieving a particularly comfortable and reliable maneuvering maneuver, especially parking maneuvers, of a vehicle.

[0004] The problem is solved by each of the independent claims. Advantageous embodiments are described, inter alia, in the dependent claims. It should be noted that additional features of a claim dependent on an independent claim, without the features of the independent claim itself or only in combination with a subset of the features of the independent claim, can constitute a separate invention independent of the combination of all features of the independent claim, which can be made the subject of an independent claim, a divisional application, or a subsequent application. This applies equally to technical teachings described in the description, which can constitute an invention independent of the features of the independent claims.

[0005] According to one aspect, a device for assisting the execution of a parking maneuver of a (motor) vehicle is described. The parking maneuver may be designed to guide the vehicle backwards from the road (on which the vehicle is driving or has driven) into a parking space. The parking maneuver may include at least one section in which the vehicle reverses on the road against the direction of travel. It is possible that the parking maneuver may be obstructed by one or more other road users (e.g., one or more other vehicles) following the vehicle on the road.

[0006] The device is designed to detect the vehicle's intention to perform a parking maneuver. In other words, it can detect that the vehicle will (at least with a certain probability) soon perform a parking maneuver.

[0007] The intention to perform the parking maneuver can be detected, for example, by a device in the vehicle, based on - a activated turn signal of the vehicle; - from navigation data of a vehicle's navigation system (especially based on the destination of a planned route); - an activated driver assistance system of the vehicle for performing parking maneuvers; - of an engaged gear, in particular an engaged reverse gear, of the vehicle's transmission; - a parking space detected by the vehicle's activated driver assistance system; - a parking maneuver already selected for execution; and / or - a pre-recorded parking maneuver.

[0008] Alternatively or additionally, the intention to carry out the parking maneuver of the vehicle can be detected, e.g., by a device of another (possibly directly following) road user, based on - of the detected, activated turn signal of the vehicle; - the (relatively low) driving speed of the vehicle; - an activated light, in particular an activated reversing light, of the vehicle; - a parking space detected by a driver assistance system of the other road user (into which the vehicle may wish to park); - map data relating to the road travelled by the vehicle (which, for example, can rule out a turning maneuver by the vehicle); and / or - a car-to-car message sent by the vehicle and received by the other road user, which specifies in particular the location and / or one or more dimensions (e.g. the length and / or width) of the maneuvering area required for the parking maneuver.

[0009] The device is further configured to effect at least one action aimed at keeping and / or clearing the (required) maneuvering area for carrying out the parking maneuver. The maneuvering area can be the area of ​​the road surface that the vehicle sweeps over during the parking maneuver. The at least one action can, for example, be aimed at causing the other road user to reverse in order to clear the maneuvering area, and / or causing the other road user to drive past the maneuvering area.

[0010] The at least one measure may include, in particular, sending a (car-to-car) message to at least one other (possibly directly following) road user in the vicinity of the vehicle, aimed at inducing the other road user to keep the maneuvering area clear and / or to clear it. The other road user may, in particular, be instructed to reverse in order to clear the maneuvering area and / or to drive around the maneuvering area.

[0011] By providing a driver assistance system designed to keep or clear the maneuvering area for a parking maneuver, particularly comfortable and reliable parking maneuvers can be made possible.

[0012] The device can be configured to determine the maneuvering area, in particular its (spatial) position and / or one or more dimensions (e.g., length and / or width), for the parking maneuver based on sensor data from one or more environmental sensors, in particular sensor data from at least one camera and / or at least one radar sensor and / or at least one lidar sensor. The driving trajectory of the parking maneuver can be taken into account when defining the maneuvering area. This can further increase the reliability of the parking maneuver.

[0013] The device can be configured to detect when a blockage situation exists, where another road user is prevented from reversing to clear the maneuvering area. This other road user may be positioned behind the first road user in relation to the direction of travel. In response to the detected blockage, a car-to-car message can be sent to the other road user, prompting them to resolve the blockage, specifically by reversing. This further enhances the reliability of the parking maneuver.

[0014] Alternatively or additionally, the device can be configured (e.g., as part of the other road user's system) to detect a blockage situation where the other road user is prevented from reversing to clear the maneuvering area. In response to the detected blockage, a car-to-car message can be sent to the vehicle, prompting it to resolve the blockage, specifically to move forward in the direction of travel to allow the other road user to pass the maneuvering area. This further enhances the reliability of the parking maneuver.

[0015] The device can be configured to automatically guide the vehicle longitudinally and / or laterally to perform the parking maneuver. This allows for a particularly convenient parking maneuver.

[0016] According to another aspect, a (road) motor vehicle (in particular a passenger car or a truck or a bus or a motorcycle) is described that includes the device described in this document.

[0017] According to another aspect, a procedure for supporting the execution of a parking maneuver by a (motor) vehicle is described. The procedure includes recognizing the vehicle's intention to perform a parking maneuver. In other words, it can be recognized that a parking maneuver is imminent. If necessary, the parking space into which the vehicle is to be, or is being, parked can also be identified.

[0018] The procedure further includes taking at least one measure aimed at keeping and / or clearing the maneuvering area for the parking maneuver. The maneuvering area required for the parking maneuver can be determined. Then, one or more measures can be taken to keep or clear the determined maneuvering area.

[0019] Another aspect described is a software (SW) program. The SW program can be configured to run on a processor (e.g., on a vehicle's control unit) and thereby execute the procedure described in this document.

[0020] Another aspect describes a storage medium. This storage medium can include a software program configured to run on a processor and thereby execute the procedure described in this document.

[0021] It should be noted that the methods, devices, and systems described in this document can be used both alone and in combination with other methods, devices, and systems described in this document. Furthermore, any aspect of the methods, devices, and systems described in this document can be combined with one another in a variety of ways. In particular, the features of the claims can be combined with one another in a variety of ways. Features listed in parentheses are to be understood as optional features.

[0022] The invention will now be described in more detail using exemplary embodiments. Fig. 1a Exemplary components of a vehicle; Fig. 1b an example parking situation of a vehicle; Fig. 2a an exemplary maneuvering area for a parking maneuver; Fig. 2b an exemplary evasive maneuver by a vehicle; and Fig. 3. A flowchart of an exemplary procedure to assist in carrying out a parking maneuver.

[0023] As stated at the outset, this document deals with increasing the comfort and / or reliability when performing a maneuvering operation, particularly a parking maneuver, of a vehicle. In this context, it shows Fig. 1a An exemplary vehicle 100 with one or more environmental sensors 102, each configured to acquire sensor data (also referred to as environmental data) relating to the environment of the vehicle 100. Examples of environmental sensors 102 are a camera, a radar sensor, a lidar sensor, an ultrasonic sensor, etc.

[0024] A (control) device 101 of the vehicle 100 can be configured to evaluate environmental data, e.g., to detect one or more objects (e.g., other vehicles) in the vicinity of the vehicle 100. The device 101 can further be configured to effect automated longitudinal and / or lateral control of the vehicle 100 based on the environmental data, in particular based on the one or more detected objects. For this purpose, one or more longitudinal and / or lateral control actuators 103 (e.g., a drive motor, a braking device, and / or a steering device) of the vehicle 100 can be controlled.

[0025] Fig. Figure 1b shows an example parking situation in which vehicle 100 is to be reversed into a parking space 120. The (control) device 101 of vehicle 100 can be configured to detect the parking space 120 based on sensor data from one or more environmental sensors 102. The parking space 120 can be detected, for example, while vehicle 100 is driving past it.

[0026] The (control) device 101 can further be configured to determine a target trajectory for the parking maneuver into the detected parking space 120. Furthermore, the one or more actuators 103 of the vehicle 100 can be controlled to guide the vehicle 100 (with automated longitudinal and / or lateral guidance) along the determined target trajectory into the parking space 120.

[0027] The parking maneuver, or more generally, the maneuvering maneuver, can be blocked by another road user 110, in particular by another vehicle. As a result, the vehicle 100 may not be able to park in the identified parking space 120. The (control) device 101 can be configured to take one or more measures to ensure that no other road user 110 is in the maneuvering area required for the maneuvering maneuver of the vehicle 100. In particular, it can be ensured that no other road user 110 enters the maneuvering area before or during the maneuvering maneuver. Alternatively or additionally, it can be ensured that a road user 110 who is already within the maneuvering area moves out of the maneuvering area.

[0028] Fig. Figure 2a shows an example of a maneuvering area 200 for the parking maneuver of vehicle 100. The (control) device 101 of vehicle 100 can prevent road user 110 from entering the maneuvering area 200 or prevent road user 110 from exiting the maneuvering area 200. Alternatively or additionally, as shown in Fig. 2b shows that this causes road user 110 to pass by shunting area 200 (see trajectory 210).

[0029] It can therefore happen that following traffic 110 blocks the parking maneuver of vehicle 100. A parking scenario can be recognized (by vehicle 100 and / or by following traffic participant 110). The following traffic participant 110 then keeps the necessary space 200 clear for the parking maneuver or creates the necessary space 200. This can be achieved by one or more of the following measures (possibly also in combination): • The vehicle 100 sends a request (e.g., a car-to-car message) to the following road user 110 (e.g., via a communication unit 105 and / or a wireless communication connection). If the vehicle 100 detects that a parking maneuver is imminent, a signal can be actively sent to the following road user 110. The detection of a parking situation can be made via the activated turn signal and / or navigation data from the vehicle 100's navigation system, via an open parking view in the vehicle 100's user interface 104, and / or by a specifically selected parking maneuver of a driver assistance system. • The following road user 110 can independently assess the parking situation. The road user 110 can then independently decide how the maneuvering area 200 can be kept clear or cleared for the parking operation. The following road user 110 can assess the parking situation based on one or more of the following criteria: - a set turn signal of the vehicle 100; - a relatively slow vehicle speed of 100; - Map data relating to the road travelled by vehicle 100 (e.g. to exclude a turning maneuver by vehicle 100); - Receipt of a car-to-car communication message sent by vehicle 100.

[0030] The appropriate measure to keep the required maneuvering area 200 clear may depend on the width of the road, on possible oncoming traffic and / or on the subsequent traffic.

[0031] While the vehicle's driver assistance system (100) is actively searching for a parking space, the following traffic (110) can be notified that a parking maneuver is planned. This allows the following traffic (110) to maintain an appropriate maneuvering distance. Alternatively or additionally, the following traffic (110) can be instructed to perform an overtaking maneuver and / or a lane change.

[0032] If the following road user 110 blocks the parking maneuver, it can be requested and / or implemented that road user 110 reverses in order to exit the maneuvering area 200. Alternatively or additionally, the following road user 110 can be requested and / or implemented to overtake and / or change lanes to bypass the maneuvering area 200.

[0033] It can happen that the following vehicle (110) is itself blocked by another following vehicle and therefore cannot clear the maneuvering area (200) by reversing. It can be arranged (e.g., via a car-to-car message) that all following vehicles reverse in a coordinated manner to clear the maneuvering area (200).

[0034] In general, the scenarios described in this document can also occur independently of a parking scenario, for example in a relatively narrow alley and / or when double-parked. For instance, the system can detect that the vehicle in front is in reverse (100). As soon as the reversing lights are detected, the following road user (110) can reverse accordingly, maintain a safe distance, or overtake.

[0035] Fig.Figure 3 shows a flowchart of a (possibly computer-implemented) procedure 300 to support the execution of a parking maneuver by a (motor) vehicle 100. The procedure 300 can be carried out by the vehicle 100. Alternatively or additionally, the procedure 300 can be carried out by a following road user 110.

[0036] Procedure 300 includes recognizing 301 the intention to perform a parking maneuver of vehicle 100. The parking maneuver may, for example, be aimed at parking vehicle 100 in reverse into a parking space 120.

[0037] Procedure 300 further includes the effect of 302 at least one measure aimed at keeping the maneuvering area 200 clear and / or clearing it for the purpose of carrying out the parking maneuver.

[0038] The measures described in this document can result in a particularly comfortable and reliable parking maneuver for a vehicle 100.

[0039] The present invention is not limited to the embodiments shown. In particular, it should be noted that the description and the figures are intended only to illustrate the principle of the proposed methods, devices, and systems by way of example.

Claims

[1] Device (101) for assisting the execution of a parking maneuver of a vehicle (100); wherein the device (101) is arranged - to detect an intention to perform a parking maneuver of the vehicle (100); and - to effect at least one measure aimed at keeping and / or clearing a manoeuvring area (200) for carrying out the parking manoeuvre. [2] Device (101) according to claim 1, wherein the device (101) is part of the vehicle (100), and wherein the device (101) is configured to recognize the intention to perform the parking maneuver of the vehicle (100) on the basis of - a set indicator of the vehicle (100); - navigation data from a navigation system of the vehicle (100); - an activated driver assistance system of the vehicle (100) for carrying out parking maneuvers; - an engaged gear, in particular an engaged reverse gear, of a transmission of the vehicle (100); - a parking space (120) detected by a driver assistance system of the vehicle (100); - a parking maneuver already selected for execution; and / or - a pre-recorded parking maneuver. [3] Device (101) according to claim 1, wherein the device is part of another road user (110) in an environment of the vehicle (100), in particular in the direction of travel behind the vehicle (100), and wherein the device is configured to recognize the intention to carry out the parking maneuver of the vehicle (100) on the basis of - a detected, set indicator of the vehicle (100); - a driving speed of the vehicle (100); - an activated light, in particular an activated reversing light, of the vehicle (100); - a parking space (120) detected by a driver assistance system of the other road user (110); - map data relating to a road travelled by the vehicle (100); and / or - a message sent by the vehicle (100) and received by the other road user (110), which in particular indicates a position and / or one or more dimensions of the shunting area (200). [4] Device (101) according to one of the preceding claims, wherein the at least one measure comprises sending a message to at least one other road user (110) in an environment of the vehicle (100) which is designed to cause the other road user (110) to keep the manoeuvring area (200) clear and / or to clear it, in particular to cause the other road user (110), - reset to clear the shunting area (200); and / or - to drive past the shunting area (200). [5] Device (101) according to claim 4, wherein the device (101) is arranged - to recognize that a blockage situation exists in which the other road user (110) is prevented by another road user from reversing in order to clear the manoeuvring area (200); and - to send a message to the other road user aimed at instructing the other road user to resolve the blocking situation, in particular to instruct the other road user to reverse. [6] Device (101) according to one of claims 4 to 5, wherein the device (101) is established, - to detect that a blockage situation exists in which the other road user (110) is prevented from reversing in order to clear the manoeuvring area (200); and - to send a message to the vehicle (100) aimed at causing the vehicle (100) to resolve the blocking situation, in particular causing the vehicle (100) to move forward in the direction of travel in order to allow the other road user (110) to drive past the shunting area (200). [7] Device (101) according to one of the preceding claims, wherein the device (101) is configured to determine the maneuvering area (200), in particular a position and / or one or more dimensions of the maneuvering area (200), for the parking maneuver on the basis of sensor data from one or more environmental sensors (102), in particular on the basis of sensor data from at least one camera and / or at least one radar sensor and / or at least one lidar sensor. [8] Device (101) according to one of the preceding claims, wherein the device (101) is configured to automatically guide the vehicle (100) longitudinally and / or transversely to carry out the parking maneuver. [9] Device (101) according to one of the preceding claims, wherein the at least one measure comprises - reversing another road user (110) to clear the manoeuvring area (200); and / or - Another road user (110) passes the shunting area (200). [10] Device (101) according to one of the preceding claims, wherein - the parking manoeuvre is designed to guide the vehicle (100) backwards from a road into a parking space (120); and - the parking manoeuvre comprises at least one section in which the vehicle (100) reverses on the road against a direction of travel. [11] Method (300) for assisting the execution of a parking maneuver of a vehicle (100); the method (300) comprising - detecting (301) an intention to perform a parking maneuver of the vehicle (100); and - effecting (302) at least one measure aimed at keeping and / or clearing a maneuvering area (200) for carrying out the parking maneuver.

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