Method and device for parking a vehicle in a garage

Abstract

The present invention relates to a method and a device for parking a vehicle (10) in a garage (20), wherein the method comprises: a first step for determining a parking specification which represents a desired positioning and / or orientation of the vehicle (10) at a parking position (30) within the garage (20) with respect to the garage (20), a second step for detecting at least such an area of ​​the garage (20) by means of a sensor (40) which is closest to the vehicle (10) in the parking direction (15) of the vehicle (10), a third step for determining a driving lane (50) within the garage (20) that can be traversed by the vehicle (10) based on the area detected by the sensor (40), a fourth step for determining a trajectory for a parking operation of the vehicle (10) in the garage (20),wherein the trajectory lies within the determined driving path (50) and the vehicle (10) is enabled, when using the trajectory, to achieve the parking target for the vehicle (10) as closely as possible, and a fifth step for automated and / or semi-automated parking of the vehicle (10) in the garage (20) using the trajectory.

Description

State of the art

[0001] The present invention relates to a method and a device for parking a vehicle in a garage.

[0002] Vehicles are known from the state of the art that have a parking and / or maneuvering function that allows the vehicle to drive into and out of a garage independently. This function is typically remotely controlled, with a driver outside the vehicle controlling the process via a mobile device (e.g., a smartphone, etc.).

[0003] Driver control is typically limited to enabling the parking and / or maneuvering function and / or activating forward and / or reverse driving, with the actual lateral and / or longitudinal guidance of the vehicle occurring automatically via a parking control unit and / or a comparable vehicle control unit. The functions operable by the driver can be set, for example, via suitable control elements (e.g., virtual buttons, etc.) on the mobile device.

[0004] Such a function can be used particularly advantageously in connection with particularly narrow garages, where getting in and out of the vehicle in a parked position within the garage is significantly difficult or impossible. Disclosure of the invention

[0005] According to a first aspect of the present invention, a method for parking a vehicle in a garage is proposed. The vehicle is preferably a road vehicle such as a car, a van, a bus, or a truck, and the garage is, for example, a home garage for a single vehicle or for a plurality of vehicles. Furthermore, the term "garage" should also be understood to include parking garages and / or multi-storey car parks and / or similar structures, in which similar, particularly cramped, conditions may be encountered as in a home garage.

[0006] In a first step of the method according to the invention, a parking specification is determined which represents a desired positioning and / or orientation (i.e. a rotation or angle of the vehicle in relation to the garage) of the vehicle at a parking position within the garage with respect to the garage. The parking specification, which can also be regarded as a parking strategy for the vehicle, is intended in particular to offer the option of specifically parking the vehicle at a position and / or with an orientation in the garage which deviates from a standard position and / or orientation in the prior art. Such a standard position is, for example, a position in which the lateral distances between the vehicle and boundaries of the garage (e.g. garage walls, objects within the garage, etc.) are identical to the west.Alternatively, it is possible, for example, that the standard position results from an initial position of the vehicle in relation to the garage, i.e. that the vehicle is positioned in a lateral orientation closer to a left garage post than to a right garage post before executing a parking method known from the prior art in order to reach a specific parking position within the garage.

[0007] It should be noted that the parking position is not intended to be a fixed specification of a specific area within the garage, but rather a general position where the vehicle is preferably located completely within the garage, so that, for example, a garage door and / or other garage openings can be closed. Rather, the parking position is determined indirectly through the implementation of the parking specification, which is described later.

[0008] The parking specification according to the invention is intended to specify an individually adjustable parking target, allowing the vehicle to be flexibly positioned within the garage, regardless of the vehicle's initial position and / or a central parking position within the garage. This can, for example, make getting in and out easier by maintaining a greater distance from the garage's boundaries on the driver's side when the vehicle is parked than on the passenger side. Furthermore, it is possible to park the vehicle in such a way that access to any existing garage door remains accessible, etc.

[0009] By specifying a specific orientation at the parking position within the garage, it is explicitly intended to enable the vehicle to be parked diagonally relative to the garage walls, in addition to the usual parallel orientation, in order to enable or facilitate entry and exit, for example.

[0010] Furthermore, the manner and / or gradations when specifying the parking specification are generally not restricted. In a simple form, it is conceivable, for example, that only rough specifications are set regarding the positioning and / or orientation of the vehicle in the parking position, for example by parkeding the vehicle “as far to the right or left as possible” and / or “as far forward or backward as possible” within the garage. Furthermore, arbitrary gradations such as “20% closer to the left side than to the right side of the garage” and / or distances to respective boundaries within the garage, etc. could be specified. A similar procedure can be used with regard to the orientation of the vehicle in the parking position, for example by using a specification such as “slightly or strongly turned to the right or left with respect to the garage and / or existing obstacles”, etc. This allows, among other things,ensure that the vehicle aligns itself as closely as possible to existing obstacles or “hooked up” to them.

[0011] Options for entering and / or specifying the respective parking specifications will be discussed in more detail in the course of the description of advantageous embodiments. In principle, the parking specification can be determined, for example, by querying a vehicle's memory unit containing the parking specification and / or receiving a signal representing the parking specification within the vehicle's electrical system.

[0012] In a second step of the method according to the invention, at least one area of ​​the garage that is closest to the vehicle in the parking direction of the vehicle is detected by means of a sensor system. The parking direction is therefore to be understood as a direction in which the vehicle must be moved to reach the parking position within the garage, regardless of whether the vehicle is to be parked forwards or backwards into the garage. Accordingly, the method according to the invention does not require complete detection of the garage up to the parking position, which means that the method can also be implemented, for example, with a sensor system with a short range. What is crucial is that an area in front of the vehicle can be detected to such an extent that the parking process can begin.More distant, initially undetectable areas can then be detected and evaluated as the vehicle gradually approaches the parking position. It is particularly advantageous if the sensors are designed and / or arranged in such a way that at least the left and right boundaries of the garage entrance can be detected initially.

[0013] In a third step of the method according to the invention, a driving path within the garage that can be driven through by the vehicle is determined on the basis of the area detected by the sensors. The determination of the driving path, which is determined, for example, by garage walls and / or obstacles such as objects stored in the garage, is advantageously carried out on the basis of methods for object recognition known from the prior art and / or methods deviating therefrom. The driving path determined in this way therefore represents the area within the garage that can be driven through without collision and / or has objects that can be driven over. It is understood that, depending on the range of the sensors or the depth and / or width and / or height of the detected area of ​​the garage, the driving path can initially only represent a partial section of the entire required driving path until the parking position is reached, which may then be extended.must be gradually expanded when driving into the garage. It should be noted that the driving path can in principle be restricted to an area of ​​the garage which is actually required with regard to the implementation of the parking specification. For example, when parking in a double garage, the driving path does not need to include the area of ​​a parking space next to the parking space currently being used. Furthermore, it is advantageously possible to ensure compliance with one or more predefined minimum distances between the vehicle and boundaries and / or obstacles in the garage when determining the driving path. This will be explained in more detail below in the course of the description of advantageous embodiments of the inventions. It should also be noted that when determining the driving path, it is not necessarily necessary to determine continuous boundary lines representing the driving path.Instead, it is conceivable that only non-driveable areas and / or boundaries of the garage are identified and taken into account appropriately in the fifth step.

[0014] In a fourth step of the method according to the invention, a trajectory for parking the vehicle in the garage is determined. The trajectory lies within the determined driving path, and using the trajectory enables the vehicle to achieve the parking specifications for the vehicle as closely as possible. Particularly preferably, the vehicle's geometry is taken into account when determining the trajectory, as this can have a limiting effect on the determination of the trajectory. Alternatively or additionally, it is possible to consider the vehicle's geometry when determining the driving path in the fourth step.

[0015] In a fifth step of the method according to the invention, the determined trajectory is used for automated and / or semi-automated parking of the vehicle in the garage in order to reach the parking position.

[0016] The method according to the invention, as described above, enables a targeted arrangement of the vehicle in the garage, which, for example, facilitates or enables entry and exit of the vehicle and / or optimizes the use of the garage and / or maintains a function of the garage (for example, by maintaining access through a pedestrian door / side door, etc.). This results in, among other things, greater flexibility and greater convenience compared to the parking function provided by the prior art.

[0017] The subclaims show preferred developments of the invention.

[0018] Further preferably, the parking specification is determined based on a current and / or previously saved user input and / or a default specification. A default specification is, for example, a specification that is suitable for a variety of garage types and / or vehicle types without further individual adjustment and is defined, for example, with regard to the greatest possible freedom of movement in the area of ​​a driver's door and / or other areas of the vehicle.Alternatively or additionally, it is possible to determine the parking specification based on information about a location of the vehicle, for example by determining on the basis of the location information that the garage to be used for the parking process was entered by the vehicle at an earlier point in time and that a parking specification used at the earlier point in time was stored in a memory unit of the vehicle and / or a memory unit located away from the vehicle, so that the parking specification used at the earlier point in time can be used again. This use occurs, for example, automatically or after it has been suggested to a user of the vehicle and confirmed by them. Furthermore, alternatively or additionally, the parking specification can be determined based on information about the condition of the garage.This information can be determined automatically, for example, by automatically identifying objects and / or doors and / or windows in the garage that are to be kept clear by default based on the recorded area of ​​the garage and taking this into account.

[0019] Advantageously, the user input is made via a mobile device that is informationally linked to the vehicle and / or via a user interface of the vehicle. The mobile device is designed, for example, as a mobile phone, in particular a smartphone, a smartwatch, a tablet computer, or similar, and is connected, for example, via a mobile radio connection and / or a WLAN connection, etc., to a wireless communication device of the vehicle. This offers the advantage that the method according to the invention can also be carried out when a user of the vehicle is outside the vehicle while the parking process is being carried out. The user interface of the vehicle is designed, for example, as a touchscreen and / or a voice recognition system and / or a button and / or a keypad, etc.Particularly advantageously, the user input is based on an app (application software) of the mobile device and / or the user interface of the vehicle, wherein in both cases a pure initiation of the parking process by entering the parking instructions and a subsequent start of an otherwise fully automated parking process as well as a partially automated parking process is possible, in which the user manually controls a forward and / or backward movement along the trajectory, for example via the mobile device and / or the user interface of the vehicle. Preferably, the user only indicates whether the vehicle should move forward or backward. The actual longitudinal guidance, i.e. determining the extent of acceleration and / or braking, is advantageously carried out automatically.

[0020] In an advantageous embodiment of the present invention, the sensor system comprises an ultrasonic sensor and / or a radar sensor and / or a lidar sensor and / or a camera. Alternatively or additionally, the sensor system is a sensor system of the vehicle itself and / or a sensor system provided away from the vehicle (e.g., a surveillance camera in the garage). Further alternatively or additionally, the sensor system is a sensor system of a mobile terminal, wherein the mobile terminal is used, for example, in such a way that the user of the vehicle enters the garage before parking and, using the mobile terminal, takes a 360-degree recording inside the garage, which is transmitted to the vehicle in order to carry out the method according to the invention on the basis of the area of ​​the garage thus detected.

[0021] It is also advantageous to repeatedly detect the area of ​​the garage, determine the driving path, and determine the trajectory during the parking process. This allows the garage to be successively detected, for example, in a case where the sensor system has a short range, in order to be able to carry out the parking process up to the parking position. Furthermore, the repeated execution of these process steps enables the determination of an optimized trajectory or parking position of the vehicle, since boundaries and / or obstacles within the garage can be detected more precisely due to the changing perspective during entry.

[0022] In a further advantageous embodiment of the present invention, the vehicle is moved at least partially in the opposite direction to the parking direction before and / or during the parking maneuver, in an automated and / or semi-automated manner, in order to adapt the driving path and / or trajectory in the direction of the parking position based on currently sensor-detected information about the garage before continuing the parking maneuver. This can be advantageously used, for example, if the desired parking position could not initially be optimally reached because, for example, certain information about the boundaries of the garage and / or about obstacles in the garage was only detected and / or recorded with sufficient accuracy at a late point in the parking maneuver.By at least partially reversing the vehicle and taking into account currently acquired information about the garage, a trajectory and thus an optimized parking position can be determined and reached in accordance with the parking specifications. This process can be performed automatically or after confirmation by a vehicle user, who can be provided with a suggestion for improving the parking position via a user interface. Preferably, approaching the parking position is carried out with as few driving movements and / or maneuvers as possible in order to keep the parking process as short as possible.

[0023] When determining the driving path, it is particularly preferable to ensure that predefined minimum lateral distances between the vehicle and the garage's boundaries and / or objects within the garage are maintained. These minimum distances, which can be identical or different for the left and right sides of the vehicle, are, for example, predefined safety distances that must always be maintained to avoid damage to the vehicle. Alternatively or additionally, these minimum distances can be adjusted by a vehicle user, allowing, for example, the parking position to be specified more precisely in a lateral direction.

[0024] Further preferably, the parking position is additionally determined based on predefined minimum distances in the longitudinal direction of the vehicle with respect to the boundaries of the garage and / or objects located in the longitudinal direction of the vehicle. As with the lateral minimum distances, these can be predefined safety distances and / or distances adjustable by a user, for example, to allow for more precise specification of the parking position in the longitudinal direction.

[0025] In a further advantageous embodiment of the present invention, the method further comprises a step for determining a suitable starting position for the vehicle in front of the garage for the parking maneuver based on the parking specification and / or information about the garage, and a step for automatically approaching the starting position and / or for issuing a recommended action for manually approaching the starting position to a user of the vehicle before carrying out the parking maneuver. In this way, optimized compliance with the parking specification or the associated parking position can be achieved because the vehicle is already brought into an advantageous starting position before the parking maneuver. If access to the garage is particularly restricted, the parking specification may not be met or may only be met inaccurately without these steps.In addition, the optimized starting position makes it possible to reduce the number of required driving moves and / or maneuvers.

[0026] According to a second aspect of the present invention, a device for parking a vehicle in a garage is proposed. The device has an evaluation unit, which is designed, for example, as an ASIC, FPGA, processor, digital signal processor, microcontroller, or similar, and can be a component of an existing control unit or a standalone control unit of the vehicle. Furthermore, it is conceivable for the evaluation unit to be arranged away from the vehicle and, for example, to be designed as a cloud server or similar. The evaluation unit is based, for example, on a computer program or similar.configured to determine a parking specification which represents a desired positioning and / or orientation of the vehicle at a parking position within the garage with respect to the garage, to detect at least one area of ​​the garage which is closest to the vehicle in the parking direction of the vehicle by means of a sensor system, to determine a driving path within the garage which can be driven through by the vehicle on the basis of the area detected by the sensor system, to determine a trajectory for a parking process of the vehicle in the garage, wherein the trajectory lies within the determined driving path and the vehicle is enabled, when the trajectory is used, to achieve the parking specification for the vehicle as far as possible, and to park the vehicle in the garage in an automated and / or semi-automated manner using the trajectory. Short description of the drawings

[0027] Embodiments of the invention are described in detail below with reference to the accompanying drawings. In the drawing: Fig. 1 is a schematic view of a vehicle having a device according to the invention for parking the vehicle in a schematically illustrated garage; and Fig. 2 an exemplary app for a smartphone for the semi-automatic control of the Fig. 1 shown parking process of the vehicle in the garage. Embodiments of the invention

[0028] Fig. 1 shows a schematic view of a vehicle 10 having a device according to the invention for parking the vehicle 10 in a schematically shown garage 20.

[0029] The device comprises an evaluation unit 90 embodied as a CPU, which is configured to execute a method according to the invention for parking the vehicle 10 in the garage 20. For this purpose, the evaluation unit 90 is configured to determine a parking specification, which represents a desired positioning and / or orientation of the vehicle 10 at a parking position 30 within the garage 20 with respect to the garage 20.

[0030] The parking instruction is entered here via a smartphone 60 of a driver of vehicle 10, which is informationally linked to vehicle 10 via a wireless communication connection. The parking instruction entered here, as an example, by the driver stipulates that vehicle 10 be parked as close as possible to the left side wall of garage 20 and / or as close as possible to objects 70 on the left side of the vehicle. Furthermore, the parking instruction stipulates that the minimum distances A1, A2, A3, A4 entered by the driver are to be maintained during the parking process and at the parking position.

[0031] The evaluation unit 90 is further configured to detect at least one area of ​​the garage 20 that is closest to the vehicle 10 in the parking direction 15 of the vehicle 10 using a sensor system 40 of the vehicle 10. The sensor system 40 is designed here as an ultrasonic sensor, whereby a plurality of ultrasonic sensors can advantageously be used in the front area of ​​the vehicle 10 for this purpose; these sensors are not shown here for reasons of clarity.

[0032] Based on the area detected by the sensor system 40 and based on the parking specification, the evaluation unit 90 is further configured to determine a starting position 80 suitable for the parking process for the vehicle 10 in front of the garage 20 and to output a recommended course of action for manually approaching the starting position 80 to the driver of the vehicle 10 before carrying out the parking process. Fig. 1 shows a state in which the vehicle 10 has already been brought into the proposed starting position 80, which is particularly suitable for achieving the parking requirement with as few driving movements and / or shunting steps as possible.

[0033] The evaluation unit 90 is further configured to determine a travel path 50 within the garage 20 that can be traveled by the vehicle 10 based on the area detected by the sensor system 40. The travel path 50 is accordingly determined by the boundaries 22 and objects 70 present in the garage 20.

[0034] Furthermore, the evaluation unit 90 is configured to determine a trajectory for a parking process of the vehicle 10 in the garage 20, wherein the trajectory lies within the determined driving path 50 and the vehicle 10 is enabled, when using the trajectory, to achieve the parking specification for the vehicle 10 as far as possible.

[0035] In this case, it is possible for the vehicle 10 to be moved at least partially in the opposite direction to the parking direction 15 during the execution of the parking process in an automated and / or semi-automated manner in order to adapt the driving path 50 and the trajectory in the direction of the parking position 30 on the basis of currently sensor-detected information about the garage 20 before continuing the parking process in order to achieve the parking specification as optimally as possible or to approach it as closely as possible.

[0036] Finally, the evaluation unit 90 is configured to park the vehicle 10 in the garage 20 in an automated and / or semi-automated manner using the trajectory until the parking position 30 is reached at which the parking specification is achieved in the best possible manner.

[0037] Fig. 2 shows an example app for a smartphone 60 for the semi-automatic control of the Fig. 1 shown parking process of the vehicle 10 in the garage 20.

[0038] Using the control elements 100, 100', it is possible to permit a rotation of the vehicle 20 relative to an interior space and / or relative to objects in the garage 20 as part of the parking procedure, in order to bring the vehicle as close as possible (i.e., while maintaining predefined safety distances) to structures of the garage and / or objects within the garage in the area of ​​the parking position. In other words, these control elements 100, 100' can be used to specify the side of the vehicle with which the vehicle should snuggle as closely as possible to objects and / or structures of the garage on this side (left or right) by means of a corresponding rotation.

[0039] Using the control elements 110, 110', it is possible to set a lateral displacement of the vehicle 20 with respect to the interior of the garage 20 as part of the parking specification.

[0040] Using the control elements 120, 130, it is possible to move the vehicle 10 forwards or backwards to carry out the parking process, whereby the vehicle 10 during such a movement always moves along the previously determined trajectory for the parking process (see description of Fig. 1). In other words, the vehicle 10 is configured to automatically adjust the steering of the vehicle 10 depending on a respective position along the trajectory.

[0041] The control element 140 functions here as a so-called dead man's device, which must be permanently actuated during the parking process of the vehicle 10 in order to move the vehicle 10 forward or backward in order to ensure that the vehicle 10 does not continue to drive uncontrollably if the driver loses contact with the smartphone 60 or can no longer monitor and control the parking process for other reasons.

Claims

[1] Method for parking a vehicle (10) in a garage (20) comprising: - a first step for determining a parking specification which represents a desired positioning and / or orientation of the vehicle (10) at a parking position (30) within the garage (20) with respect to the garage (20), - a second step for detecting at least one area of ​​the garage (20) by means of a sensor system (40) which is closest to the vehicle (10) in the parking direction (15) of the vehicle (10), - a third step for determining a driving path (50) within the garage (20) that can be driven by the vehicle (10) on the basis of the area detected by the sensor system (40), - a fourth step for determining a trajectory for a parking operation of the vehicle (10) in the garage (20), wherein the trajectory lies within the determined driving path (50) and the vehicle (10) is enabled, when using the trajectory, to achieve the parking specification for the vehicle (10) as far as possible, and - a fifth step for automated and / or semi-automated parking of the vehicle (10) in the garage (20) using the trajectory. [2] Method according to claim 1, wherein the parking specification is based on - a current and / or previously saved user input, and / or - a standard specification, and / or - information about a location of the vehicle (10), and / or - information about the condition of the garage (20) is determined. [3] Method according to claim 2, wherein the user input is - a mobile terminal (60) coupled to the vehicle (10) by means of information technology, and / or - a user interface of the vehicle (10). [4] Method according to one of the preceding claims, wherein the sensor system (40) - has an ultrasonic sensor and / or a radar sensor and / or a lidar sensor and / or a camera, and / or - a sensor system (40) of the vehicle (10), and / or - a sensor system (40) provided away from the vehicle (10), and / or - a sensor system (40) of a mobile terminal (60). [5] Method according to one of the preceding claims, wherein the detection of the area of ​​the garage (20), the determination of the driving path (50) and the determination of the trajectory are carried out repeatedly during the parking process. [6] Method according to one of the preceding claims, wherein the vehicle (10) is moved at least partially against the parking direction (15) in an automated and / or semi-automated manner before and / or during the execution of the parking process in order to adapt the driving path (50) and / or the trajectory in the direction of the parking position (30) on the basis of currently sensor-detected information about the garage (20) before continuing the parking process. [7] Method according to one of the preceding claims, wherein, when determining the travel path (50), compliance with predefined lateral minimum distances (A1, A3) of the vehicle (10) to boundaries (22) of the garage (20) and / or to objects (70) within the garage (20) is ensured. [8] Method according to one of the preceding claims, wherein the parking position (30) is additionally determined as a function of predefined minimum distances (A2, A4) in the longitudinal direction of the vehicle (10) with respect to boundaries (22) of the garage (20) and / or objects (70) lying in the longitudinal direction of the vehicle (10). [9] Method according to one of the preceding claims, further comprising: - a step for determining a starting position (80) suitable for the parking process for the vehicle (10) in front of the garage (20) on the basis of the parking specification and / or information about the garage (20), and - a step for automatically approaching the starting position (80) and / or for issuing a recommended action for manually approaching the starting position (80) to a user of the vehicle (10) before carrying out the parking process. [10] Device for parking a vehicle (10) in a garage (20) comprising an evaluation unit (90), wherein the evaluation unit (90) is arranged - to determine a parking specification which represents a desired positioning and / or orientation of the vehicle (10) at a parking position (30) within the garage (20) with respect to the garage (20), - to detect at least one area of ​​the garage (20) by means of a sensor system (40) which is closest to the vehicle (10) in the parking direction (15) of the vehicle (10), - to determine a driving path (50) within the garage (20) that can be driven by the vehicle (10) on the basis of the area detected by the sensor system (40), - to determine a trajectory for a parking operation of the vehicle (10) in the garage (20), wherein the trajectory lies within the determined driving path (50) and the vehicle (10) is enabled, when using the trajectory, to achieve the parking specification for the vehicle (10) as far as possible, and - to park the vehicle (10) in the garage (20) in an automated and / or semi-automated manner using the trajectory.

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