Method for steering a vehicle to a stored parking position when a desired parking position is occupied, as well as control device and system

Abstract

The invention relates to a method for steering a vehicle (10) to a stored parking position (15) when a desired parking position (13) is occupied. The method is carried out by means of a system that is connected to the vehicle's sensors. First, the vehicle's sensors determine that the desired parking position (13), where the vehicle (10) is to be parked, is occupied (6) and / or inaccessible. Then, at least one stored parking position (15) along with its associated trajectory (7) is retrieved. Subsequently, the vehicle (10) is steered to the retrieved stored parking position (15) according to a predefined parking criterion using the associated trajectory (7).

Description

[0001] The invention relates to a method for steering a vehicle to a stored parking position when a desired parking position is occupied, as well as a control device and a system.

[0002] Several suppliers and original equipment manufacturers (OEMs) already offer so-called trained parking functions (also known as memory parking or home zone parking). With this system, a user manually performs a desired parking maneuver or trajectory once, driving from any starting position of their vehicle to any desired parking position. The function, executed by a system, then saves the trajectory or route driven to the desired parking position in a training phase. Upon returning to the location of the saved parking maneuver or trajectory, the parking maneuver can then be (semi-)automatically executed by the function (the so-called replay phase).

[0003] The vehicle's position is determined using a localization approach or vehicle sensors (e.g., a sensor device for image processing from the front camera and / or top-view cameras and / or a radar sensor for capturing radar data and / or a global navigation satellite system). After the user has learned the path or trajectory and / or the associated parking position, and in particular after driving along it at least once, the (semi-)automated parking maneuver can be activated anywhere along the associated trained path or stored trajectory upon returning to the trained or stored parking position, in order to navigate to the associated stored parking position. Multiple parking spaces or parking positions with overlapping parking paths or trajectories can be trained or stored within an area or "location".It is also possible that different paths end at the same parking position.

[0004] With the offered functions, to start the parking maneuver—that is, the (semi-)automated driving along the trained trajectory to the parking position—the respective parking space or parking position and / or the associated trajectory must always be selected (e.g., via the name assigned by the user or system, such as TPA Home 1). The path or trajectory is then driven to its end (end of the trajectory), the corresponding trained or saved parking position. Therefore, these systems are designed so that if a target parking space or desired parking position is already occupied (e.g., in a double garage, the left parking space was trained but is occupied during the (semi-)automated parking maneuver), the parking process must be aborted by the system or the user.

[0005] The user must then manually end the parking process or use another assisted parking function. While the user can, in principle, train overlapping paths that each end in a different position, the ever-increasing trainable path or trajectory length (several hundred meters) often means that when selecting and activating the parking maneuver, it is not immediately apparent that the primary or desired parking position is occupied and that the user should therefore select a different path / parking space to an available parking position.

[0006] DE 10 2016 211 180 B4 describes a method and device for carrying out an automated journey of a vehicle.

[0007] The present invention is based on the objective of providing a method by which a vehicle can at least (partially) automatically steer itself towards a parking position when a desired parking position is occupied.

[0008] The problem is solved by the subject matter of the independent patent claims. Advantageous further developments of the invention are described by the dependent patent claims, the following description, and the figure(s).

[0009] The invention relates to a method for steering or guiding a vehicle to a (previously) stored or trained parking position when a desired parking position is occupied. The method performs the following steps by means of a system, wherein the system is connected to the vehicle's sensors: - when the vehicle's sensors determine that the desired parking position where the vehicle is to be parked is occupied and / or inaccessible, e.g. because another vehicle is parked there: - Retrieving or requesting at least one saved (or alternative) parking position along with its associated trajectory, - According to a predefined parking criterion: Steering the vehicle to the retrieved stored parking position using the associated trajectory.

[0010] The system can therefore retrieve at least one (previously) stored parking position (in particular, for example, the coordinates and / or the exact location of the at least one stored parking position where the vehicle, especially in a (semi-)automated manner, is to park). Additionally, the corresponding trajectory (i.e., the path or trajectory that the vehicle is to follow when driving to the stored parking position) can be retrieved. In particular, the coordinates and / or the steering angle and / or the speed that the vehicle has traveled during a so-called training phase can be retrieved. "Training phase" means that the vehicle has driven the trajectory to the corresponding parking position at least once. In other words, if an occupied, desired parking position is detected, an alternative parking position is sought, whereby the alternative parking position is already stored and / or stored in the system.

[0011] Alternatively, an occupied, desired parking position can be signaled manually by the user, e.g. by pressing a control element.

[0012] For example, a fully autonomous vehicle might want to park in a driveway, but another car or vehicle is blocking it. The system can detect the obstruction using the vehicle's sensors and steer the vehicle to a (previously) saved parking position, such as a nearby garage or parking garage. Depending on the vehicle's level of automation, the system thus offers at least a (partially) automated solution when a (desired) parking position is unavailable.

[0013] The invention also includes further developments that result in additional advantages.

[0014] According to a further training, the parking criterion includes receiving user input which, if at least two stored parking positions are retrieved, selects one of the stored parking positions. The user can therefore, particularly interactively, select one of the suggested parking positions and thereby cause the vehicle to (semi-)automatically drive to one of the selected stored parking positions. For example, two stored parking positions can be displayed on the system's display device: one on a parking deck and one in an underground garage. The user then selects, for example, the parking position in the underground garage via the display device, which then fulfills or defines the parking criterion.

[0015] According to further training, the parking criterion includes receiving user input which, if at least two stored parking positions are retrieved, sets or specifies a prioritization of these two positions. For example, two stored parking positions can be displayed on the system's display device: one on a parking deck and one in an underground garage. The user selects via the display device that the parking position in the underground garage should be prioritized. This ensures that the vehicle steers towards the user's preferred stored parking position, particularly in a (semi-)automated manner, and / or that the system provides its coordinates and / or position data to the user and / or a driver assistance system in the vehicle.

[0016] According to a training course, selection and / or prioritization is intended to be carried out via drag-and-drop or drag-and-drop using a display device within the system. This allows for easier selection and / or prioritization by providing an intuitive user interface.

[0017] According to further training, the parking criterion is to include steering the vehicle towards the nearest saved parking position. This will speed up the parking process.

[0018] According to further training, the parking criterion is to include steering the vehicle towards the largest saved parking position. In particular, this can reduce the risk of damage, e.g., dents or scratches to the user's own vehicle or other vehicles, as there is (more likely) sufficient space available for getting in and out and / or steering the vehicle.

[0019] According to a further development, the parking criterion includes steering the vehicle to the stored parking position based on a weighted combination of the shortest distance to the vehicle, the size of the alternative parking position, and / or the fewest maneuvers required by the vehicle. A person skilled in the art can implement a corresponding software code that calculates this weighted combination. By selecting the most suitable parking positions based on distance, size, and / or accessibility, the system can make the parking process more efficient.

[0020] According to a training course, when a vehicle reaches a parking position that is not yet stored in the system, the previously traveled trajectory for a predefined period (e.g., 10 seconds to 30 minutes) and / or distance (e.g., 1 meter to 1 kilometer) is linked to the parking position and stored in the system. In other words, a new end position or parking position can be defined and / or stored in the system, particularly without user intervention.

[0021] According to further training, the system periodically checks whether the vehicle is on the trajectory of a stored parking position. If so, the stored parking position associated with that trajectory is retrieved and / or the vehicle is steered towards it, particularly in a (semi-)automated manner. Thus, if the system recognizes the trajectory of a parking position (already known or stored) while driving along that path, it can steer the vehicle towards the corresponding or associated parking position, particularly in a (semi-)automated manner.

[0022] According to a further training program, it is planned that the system periodically checks whether the vehicle is located along the trajectory of a saved parking position. If so, the trajectory previously traveled over a predetermined time period and / or distance is linked to the trajectory associated with the saved parking position, thereby extending the saved parking position. This allows different trajectories or approaches to a parking position to be considered and / or saved or linked together.

[0023] According to a training course, a parking position is automatically saved in the system if it is determined that the vehicle remains in a specific location for a predetermined period, e.g., from 1 minute to 10 hours, and no other parking position has yet been saved for that location. Therefore, if the vehicle is parked in a new parking space for a specified duration and is switched off, the system automatically saves this parking position. This allows a parking position to be saved in the system without user intervention.

[0024] According to a training course, the user is expected to manually create and save a parking position by drawing lines and / or shapes on the display device, so that this is stored as a saved parking position in the system. For example, the user draws the outline of a parking position on the display device, e.g., in a warehouse, and the system then saves this as a parking position. This allows a parking position to be defined manually according to the user's requirements and / or individually.

[0025] According to further training, the vehicle's sensor system is designed to include an image processing system and / or radar sensor and / or ultrasonic sensor and / or laser scanner. This allows the vehicle's sensors to be used, in particular, to measure the size of the desired parking position and / or to check whether the desired parking position is occupied. Preferably, the image processing system can be configured to perform environmental sensing, for example, to identify an object such as another vehicle and / or an obstacle. This enables the system to assess in real time whether the desired parking position is free and / or suitable for the vehicle, and, for example, to adjust the parking maneuver accordingly.

[0026] For use cases or application situations that may arise during the procedure and are not explicitly described here, it may be provided that, according to the procedure, an error message and / or a request for user feedback is issued and / or a default setting and / or a predetermined initial state is set.

[0027] The invention also includes the control device for the system. The control device can comprise a data processing device or a processor circuit configured to perform an embodiment of the method according to the invention. For this purpose, the processor circuit can comprise at least one microprocessor and / or at least one microcontroller and / or at least one FPGA (Field Programmable Gate Array) and / or at least one DSP (Digital Signal Processor). In particular, a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), or an NPU (Neural Processing Unit) can be used as the microprocessor. Furthermore, the processor circuit can comprise program code configured to perform the embodiment of the method according to the invention when executed by the processor circuit. The program code can be stored in a data memory of the processor circuit.The processor setup can be based on at least one circuit board and / or at least one SoC (System on Chip).

[0028] The system can be designed as a vehicle and / or computer and / or smartphone.

[0029] The motor vehicle according to the invention is preferably designed as a motor vehicle, in particular as a passenger car or truck, or as a passenger bus or motorcycle.

[0030] As a further solution, the invention also includes a computer-readable storage medium comprising program code which, when executed by a computer or a computer network, causes it to execute an embodiment of the method according to the invention. The storage medium can be provided at least partially as a non-volatile data storage medium (e.g., as flash memory and / or as an SSD - solid state drive) and / or at least partially as a volatile data storage medium (e.g., as RAM - random access memory). The storage medium can be located within the computer or computer network. However, the storage medium can also be operated, for example, as an app store server and / or cloud server on the internet. The computer or computer network can provide a processor circuit with, for example, at least one microprocessor.The program code can be provided as binary code, assembly code, source code in a programming language (e.g., C), or a program script (e.g., Python). Alternatively, the computer-readable storage medium can be implemented as a signal containing computer-readable data, such as a time-varying voltage signal or a radio signal.

[0031] The invention also includes combinations of the features of the described embodiments. The invention therefore also includes realizations that each exhibit a combination of the features of several of the described embodiments, provided that the embodiments have not been described as mutually exclusive.

[0032] The following are exemplary embodiments of the invention described. This is illustrated by: Fig. 1 a schematic representation of an embodiment for steering a vehicle to a stored parking position when a desired parking position is occupied; Fig. 2 a schematic representation of retrieved stored parking positions; Fig. 3 a schematic representation of an embodiment for freely defining an alternative parking position; and Fig. 4 A schematic representation of an embodiment for adding an alternative starting position to an already stored parking position.

[0033] The exemplary embodiments described below are preferred embodiments of the invention. In these exemplary embodiments, the described components each represent individual features of the invention, which can be considered independently and each further develops the invention independently. Therefore, the disclosure is intended to include combinations of features of the embodiments other than those shown. Furthermore, the described embodiments can also be supplemented by further features of the invention already described.

[0034] In the figures, identical reference symbols denote functionally equivalent elements.

[0035] Fig. Figure 1 shows a schematic representation of an embodiment for steering a vehicle 10 to a stored parking position 15 when a desired parking position 13 is occupied. The figure shows a motor vehicle 10 that uses its vehicle sensors to determine that a desired parking position 13 is occupied. By retrieving at least one stored parking position 15, it can be determined where the vehicle 10 can be parked. In other words, an alternative parking position can be determined that can be reached by the vehicle 10 following a corresponding trajectory 7.

[0036] The embodiment can be carried out using a system that is connected to the vehicle's sensors. First, the vehicle's sensors can determine whether the desired parking position 13, where the vehicle 10 is to be parked, is occupied 6 and / or inaccessible. Then, at least one stored parking position 15, along with its associated trajectory 7, can be retrieved. Subsequently, the vehicle 10 can be steered to the retrieved stored parking position 15 using the associated trajectory 7, according to a predefined parking criterion.

[0037] The user can select one of the at least one retrieved saved parking position 15 in the HMI (Human Machine Interface) or a display device and / or cause the vehicle 10 to drive to the saved parking position 15. The user can also prioritize the saved parking positions.

[0038] Fig. Figure 2 shows an example of a schematic representation of retrieved stored parking positions 15.

[0039] Fig. Figure 3 shows a schematic representation of an embodiment for freely defining a parking position to be saved. This free definition can be carried out, for example, by drag-and-drop (Figure 8).

[0040] Additionally or alternatively, a parking position to be saved can be specified via the "Park Anywhere" concept.

[0041] Fig.Figure 4 shows a schematic representation of an embodiment for adding an alternative starting position to an already stored parking position 15. By linking a previously driven trajectory 7 with an already stored trajectory 7 for a predetermined time period and / or duration, the existing stored parking position 15 can be extended. This eliminates the need for a separate learning drive or training phase, as a section of the route or a previously driven trajectory can be automatically linked. Furthermore, the driver can seamlessly, or the vehicle 10 can independently, decide to park at a (suitable) alternative end position or stored parking position according to a predetermined parking criterion.

[0042] The described idea can also be applied to the starting position of the trained parking maneuver (offer of the replay phase). Under certain circumstances, the user might encounter the same path or trajectory 7 from different directions, for example, if they approach from the opposite direction of the access road. In this case, without the aforementioned idea, the user can only start the parking process (replay offer and then replay phase) once they actually enter trajectory 7, but not before.

[0043] If the user merges into the trained path or a previously saved trajectory 7, meaning they don't directly reach the starting position of the trained path, the function can save this route until it intersects with the already trained path and add this new segment to the trained path. This addition allows the user to start the parking process earlier the next time.

[0044] This can potentially reduce deadlock situations that the user has to resolve, since if the primary or desired parking position is blocked, the vehicle 10 can use intelligent maneuver planning to move to an alternative (known or stored) parking position, which is particularly relevant at higher levels of automation of the vehicle 10.

[0045] The user can therefore train a total of 15 alternative parking positions, which are then stored in the system as saved parking positions. This means the user doesn't have to record a completely new parking maneuver; instead, the already trained parking maneuver can be extended to include the alternative parking position(s).

[0046] If several saved parking positions 15 are available and the user recognizes during the parking maneuver that the desired parking position 13 is occupied, the user can seamlessly switch to an (already) saved parking position 15 via HMI interaction (without ending the function).

[0047] Through automatic, intelligent detection via the vehicle's sensors 10 (e.g., a sensor device for image processing from the front camera and / or top-view cameras and / or a radar sensor for capturing radar data and / or a global navigation satellite system), that the primary or desired parking position 13 is occupied, the function can actively offer the user the alternative or already saved parking position(s) 15 to switch to. After user confirmation, the vehicle can then park in the alternative parking position or the retrieved saved parking position 15.

[0048] Furthermore, the vehicle's sensors can automatically detect that the primary parking position is occupied and automatically switch to a (suitable) alternative parking position. Vehicle 10 can then park directly (without explicit user confirmation) in the alternative, trained, or saved parking position 15. This use case can be particularly relevant at higher levels of vehicle automation, as the user may no longer be able or required to intervene, for example, because they are no longer in or near vehicle 10. Intelligent maneuver planning allows the function to prioritize an alternative parking position. This can occur, for example, in the following cases: If other alternative parking positions have already been identified as blocked; by setting a priority by the user; Depending on the current vehicle position: The parking space that is easier to approach is chosen (taking into account factors such as the position of the vehicle 10 and / or the distance traveled and / or the number of necessary maneuvers).

[0049] For example, if the user drives in a trained parking environment and parks the vehicle 10 times at an end position (parking position to be saved), which does not correspond to a trained end position (stored parking position 15): a) The user may be offered the option to extend the existing trained parking maneuver to include the new or to be saved parking position as an alternative or saved parking position 15. b) The function can automatically extend the existing trained parking maneuver or the already stored trajectory 7 by adding the new end position or parking position to be stored as an alternative end position or stored parking position 15.

[0050] This can happen regardless of whether the user - drives fully manually within a known, trained parking environment, - is in a semi-automated parking maneuver within a known trained parking environment, - started a partially automated parking maneuver within a known trained parking environment and then aborted it to park the vehicle 10 in a new parking position or parking position to be saved.

[0051] Overall, the examples show how a method for determining alternative parking positions can be provided using a trained parking function. Reference symbol list 5 previously traveled trajectories 6 occupied 7 Trajectory 8 Drag-and-Drop 10 vehicles 13 desired parking positions 15 saved parking positions QUOTES INCLUDED IN THE DESCRIPTION

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

[0000] DE 10 2016 211 180 B4

[0006]

Claims

Method for steering a vehicle (10) to a stored parking position (15) when a desired parking position (13) is occupied, wherein the method performs the following steps by means of a system, the system being connected to the vehicle sensors of the vehicle (10): - upon determining by means of the vehicle sensors that the desired parking position (13) on which the vehicle (10) is to be parked is occupied (6) and / or unreachable: - retrieving at least one stored parking position (15) together with an associated trajectory (7), - according to a predefined parking criterion: steering the vehicle (10) to the retrieved stored parking position (15) by means of the associated trajectory (7). Method according to claim 1, wherein the parking criterion comprises receiving a user input which, if at least two stored parking positions (15) are retrieved, selects a stored parking position (15). Method according to one of the preceding claims, wherein the parking criterion comprises receiving a user input which, if at least two stored parking positions (15) are retrieved, sets or specifies a prioritization of the at least two stored parking positions (15). Method according to claim 2 or 3, wherein the selection and / or prioritization is carried out by means of drag-and-drop (8) via a display device of the system. Method according to one of the preceding claims, wherein the parking criterion comprises that the vehicle (10) is steered towards the nearest stored parking position (15). Method according to one of the preceding claims, wherein the parking criterion comprises that the vehicle (10) is steered towards the largest stored parking position (15). Method according to one of the preceding claims, wherein the parking criterion comprises steering the vehicle (10) to the stored parking position (15) taking into account a weighted combination of the shortest distance to the vehicle (10) and / or the size of the alternative parking position and / or the minimum number of moves required by the vehicle (10). Method according to one of the preceding claims, wherein when the vehicle (10) reaches a parking position that is not yet stored as a saved parking position (15) in the system, the trajectory (5) previously traveled for a predetermined period of time is linked to the parking position and stored as a saved parking position (15) in the system. Method according to one of the preceding claims, wherein it is periodically checked whether the vehicle (10) is in the course of a trajectory (7) of a stored parking position (15), and if this is the case, the stored parking position (15) associated with this trajectory (7) is retrieved and / or the vehicle (10) is steered towards it. Method according to one of the preceding claims, wherein it is periodically checked whether the vehicle (10) is in the course of a trajectory (7) of a stored parking position (15), and if this is the case, the trajectory (5) previously traveled for a predetermined time period and / or predetermined distance is linked with the trajectory (7) belonging to the stored parking position (15) and the stored parking position (15) is thereby extended. Method according to one of the preceding claims, wherein a parking position is stored as a saved parking position (15) in the system when it is determined that the vehicle (10) remains at a position for a predetermined period of time and no saved parking position (15) has yet been stored for the position data of the vehicle (10). Method according to one of the preceding claims, wherein the user manually creates and saves a parking position by placing lines and / or shapes on the display device, so that this is stored as a saved parking position (15) in the system. Method according to one of the preceding claims, wherein the vehicle sensor system comprises an image processing system and / or radar sensor and / or ultrasonic sensor and / or laser scanner. Control device, wherein the control device comprises a processor unit comprising program instructions which, when executed by the processor unit, cause it to perform a method according to one of the preceding method claims. System comprising a control device according to claim 14.

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