Vehicle with a parking assistance system

Abstract

The invention relates to a vehicle (3) with a fully or partially automated parking assistance system (5) with a control unit (7) which, during a parking operation, uses real-time sensor data (S E ), which can be provided by an in-vehicle sensor system (9), as well as based on the vehicle size stored in the control unit (7) (D F ) performs steering and / or movement control (8), wherein the vehicle (3) can be coupled to a trailer (4) to form a vehicle combination (1). To support a parking maneuver of the vehicle combination (1), the parking assistance system (5) includes a drone (13) by means of which the trailer size is sensorially determined as a trailer data set (D A ) detectable and stored in a database (19) of the parking assistance system (5). During the parking process of the vehicle combination (1), the control unit (7) uses - in addition to the real-time sensor data (S E) the vehicle's internal sensors (9) and the vehicle size stored in the parking assistance system (5) (D F ) - the trailer data set (D A ).

Description

[0001] The invention relates to a vehicle with a parking assistance system according to the preamble of claim 1, a vehicle combination according to claim 9, and a method for parking a vehicle according to claim 10.

[0002] A vehicle of this type features a fully or partially automated parking assistance system that, during a parking maneuver, uses real-time sensor data from the vehicle's internal sensors, as well as the vehicle's dimensions stored in the parking assistance system, to perform steering and / or movement control. Such a parking assistance system uses a combination of ultrasonic sensors and cameras to measure the distance to surrounding objects and optimize the vehicle's position within the parking space. Furthermore, the parking assistance system offers precise steering and movement control, which, however, is limited to the dimensions and sensor data of the towing vehicle. Such systems are well-suited for vehicles without trailers and meet the requirements for parking in urban and confined spaces.

[0003] For vehicles additionally equipped with a trailer hitch and used to tow a trailer occasionally or regularly, assistance functions have also been developed. In some cases, these include remote control of the towing vehicle for maneuvering the trailer, as described in US 2020 / 0393825 A1 and US 2020 / 0393826 A1. Such systems allow the user to control the vehicle remotely to overcome limitations in visibility and improve maneuverability. Furthermore, technical solutions are known that support parking using imaging and distance-measuring drones, such as DE 10 2016 008 553 B4. This involves using a drone to assist the vehicle in perceiving its surroundings, thus potentially facilitating the parking process.

[0004] However, the parking assistance system of this type is limited in its ability to precisely detect and account for trailer dimensions and complex vehicle combinations. When a trailer is coupled to a vehicle, the ultrasonic sensors and cameras used in the vehicle's sensor system often fail, as they can only detect the towing vehicle and its immediate surroundings. This leads to uncertainties, especially in tight or difficult parking situations, because the system is unable to reliably take the trailer's length and width into account.

[0005] German patent DE 11 2018 003 590 T5 discloses a path control device that is attached to either a vehicle or a drone and calculates the path a vehicle, or a vehicle and trailer, can take to a suitable parking space. A bird's-eye view of the parking space is provided by the drone, but the vehicle's dimensions are not measured by the drone; these must be provided and transmitted by the vehicle's system. Based on the images captured by the drone and the vehicle dimensions transmitted by the vehicle's system, suitable parking spaces can be calculated and presented to the driver for selection.

[0006] German patent DE 10 2016 215 301 A1 discloses a parking aid in which a drone is deployed from a vehicle and moves within a defined area above the vehicle to provide an actual, rather than virtual, bird's-eye view. The drone uses ultrasonic sensors to detect its position above the vehicle (for example, on the roof or hood), but does not measure the size of the vehicle.

[0007] US Patent 10,169,988 B2 discloses a driver assistance system that uses video surveillance to detect irregular driving behavior and, if a concern threshold is exceeded, dispatches a drone to assist the driver. The drone can be equipped with lights, cameras, speakers, and microphones to monitor the driver, attract their attention, and help them stop the vehicle or guide them to safety.

[0008] US Patent 10,713,945 B2 discloses a system in which a driver is guided to a suitable parking space. The desired parking area is monitored by an elevated camera, such as on a drone, and the information is then transmitted to the driver. The driver must register the size of the vehicle to be parked; measuring the vehicle's size is not part of the system.

[0009] US Patent 11,846,940 B2 discloses a parking assistance system in which a drone is deployed from a vehicle to monitor the parking area. This concept is primarily proposed for vehicles with trailers where the trailer is not equipped with driver assistance sensors.

[0010] The object of the invention is to provide a vehicle with a parking assistance system that enables efficient and comfortable parking of the vehicle compared to the prior art.

[0011] The problem is solved by the features of claim 1, 9 or 10. Preferred embodiments of the invention are disclosed in the dependent claims.

[0012] The invention relates to a vehicle with a fully or partially automated parking assistance system and a control unit. During a parking maneuver, this control unit performs steering and / or movement control based on real-time sensor data provided by in-vehicle sensors and the vehicle dimensions stored in the control unit. For specific applications, the vehicle can be coupled with a trailer to form a vehicle combination. According to the characterizing part of claim 1, the following measures are taken to support the parking maneuver of the vehicle combination: The parking assistance system includes a drone that can sensorially detect the trailer dimensions as a trailer data set and store this data in a database of the parking assistance system.During the parking maneuver of the vehicle combination, the control unit therefore uses the trailer data set in addition to the real-time sensor data from the vehicle's internal sensor and the vehicle size stored in the parking assistance system. Integrating the drone for sensor-based detection of the trailer size significantly increases the accuracy of the parking assistance system. The precise determination of the trailer dimensions enables accurate parking even with vehicle combinations and compensates for the limitations of conventional ultrasonic and camera sensors, which often fail when using trailers.

[0013] The parking process can be divided into the following phases, namely: - a parking space recognition system, in which the control unit determines the suitability of the parking space for parking the vehicle combination; and in - a parking maneuver in which the control unit performs the steering and / or movement control.

[0014] Dividing the parking process into parking space detection and the parking maneuver itself increases the efficiency and precision of the parking process. By separately detecting and evaluating the parking space beforehand, the system can reliably execute the parking process without interruption, thus increasing user-friendliness and preventing potential failures due to insufficient space.

[0015] In a technical implementation, the sensor-based detection of the trailer size by the drone can be carried out independently of the parking process. This way, no drone is used during the actual parking process, specifically during parking space detection and the parking maneuver itself. Decoupling the trailer data acquisition from the parking process offers the advantage that the system can operate in a prepared and resource-efficient manner without requiring drone support during the active parking process. This functionality reduces potential delays during parking and simultaneously conserves drone energy for other tasks.

[0016] In one specific implementation, drone support is not available during the parking maneuver of the vehicle combination. Foregoing drone support during active parking enhances the reliability and autonomy of the parking assistance system. This ensures the system remains robust and can operate reliably even without drone data, which is particularly advantageous in real-world parking environments with limited drone use.

[0017] The vehicle can be coupled to a trailer selected from a group containing a number of different trailer types. In this context, the parking assistance system can include a verification module. This module can perform a trailer check to determine whether a corresponding trailer data record is already stored in the parking assistance system's database. If such a corresponding trailer data record is already stored in the database, it can be transmitted to the control unit without requiring a drone to perform a new sensor scan of the selected trailer. The system's ability to recognize and adapt to different trailer types based on stored data records offers flexibility for users with various trailers, eliminating the need for repeated measurements.This reduces preparation time and increases user-friendliness, while ensuring parking accuracy for each specific trailer combination.

[0018] If, however, no such stored, correlating trailer data set exists in the database, the parking assistance system can prompt the vehicle user to perform a sensory scan of the selected trailer using the drone. This prompt for sensory scan when a trailer data set is missing ensures that the system always has current and accurate data. This is particularly useful for trailers that may have been modified between uses (for example, by the addition of extra equipment), thus ensuring high accuracy for the parking assistance system.

[0019] In a preferred embodiment, the test module can be equipped with vehicle-mounted sensors, particularly rear-mounted sensors. These sensors can detect the selected trailer. The test module compares the trailer data set generated by the vehicle-mounted sensors with the trailer data sets stored in the database. If a match is found, the test module transmits the corresponding trailer data set to the control unit. Integrating the vehicle-mounted sensors for trailer verification increases the system's redundancy and reliability by ensuring trailer identification even without the use of a drone. This provides the user with additional security and flexibility if the drone is unavailable and improves functionality under various operating conditions.

[0020] The drone can also be used in a dual capacity to sensorially detect the available space in a parking area. In this case, the parking space detection performed by the control unit can be based on the sensor-detected space, the overall size of the vehicle combination, and, if necessary, real-time sensor data generated by the vehicle's internal sensors. Using the drone to precisely detect the available parking space offers a significant advantage in tight or difficult-to-access parking areas. Based on these accurate measurements, the system can optimally analyze parking possibilities and precisely plan maneuvers, which is particularly helpful in complex parking situations.

[0021] In a specific embodiment, the drone can have a sensor module for spatial 3D mapping of the trailer and / or the vehicle's parking space. The sensor module can preferably be equipped with at least one camera and / or at least one distance sensor, preferably radar and / or LiDAR. Equipping the drone with such a 3D sensor module (for example, camera, radar, or LiDAR) significantly increases the quality and accuracy of the environmental data. This improves the recognition and adaptation to individual parking space conditions and increases the system's reliability during parking space searches and parking maneuvers.

[0022] The drone can be conveniently controlled by the vehicle operator using a vehicle-mounted control unit, particularly a touchscreen. The operator can use this control unit to select the object to be scanned and / or monitor the drone during operation. Controlling the drone via a touchscreen in-vehicle interface offers the user an intuitive and user-friendly experience. This allows the user to individually select the object to be scanned and monitor the drone during operation, thus increasing user-friendliness and fostering confidence in the automated functions.

[0023] Overall, the parking assistance system according to the invention enables precise execution of the parking process through the integration of drone and vehicle data, which ensures comprehensive environmental awareness. This method guarantees high parking accuracy, even under difficult conditions, and offers the user a reliable and comfortable parking experience.

[0024] An embodiment of the invention is described below with reference to the accompanying figures.

[0025] They show: Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7 to Fig. 8 different views, each illustrating the structure and function of the parking management system.

[0026] In the Fig. Figure 1 shows a vehicle combination 1 consisting of a vehicle 3 and a trailer 4. The vehicle 3 has a fully or partially automated parking assistance system 5 ( Fig. 4) on, with which a parking maneuver can be carried out, as described in the Fig. 2 and Fig. 3 is indicated. Accordingly, the parking process is divided into a parking space recognition ( Fig. 2), in which an in-vehicle electronic control unit 7 of the parking assistance system 5 determines the suitability of a parking space 25 for parking the vehicle combination 1, and initiates a parking maneuver ( Fig. 3), in which the control unit 7 is a steering and / or motion control 8 ( Fig. 4) carries out.

[0027] The structure and function of the parking assistance system 5 are explained below using the rough schematic block diagram in the Fig. 4 described. Accordingly, the signal inputs of the control unit 7 of the parking assistance system 5 are in signal connection with a vehicle-mounted sensor 9 and with a test module 11 described later. The parking assistance system 5 also includes a drone 13 with a sensor module 15 for the spatial 3D detection of the trailer 4. The sensor module 15 is equipped, by way of example, with a camera and with a distance sensor, preferably radar and / or LiDAR. The drone 13 can be controlled by the vehicle operator using a vehicle-mounted control element, in particular a touchscreen. The vehicle operator can use the control element to select the object to be detected by the sensors and to monitor the drone during operation.

[0028] The drone 13 supports the one in the Fig. 2 and Fig. The parking maneuver shown in section 3 is as follows: Using drone 13, the trailer size is represented three-dimensionally as a figure in the Fig. 5 suggested 3D model 17 sensorially captured. The trailer data set D A ( Fig. 4) of the 3D model 17 is accessed via a [missing information] in the Fig. 4. Wireless data connection to vehicle 3, shown with a dashed line, is transmitted and stored there in a database 19 of the parking assistance system 5. During the parking process ( Fig. 2 and Fig. 3) The vehicle combination 1 therefore uses the control unit 7 in addition to the real-time sensor data S E of the vehicle's internal sensor 9 and the data D F Regarding the vehicle size, the trailer data set D transmitted by drone 13 A .

[0029] A key aspect of the invention is that the sensor-based detection of the trailer size, carried out by the drone 13, takes place independently of the actual parking process. Therefore, there is no use of the drone during the parking process, that is, in particular during the parking space detection ( Fig. 2) and during the parking maneuver ( Fig. 3), required. Therefore, no drone support is provided during the parking maneuver of vehicle combination 1.

[0030] In one configuration, vehicle 3 allows the user to select a suitable trailer 4 from a number of different trailers within a trailer group. In this case, the vehicle user selects one of the trailers from the trailer group as needed and couples it to vehicle 3. Against this background, the parking assistance system 5 includes the test module 11. The test module 11 communicates with a rear sensor 21 of vehicle 3. During a trailer check performed by the test module 11, the selected (i.e., the coupled) trailer 4 is detected by the vehicle's rear sensor 21, and a trailer data record D is generated. Hgenerated by the selected trailer 4. In test module 11, the trailer data set D generated by the vehicle's rear sensor system 21 is processed. H with the trailer data records stored in database 19 D Ax compared to those that had already been generated by drone 13 and stored in database 19 in previous driving situations.

[0031] If the two data sets D match H and D Ax The test module 11 transmits the trailer data set D that correlates with the selected trailer 4. Ax to control unit 7. This uses the saved trailer data set D. Ax for controlling the parking process. In this case, therefore, no further sensory detection of trailer 4 by drone 13 is required.

[0032] However, if test module 11 detects that none of the stored trailer data records D Axwith the trailer data set D generated by the rear sensor system 21 H If the values ​​match, the control unit 7 generates a request in a vehicle display 23 to the vehicle user to perform a sensory detection of the selected trailer 4 using the drone 13, so that a trailer data set D can also be created for the selected trailer 4. Ax can be stored in database 19.

[0033] In another version, according to the Fig. 6. Using the drone 13, the available space in a parking space, in this case a garage 25, is sensorially detected. In this case, the parking space detection carried out by the control unit 7 ( Fig. 2) based on the sensor-detected available space, the overall size of the vehicle combination 1, and the real-time sensor data S generated by the vehicle's internal sensors 9 E be performed.

[0034] For example, the Fig. 7 a parking situation where garage 25 is too short for the vehicle combination 1, while in the Fig. 8 the length of the garage 25 is suitable for the length of the vehicle combination 1. REFERENCE MARK LIST: 1 vehicle combination 3 vehicles 4 trailers 5 Parking Assistance System 7 Control unit 8 Steering and / or motion control 9 vehicle-side sensors 11 Test module 13 Drone 15 Sensor module 17 3D model of trailer 4 19 database 21 Rear vehicle sensors 3 23 Vehicle display 25 parking spaces D A Trailer data record D H Trailer data record S E Real-time sensor data D F Data regarding vehicle size 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] US 2020 / 0393825 A1

[0003] US 2020 / 0393826 A1

[0003] DE 10 2016 008 553 B4

[0003] DE 11 2018 003 590 T5

[0005] DE 10 2016 215 301 A1

[0006] US 10,169,988 B2

[0007] US 10,713,945 B2

[0008] US 11,846,940 B2

[0009]

Claims

Vehicle (3) with a fully or partially automated parking assistance system (5) with a control unit (7) which, during a parking operation, performs steering and / or movement control (8) based on real-time sensor data (SE) provided by an in-vehicle sensor system (9) and on the vehicle size (DF) stored in the control unit (7), wherein the vehicle (3) can be coupled with a trailer (4) to form a vehicle combination (1), characterized in that, to support a parking operation of the vehicle combination (1), the parking assistance system (5) includes a drone (13) by means of which the trailer size can be sensorially detected as a trailer data set (DA) and stored in a database (19) of the parking assistance system (5).and that during the parking process of the vehicle combination (1), the control unit (7) uses the trailer data set (DA) in addition to the real-time sensor data (SE) from the vehicle's internal sensors (9) and the vehicle size (DF) stored in the parking assistance system (5). Vehicle (3) according to claim 1, characterized in that the parking process is divided into a parking space recognition, in which the control unit (7) determines the suitability of the parking space (25) for parking the vehicle combination (1); and into a parking maneuver, in which the control unit (7) performs the steering and / or movement control (8). Vehicle (3) according to claim 1 or 2, characterized in that the sensory detection of the trailer size carried out by means of the drone (13) can be carried out in a temporally decoupled manner from the parking process, so that no drone is used during the parking process, i.e. in particular during the parking space detection and during the parking maneuver, and / or that no drone support is provided during the parking process of the vehicle combination (1). Vehicle (3) according to one of the preceding claims, characterized in that the vehicle (3) can be coupled with a trailer (4) selected from a trailer group with a number of different trailers, and that the parking assistance system (5) has a test module (11) which performs a trailer check in which it is determined whether a corresponding trailer data set (DAx) is already stored in the database (19) of the parking assistance system (5) for the selected trailer (4), and that if such a stored, corresponding trailer data set (DAx) is present, it is transmitted to the control unit (7) without the need for a renewed sensory detection of the selected trailer (4) by means of the drone (13). Vehicle (3) according to claim 4, characterized in that, in the absence of such a stored, correlating trailer data set (DAx), the parking assistance system (5) requests the vehicle user to perform a sensory detection of the selected trailer (5) using the drone (13). Vehicle (3) according to one of the preceding claims, characterized in that the test module (11) is assigned vehicle-side sensors, in particular rear sensors (21) of the vehicle (3), which sensorially detect the selected trailer (4), and that the test module (11) compares the trailer data set (DH) generated by the vehicle-side sensors (21) with the trailer data sets (DAx) stored in the database (19), and that in the event of a match, the test module (11) transmits the trailer data set (DAx) corresponding with the selected trailer (4) to the control unit (7). Vehicle (3) according to one of the preceding claims, characterized in that the space available on a vehicle parking space (25) can be detected using the drone (13), and that the parking space detection carried out by the control unit (7) is based on the space available detected by the sensors and on the overall size of the vehicle combination (1) and in particular on the basis of the real-time sensor data (SE) generated by the vehicle's internal sensors (9, 21). Vehicle (3) according to one of the preceding claims, characterized in that the drone (13) has a sensor module (15) for spatial 3D detection of the trailer (4) and / or the vehicle parking space (25), and in particular that the sensor module (15) is equipped with at least one camera and / or at least one distance sensor, preferably radar and / or LiDAR. Vehicle combination (1) comprising a vehicle (2) according to one of the preceding claims and a trailer (4). Method for parking a vehicle combination (1) with a vehicle according to any one of claims 1 to 8 .

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