Method for operating a motor vehicle when parking in a parking space

Abstract

The invention relates to a method for operating a motor vehicle (100) when parking in a parking space (200), comprising: - Detection of a third-party vehicle (300) leaving a parking space (200), - detecting a parking manoeuvre (301) of the detected other vehicle (300) exiting the parking space using at least one vehicle sensor (101), - Determining a trajectory (201) for parking in the parking space (200) depending on the monitoring.

Description

[0001] The invention relates to a method for operating a motor vehicle during at least partially automated or automatic parking into a parking space, a corresponding parking assistance system for carrying out a corresponding method, and a corresponding vehicle with a corresponding parking assistance system.

[0002] Many automatic parking systems, such as ultrasound-based parking systems, require the ego vehicle to first pass a parking space in order to measure and thus detect the parking space before a suitable parking trajectory can be calculated. Only then can the vehicle perform a parking maneuver. This is impractical in some situations.

[0003] It is therefore an object of the present invention to at least partially overcome at least one of the disadvantages described above. In particular, it is an object of the invention to provide a method for operating a motor vehicle during at least partially automated or automatic parking into a parking space, which method enables quick and efficient parking into a parking space, preferably without having to measure the parking space, which increases customer convenience and increases confidence in the system. Furthermore, it is an object of the present invention to provide a corresponding parking assistance system for carrying out a corresponding method, as well as a corresponding vehicle with a corresponding parking assistance system.

[0004] The present invention provides a method for operating a motor vehicle during at least partially automated or automatic parking into a parking space, a corresponding parking assistance system for carrying out a corresponding method, and a corresponding vehicle with a corresponding parking assistance system having the features of the independent claims. Features and details described in connection with the various embodiments and / or aspects of the invention naturally also apply in connection with the other embodiments and / or aspects, and vice versa, so that with regard to the disclosure of the individual embodiments and / or aspects, reference is or can always be made to each other.

[0005] The present invention provides: A method for the at least partially automated or automatic operation of a (ego) motor vehicle when parking in a parking space, which method comprises the following steps: - Detection of a third-party vehicle leaving a parking space, - Detecting the exiting of the detected other vehicle using at least one vehicle sensor, - Determining a trajectory for parking into the parking space depending on the monitoring.

[0006] The invention recognizes that methods that require measuring a parking space inevitably require a certain amount of time to drive past the parking space. Furthermore, the parking trajectory is also only calculated after the parking space has been measured, so the starting pose of the parking process is not yet determined at the beginning.

[0007] The invention further recognizes that there are other processes that can be monitored that can lead to the rapid and efficient determination of a parking trajectory.

[0008] The concept of the invention is that a vehicle exiting a parking space is detected, for example, when the ego vehicle stops to allow it to exit. If the exiting maneuver can be detected by sensors, the exiting trajectory of the exiting vehicle can be recorded. From the exiting trajectory, a separate parking trajectory for the ego vehicle can be calculated backwards, from which both the starting point and the target pose for the parking maneuver can be advantageously derived.

[0009] Knowledge of the parking exit trajectory can thus enable an indirect determination of the parking trajectory, preferably from the start pose to the target pose.

[0010] In this way, a simple solution can be provided both sensor-wise and computationally to determine a trajectory for parking into the parking space.

[0011] The method thus enables quick and efficient parking in a parking space, preferably without having to measure the parking space, increasing customer comfort and increasing confidence in the parking system.

[0012] Furthermore, it can be provided that the method is started and / or a third-party vehicle exiting the parking space is detected when it is detected that the vehicle is stopping to allow the third-party vehicle to exit the parking space. Thus, it can be recognized that an indirect determination of the parking trajectory, preferably from the starting pose to the target pose, can be performed via the exit trajectory of the third-party vehicle exiting the parking space.

[0013] Furthermore, it can be provided that the detection of a parking maneuver of the detected other vehicle exiting the parking space is carried out using at least one of the following vehicle sensors: - a camera, - an optical sensor, - a radar sensor, - a UWB sensor, and / or - an ultrasonic sensor.

[0014] In this way, advantageous, flexible monitoring of the vehicle's surroundings can be enabled, which can be used to sensor-detect the parking space trajectory of the vehicle leaving the parking space.

[0015] Furthermore, it can be provided that, to detect a parking exit, sensor data from the other vehicle exiting the parking space can be taken into account, which is received and / or queried, in particular, via a communication connection, e.g., car-to-car communication. In this way, the sensor data from the other vehicle can be used directly to determine the parking exit trajectory. This can further reduce the sensor effort required by the system.

[0016] Furthermore, it can be provided that the determination of a trajectory for parking into the parking space is carried out using a parking assistance system and / or a navigation system of the vehicle. This can enable at least partially automated or automatic parking.

[0017] As mentioned above, when detecting a parking exit, the exit trajectory of the detected other vehicle can be determined. The exit trajectory of the detected other vehicle can be easily used to determine a parking trajectory for the own vehicle in a reverse manner.

[0018] Advantageously, when determining a trajectory for parking into the parking space, in particular immediately, preferably without first having to measure the parking space, a starting pose, a parking trajectory and / or a target pose of the vehicle can be determined as a function of an exiting parking space trajectory of the detected other vehicle exiting the parking space.

[0019] Another advantage may be that the procedure can be performed independently of measuring the parking space. This saves time waiting to drive past the parking space. Furthermore, it can save sensor and / or computing resources required to measure the parking space.

[0020] A further advantage may be that the determined trajectory for parking into the parking space can be offered to a vehicle user for approval, e.g., via an input and / or output device on the vehicle. This ensures that the vehicle user agrees with the procedure of the other vehicle when exiting the parking space. This enables interaction with the vehicle user. This can increase safety when carrying out the procedure. In particular, it can easily and reliably prevent the vehicle from repeating possible errors made by the other vehicle.

[0021] The present invention further provides: A parking assistance system for operating a motor vehicle when parking in a parking space, wherein the parking assistance system can have the following components: - a detection unit for detecting a third-party vehicle leaving a parking space, - at least one vehicle sensor for detecting a parking maneuver of the detected other vehicle using at least one vehicle sensor, and - a control unit configured to determine a trajectory for parking into the parking space depending on the monitoring.

[0022] Advantageously, the parking assistance system is designed to carry out a method that can be executed as described above. The parking assistance system according to the invention can achieve the same advantages described above in connection with the method. These advantages are incorporated herein by reference.

[0023] The present invention further provides: a vehicle with a parking assistance system described above. The parking assistance system according to the invention can achieve the same advantages as those described above in connection with the method. These advantages are incorporated herein by reference.

[0024] Further advantages, features, and details of the invention will become apparent from the following description, which describes exemplary embodiments of the invention in detail with reference to the drawings. The features mentioned in the claims and in the description may be advantageous individually or in any combination. It shows: Fig. 1 an example situation when parking into a parking space.

[0025] The Fig. 1 serves to explain a method which was developed for the at least partially automated or automatic operation of a (ego) motor vehicle 100 when parking in a parking space 200. The vehicle can be an at least partially automated or autonomously driving vehicle.

[0026] The procedure comprises the following steps: - Detection of a third-party vehicle 300 leaving a parking space 200, - detecting a parking maneuver 301 of the detected other vehicle 300 exiting the parking space using at least one vehicle sensor 101, - Determining a trajectory 201 for parking in the parking space 200 depending on the monitoring.

[0027] The method exploits the knowledge that an (avoidable) measurement of a parking space 200 requires a certain amount of time to drive past the parking space 200. In addition, the trajectory 201 for parking is also only calculated after the parking space 200 has been measured, so that the starting pose of the parking process is not yet determined at the beginning.

[0028] The method exploits the further knowledge that there are other processes that can be used to quickly and efficiently determine a parking trajectory 201.

[0029] As the Fig. 1, the idea is that a third-party vehicle 300 exiting a parking space is detected, for example, when the own vehicle 100 stops to allow the third-party vehicle 300 to exit. The exiting maneuver 301 of the third-party vehicle 300 can be detected by sensors. By detecting or monitoring the exiting maneuver 301, the exiting trajectory of the exiting third-party vehicle 300 can be recorded. From the exiting trajectory, a separate parking trajectory 201 for the ego vehicle 100 can be derived computationally easily (for example, by a simple reversal), which can advantageously immediately provide the starting point and the target pose for the parking maneuver.

[0030] The parking exit trajectory can thus enable an indirect determination of the parking trajectory 201, preferably from the starting pose to the target pose.

[0031] Advantageously, the method can be started (or a third-party vehicle 300 exiting the parking space can be detected) when it is detected that the vehicle 100 is stopping in order to allow the third-party vehicle 300 to exit the parking space 200.

[0032] Different vehicle sensors 101 can be used to detect a parking maneuver 301 of the detected other vehicle 300, including, for example: - a camera, - an optical sensor, - a radar sensor, - a UWB sensor, and / or - an ultrasonic sensor.

[0033] According to a further advantage, for detecting a parking space exit process 301, sensor data of the exiting other vehicle 300 can be taken into account, which are received (passively) and / or queried (actively) in particular via a communication connection, e.g. a Car2Car communication.

[0034] The determination of a trajectory 201 for parking in the parking space 200 can be carried out with the aid of a schematically indicated parking assistance system 102 of the vehicle 100.

[0035] As the Fig. 1, when detecting a parking exit 301, an exit trajectory of the detected exiting other vehicle 300 can be determined. From the exit trajectory of the detected exiting other vehicle 300, a starting pose, a parking trajectory 201, and / or a target pose of the vehicle 100 can be determined directly (in particular immediately, preferably without first having to measure the parking space 200).

[0036] To increase confidence in the system and to increase safety during parking, the determined trajectory 201 for parking into the parking space 200 can be offered to a user of the vehicle 100 for approval, e.g., via an input and / or output device of the vehicle 100. This ensures that the user of the vehicle 100 agrees with the procedure of the other vehicle 300 when exiting the parking space. In this way, it can be easily and reliably prevented that the vehicle 100 repeats possible errors of the other vehicle 300 during its exit 301 during its parking process.

[0037] A corresponding parking assistance system 102 for carrying out a method which can be carried out as described above also represents an aspect of the invention and has the following components: - a detection unit for detecting a third-party vehicle 300 leaving a parking space 200, - at least one vehicle sensor 101 for detecting a parking maneuver 301 of the detected other vehicle 300 exiting the parking space using at least one vehicle sensor 101, and - a control unit 110 which is designed to determine a trajectory 201 for parking in the parking space 200 as a function of the monitoring.

[0038] For this purpose, the control unit 110 may comprise appropriate logic.

[0039] A corresponding vehicle 100 with a corresponding parking assistance system 102 also represents an aspect of the invention.

[0040] The above explanation of the embodiments describes the present invention exclusively within the scope of examples. Of course, individual features of the embodiments can be freely combined with one another, provided they are technically feasible, without departing from the scope of the present invention. List of reference symbols 100 motor vehicles 101 Vehicle sensor 102 Parking assistance system 110 Control unit 200 parking spaces 201 Trajectory 300 third-party vehicles 301 Exiting a parking space

Claims

[1] Method for operating a motor vehicle (100) when parking in a parking space (200), comprising: - Detection of a third-party vehicle (300) leaving a parking space (200), - detecting a parking manoeuvre (301) of the detected other vehicle (300) exiting the parking space using at least one vehicle sensor (101), - Determining a trajectory (201) for parking in the parking space (200) depending on the monitoring. [2] Method according to claim 1, wherein the method is started and / or a third-party vehicle (300) leaving the parking space is detected when it is detected that the vehicle (100) stops in order to allow the third-party vehicle (300) to leave the parking space (200). [3] Method according to claim 1 or 2, wherein the detection of a parking space exit process (301) of the detected other vehicle (300) exiting the parking space is carried out using at least one of the following vehicle sensors (101): - a camera, - an optical sensor, - a radar sensor, - a UWB sensor, and / or - an ultrasonic sensor. [4] Method according to one of the preceding claims, wherein, for detecting a parking exit (301), sensor data of the other vehicle (300) exiting the parking space are taken into account, which data are received and / or queried in particular via a communication connection, for example a car2car communication. [5] Method according to one of the preceding claims, wherein the determination of a trajectory (201) for parking in the parking space (200) is carried out with the aid of a parking assistance system (102) and / or a navigation system of the vehicle (100). [6] Method according to one of the preceding claims, wherein, upon detection of a parking space exit process (301), an exit trajectory of the detected other vehicle (300) exiting the parking space is determined. [7] Method according to one of the preceding claims, wherein, when determining a trajectory (201) for parking in the parking space (200), a starting pose, a parking trajectory and / or a target pose of the vehicle (100) is determined as a function of an exiting parking trajectory of the detected other vehicle (300) exiting the parking space. [8] Method according to one of the preceding claims, wherein the method is carried out independently of a measurement of the parking space (200). [9] Method according to one of the preceding claims, wherein the determined trajectory (201) for parking in the parking space (200) is offered to a user of the vehicle (100) for release, for example by an input and / or output device of the vehicle (100). [10] Parking assistance system (102) for operating a motor vehicle (100) when parking in a parking space (200), comprising: - a detection unit for detecting a third-party vehicle (300) leaving a parking space (200), - at least one vehicle sensor (101) for detecting a parking maneuver (301) of the detected other vehicle (300) exiting the parking space with the aid of at least one vehicle sensor (101), and - a control unit (110) designed to determine a trajectory (201) for parking in the parking space (200) as a function of the monitoring. [11] Vehicle (100) with a parking assistance system (102) according to the preceding claim.

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