Computer-implemented method for controlling a driver assistance system, driver assistance system, computer program product, use of the driver assistance system, vehicle

Abstract

A computer-implemented method for controlling a driver assistance system (240) for a vehicle (200), wherein the driver assistance system (240) provides a stored parking or maneuvering maneuver along a stored trajectory (260), comprising the steps of: receiving (100) a radio signal to activate the execution of the stored trajectory (260), wherein the radio signal is received by a smartphone (230) or other mobile electronic device; determining (140) a new target position (250) of the vehicle (200) based on a determined current position (211) of the user, smartphone, or device, wherein the new target position (250) is determined by the point on the stored trajectory that is closest to the determined position (211) of the user, smartphone, or mobile electronic device of the user;and control (170) of the vehicle (200) to follow the stored trajectory (260) to the new target position (250).;

Description

[0001] The present invention relates to a computer-implemented method for controlling a driver assistance system for a vehicle. The invention further relates to the driver assistance system, which assists the driver in maneuvering, for example, when parking and / or exiting a parking space. The present invention also relates to a computer program product comprising program code means or commands configured to execute the method according to the invention when the computer program product is executed on a computing unit. Furthermore, the invention relates to the use of the driver assistance system according to the invention for controlling a vehicle, wherein the vehicle maneuvers along a stored trajectory and, when activated from outside the vehicle, moves to a new target position that is close to the current position of a user or driver.Furthermore, the invention relates to a vehicle with the driver assistance system according to the invention. State of the art

[0002] Various systems for assisting the driver with parking maneuvers are known from the prior art. For example, EP 2 882 632 A1 describes a method for carrying out a parking maneuver of a vehicle using a driver assistance system. EP 2 746 139 A1 discloses a device for the remote operation of vehicles.

[0003] Document EP 3 158 548 B1 discloses a valet parking system for automatically moving a vehicle to an assigned parking space.

[0004] Document DE 10 2021 214 840 A1 discloses a method for parking a vehicle.

[0005] Document EP 2 493 745 B1 discloses a method for assisting a driver in backing a vehicle out of a parking space.

[0006] Document US 2024 / 114542 A1 discloses a method and a system for locating a mobile electronic device, for example a smartphone, using ultra-wideband technology or an antenna-based localization method.

[0007] The object of the present invention is to improve a computer-implemented method for controlling a driver assistance system, in particular for automatic parking. Disclosure of the invention

[0008] The above problem is solved according to the invention in accordance with independent claims 1, 6 and 10 to 12.

[0009] The present invention relates to a computer-implemented method for controlling a driver assistance system for a vehicle, in particular for supporting parking and maneuvering. The driver assistance system is configured to automatically control the vehicle according to a stored parking or maneuvering maneuver along a stored trajectory in the vehicle's surroundings. Preferably, the stored trajectory is created and saved by the driver or user during a learning drive. This allows for individual adaptation of the parking or maneuvering maneuver to the specific local needs and preferences of the driver or user, especially in frequently visited or familiar environments (e.g., in the so-called home zone). The stored trajectory has, in particular, a start and end point.The driver assistance system is specifically designed to automatically steer the vehicle forwards and / or backwards along a stored trajectory, controlling and regulating the steering and drive. A key advantage of this system is that the driver can control the vehicle remotely, significantly increasing flexibility and convenience when parking.

[0010] The method according to the invention comprises several steps. First, a radio signal is received to activate the execution of the stored trajectory by means of the driver assistance system. This radio signal is transmitted by a smartphone or other electronic device. The user, who is advantageously located outside the vehicle, initiates the transmission of the radio signal for activation, in particular by means of an input from the user detected by the smartphone or electronic device. The advantage of this method lies in its user-friendliness, since the driver does not have to be in the vehicle to start the parking maneuver.

[0011] In the next step, a new target position or a new holding position for the vehicle is determined based on the current position of the user, smartphone, or electronic device. In other words, the new target position or holding position advantageously does not correspond to the original end position of the stored trajectory saved during a learning drive. This new target position is defined by the point on the stored trajectory that is closest to the current position of the user, smartphone, or electronic device.

[0012] The vehicle is then controlled, in particular the steering system and / or the drive system, to follow the stored trajectory to the new target position. This results in a high level of user comfort, as they only need to travel a short distance from their current position to the vehicle to get in. It also enables efficient vehicle control, as no unnecessary movements are made through the vehicle, especially since the new target position is dynamically adjusted to the user's current position. In other words, the invention ensures a high level of user comfort and a safe and precise execution of the parking or maneuvering operation.

[0013] According to a preferred embodiment, the received radio signal represents the current position of the user's smartphone or electronic device, which is determined in particular by means of the smartphone or electronic device and a global navigation satellite system (GNSS). This offers the advantage of sufficiently high accuracy in position determination.

[0014] In a particularly preferred embodiment, the current position of the user, the smartphone, or the user's mobile electronic device is determined alternatively or additionally by means of at least one sensor on the vehicle. This can be achieved through an antenna-based localization method and / or through object detection and distance determination using distance sensors and / or vehicle cameras. This method offers the advantage of robust and versatile positioning that also functions reliably in environments with limited GNSS reception. Furthermore, it increases the accuracy of the positioning of the user, the smartphone, or the electronic device.

[0015] In an optional version of the process, the new target position is further adjusted to ensure the shortest path between a predefined or user-selected vehicle door and the user's position, smartphone, or other device. This increases user convenience, as the vehicle is positioned near the user along the shortest route to the predefined or selected door, facilitating entry and exit.

[0016] In one implementation, when the driver activates the function, the stored trajectory with the new target position is displayed on a vehicle display and / or sent to the user's smartphone and / or device for display. This offers the advantage of visual feedback and increases transparency and control for the user.

[0017] While following its trajectory, the vehicle advantageously detects and avoids obstacles that are detected by at least one of its sensors. This advantageously ensures a high level of safety and prevents collisions during parking or maneuvering.

[0018] The driver assistance system according to the invention for a vehicle comprises a storage device for storing a trajectory for a parking or maneuvering operation, a communication device for receiving and / or transmitting radio signals, a processing unit for determining a new target position of the vehicle based on the current position of the user, the smartphone, or the user's other electronic device, and a control unit for controlling a steering system and / or a drive system of the vehicle. The driver assistance system according to the invention is configured to execute the method according to the invention.

[0019] In a further development, the driver assistance system additionally includes a sensor system for radio-based positioning or a sensor system for an antenna-based localization method and / or at least one distance sensor, for example an ultrasonic sensor and / or a radar sensor, and / or a vehicle camera. These sensors enable precise and versatile positioning of the user and object recognition of the user, the smartphone, or the other mobile electronic device.

[0020] The driver assistance system's processing unit can be configured to adjust the new target position, ensuring the shortest path between a predefined or user-selected vehicle door and the user's position, smartphone, or other device. This further enhances the comfort and user-friendliness of the driver assistance system. For this purpose, the door's position can be stored in memory. The user can then conveniently select a door by entering the desired location on their electronic device or smartphone.

[0021] The invention also relates to a computer program product, comprising program code means or instructions configured to execute the method according to the invention when the computer program product is executed on a computing unit. This enables simple implementation and distribution of the method.

[0022] The invention also relates to the use of the driver assistance system according to the invention for controlling a vehicle, in particular a motor vehicle, wherein the vehicle maneuvers along a stored trajectory and, when activated from outside the vehicle, moves to a new target position that is close to the driver's current position. The use according to the invention offers significant advantages in terms of comfort and flexibility for the user.

[0023] Finally, the invention also includes a vehicle with a driver assistance system according to the invention, as described. This enables comprehensive integration of the system into modern vehicles and offers users advanced and convenient support when parking and maneuvering.

[0024] Further advantages will become apparent from the following description of exemplary embodiments with reference to the figures. Fig. 1: Flowchart of the process as a block diagram Fig. 2: Situation diagram during the implementation of the procedure Examples of implementation

[0025] In Fig. Figure 1 is a schematic block diagram of the computer-implemented procedure for controlling a driver assistance system for a vehicle. First, the driver assistance system is activated by a user located outside the vehicle. This activation, or initialization, is performed upon receipt of a radio signal (110) from a smartphone or other electronic device. In other words, the radio signal received in step 110 represents a user input, captured by a smartphone or other electronic device, to activate the execution of the stored trajectory.In the following step 120, the stored trajectory for the driving or maneuvering operation is provided, whereby the stored trajectory specifically represents a parking and / or unparking maneuver of the vehicle, particularly in an environment familiar to the user or frequently visited. In a subsequent step 130, the current position of the user, the smartphone, or the other electronic device is determined. It may be provided that the received radio signal represents the position of the user, the smartphone, or the other electronic device. For example, the radio signal represents a position determined by the smartphone and a global navigation satellite system (GNSS), such as GPS or GLONASS.In other words, the radio signal received in step 130 represents the position of the user's smartphone or electronic device, which is determined using a global navigation satellite system (GNSS). In other words, the position of the user, smartphone, or electronic device can be determined or recorded in step 130 based on the radio signal. Alternatively, it may be possible for the position of the user, smartphone, or electronic device to be determined in step 130 additionally or alternatively based on a sensor or at least one sensor of the vehicle. For example, the user is detected in a camera image, and their position relative to the vehicle is determined.Alternatively or additionally, in step 130, the position of the user, smartphone, or electronic device is determined using a sensor system in the vehicle for an antenna-based localization method or distance determination using the vehicle's distance sensors. In step 140, a new target position of the vehicle is determined based on the position of the user, smartphone, or device determined in step 130. The new target position in step 140 is determined by the point on the stored trajectory that is closest to the determined position of the user, smartphone, or device. In other words, the new final position or target position on the stored trajectory is calculated in this step by determining the shortest path, or the path perpendicular to the trajectory, between the trajectory and the user's position.In an optional subsequent step 150, the determined new target position is adjusted depending on a predefined or selected vehicle door. This adjustment is based, in particular, on the shortest path between the predefined or selected vehicle door and the user's position. The predefined door is provided, for example, by the vehicle itself. Alternatively, user input via smartphone and / or electronic device is used to select the door, with the radio signal advantageously representing the (to be approached) door.In the optional step 160, after the user activates the function, the stored trajectory with the new or adjusted target position is displayed on a vehicle display and / or sent to the user's smartphone and / or electronic device. The display can be abstracted in all cases. In other words, in step 160, the stored trajectory with the new or adjusted target position can be displayed on a vehicle display and / or sent to the user's smartphone. In step 170, the vehicle, specifically its steering system and / or drive system, is controlled to follow the stored trajectory to the new or adjusted target position.In other words, step 170 involves controlling the vehicle's steering and / or drive system to follow the stored trajectory to the new or adjusted target position. Advantageously, obstacles are detected by the vehicle's sensors during travel along the stored trajectory and avoided by adjusting the trajectory. Step 180 concludes the parking or maneuvering operation at the new or adjusted target position.

[0026] In Fig.Figure 2 schematically illustrates a situation when the procedure is carried out from a top-down perspective. A driver or user 210 is standing outside their vehicle 200, which is parked in a garage 290, and wants the vehicle 200 to automatically park itself or drive towards them so they can get in easily. The user 210 uses their smartphone 230 or another mobile electronic device, such as a key fob, to activate the driver assistance system. The driver's input to activate the vehicle 200's driver assistance system is detected by the smartphone or other mobile electronic device and sent to the vehicle 200 or the driver assistance system 240, for example, via a mobile network signal and a server device, or alternatively, for example, via a Wi-Fi signal or another radio signal.Subsequently, the vehicle 200 is automatically driven along a previously stored trajectory 260 by the driver assistance system 240 to a new target position 250 on the stored trajectory 260, which is closest to the driver or user 210. The vehicle comes to a stop at the new target position 250 in the target area 251, so that the user 210 can get in. To determine the new target position 250, the driver assistance system 240 determines the current position 211 of the user 210 or driver based on the radio signal, which can represent the position, or by means of vehicle sensors 201, 202. For example, the current position 211 of the user 210 can be determined by means of distance sensors 201 of the vehicle 200 and / or camera sensors 202 of the vehicle 200 and / or a system of the vehicle 200 for antenna-based localization, for example using UWB.The driver assistance system then calculates the new target position 250 on the stored trajectory 260, which is closest to the driver's current position 211. The distance between the new target position 250 and the current position 211 is therefore the distance 261 perpendicular to the stored trajectory 260, which passes through the new target position 250 and the user's current position 211. The target position 250 can then be adjusted to a modified target position 255 so that the shortest path 261 between the selected vehicle door and the driver's position is determined (not shown). The vehicle 200 then automatically travels along the stored trajectory 260 to the new target position 250, detecting and avoiding obstacles. The vehicle thus reaches the new target position 250 close to the driver, who can now easily enter the vehicle. 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] EP 2 882 632 A1

[0002] EP 2 746 139 A1

[0002] EP 3 158 548 B1

[0003] DE 10 2021 214 840 A1

[0004] EP 2 493 745 B1

[0005] US 2024 / 114542 A1

[0006]

Claims

[1] Computer-implemented method for controlling a driver assistance system (240) for a vehicle (200), wherein the driver assistance system (240) provides a stored parking or maneuvering maneuver along a stored trajectory (260), comprising the steps: a) Receiving (100) a radio signal to activate the execution of the stored trajectory (260), wherein the radio signal is received by a smartphone (230) or another mobile electronic device, b) Determining (140) a new target position (250) of the vehicle (200) based on a determined current position (211) of the user, smartphone or mobile electronic device, wherein the new target position (250) is determined by the point on the stored trajectory that is closest to the determined position (211) of the user (210), smartphone or mobile electronic device of the user (210), and c) Control (170) of the vehicle (200) to follow the stored trajectory (260) to the specified new target position (250). [2] Method according to claim 1, wherein the received radio signal represents the current position of the smartphone (230) or the user's electronic device (210), which is determined in particular by means of a global navigation satellite system (GNSS). [3] Method according to one of the preceding claims, wherein the current position (211) of the user (210), the smartphone (230) or the user's electronic device (210) is determined by means of at least one sensor (201, 202) of the vehicle (200), in particular by means of a sensor system for an antenna-based localization method and / or by object detection and distance determination by means of at least one distance sensor (201) and / or at least one vehicle camera (202). [4] Method according to any of the preceding claims, wherein the new target position (250) is adjusted to provide the shortest path between a predetermined or user-selected door of the vehicle (200) and the position of the user (210), smartphone (230) or user's device (210). [5] Method according to one of the preceding claims, wherein the stored trajectory (260) is displayed on a display device of the vehicle (200) and / or sent to the user's smartphone (230) and / or electronic device after activation of the function with the new target position (250) by the user. [6] Driver assistance system (240) for a vehicle (200), comprising: a) a storage device for storing a trajectory (260) for a parking or shunting maneuver, b) a communication device which is equipped to receive a radio signal to activate the function for following the stored trajectory (260) from a smartphone (230) or another mobile electronic device, c) a computing unit for determining a new target position (250) of the vehicle (200) based on a determined current position (211) of the user (210), the smartphone (230) or the user's electronic device (210), wherein the new target position (250) is determined by the point on the stored trajectory (260) that is closest to the current position (211) of the user (210), the smartphone (230) or the user's mobile electronic device (210), and d) a control unit for controlling (170) a steering system and / or a drive system of the vehicle (200) to follow the stored trajectory (260) to the new target position (250). [7] Driver assistance system (240) according to claim 6, wherein the driver assistance system (240) additionally comprises a sensor system for the antenna-based localization method and / or at least one distance sensor (201) and / or at least one vehicle camera (202). [8] Driver assistance system (240) according to claim 7, wherein the driver assistance system (240) additionally comprises an object recognition unit and / or a distance determination unit that determines the current position (211) of the user (210) based on the sensor data of the at least one vehicle sensor (201, 202) or the sensor system for the antenna-based localization method. [9] Driver assistance system according to one of claims 6 to 8, wherein the computing unit is configured to adjust the new target position (250) so that the shortest path (261) between a predetermined or user-selected door of the vehicle (200) and the current position (211) of the user (210), the smartphone (230) or the user's device (210) is given. [10] Computer program product comprising program code means configured to execute a method according to any one of claims 1 to 5 when the computer program product is executed on a computing unit. [11] Use of a driver assistance system (240) according to one of claims 6 to 9 for controlling (170) a vehicle (200), wherein the vehicle (200) maneuvers along a stored trajectory (260) and, when activated from outside the vehicle (200), travels to a new target position (250) which is close to the current position (211) of the user (210). [12] Vehicle (200) with a driver assistance system (240) according to one of claims 6 to 9.

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