Parking assistance system for a vehicle

Abstract

The invention relates to a parking assistance system for a vehicle to support a parking maneuver and to a method for operating such a parking assistance system, wherein the vehicle has a right side mirror (101) and a left side mirror (102), comprising: at least one sensor (103) designed and configured to acquire environmental data UDAT(t) relating to the current environment of the vehicle; a processing unit (104) connected to the sensor (103), wherein the processing unit (104) is designed and configured to determine from the environmental data UDAT(t) current distances and / or current relative positions to obstacles relevant to a current parking maneuver of the vehicle and recognizable by the driver via the side mirrors (101, 102); and, based on the determined distances and / or relative positions, to determine the target orientation. 101the right side mirror (101) and with which target orientation TARGET ORIENT 102 the left side mirror (102) is to be adjusted for a parking maneuver in order to ensure an optimal view of the detected obstacles for the driver of the vehicle and to monitor the parking process; and actuators connected to the processing unit (104) for adjusting the target orientations. 101 , TARGET-ORIENTE 102 of the respective side mirror (101,102).

Description

[0001] The present invention relates to a parking assistance system for vehicles to support a parking process, a method for operating such a parking assistance system, and a vehicle with such a parking assistance system.

[0002] Known parking assistance systems typically include parking sensors, reversing cameras, and control systems for semi-automatic or fully automatic parking. These systems primarily focus on obstacle detection and, if necessary, longitudinal and lateral control of the vehicle. However, automatic dynamic adjustment of the side mirror orientation to optimize the view of relevant obstacles during the parking process is not currently known.

[0003] The object of the present invention is to provide an improved parking assistance system for vehicles that optimizes the driver's view of relevant obstacles during the parking process, thereby increasing safety and comfort when parking.

[0004] The invention is defined by the features of the independent claims. Advantageous further developments and embodiments are the subject of the dependent claims.

[0005] The invention addresses the technical problem that, in conventional vehicles, the passenger-side side mirror is automatically lowered during parking without considering the specific parking conditions or the presence of other road users. This lowering may be insufficient to allow a clear view of the curb and other relevant obstacles.

[0006] The invention enables intelligent and situation-dependent, particularly dynamic, adjustment of the orientation of side mirrors by automatically selecting and mechanically orienting / adjusting the relevant side mirror(s) (driver's and / or passenger's side) to provide the driver with optimal visibility for monitoring the parking maneuver, while simultaneously ensuring that the view of other relevant road users is not compromised. This significantly improves parking safety in various environments and scenarios by avoiding potential hazards caused by restricted visibility.

[0007] A first aspect of the invention relates to a parking assistance system for a vehicle to support a parking maneuver, wherein the vehicle has a right-hand side mirror and a left-hand side mirror, comprising: at least one sensor configured and designed to acquire environmental data UDAT(t) relating to the current environment of the vehicle, where t = time; a processing unit connected to the sensor, wherein the processing unit is configured and designed to determine, from the environmental data UDAT(t), current distances and / or current relative positions to obstacles relevant to a current parking maneuver of the vehicle and recognizable by the driver via the side mirrors; and, based on the determined distances and / or relative positions, to determine the target orientation. 101 the right side mirror and with which target orientation TARGET ORIENT 102The left side mirror is to be adjusted for a parking maneuver to ensure optimal visibility of the detected obstacles for the driver of the vehicle and to monitor the parking process; and actuators connected to the processing unit for setting the target orientations. 101 , TARGET-ORIENTE 102 of the respective side mirror.

[0008] The longitudinal and lateral steering of the vehicle during the parking process can be performed manually by the driver or, alternatively, automatically by a corresponding control system in the vehicle. In both cases, the proposed parking assistance system adjusts the side mirrors as described.

[0009] The vehicle is, in particular, a road vehicle, a motor vehicle, a bus, a truck, or a passenger car. The right and left side mirrors may each be equipped with a camera system, in which case the target orientations refer to the camera optics.

[0010] The term "obstacle" is generally understood to mean an object. Such an obstacle can be, in particular, a curb, a stationary object relevant to a vehicle's parking maneuver, or a road user. The obstacle can be stationary or mobile.

[0011] The at least one sensor is advantageously an ultrasonic sensor, a radar sensor, a 2D or 3D camera sensor, a LiDAR sensor, or a combination thereof. The sensor advantageously captures the immediate surroundings of the vehicle in the environmental data UDAT(t), starting at the vehicle's perimeter.

[0012] The processing unit advantageously comprises at least one processor on which software is executed that determines current distances and / or current relative positions to obstacles relevant to a current parking maneuver of the vehicle and recognizable by the driver via the side mirrors from the environmental data UDAT(t), where t = time. The environmental data UDAT(t) is advantageously acquired continuously and processed continuously by the processing unit, so that a dynamic adjustment of the orientation of the side mirrors can take place.

[0013] This software advantageously incorporates a machine learning algorithm. The algorithm is trained using a wide variety of training data on diverse parking maneuvers and relevant obstacles visible to the driver via the side mirrors, ensuring optimal visibility of the detected obstacles and optimal monitoring of the parking process for the driver.

[0014] An advantageous further development of the parking assistance system is characterized by the fact that the processing unit is designed and configured to determine the current relative positioning of the intended parking space for the current parking operation from the environmental data UDAT(t). The target orientations are advantageously determined. 101 , TARGET-ORIENTE 102 The side mirror is determined depending on the current relative positioning of the intended parking space.

[0015] An advantageous further development of the parking assistance system is characterized by the fact that the processing unit is designed and configured to control the actuators for setting the target orientations. 101 , TARGET-ORIENTE 102 to be controlled dynamically. The actuators advantageously each comprise a mechanism and at least one actuator.

[0016] The target orientations provide advantages. 101 , TARGET-ORIENTE 102 Tilt angle around a horizontal axis of the side mirrors. Alternatively or additionally, the target orientations specify the target orientation. 101 , TARGET-ORIENTE 102 Advantageous tilt angle around a vertical axis of the side mirrors.

[0017] An advantageous further development of the parking assistance system is characterized by the fact that the processing unit is designed and configured to determine the target orientations. 101 , TARGET-ORIENTE 102to be determined depending on the current speed of the vehicle.

[0018] An advantageous further development of the parking assistance system is characterized by the fact that the processing unit is designed and configured to determine a type of parking operation from the environmental data UDAT(t), in particular parking in a parking space to the right or left side of the vehicle, parallel parking to the direction of travel or perpendicular parking to the direction of travel, and the target orientations. 101 , TARGET-ORIENTE 102 to be determined depending on the type of parking maneuver.

[0019] An advantageous further development of the parking assistance system is characterized by the fact that the processing unit is designed and configured to predict, from the environmental data UDAT(t), distances and / or relative positions to the obstacles relevant to the current parking operation of the vehicle and recognizable by the driver via the side mirrors for a specified period of time, and to determine the target orientations. 101 , TARGET-ORIENTE 102 to determine the target orientations depending on the predicted distances and / or relative positions. Predicting the distances and / or relative positions of obstacles relevant to the parking process allows, in particular, the inclusion of future movements of mobile obstacles (e.g., other road users) in determining the target orientations. 101 , TARGET-ORIENTE 102 .

[0020] Another aspect of the invention relates to a vehicle with a parking assistance system, as described above.

[0021] Another aspect of the invention relates to a method for operating a parking assistance system, as described above, comprising the following steps: In one step, environmental data UDAT(t) about the current environment of the vehicle is acquired using at least one sensor. In a further step, a processing unit connected to the sensor uses the environmental data UDAT(t) to determine current distances and / or current relative positions to obstacles relevant to a current parking operation of the vehicle and recognizable by the driver via the side mirrors.

[0022] In a further step, based on the determined distances and / or relative positions, a target orientation is determined. 101the right side mirror and with which target orientation TARGET ORIENT 102 The left side mirror is to be adjusted for a parking maneuver in order to ensure an optimal view of the detected obstacles for the driver of the vehicle and to monitor the parking process.

[0023] In a further step, the target orientation is set using actuators connected to the processing unit. 101 , TARGET-ORIENTE 102 of the respective side mirror.

[0024] The invention offers the following advantages: - Improved visibility when parking: The driver has a better view of the curb and other obstacles, making parking safer and easier. - Increased safety: By not unnecessarily restricting the view of important areas such as cycle paths or flowing traffic, the proposed parking assistance system contributes to the safety of all road users. - Adaptability: The system automatically adapts to different parking conditions, reducing the need for manual adjustments. - Integration into existing systems: The system can be easily integrated into existing driver assistance systems, which facilitates implementation in new vehicle models. - Vehicle protection: The optimized view of curbs and obstacles can help to avoid damage to the vehicle, such as to rims or tires. - Flexibility: The proposed parking assistance system offers flexibility for different vehicle types and sizes, as well as for different countries and traffic regulations.

[0025] Further advantages, features, and details will become apparent from the following description, in which – possibly with reference to the drawings – at least one embodiment is described in detail. Identical, similar, and / or functionally equivalent parts are identified by the same reference numerals.

[0026] They show: Fig. 1 a schematic representation of the proposed parking assistance system, Fig. 2. A flowchart of a proposed procedure

[0027] Fig. Figure 1 shows a schematic representation of the proposed parking assistance system for a vehicle to support a parking operation, wherein the vehicle has a right side mirror 101 and a left side mirror 102, comprising: four sensors 103 designed and configured to acquire environmental data UDAT(t) relating to the current environment of the vehicle; a processing unit 104 connected to the sensors 103, wherein the processing unit 104 is designed and configured to determine, from the environmental data UDAT(t), current distances and / or current relative positions to obstacles relevant to a current parking operation of the vehicle and recognizable by the driver via the side mirrors 101, 102; and, based on the determined distances and / or relative positions, to determine the target orientation. 101 the right side mirror 101 and with which target orientation TARGET ORIENT 102the left side mirror 102 is to be adjusted for a parking maneuver in order to ensure an optimal view of the detected obstacles for the driver of the vehicle and to monitor the parking process; and actuators connected to the processing unit 104 for adjusting the target orientations. 101 , TARGET-ORIENTE 102 of the respective side mirror 101,102.

[0028] The proposed parking assistance system advantageously recognizes, when parking next to a curb on the driver's side, that the curb is closer to the driver's side and lowers the driver's side mirror (in Germany: the left side mirror) to improve the view of the curb.

[0029] When parking in a busy street, the proposed parking assistance system advantageously detects pedestrians or cyclists on the passenger side and avoids lowering the passenger-side mirror in order not to impair the view of these road users.

[0030] When reversing into a parking space, the parking assistance system advantageously lowers the mirror on the side facing the parking space to give the driver a better view of the parking space.

[0031] Determining the target orientations TARGET ORIENT 101 , TARGET-ORIENTE 102 The processing unit 104 can advantageously be extended to any number of parking situations by using appropriately trained AI algorithms when evaluating the environment data UDAT(t), whereby the target orientations are set. 101 , TARGET-ORIENTE 102Each driver of the vehicle has an optimal view of the detected obstacles and can monitor the parking process.

[0032] Fig. Figure 2 shows an exemplary flowchart of a proposed procedure for operating a parking assistance system. The procedure comprises the following steps.

[0033] In step 201, environmental data UDAT(t) about the current environment of the vehicle is acquired using at least one sensor 103.

[0034] In step 202, a processing unit 104 connected to the sensor 103 is used to determine 202 current distances and / or current relative positions to obstacles relevant for a current parking operation of the vehicle and recognizable by the driver via the side mirrors 101, 102 from the environmental data UDAT(t).

[0035] In step 203, the processing unit 104 determines, based on the determined distances and / or relative positions, the target orientation. 101 the right side mirror 101 and with which target orientation TARGET ORIENT 102 The left side mirror 102 is to be adjusted for a parking maneuver in order to ensure an optimal view of the detected obstacles for the driver of the vehicle and to monitor the parking process.

[0036] In step 204, the target orientation is set using actuators connected to the processing unit 104. 101 , TARGET-ORIENTE 102 of the respective side mirror 101,102.

[0037] Steps 201 to 204 are advantageously repeated continuously. This results in a dynamic adjustment of the target orientations of the vehicle's side mirrors, dependent on the progress of the parking process and the current dynamic processes in the vehicle's environment.

[0038] Although the invention has been further illustrated and explained in detail by means of preferred embodiments, the invention is not limited by the disclosed examples, and other variations can be derived from them by a person skilled in the art without departing from the scope of protection of the invention. It is therefore clear that a multitude of possible variations exist. It is also clear that the embodiments mentioned as examples are truly only examples and are not to be understood in any way as limiting, for example, the scope of protection, the possible applications, or the configuration of the invention.Rather, the preceding description and the description of the figures enable the person skilled in the art to implement the exemplary embodiments in concrete terms, whereby the person skilled in the art, with knowledge of the disclosed inventive concept, can make various changes, for example with regard to the function or the arrangement of individual elements mentioned in an exemplary embodiment, without leaving the scope of protection defined by the claims and their legal equivalents, such as further explanations in the description.

Claims

[1] Parking assistance system for a vehicle to assist in a parking operation, wherein the vehicle has a right-hand side mirror (101) and a left-hand side mirror (102), comprising: - at least one sensor (103) designed and configured to acquire environmental data UDAT(t) about a current environment of the vehicle; - a processing unit (104) connected to the sensor (103), wherein the processing unit (104) is designed and configured to ◯ to determine current distances and / or current relative positions from the environmental data UDAT(t) to obstacles relevant to a current parking operation of the vehicle and recognizable by the driver via the side mirrors (101, 102); and ◯ to determine, based on the determined distances and / or relative positions, the target orientation. 101 the right side mirror (101) and with which target orientation TARGET ORIENT102 the left side mirror (102) is to be adjusted for a parking maneuver in order to provide the driver of the vehicle with an optimal view of the detected obstacles and to monitor the parking process; and - Actuators connected to the processing unit (104) for setting the target orientations TARGET ORIENT 101 , TARGET-ORIENTE 102 of the respective side mirror (101,102). [2] Parking assistance system according to claim 1, wherein the processing unit (104) is designed and configured to determine from the environmental data a current relative positioning of the targeted parking area for the current parking operation and the target orientations. 101 , TARGET-ORIENTE 102 to determine the left side mirror (102) depending on the current relative positioning of the intended parking space. [3] Parking assistance system according to claim 1 or 2, wherein one of the obstacles is a curb or a stationary object relevant to a parking operation of the vehicle or a road user. [4] Parking assistance system according to claims 1 to 3, wherein the sensor (103) is an ultrasonic sensor, a radar sensor, a 2D or 3D camera sensor or a LIDAR sensor. [5] Parking assistance system according to one of claims 1 to 4, wherein the processing unit (104) is designed and configured to control the actuators for setting the target orientations. 101 , TARGET-ORIENTE 102 to be controlled dynamically. [6] Parking assistance system according to one of claims 1 to 5, wherein the target orientations are TARGET-ORIENTE 101 , TARGET-ORIENTE 102 can be determined depending on the current speed of the vehicle. [7] Parking assistance system according to one of claims 1 to 6, wherein the processing unit (104) is designed and configured to determine a type of parking operation from the environmental data UDAT(t), in particular parking in a parking space to the right or left side of the vehicle, parallel parking to the direction of travel, perpendicular parking to the direction of travel, and the target orientations. 101 , TARGET-ORIENTE 102 to be determined depending on the type of parking maneuver. [8] Parking assistance system according to one of claims 1 to 7, wherein the processing unit (104) is designed and configured to predict, from the environmental data UDAT(t), distances and / or relative positions to the obstacles relevant to the current parking operation of the vehicle and recognizable by the driver via the side mirrors (101, 102) for a predetermined period of time and to determine the target orientations. 101 , TARGET-ORIENTE 102to be determined depending on the predicted distances and / or relative positions. [9] Vehicle with a parking assistance system according to any one of claims 1 to 8. [10] Method for operating a parking assistance system according to any one of claims 1 to 8, comprising the following steps: - by means of at least one sensor (103), acquiring (201) environmental data UDAT(t) about a current environment of the vehicle; - by means of a processing unit (104) connected to the sensor (103), ◯ from the environment data UDAT(t) Determine (202) current distances and / or current relative positions to obstacles relevant to a current parking operation of the vehicle and recognizable by the driver via the side mirrors (101, 102); and ◯ Based on the determined distances and / or relative positions, determine (203) which target orientation is to be used. 101the right side mirror (101) and with which target orientation TARGET ORIENT 102 the left side mirror (102) is to be adjusted for a parking maneuver in order to provide the driver of the vehicle with an optimal view of the detected obstacles and to monitor the parking process; and - setting (204) the target orientation by means of actuators connected to the processing unit (104) 101 , TARGET-ORIENTE 102 of the respective side mirror (101,102).

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