METHOD FOR SINGLE-STEP PARKING OF A VEHICLE, PARKING ASSISTANCE SYSTEM, AND VEHICLE

Description

[0001] One aspect of the invention relates to a method for parking a vehicle in a perpendicular parking space, in which the vehicle is parked fully autonomously into the perpendicular parking space in a first direction of travel in one move, starting from a starting point located outside the parking space. Another aspect of the invention relates to a parking assistance system for a vehicle. Yet another aspect relates to a vehicle.

[0002] Semi-autonomous or fully autonomous parking of a vehicle in perpendicular parking spaces is a well-known practice. Some methods involve a three-way parking maneuver. This is typically a time-consuming and complex process.

[0003] Methods for automatically parking a motor vehicle are generally known, for example, from DE 100 45 616 A1 and DE 10 2016 208 900 A1.

[0004] In contrast to the three-move parking maneuvers mentioned above, single-move parking maneuvers are also known, which can be carried out more quickly in this context. In this context, reference can be made to DE 10 2009 040 372 A1. There, in order to be able to reach a corresponding starting position from which a one-move parking can be carried out, it is provided that a specific area on the road outside the perpendicular parking space is determined, in which the vehicle must be in order to carry out such a one-move parking. In this context, the center point of a rear axle of the passenger car, for example, can be used as the reference point for the vehicle. A significant disadvantage is that the area there is very large. This gives rise to a wide variety of imponderables in practice for actual one-move parking.Furthermore, the control system calculates the starting position area for the car while the driver continues driving in the direction of travel. The driver then only receives information from the driver assistance system that they should stop the car and can begin the parking process once they have entered the specified area.

[0005] One disadvantage of this approach is that the driver receives the message to stop the vehicle almost abruptly and unexpectedly. They are therefore left in the dark in advance about where they should go and how far they still need to travel to reach the corresponding starting position. This scenario can catch the driver off guard and only react later, causing the vehicle, with its manual guidance by the user, to travel too far and not stop abruptly, thus failing to reach the starting position or point calculated by the control device and thus missing the target. This is precisely what leads to this predetermined area being very large in this state of the art.Since such a large area does not specify an exact starting point or position, or there are multiple such positions, reliable one-way parking is not possible.

[0006] JP 2018 163 112 A shows the features of the preamble of claim 1 and discloses a method for automatic parking control

[0007] EP 3 061 655 A1 describes an automatic parking control device.

[0008] WO 2014 / 188 548 A1 describes an automatic parking assistance device.

[0009] The object of the present invention is to provide an improved method for autonomous, single-move parking of a vehicle into a perpendicular parking space. Accordingly, it is also the object to provide a parking assistance system and a vehicle.

[0010] One aspect of the invention relates to a method for parking a vehicle in a perpendicular parking space, in which the vehicle, starting from a starting point located outside the perpendicular parking space, is parked fully autonomously into the perpendicular parking space in a first direction of travel in one go. The perpendicular parking space is detected by at least one detection unit of the vehicle, and after detection, the vehicle is maneuvered fully autonomously to the starting point in a direction opposite to the first direction of travel. In the method, a first fully autonomous driving maneuver is thus performed in a defined chronological order after the detection of the perpendicular parking space, in which the perpendicular parking space was recognized as suitable for parking. This first fully autonomous driving maneuver takes place outside the perpendicular parking space and proceeds in a very defined direction of travel, namely the second direction of travel.This fully autonomous driving maneuver is designed to ensure that, after detecting the perpendicular parking space, the vehicle is guided to the already determined starting point, from which the single-move parking into the perpendicular parking space then takes place. In particular, this fully autonomous driving maneuver, in which the vehicle is maneuvered towards the starting point in this second direction of travel, opposite to the first direction of travel, takes place entirely outside the perpendicular parking space. This scenario thus ensures that the starting point can be reached more precisely. This also enables very precise and fast single-move parking from the reached starting point to the final position in the perpendicular parking space in one go. In particular, it is designed to allow a first direction of travel to be forward or reverse.In this context, the direction of travel opposite to the first direction of travel is either reversing or, correspondingly, forward travel. In this sense, traveling in the opposite direction does not mean that the directional vectors must be parallel; rather, a variety of movements can occur in this regard. Otherwise, in both movements along the different opposite directions of travel, it is also possible to perform non-linear movements and thus also move the vehicle in a non-linear manner. The first direction of travel can be forward travel, or even non-linear travel. The second direction of travel can be reverse travel, or even non-linear travel.

[0011] It is intended that a starting point for parking in one go is determined, in particular only when the vehicle, when driving past the parking space, is at least temporarily at a lateral distance from a parking space entrance which, together with the depth of the parking space, is smaller than the maximum detection range of the vehicle's detection unit. This is a further very advantageous embodiment, as it takes additional aspects into account when determining the parking space precisely, while also taking into account the precise determination of the starting point. In this context, if a vehicle is positioned too far away from the parking space entrance with its long side facing the perpendicular parking space, it may happen that the detection unit is no longer able to detect the very rear edge of the perpendicular parking space. This may result in insufficient information about the perpendicular parking space.This advantageous design is provided to avoid or minimize the associated uncertainties, especially for single-lane parking. Since even greater demands are placed on the accuracy of the starting position, especially for single-lane parking, this approach is advantageous. In an advantageous design, the parking assistance system can provide the user with information regarding the distance they should keep from the parking space entrance when the driver is at least partially manually driving past the perpendicular parking space.This provides support to prevent the driver from passing at too great a lateral distance, which would then result in the perpendicular parking space being detected only inadequately, and the subsequent scenario therefore taking longer, or the perpendicular parking space not being recognized as suitable, and / or a single-move parking approach being recognized as not being possible. However, it can also be provided that, if the passing is already being performed in fully autonomous mode, the vehicle automatically maintains a lateral distance from a parking space entrance that also enables complete detection of the perpendicular parking space.This information, which is output on the one hand, and / or the driving maneuvers carried out by the vehicle itself in fully autonomous operation in order to adjust the lateral distance in this regard, are essentially based on the known information about the detection range or the maximum detection range of the detection unit.

[0012] The detection range of the detection unit is less than or equal to 5 m. To determine the starting point, the vehicle is guided along the roadway at a lateral distance of between 0.5 m and 2 m from the parking space entrance of the perpendicular parking space. In particular, the distinction between a single- or multi-move parking maneuver into a perpendicular parking space is determined by the stopping position or the starting point. In areas facing the parking space entrance of the perpendicular parking space on the roadway and directly adjacent to it, only a multi-move parking maneuver into the perpendicular parking space is typically possible.

[0013] In an advantageous embodiment, the maneuvering in the second direction of travel towards the starting point is carried out starting from a stationary position of the vehicle. In particular, the stationary position is assumed as suitable after the perpendicular parking space has been detected and recognized. In particular, the stationary position is also completely outside the perpendicular parking space, in particular on the roadway. When moving from the stationary position to the starting point, the vehicle in particular only moves in this one opposite direction of travel. A change from the opposite direction of travel to the first direction of travel is not carried out during this maneuver from the stationary position to the starting point. This also enables very targeted and rapid maneuvering from the stationary position to the starting point to be carried out fully autonomously.This also allows for a correspondingly precise driving maneuver, which brings the vehicle to the starting point in a very targeted and efficient manner.

[0014] In particular, as already explained above, the maneuvering to the starting point is carried out only in this second direction of travel.

[0015] Preferably, the stationary position of the vehicle is on the roadway adjoining the perpendicular parking space. The stationary position is, in particular, in the longitudinal direction of the roadway when the vehicle has passed the perpendicular parking space, to the side of the perpendicular parking space, so that at least one reference point of the vehicle that must be brought to the starting point is located to the side of the perpendicular parking space. The reference point is a reference point of the vehicle. It is, in particular, a center point of a rear axle of the vehicle. In this scenario, it is therefore provided that the vehicle drives virtually completely past the perpendicular parking space at this reference point in this first direction of travel, so that this reference point is virtually moved on the roadway across the entire width of the perpendicular parking space.

[0016] This enables particularly accurate and precise detection of the perpendicular parking space, and the vehicle is already guided so far past the perpendicular parking space that only a very short distance from the stationary position to the starting point needs to be traveled during the fully autonomous maneuvering process. In this scenario, it is therefore possible that the stationary position can already be determined so accurately and precisely that only a relatively short distance and / or minor steering movements may be required during this further fully autonomous driving maneuver from the stationary position to the starting point.

[0017] It can also be provided that in an alternative embodiment, while the vehicle is driving past the perpendicular parking space, the vehicle is maneuvered fully autonomously in the direction of the starting point without the vehicle coming to a standstill, so that in a continuous and uninterrupted driving maneuver the vehicle drives past the perpendicular parking space, the perpendicular parking space is detected and in a continuous process the fully autonomous onward movement is carried out in such a way that the starting position or the starting point defined on the roadway to the side of the perpendicular parking space is then also reached precisely.

[0018] In a single-move parking maneuver, it is advantageous to assume a maximum steering angle of the vehicle's steerable wheels, in particular the vehicle's front wheels, which applies particularly to the start of the parking maneuver. As a lateral direction adjacent to this area on the roadway outside the perpendicular parking space, a relatively small, strip-shaped area is then fictitiously possible, in which a single-move parking with maximum steering angle at the start of the parking maneuver can be achieved and the perpendicular parking space can be completely detected in its depth by the detection unit. In particular, this can be seen in the sense that a central entry of the vehicle into the perpendicular parking space is achieved by this maximum steering angle.

[0019] It is therefore also planned that after the perpendicular parking space has been detected or recorded at the start of the fully automatic single-move parking maneuver, the steering is activated and the vehicle is maneuvered forward, particularly from a stationary position, into the starting position or starting point. In one variant, as already explained above, the vehicle automatically passes the perpendicular parking space as a parking space search, particularly with longitudinal and lateral guidance. Once a suitable perpendicular parking space has been detected, the vehicle then positions itself fully autonomously at the stopping position or starting point, from which it can then perform a single-move parking maneuver into the perpendicular parking space, which it then reverses to complete.Here, the driving maneuvers to reach the starting point are carried out at the level of the transverse parking space itself and not only after the vehicle has completely passed the reference point at the transverse parking space.

[0020] A further independent aspect of the invention relates to a method for parking a vehicle in a perpendicular parking space, in which the vehicle is parked at least semi-autonomously into the perpendicular parking space in one go, starting from a starting point. The starting point is determined after the perpendicular parking space has been detected by at least one detection unit of the vehicle in such a way that parking in one go is possible. In this method, after the perpendicular parking space has been detected and the starting point has been determined, the driver of the vehicle is provided with instructions from a parking assistance system of the vehicle for guiding the vehicle before reaching this starting point or receives such instructions on the maneuvering path towards the starting point in order to maneuver the vehicle at least semi-autonomously to the starting point.In this aspect of the invention, the driving maneuver performed from the moment the perpendicular parking space is detected and the starting point is determined up to the starting point is supported. Thus, there is no abrupt notification from the system to stop the vehicle immediately; instead, the driver is comprehensively informed in this context, allowing them to be better prepared for the approaching starting point, to be prepared for a possible vehicle stop, and thus to drive to the starting point more purposefully and precisely.

[0021] In this context, the instructions can be given acoustically and / or by means of a visual display on a display unit.

[0022] A further independent aspect of the invention relates to a method for parking a vehicle in a perpendicular parking space, in which the vehicle, starting from a starting point located outside the perpendicular parking space, is parked fully autonomously in a first direction of travel in one go into the perpendicular parking space, in particular up to an end position. The vehicle is moved forward on the roadway adjacent to the perpendicular parking space and, upon approaching the perpendicular parking space, is detected by at least one detection unit of the vehicle such that the possible parking of the vehicle in the perpendicular parking space is recognized. Parking is carried out, in particular without reversing, by continuing to drive forward in one go into the perpendicular parking space, in particular by moving into the perpendicular parking space in one go.This method therefore also makes it possible to perform a one-move forward parking maneuver into a perpendicular parking space without the vehicle first having to drive completely past the perpendicular parking space before this one-move parking maneuver. In particular, it is provided for this purpose that corresponding detection units are arranged at the front corner areas of the vehicle. This makes it possible to detect a perpendicular parking space at an early stage, and in particular completely, in order to then determine a one-move forward parking maneuver without the vehicle first having to drive completely past the perpendicular parking space. In particular, a sensor system can be provided here that is installed in a corner area and detects at an angle to the side. For example, this can be a radar sensor that is installed in a front corner area of ​​the vehicle and detects at an angle to the side and forwards.

[0023] A further aspect of the invention relates to a parking assistance system for a vehicle. The parking assistance system has at least one control unit and at least one detection unit. The parking assistance system is designed to carry out a method according to an above-mentioned aspect. In particular, such a method is carried out with the parking assistance system.

[0024] Advantageous embodiments of a mentioned method are to be regarded as advantageous embodiments of the parking assistance system. A further aspect of the invention relates to a vehicle having a parking assistance system according to the above-mentioned aspect.

[0025] The invention also includes combinations of the features of the described embodiments.

[0026] Exemplary embodiments of the invention are described below. Shown are: Fig. 1 shows a schematic plan view of an embodiment for parking a vehicle in a perpendicular parking space; Fig. 2 shows a schematic plan view of another embodiment for parking a vehicle in a perpendicular parking space; and Fig. 3 shows a schematic plan view of another embodiment for parking a vehicle in a perpendicular parking space.

[0027] The embodiment explained below is a preferred embodiment of the invention.

[0028] In the figures, functionally identical elements are provided with the same reference numerals. Fig. 1 1 shows a schematic plan view of a vehicle 1, which here is a motor vehicle, in particular a passenger car. The vehicle 1 has a longitudinal axis A and is located on a roadway 2. At least one perpendicular parking space 3 is formed laterally adjacent to the roadway 2. The vehicle 1 has a parking assistance system 4. This has a control unit and at least one detection unit which is arranged on the vehicle 1. As an example, a detection unit 5 is shown here. This is not to be understood as limiting in terms of number or position, but is merely intended to symbolically represent a wide variety of embodiments. The detection unit 5 can have a plurality of sensors. These can be arranged in different distributions on the vehicle 1. These can be ultrasonic sensors and / or radar sensors and / or lidar sensors and / or cameras.

[0029] The perpendicular parking space 3 has a parking space entrance 6 facing the roadway 2. Vehicle 1 is to be parked via this parking space entrance 6 in a single-move parking maneuver and thus reach a final position there.

[0030] For this purpose, the vehicle 1 is intended to move on the roadway 1 along a first direction of travel P1. As shown in the schematic representation in Fig. 1 can be seen, the vehicle 1 is at least still at a lateral distance a from the parking space entrance 6. The distance a is in particular between 0.5 m and 2 m. In particular, this distance a depends on a maximum lateral detection range of the detection unit 5. The distance a is also measured between a long side of the vehicle 1, which faces the perpendicular parking space 3, and the parking space entrance 6. This distance a makes it possible, with a detection range of the detection unit 5 that is less than or equal to 5 m, in particular between 3 m and 5 m, as is the case with ultrasonic sensors, for example, to completely detect the perpendicular parking space 3 when driving past the perpendicular parking space 3 and thus also to detect the depth of the perpendicular parking space 3 measured in the direction of a longitudinal axis B of the perpendicular parking space 3.

[0031] It is provided that the parking assistance system 4 detects the perpendicular parking space 3 with at least one detection unit 5 of the vehicle 1 and, after detection, the vehicle 1 and before the one-way actual parking, is maneuvered fully autonomously to a starting point SP with a driving maneuver that takes place in a direction P2 opposite to the first direction of travel P1. For this purpose, it is preferably provided that the maneuvering in this second direction of travel P2 to the starting point SP starts from a stationary position of the vehicle 1 shown in dashed lines, as shown in Fig. 1 symbolized by the position SPS. In particular, a reference point 7 of the vehicle 1 is defined in this context, which is to be moved to the starting point SP. This reference point 7 is preferably the center point of a rear axle 8 of the vehicle 1.

[0032] As in Fig. 1 As shown by way of example, this maneuvering from the standstill position SPS to the starting point SP is only carried out in this second direction of travel P2. The corresponding maneuver, which takes place from this standstill position SPS to this starting point SP, is shown in Fig. 1 symbolized by the line, which is intended to represent the corresponding trajectory 9.

[0033] In this context, it can also be seen that there is a fictitious first area 10 on the roadway 2 outside the perpendicular parking space 3 and laterally offset from the perpendicular parking space 3 with respect to the longitudinal axis B, in which only a multi-way, in particular at least three-way, parking into the perpendicular parking space 3 is possible. In the example in Fig. 1 It can be seen that the vehicle 1 in the standstill position SPS is, for example, positioned in such a way that this reference point 7 is still located within this area 10. This means that in this standstill position SPS, a one-way parking in the direction of the first direction of travel P1 into the perpendicular parking space 3 is not yet possible. Therefore, in this context, the fully autonomous maneuvering of the vehicle 1 from this standstill position SPS into the position SP is carried out. In this context, this reference point 7 is then at a starting point SP, which is laterally further distanced from the perpendicular parking space 3 than the area 10. In this regard, a fictitious area 11 is formed on the roadway 2, which is determined by the parking assistance system 4 and from which a one-way parking in the direction of the first direction of travel P1 into the perpendicular parking space 3 is possible if the reference point 7 is located therein.And, in particular, when driving past the perpendicular parking space 3, it could also be completely recorded in depth with the detection unit 5. As can be seen, this area 11 is smaller than area 10 both along the longitudinal direction of the roadway 2 and in the lateral direction to the perpendicular parking space 3. In particular, in the lateral direction, area 11 is many times smaller than area 10. It is formed, in particular, as a strip.

[0034] The stationary position SPS of vehicle 1 on lane 2 is a position at which, in particular, this reference point 7 has completely passed the perpendicular parking space 3 on lane 2 once across the entire width of the perpendicular parking space 3 and is then located laterally outside the perpendicular parking space 3. Once vehicle 1 has been brought from this stationary position SPS into the starting position or starting point SP, the parking into the perpendicular parking space 3 is carried out in one reverse motion along the first direction of travel P1.

[0035] In Fig. 2 is a corresponding scenario as in Fig. 1 shown. In contrast to Fig. 1 It is provided here that as vehicle 1 drives past perpendicular parking space 3, vehicle 1 is maneuvered fully autonomously in the direction of starting point SP without vehicle 1 coming to a standstill. As can be seen, as vehicle 1 drives past, the parking assistance system 4 maneuvers vehicle 1 fully autonomously to the extent that steering movements are already carried out at the level of perpendicular parking area 3, which maneuvers a reference point 7 of vehicle 1 to the starting point SP. As vehicle 1 drives past perpendicular parking space 3, a parking space search is carried out automatically, including the maneuver to the starting point SP. When perpendicular parking space 3 is detected, vehicle 1 positions itself fully autonomously at the specific starting position or the specific starting point SP, in order to then be able to park into perpendicular parking space 3 in one move.

[0036] In particular, a starting point SP is determined in the exemplary embodiment for parking in one go, in particular only when the vehicle 1, when driving past the perpendicular parking space 3, is at least temporarily at a lateral distance a from a parking space entrance 6 which, in sum with the depth of the perpendicular parking space 3, is smaller than the maximum detection range of the detection unit 5 of the vehicle 1.

[0037] In Fig. 3 A further exemplary embodiment is shown in a further schematic plan view. In this example, it is provided that a method for parking a vehicle 1 in the perpendicular parking space 3 is carried out. In this method, the vehicle 1 is parked at least semi-autonomously in the perpendicular parking space 3 in one go, starting from a starting point SP, wherein the starting point SP is determined after the perpendicular parking space 3 has been detected by at least one detection unit 5 of the vehicle 1 in such a way that parking in one go is possible. In this scenario, the driver of the vehicle 1 is provided with instructions for driving the vehicle 1 by a vehicle guidance system, in particular the parking assistance system 4, after the perpendicular parking space 3 has been detected and the starting point SP has been determined.The driver therefore receives such instructions from the parking assistance system 4 even before reaching the starting point SP, in order to be able to maneuver the vehicle to the starting point SP at least semi-autonomously. Thus, along the maneuvering path, from the starting point SP, the following instructions are given: Fig. 3In the exemplary position MP, which is assumed after the perpendicular parking space 3 has been detected and after the starting point SP has been determined by the parking assistance system 4, these instructions are given by the parking assistance system 4, so that the trajectory 9 is then traversed. When trajectory 9 is traversed, these instructions are also issued by the parking assistance system 4 to the driver before the starting point SP is reached, so that this manual maneuvering by the driver on the trajectory 9 can be carried out. Once the vehicle 1 has reached the starting point SP with the reference point or reference location 7 by the driver, taking into account the instructions issued by the parking assistance system 4, the fully autonomous one-move parking in this first direction of travel according to P1 into the perpendicular parking space 3 then takes place.

[0038] In a further method, it can be provided that a parking of a vehicle 1 in the perpendicular parking space 3 is carried out starting from a starting point which is located outside the perpendicular parking space 3. In a single move, a fully autonomous parking into the perpendicular parking space 3 is carried out by a maneuver in a first direction of travel. In this scenario, the vehicle 1 is moved forward on the roadway 2 which borders the perpendicular parking space 3, and when approaching the perpendicular parking space 3, the perpendicular parking space 3 is already detected by at least one detection unit 5 of the vehicle 1 in such a way that the possible parking of the vehicle 1 in the perpendicular parking space 3 is recognized, wherein the parking is carried out without reversing the vehicle 1 by continuing the completed forward movement in one move into the perpendicular parking space 3, in particular by moving forward in one move to the final position in the perpendicular parking space 3.

Claims

1. Method for parking a vehicle (1) in a perpendicular parking space (3), in which method the vehicle (1) is parked in the perpendicular parking space (3) fully autonomously in one movement in a first direction of travel (P1) starting from a start point (SP) that is located outside the perpendicular parking space (3), wherein the perpendicular parking space (3) is detected by a detection unit (5) of the vehicle (1) and, following detection, the vehicle (1) is manoeuvred fully autonomously to the start point (SP) by way of a driving manoeuvre that is performed in a direction of travel (P2) counter to the first direction of travel (P1), characterized in that a start point (SP) for parking in one movement is determined when the vehicle (1), when driving past the perpendicular parking space (3), is located at least temporarily at a lateral distance (a) from a parking space entrance (6) that, when summed with the depth of the perpendicular parking space (3), is smaller than the maximum detection range of the detection unit (5) of the vehicle (1), and wherein a detection range of the detection unit (5) is less than or equal to 5 m, and, to determine the start point (SP), the vehicle (1) drives along the road (2) at a lateral distance of between 0.5 and 2 m to the parking space entrance (6).

2. Method according to Claim 1, characterized in that the manoeuvring in the second direction of travel (P2) to the start point (SP) is performed starting from a stationary position (SPS) of the vehicle (1).

3. Method according to Claim 2, characterized in that the manoeuvring to the start point (SP) is performed only in the second direction of travel (P2).

4. Method according to Claim 2 or 3, characterized in that the stationary position (SPS) of the vehicle (1) is on the road (2) adjoining the perpendicular parking space (3), wherein the stationary position is to the side of the perpendicular parking space (3) in the longitudinal direction of the road (2) in the state when the vehicle (1) has driven past the perpendicular parking space (3), such that at least one reference point (7) that is to be brought to the start point (SP) is located to the side of the perpendicular parking space (3).

5. Method according to Claim 1, characterized in that, while the vehicle (1) is driving past the perpendicular parking space (3), the vehicle (1) is manoeuvred fully autonomously in the direction of the start point (SP) without the vehicle (1) being brought to a standstill.

6. Method according to one of the preceding claims, characterized in that a centre point of a rear axle (8) of the vehicle (1) is taken as a basis for a reference point (7) of the vehicle (1) that is moved to the start point (SP).

7. Parking assistance system (4) for a vehicle (1), comprising a control unit and a detection unit (5) that is designed to perform a method for parking a vehicle (1) according to claim 1 to 6.

8. Vehicle (1), comprising a parking assistance system (4) according to Claim 7.