Method for traversing a trained parking trajectory, and parking assistance system

Abstract

The invention relates to a method for traversing a trained parking trajectory (PT) by means of a motor vehicle (1). At least one movable obstacle (10) is arranged in the parking trajectory (PT), and the obstacle (10) has at least one transmission unit (12), wherein the obstacle (10) transmits a signal to the motor vehicle (1) while the parking trajectory (PT) is been trained and / or while the trained parking trajectory (PT) is being traversed, said signal being used to describe at least one construction type and / or opening characteristic of the obstacle (10) or ascertain the construction type and / or opening characteristic. The invention also relates to a parking assistance system (2).

Description

[0001] Description

[0002] Method for driving a trained parking trajectory and parking assistance system

[0003] The invention relates to a method for driving a trained parking trajectory by means of a motor vehicle and a parking assistance system.

[0004] Parking assistance systems are known that are designed to learn a route traveled by a vehicle and then follow the learned route automatically or semi-automatically. This can be particularly advantageous in recurring situations, such as parking a vehicle in a garage. One problem here can be obstacles, such as a garage door, that are located on the learned route. The parking assistance system must then be able to detect whether the garage door is open or closed to avoid a collision.

[0005] From DE 102019 134448 A1, a method for operating a vehicle with a parking assistance system is known, wherein the parking assistance system is configured to drive the vehicle along a trajectory trained by means of a training method, wherein a movable obstacle is arranged at a position along the trajectory, wherein the training method comprises: a1) detecting and storing a first section of the trajectory to be trained, wherein the first section connects a starting position with an intermediate stop position in front of the movable obstacle, a2) detecting and storing an optical sensor signal of the obstacle when the obstacle is in a blocking position in which further travel for the vehicle is blocked by the obstacle, a3) detecting and storing a further optical sensor signal of the obstacle when the obstacle is in an unlocking position,in which the vehicle's further travel is not blocked by the obstacle, a4) detecting and storing a second section of the trajectory to be trained, wherein the second section connects the intermediate stop position with a target position, wherein the obstacle is passed along the second section in the unlocked position, and wherein the method comprises: b1) driving the vehicle from a starting point corresponding to a position along the detected first section of the trajectory, along the detected first section to the intermediate stop position, b2) detecting a current optical sensor signal of the obstacle, b3) comparing the detected current optical sensor signal of the obstacle with at least one of the stored optical sensor signals, and b4) driving the vehicle along the detected second section from the intermediate stop position to the target position depending on a result of the comparison.

[0006] EP 3 599 144 A1 discloses a method for detecting a status of a moving object during the at least semi-automated maneuvering of a motor vehicle along a trajectory using a control unit and a sensor system by carrying out the following method steps: a) detecting an object at or on the trajectory in a training phase in a first state by means of the sensor system, b) detecting the object in a second state at or on the trajectory in the training phase by means of the sensor system, c) comparing the results from step a) and step b) and identifying the object which was detected in step a) in the first state and in step b) in the second state as the moving object, d) determining the status of the moving object in an operating phase, wherein the sensor system detects an environment of the motor vehicle, and generating a status signal relating to the status of the moving object.

[0007] The invention is based on the technical problem of further improving a method for driving a trained parking trajectory with moving obstacles within the parking trajectory, with regard to user-friendliness. A further technical problem is the creation of a suitable parking assistance system and a moving obstacle.

[0008] The solution to the technical problem results from a method having the features of claims 1 and 11 and a parking assistance system having the features of claims 10 and 12. Further advantageous embodiments of the invention result from the subclaims.

[0009] The method for driving a motor vehicle along a trained parking trajectory comprises the method step of training the parking trajectory, wherein at least one movable obstacle is arranged in the parking trajectory. The obstacle has at least one transmitting unit, wherein the obstacle transmits a signal during training of the parking trajectory and / or during driving along the trained trajectory, by means of which signal at least one design and / or opening characteristic of the obstacle is described or the design and / or opening characteristic can be determined. This makes it unnecessary for the obstacle to be detected in all states during training. Rather, the behavior of the obstacle can be determined from the information about the design and / or opening characteristic. This information is preferably detected during the training phase and stored together with the parking trajectory.The obstacle can be a barrier, a bollard, a fence, or a gate. Preferably, the obstacle is a garage door. The type can be determined, for example, by the obstacle transmitting a manufacturer's identifier, whereby the motor vehicle or parking assistance system can retrieve the type and / or opening characteristics of the obstacle using a database in a backend. Preferably, in addition to the type and / or opening characteristics, the position of the obstacle is also determined. This can be done by transmitting a location coordinate in the signal or another signal. Alternatively or cumulatively, the position is determined by an environmental sensor system of the parking assistance system.

[0010] Alternatively, the database can be stored in the vehicle (e.g., in a non-volatile memory of a control unit). The database in the vehicle can be updated manually or via online remote update.

[0011] In a further embodiment, the motor vehicle or parking assistance system additionally receives a communication characteristic of the obstacle and stores it. This additional information can originate directly from the obstacle or be supplied by the backend. For example, the communication characteristic contains information about the range of the obstacle's transmitter. Frequency bands are also preferably exchanged or, if necessary, radio key data. In this case, it can be provided that the obstacle transmits on a specific channel or protocol (e.g., WLAN, Bluetooth, UWB) in order to identify itself, with data then being exchanged encrypted or on another channel after authentication (e.g., a coded opening signal). The opening characteristic indicates, for example, how the obstacle opens (e.g.,Roller shutter, sliding gate or swing gate) and how quickly the obstacle opens and whether it can be opened automatically or manually. The opening characteristic can alternatively or additionally contain the size of the swing range when opening the obstacle or information as to whether the obstacle has a swing range or not. In a further embodiment, the motor vehicle, in particular the parking assistance system, classifies a hazard potential of the obstacle, whereby in the case of a high hazard potential the driver must actively authorise automatic opening of the obstacle. If the driver does not authorise automatic opening in the case of a high hazard potential, the process is aborted. The motor vehicle can determine the hazard potential of the obstacle, for example, based on the design or the opening characteristics of the obstacle.

[0012] In the simplest case, the classification is binary, meaning "yes" or "no" for the potential hazard. However, classifications with more subdivisions are also conceivable, in which case the required actions from the driver can be graded accordingly.

[0013] In one embodiment, the obstacle transmits its opening state (e.g., open, closed, half-open, or jammed) before or during departure of the trained parking trajectory.

[0014] Depending on the opening state, the departure can then be adjusted accordingly. For example, if the opening state is open, the trajectory can be followed without further ado. Alternatively or additionally, the opening state can include the remaining time until the obstacle is fully opened.

[0015] If, on the other hand, the opening state has assumed the value “jammed”, the trajectory can either not be followed at all or must be opened manually, for which purpose a suitable intermediate stop must be determined at which the vehicle must stop so that the driver can get out in order to open the obstacle manually if necessary.

[0016] In another embodiment, the motor vehicle or the parking assistance system transmits a signal to the obstacle to change its opening state. For example, a closed obstacle is opened before or during departure and closed again after departure upon reaching the parking position.

[0017] In a further embodiment, the motor vehicle adjusts its speed at least depending on the design or opening characteristics of the obstacle, so that the trained parking trajectory is driven through in one go or approaches a suitable intermediate stop. The latter is preferred if the opening speed or the range of the obstacle's transmitter is very small, so that this would result in a very slow departure in one go. Alternatively or additionally, the speed is adjusted depending on the communication characteristics and / or the opening state of the obstacle. In a further embodiment, the motor vehicle determines a suitable intermediate stop at least depending on the design and / or opening characteristics and / or communication characteristics and / or the opening state of the obstacle and approaches the intermediate stop and stops at the intermediate stop as long as the obstacle is not opened.The intermediate stop in front of the obstacle is chosen in such a way that the obstacle can be opened completely without collision with the motor vehicle.

[0018] It should also be noted that in addition to transmitting information via signals, information can also be obtained from the data from the environmental sensors, which can then be used in addition or to verify the transmitted information. For example, it can be detected that a garage door has transmitted an incorrect opening status.

[0019] The parking assistance system is configured to store a trained parking trajectory and execute it automatically. The parking assistance system has at least one receiving unit. The parking assistance system is configured to receive a signal from a moving obstacle and to extract or determine a design of the moving obstacle therefrom. The design is stored for the parking trajectory and / or taken into account when executing the parking trajectory. With regard to further possible embodiments, reference is made in full to the preceding procedural embodiments.

[0020] The movable obstacle has a transmitting unit, wherein the movable obstacle is configured to transmit a signal by means of which a design of the obstacle is described or the design can be determined. Preferably, the movable obstacle is a garage door.

[0021] In an alternative embodiment of the method for following a trained parking trajectory by means of a motor vehicle, wherein at least one movable obstacle is arranged in the parking trajectory, the motor vehicle has at least one environmental sensor system by means of which the movable obstacle is detected. During training of the parking trajectory or during driving along the trained parking trajectory, the environmental sensor system detects the obstacle in an open state, wherein the design and / or opening characteristics of the obstacle are determined using the data from the environmental sensor system and stored in a database with the trained parking trajectory. The environmental sensor system preferably has at least one camera. The database can be a component of the parking assistance system or can be accessed in an external backend, in particular by means of wireless data communication.

[0022] The camera takes at least one image of the obstacle, with the design and / or opening characteristics then being determined from the database by means of image comparison. This can also be done using a trained AI. In addition or alternatively, the obstacle can be provided with an optical identifier (e.g. a type of QR code, Aruco marker, etc.) which is detected by the environmental sensors, with the design and / or opening characteristics then being able to be determined from the identifier using the database. The method has the advantage that the obstacle itself does not have to be detected in different opening states. In addition to the design and / or opening characteristics, a communication characteristic can also be determined. With regard to further embodiments, reference is made to the explanations for the other method.

[0023] With regard to the design of the parking assistance system, reference is made in full to the previous explanations.

[0024] The invention is explained in more detail below using a preferred embodiment. The figures show:

[0025] Fig. 1 is a schematic block diagram of a motor vehicle and a moving obstacle and

[0026] Fig. 2 is a flow chart of a process.

[0027] Fig. 1 schematically shows a motor vehicle 1 with a parking assistance system 2. The parking assistance system 2 has an evaluation and control unit 3, a memory 4, a transmitting unit 5, and a receiving unit 6. Furthermore, an environmental sensor system 7 is shown, which is designed, for example, as a camera. Alternatively or additionally, the environmental sensor system comprises lidar, radar, and / or ultrasonic sensors. As shown, the environmental sensor system 7 can be designed separately and only transmit data to the parking assistance system 2. However, the environmental sensor system 7 can also be a component of the parking assistance system 2.

[0028] Furthermore, a movable obstacle 10 is shown, which is designed, for example, as a garage door. The movable obstacle 10 has a movable element 11 (e.g., the door). Furthermore, the movable obstacle 10 has a transmitting unit 12, a receiving unit 13, and a control unit 14. Finally, a backend 20 is also shown.

[0029] When training a parking trajectory PT, the parking assistance system 2 receives a signal containing information about the moving obstacle from the moving obstacle 10 via the transmitting unit 12. From the information in the at least one signal, the parking assistance system 2 can then extract the design, opening characteristics, and communication characteristics and store them together with the parking trajectory PT. Furthermore, position data of the moving obstacle 10 is stored in the parking trajectory PT. The moving obstacle 10 then transmits an opening code to the parking assistance system 2 (possibly after authentication). The control unit 14 provides the information to be transmitted and controls the moving element 11.

[0030] If the trained parking trajectory PT is then to be automatically followed again, the parking assistance system 2 queries the opening state of the movable obstacle 10 and, depending on the opening state, the opening characteristics, and the communication characteristics, calculates control signals S for the longitudinal and lateral dynamics control in order to automatically follow the parking trajectory PT, whereby this occurs either in one go or with an intermediate stop. "Automated" here also includes semi-automated, so that, for example, the parking assistance system 2 only performs the lateral dynamics control. It can further be provided that, when the movable obstacle is closed, an opening signal is transmitted from the parking assistance system 2 to the receiving unit 13 of the movable obstacle 10.

[0031] The exact sequence of the method will now be explained in more detail with reference to Fig. 2, whereby the flow chart also has branches which are not claimed.

[0032] In a step S1, a stored, trained parking trajectory is selected. This can be done automatically or manually. The process is then started in a step S2, and in a step S3, a query is made as to whether a movable obstacle 10, in particular a garage door, is located along the stored parking trajectory PT. If this is not the case, the parking trajectory PT is automatically followed to the parking position in a step S4, and the process is terminated upon reaching the destination in step S5. If, however, a movable obstacle 10 is located along the parking trajectory PT, the opening state of the movable obstacle 10 is determined in a step S6. This can be transmitted to the parking assistance system 2 either by a signal S7 from the movable obstacle 10 and / or by a signal S8 from the environment sensor system 7 and / or by a signal S9 from the backend 20.

[0033] If the movable obstacle 10, in particular the garage door, is fully open (step S10), the method continues with steps S4 and S5. Otherwise, a query is made in step S11 as to whether the movable obstacle 10 can be opened automatically. If this is not the case, the motor vehicle 1 is moved to an intermediate stop and then stopped, whereby the distance is selected as a function of the opening characteristics of the movable obstacle 10 such that it can be opened without collision (step S12). Subsequently, in step S13, the driver is requested to open the movable obstacle 10 manually. In step S14, a query is made as to whether the driver confirms the opening within a predetermined period of time. If this is the case, the method continues with step S4; otherwise, the method is aborted in step S15.

[0034] If, however, the query in step S11 reveals that the movable obstacle 10 can be opened automatically, a query is made in step S16 as to whether the movable obstacle 10 presents a high risk when opened. If this is not the case, the movable obstacle 10 is opened automatically in step S17. If, however, the movable obstacle 10 presents a high risk, the driver must deliberately authorize the opening process in step S18. If the driver does so within a specified time period, the movable obstacle 10 is opened automatically (step S17). Otherwise, the process is aborted in step S15.

[0035] In step S19, the driver is then informed to observe the moving obstacle 10 and the surrounding area and, if necessary, to stop the automatic opening process. For moving obstacles 10 that pose no potential danger, this step S19 can also be skipped. In step S20, the speed is then adjusted depending on the communication characteristics and / or the opening characteristics, so that the motor vehicle can drive through in one go or stop at a suitable intermediate stop. In step S21, a query is then made as to whether the opening has occurred within the specified time period. If this is affirmative, step S4 follows. Otherwise, the process is aborted (step S15). List of Reference Symbols

[0036] 1 Motor vehicle parking assistance system evaluation and control unit memory

[0037] 5 Transmitter unit Receiver unit

[0038] 7 Environmental sensors

[0039] 10 moving obstacle

[0040] 11 movable element

[0041] 12 Transmitter unit

[0042] 13 Receiving unit

[0043] 14 Control unit

[0044] 20 backend

[0045] S1 - S6 steps

[0046] S7 - S9 signals

[0047] S10 - S21 steps

[0048] PT parking trajectory

Claims

Patent claims 1. Method for driving a trained parking trajectory (PT) by means of a motor vehicle (1), wherein at least one movable obstacle (10) is arranged in the parking trajectory (PT), characterized in that the obstacle (10) has at least one transmitting unit (12), wherein the obstacle (10) transmits a signal to the motor vehicle (1) during training of the parking trajectory (PT) and / or during driving of the trained parking trajectory (PT), by means of which signal at least one design and / or opening characteristic of the obstacle (10) is described or the design and / or opening characteristic can be determined.

2. Method according to claim 1, characterized in that the obstacle (10) transmits a manufacturer identification to the motor vehicle (1), whereby the motor vehicle (1) can retrieve the design and / or opening characteristics with the aid of a database.

3. Method according to claim 1, characterized in that the motor vehicle (1) receives and stores the type and / or opening characteristic of the obstacle (10) from the obstacle (10).

4. Method according to one of the preceding claims, characterized in that the motor vehicle (1) additionally receives and stores a communication characteristic of the obstacle (10).

5. Method according to one of the preceding claims, characterized in that the motor vehicle (1) classifies a hazard potential of the obstacle (10), wherein in the case of a high hazard potential the driver must actively authorize an opening of the obstacle (10).

6. Method according to one of the preceding claims, characterized in that the obstacle (10) transmits its opening state before or during the departure of the trained parking trajectory (PT).

7. Method according to one of the preceding claims, characterized in that the motor vehicle (1) transmits a signal to the obstacle (10) in order to change the opening state of the obstacle.

8. Method according to one of claims 2 to 7, characterized in that the motor vehicle (1) adapts its speed at least as a function of the design or the opening characteristics of the obstacle, so that the trained parking trajectory (PT) is driven through in one go.

9. Method according to one of claims 2 to 7, characterized in that the motor vehicle (1) determines a suitable intermediate stop at least as a function of the design or the opening characteristic of the obstacle and approaches the intermediate stop as long as the obstacle is not opened.

10. Parking assistance system (2), wherein the parking assistance system (2) is designed to store a trained parking trajectory (PT) and to drive it automatically, wherein the parking assistance system (2) has at least one receiving unit (6), wherein the parking assistance system (2) is designed to receive a signal from a movable obstacle (10) and to extract or determine therefrom a design and / or opening characteristic of the movable obstacle (10), wherein the design and / or opening characteristic is stored for the parking trajectory (PT) and / or is taken into account when driving the parking trajectory (PT).

11. Method for driving a trained parking trajectory (PT) by means of a motor vehicle (1), wherein at least one movable obstacle (10) is arranged in the parking trajectory (PT), wherein the motor vehicle (1) has at least one environmental sensor system (7) by means of which the movable obstacle (10) is detected, characterized in that the environmental sensor system (7) detects the obstacle (10) in an open state when training the parking trajectory (PT) or when driving the trained parking trajectory (PT), wherein the design and / or opening characteristics of the obstacle (10) are determined using a database on the basis of the data from the environmental sensor system (7) and are stored with the trained parking trajectory (PT).

12. Parking assistance system (2), wherein the parking assistance system (2) is designed to store a trained parking trajectory (PT) and to drive it automatically, wherein the Parking assistance system (2) has an environmental sensor system (7) or can access data from the environmental sensor system (7), wherein the parking assistance system (2) is further designed such that the environmental sensor system (7) detects the obstacle (10) in an open state when training the parking trajectory (PT) or when driving along the trained parking trajectory (PT), wherein the design and / or opening characteristics of the obstacle (10) are determined using a database on the basis of the data from the environmental sensor system (7), wherein the determined design and / or opening characteristics are stored for the parking trajectory (PT) and / or are taken into account when driving along the parking trajectory (PT).

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