Method for canceling an autonomous parking maneuver

Abstract

Method for canceling an autonomous parking maneuver. One aspect of the invention relates to a method for canceling an autonomous parking maneuver of a vehicle (200) in a parking space (300), the vehicle (200) being positioned in front of the parking space (300) so that a front part (201) consisting of the front or rear of the vehicle (200) is intended to enter the parking space (300) first during the autonomous parking maneuver, the vehicle (200) being equipped with at least one sensor (202-1, 202-2) in a central area (2010) of the front part (201) of the vehicle (200), the method (100) comprising the following steps: Activation by a user of the vehicle (200), of an autonomous parking function implemented on the vehicle (200);Before initiating an autonomous parking maneuver using the autonomous parking function, if the sensor (202-1, 202-2) detects an obstacle, the autonomous parking maneuver is cancelled. Figure to be published with the abbreviation: Figure 2;

Description

Title of the invention: Method for canceling an autonomous parking maneuver. TECHNICAL FIELD OF THE INVENTION

[0001] The technical field of the invention is that of vehicles, and more particularly that of vehicles equipped with an autonomous parking function.

[0002] The present invention relates to a method for canceling a vehicle parking maneuver, and in particular to a method for canceling an autonomous vehicle parking maneuver. The present invention also relates to a vehicle and a computer program for implementing the method. TECHNOLOGICAL BACKGROUND OF THE INVENTION

[0003] The autonomous parking function, or "Remote Parking" in English, is a feature that allows the driver to park a vehicle in a parking space while outside the vehicle and using a connected device, such as a smartphone. This function is particularly advantageous when the parking space is narrow and does not allow the vehicle's occupants to open the doors wide enough to exit the vehicle once it is parked.

[0004] For the autonomous parking maneuver to succeed, it is essential that the vehicle be correctly positioned in front of the parking space, and positioning recommendations are provided to vehicle users, in particular to ensure that the vehicle's longitudinal axis is aligned as closely as possible with the longitudinal axis of the parking space. However, these recommendations are not always followed by users, which has sometimes resulted in collisions between the vehicle and elements delimiting the parking space, such as another vehicle or a wall.

[0005] There is therefore a need for an autonomous parking function that prevents the vehicle from colliding during an autonomous parking maneuver. Summary of the invention

[0006] The invention offers a solution to the problems mentioned above, by making it possible to ensure that a vehicle does not collide during a parking maneuver carried out autonomously.

[0007] A first aspect of the invention relates to a method for canceling an autonomous parking maneuver of a vehicle in a parking space, the vehicle being positioned in front of the parking space so that a frontal part consisting of the front or rear of the vehicle is intended to enter the parking space first during the autonomous parking maneuver, the vehicle being equipped with at least one sensor in a central area of ​​the front part of the vehicle, the method comprises the following steps: • Activation by a vehicle user of an autonomous parking function implemented on the vehicle; • Before initiating an autonomous parking maneuver by the autonomous parking function, if the sensor detects an obstacle, the said autonomous parking maneuver is cancelled.

[0008] Thanks to the invention, the autonomous parking maneuver is canceled when an obstacle detection sensor located at the front, or at the rear, of the vehicle if the maneuver is to be performed in forward gear, or in reverse gear respectively, detects an obstacle. Thus, if the vehicle is close to the parking space but offset angularly and / or transversely from the longitudinal axis of the parking space, collisions with objects located near the parking space are avoided.

[0009] In addition to the characteristics mentioned in the preceding paragraph, the process according to the invention may have one or more additional characteristics from among the following, considered individually or according to all technically possible combinations.

[0010] According to one embodiment, the sensor is an ultrasonic sensor.

[0011] According to an embodiment compatible with the previous embodiment, the method according to the invention comprises, after the cancellation step, a step of informing the user of the cancellation of the autonomous parking maneuver.

[0012] According to an embodiment compatible with the previous embodiments, the method according to the invention comprises, after the cancellation step, a step to assist the repositioning of the vehicle in front of the parking space, for the benefit of the user.

[0013] Thus, the user is assisted in repositioning his vehicle according to the recommendations, so as to allow the subsequent execution of an autonomous parking maneuver without risk of collision.

[0014] According to a sub-variant of the previous embodiment, the vehicle is equipped with at least one left sensor and one right sensor in the central area of ​​the front part of the vehicle, the vehicle repositioning assistance step including providing the user with a vehicle repositioning instruction depending on the sensor that detected the obstacle between the left sensor and the right sensor.

[0015] Thus, if the left sensor, respectively right, detects an obstacle, the instruction is to shift the vehicle to the right, respectively to the left.

[0016] According to an alternative embodiment of the previous sub-variant embodiment, the vehicle is equipped with at least one sensor in a left peripheral zone of the front part of the vehicle and at least one sensor in a right peripheral zone of the front part of the vehicle, the central zone being located between the left peripheral zone and the right peripheral zone, the vehicle repositioning command depending on the sensor that detected the obstacle among the sensor of the left peripheral zone and the sensor of the right peripheral zone, if the left sensor and the right sensor of the central zone of the front part of the vehicle have detected an obstacle.

[0017] Thus, if the sensor in the left peripheral zone, respectively in the right peripheral zone, detects an obstacle, the instruction is to shift the vehicle to the right, respectively to the left.

[0018] According to a sub-variant embodiment of the previous variant embodiment compatible with the previous sub-variant embodiment, the vehicle repositioning assistance step includes a display of positioning information on an aerial view of the vehicle in which the vehicle and at least part of the parking space are visible.

[0019] Thus, the repositioning of the vehicle by the user is facilitated.

[0020] According to an alternative embodiment of the previous sub-variant embodiment, the positioning information is a recommended positioning for the vehicle and / or a longitudinal axis of the parking space and / or a longitudinal axis of the vehicle.

[0021] A second aspect of the invention relates to a vehicle comprising means for implementing the method according to the invention.

[0022] A third aspect of the invention relates to a computer program product comprising instructions which, when the program is executed by a computer, lead the latter to implement the steps of the process according to the invention.

[0023] The invention and its various applications will be better understood by reading the following description and examining the accompanying figures. BRIEF DESCRIPTION OF THE FIGURES

[0024] The figures are presented for illustrative purposes only and are in no way limiting of the invention. • The [Fig. 1] is a synoptic diagram illustrating the sequence of steps of a process according to the invention. • Fig. 2 shows a schematic representation of a vehicle on which the method according to the invention is applied. DETAILED DESCRIPTION

[0025] Unless otherwise specified, the same element appearing on different figures has a unique reference.

[0026] The invention relates to a method of cancelling an autonomous parking maneuver, that is to say, one carried out automatically, without human intervention, for parking a vehicle in a parking space.

[0027] The autonomous parking maneuver is initiated by an autonomous parking function implemented on the vehicle, which allows the driver to park his vehicle in a parking space while outside the vehicle, without having to perform the parking maneuver himself.

[0028] Once the vehicle is positioned in front of the parking space, the autonomous parking function is triggered by the driver using a connected object, for example a smartphone or a tablet, and the vehicle parks itself autonomously in the parking space.

[0029] As can be seen in [Fig.2], the positioning of the vehicle 200 relative to the parking space 300 can be described by an angular offset DA, a longitudinal offset DL and a transverse offset DT between the center 2012 of a front part 201 of the vehicle 200 and the center 3020 of an entrance 302 of the parking space 300 through which the vehicle 301 must enter for its parking in the parking space 300.

[0030] To enable the success of the parking maneuver, it is recommended to align a longitudinal axis 204 of the vehicle 200 with a longitudinal axis 301 of the parking space 300, which is not the case in the example of [Fig.2].

[0031] The term "longitudinal" refers to the dimension along its length relative to a given reference frame, and "transverse" refers to the dimension along its width relative to the given reference frame and is therefore perpendicular to the longitudinal dimension. In the remainder of this description, unless otherwise stated, the reference frame is that of parking space 300.

[0032] The front part 201 of the vehicle 200 is the front of the vehicle 200 if the autonomous parking maneuver is intended to be carried out in forward motion or the rear of the vehicle 200 if the autonomous parking maneuver is intended to be carried out in reverse motion.

[0033] The front part 201 of the vehicle 200 includes a central zone 2010 comprising the center 2012, as well as a right peripheral zone 203-1 and a left peripheral zone 203-2 located on either side of the central zone 2010.

[0034] The vehicle 200 includes at least one obstacle detection sensor 202-1, 202-2 in the central area 2010 of the front part 201 of the vehicle 200. The sensor 202-1, 202-2 is for example an ultrasonic sensor, but could also be a radar or a lidar.

[0035] In the example of [Fig.2], the vehicle 200 has a right sensor 202-1 and a left sensor 202-2 in the central area 2010 of the front part 201 of the vehicle 200.

[0036] The sequence of steps of process 100 is illustrated in [Fig.1].

[0037] A first step 101 of the method 100 according to the invention consists for a user of the vehicle 200, for example a driver of the vehicle 200, to activate the autonomous parking function implemented on the vehicle 200, that is to say to trigger the autonomous parking function via a user equipment of the connected object type, for the performance of an autonomous parking maneuver of the vehicle 200 on the parking space 300.

[0038] A second step 102 of the method 100 according to the invention is carried out before the initiation of the autonomous parking maneuver by the autonomous parking function activated during the first step 101.

[0039] The second step 102 is carried out only if at least one sensor 202-1, 202-2 located in the central area 2010 of the front part 201 of the vehicle 200 detects an obstacle.

[0040] As illustrated in [Fig.2] by hatching, the left sensor 202-2 detected an obstacle, but not the right sensor 202-1.

[0041] The second step 102 consists of cancelling the autonomous parking maneuver which would have been initiated by the autonomous parking function activated in the first step 101.

[0042] After the second step 102, the method 100 according to the invention may include a third step 103 consisting of informing the user who activated the autonomous parking function during the first step 101, of the cancellation of the autonomous parking maneuver during the second step 102.

[0043] The third step 103 may consist of displaying a message, for example "maneuver impossible", on a screen of the user equipment which enabled the activation of the autonomous parking function during the first step 101 and / or on a screen of the vehicle 200, and / or by emitting a voice message.

[0044] After the second step 102, the method 100 according to the invention may include a fourth step 104 consisting of assisting a driver of the vehicle 200 to reposition the vehicle 200 in front of the parking space 300, so as to guarantee the success of the subsequent autonomous parking maneuver.

[0045] The fourth step 104 consists, for example, of providing the driver of vehicle 200 with instructions for repositioning vehicle 200.

[0046] The repositioning instruction can, for example, be provided by display on a screen of vehicle 200 or by voice command.

[0047] The vehicle 200 repositioning instruction depends for example on the sensor 202-1, 202-2 of the central area 2010 of the front part 201 of the vehicle 200 which detected the obstacle which led to the cancellation of the autonomous parking maneuver during the second step 102.

[0048] For example, if only the right sensor 202-1 of the central zone 2010 of the front part 201 of the vehicle 200 has detected the obstacle, the repositioning instruction for the vehicle 200 is, for example, to shift the vehicle 200 to the left and if only the left sensor 202-2 of the central zone 2010 of the front part 201 of the vehicle 200 has detected the obstacle, the repositioning instruction for the vehicle 200 is, for example, to shift the vehicle 200 to the right.

[0049] The vehicle 200 can, for example, be equipped with at least one sensor 203-1 in the right peripheral zone 2011-1 of the front part 201 of the vehicle 200 and at least one sensor 203-2 in the left peripheral zone 2011-2 of the front part 201 of the vehicle 200. In this case, and if the right sensor 202-1 and the left sensor 202-2 and the central zone 2010 of the front part 201 of the vehicle 200 have detected an obstacle, the repositioning command of the vehicle 200 depends, for example, on which sensor 203-1, 203-2 detected the obstacle among the sensor 203-1 of the right peripheral zone 2011-1 and the sensor 203-2 of the left peripheral zone 2011-2.

[0050] Thus, if the sensor 203-1 of the right peripheral zone 2011-1 has detected the obstacle, the repositioning instruction for vehicle 200 is, for example, to shift vehicle 200 to the left and if the sensor 203-2 of the left peripheral zone 2011-2 has detected the obstacle, the repositioning instruction for vehicle 200 is, for example, to shift vehicle 200 to the right.

[0051] As illustrated in [Fig.2] by hatching, the sensor 203-2 of the left peripheral zone 2011-2 detected an obstacle, but not the sensor 203-1 of the right peripheral zone 2011-1.

[0052] The fourth step 104 may also consist of displaying positioning information on an aerial view of the vehicle 200, or “bird-eye view”, itself displayed on a screen of the vehicle 200.

[0053] The aerial view of vehicle 200 shown shows vehicle 200 and at least part of parking space 300.

[0054] The positioning information can be the longitudinal axis 301 of the parking space 300 and / or the longitudinal axis 204 of the vehicle 200, as illustrated in [Fig.2],

[0055] The positioning information can also be a recommended positioning for vehicle 200, for example displayed as an overlay on the aerial view of vehicle 200.

Claims

Demands

1. A method (100) for canceling an autonomous parking maneuver of a vehicle (200) in a parking space (300), the vehicle (200) being positioned in front of the parking space (300) so that a front part (201) consisting of the front or rear of the vehicle (200) is intended to enter the parking space (300) first during the autonomous parking maneuver, the vehicle (200) being equipped with at least one sensor (202-1, 202-2) in a central area (2010) of the front part (201) of the vehicle (200), the method (100) comprising the following steps: • Activation (101) by a user of the vehicle (200), of an autonomous parking function implemented on the vehicle (200); • Before initiating an autonomous parking maneuver by the autonomous parking function, if the sensor (202-1, 202-2) detects an obstacle, cancellation (102) of said autonomous parking maneuver.

2. Method (100) according to the preceding claim, wherein the sensor (202-1, 202-2) is an ultrasonic sensor.

3. Method (100) according to any one of the preceding claims, comprising after the cancellation step (102), a step (103) of informing the user of the cancellation of the autonomous parking maneuver.

4. Method (100) according to any one of the preceding claims, comprising after the cancellation step (102), a step (104) of assisting the repositioning of the vehicle (200) in front of the parking space (300), for the benefit of the user.

5. Method (100) according to the preceding claim, wherein the vehicle (200) is equipped with at least one left sensor (202-2) and one right sensor (202-1) in the central area (2010) of the front part (201) of the vehicle (200), the step (104) of assisting the repositioning of the vehicle (200) comprising providing the user with a repositioning instruction for the vehicle (200) depending on the sensor (202-1, 202-2) that detected the obstacle among the left sensor (202-2) and the right sensor (202-1).

6. A method (100) according to the preceding claim, wherein the vehicle (200) is equipped with at least one sensor (203-2) in a left peripheral zone (2011-2) of the front part (201) of the vehicle (200) and at least one sensor (203-1) in a right peripheral zone (2011-1) of the front part (201) of the vehicle (200), the central zone (2010) being located between the left peripheral zone (2011-2) and the right peripheral zone (2011-1), the repositioning command of the vehicle (200) depending on which sensor (203-1, 203-2) detected the obstacle, among the sensor (203-2) in the left peripheral zone (2011-2) and the sensor (203-1) in the right peripheral zone (2011-1), if the left sensor (202-2) and the right sensor (202-1) of the central area (2010) of the front part (201) of the vehicle (200) detected an obstacle.

7. Method (100) according to any one of claims 4 to 6, wherein the step (104) of assisting in the repositioning of the vehicle (200) comprises a display of positioning information on an aerial view of the vehicle (200) in which the vehicle (200) and at least a part of the parking space (300) are visible.

8. Method (100) according to the preceding claim, the positioning information is a recommended positioning for the vehicle (200) and / or a longitudinal axis (301) of the parking space (300) and / or a longitudinal axis (204) of the vehicle (200).

9. Vehicle (200) comprising means for implementing the method (100) according to any one of the preceding claims.

10. Product computer program comprising instructions which, when the program is executed by a computer, cause the computer to carry out the steps of the process (100) according to any one of claims 1 to 8.

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