Method and apparatus for performing traveling maneuver
Patent Information
- Application Number
- JP2024113115
- Authority / Receiving Office
- JP · JP
- Patent Type
- Applications
- Current Assignee / Owner
- Priority Date
- 2023-08-18
- Filing Date
- 2024-07-16
- Publication Date
- 2025-03-03
Smart Images
Figure 2025028760000001_ABST
Abstract
Description
[Technical field]
[0001] The present invention relates to a method and corresponding device arranged to assist a vehicle user in parking a vehicle in a parking space. [Background technology]
[0002] The vehicle may be equipped with an assistance system, which allows the user of the vehicle to record and store the travel trajectory traveled during manual driving operations. The travel trajectory may relate to a parking maneuver of the vehicle, in which the vehicle drives into a parking space, in particular a lateral or longitudinal parking space. The recorded and stored travel trajectory can be used at a later point in time to automatically guide the vehicle into the same parking space along the stored travel trajectory. Thus, the comfort of the vehicle for repeated execution of parking maneuvers can be improved.
[0003] It may happen that the parking space of a previously recorded driving maneuver is occupied at the time of execution of the parking maneuver repeat, which typically leads to an interruption of the execution of the parking maneuver repeat and thus to a loss of comfort for the user of the vehicle. Summary of the Invention [Problem to be solved by the invention]
[0004] The present description is concerned with the technical problem of improving the comfort of a vehicle user in the repeated execution of recorded driving maneuvers, in particular parking maneuvers. [Means for solving the problem]
[0005] The problem is solved by each independent claim. Advantageous embodiments are set out in particular in the dependent claims. It is to be pointed out that the additional features of the claims dependent on an independent claim may form an independent invention from the combination of all the features of the independent claim, either without the features of the independent claim or only in combination with some of the features of the independent claim, which may be made for the subject matter of an independent claim, a divisional application or a subsequent application. This also applies to technical suggestions given in the description, which may form an independent invention from one of the features of the independent claims.
[0006] According to one aspect, an apparatus is described for performing driving maneuvers, in particular parking maneuvers, of a (motorized) vehicle. The apparatus may be part of a driver assistance system for repeatedly performing driving maneuvers. The driving maneuvers may be aimed at guiding the vehicle to a predefined parking space.
[0007] The device can be configured to record, in a recording mode (of the driver assistance system), a trajectory traveled by the vehicle when performing a driving maneuver, in order to identify (and store in a storage unit of the vehicle) the recorded trajectory, whereby in the recording mode, longitudinal and / or (in particular) lateral steering of the vehicle can be performed manually by the driver of the vehicle when performing the driving maneuver.
[0008] When recording the travel trajectory, trajectory data can be detected and recorded for a number of points and / or positions along the travel trajectory (starting from the start point to the end point of the trajectory and with a predetermined spatial resolution of at least one point and / or position every 10 cm or 50 cm or 1 meter, for example), respectively. - Coordinates of each point, the vehicle's orientation and / or direction at each location, and / or -Vehicle speed at each location It is possible to represent
[0009] The trajectory data of the driving trajectory can be stored in a storage unit of the vehicle. The trajectory data can also be used in a replay mode (of the driver assistance system) to automatically guide the vehicle (from an initial position to a final position of the driving trajectory) along a pre-recorded driving trajectory (by automated longitudinal and / or lateral driving, among others). The final position of the driving trajectory can be located in a parking space for the vehicle. The initial position can be located in an approach to a parking area (for example of a parking structure or a parking lot).
[0010] The device is configured to drive the vehicle along a pre-recorded trajectory by automated longitudinal and / or (especially) lateral driving during execution of the pre-recorded driving maneuver.
[0011] For example, it may be possible to recognize that the vehicle is located at or within a predefined perimeter of an initial position of a pre-recorded driving maneuver (e.g., based on the vehicle's actual position, which may be determined based on the vehicle's GNSS (Global Navigation Satellite System) sensors). Then, possibly in response to the recognition, suggestions for performing the pre-recorded driving maneuver may be output to a user of the vehicle (e.g., via a user interface of the vehicle). Further, in response to user input of the user (on the output suggestions), the pre-recorded driving maneuver may be executed. Thus, a replay of the pre-recorded driving maneuver may occur.
[0012] The device is also configured to detect (possibly other or alternative) parking spaces for the vehicle during the execution (i.e. during replay) of the pre-recorded driving maneuver. For example, it is possible to search for a suitable parking space for the vehicle based on surrounding data (i.e. sensor data) of one or more surrounding sensors of the vehicle (e.g. based on at least one camera data). In this case, it is possible to search (and detect) parking spaces located around, in particular in the vicinity of, the pre-recorded trajectory. It is also possible to search (and detect) parking spaces having spatial dimensions (e.g. length and / or width) large enough for the vehicle (so that the vehicle can be (automatically) guided to the parking space).
[0013] Additionally, the system is configured to, in response to detecting a parking space, switch from performing a pre-recorded driving maneuver to performing a parking maneuver into the detected parking space.
[0014] In particular, in response to detecting a parking space, a suggestion can be output to a user of the vehicle for performing a parking maneuver into the detected parking space (the suggestion can be output, for example, via a user interface of the vehicle), and if the user accepts the suggestion, it is possible to switch from performing a pre-recorded driving maneuver to performing a parking maneuver into the detected parking space. On the other hand, if the user does not accept the suggestion, it is possible to continue performing the pre-recorded driving maneuver.
[0015] Thus, during the replay of a pre-recorded driving maneuver, alternative parking spaces for the vehicle can be searched for and it is possible for the user of the vehicle to initiate an automated parking maneuver into the alternative parking space (and then smoothly transition from the recorded driving maneuver to the parking maneuver). Thus, the comfort for the user of the vehicle can be further improved. Thus, in particular, it is possible to reduce the possibility that the vehicle is not automatically guided into a parking space (because the parking space of the pre-recorded driving maneuver is occupied). This is particularly advantageous for driving maneuvers in public parking areas.
[0016] The device may be configured to recognize a user input (in a user interface) that represents the user's acceptance of a proposal for performing a parking maneuver (into a detected parking space). In response to the recognized user input, the vehicle may be automatically decelerated to a stationary state, possibly at an intermediate position located on a pre-recorded trajectory. Furthermore, when performing the parking maneuver, the vehicle may be guided from the intermediate position to the detected parking space by automated longitudinal and / or (especially) lateral steering.
[0017] Alternatively or additionally, the device may be configured to recognize a user input indicating that the user accepts the proposal after the vehicle has been manually decelerated (by the driver of the vehicle) to a stationary state at the intermediate position, and in response to the recognized user input, the vehicle may be guided by automated longitudinal and / or (especially) lateral steering from the intermediate position into the detected parking space when performing a parking maneuver.
[0018] It is thus possible to provide a particularly comfortable transition between a pre-recorded vehicle maneuver and a parking maneuver (into a detected parking space).
[0019] As already mentioned above, the device can be configured to detect a parking space for the vehicle based on ambient data of one or more ambient sensors of the vehicle. Furthermore, the device can be configured to determine a parking maneuver trajectory for a parking maneuver into the detected parking space based on ambient data of one or more ambient sensors of the vehicle, the parking maneuver trajectory running from an intermediate position (where the prerecorded driving maneuver is interrupted) to a parking final position in the detected parking space. When performing the parking maneuver, the vehicle can drive along the prerecorded trajectory by automated longitudinal and / or (in particular) lateral driving.
[0020] The device can be configured to check whether the pre-recorded trajectory extends into a (possibly public) parking area with multiple different parking spaces, in particular into parking spaces located in a car park or car park structure. This can be determined, for example, based on the GNSS coordinates of the last position of the recorded trajectory and / or based on a digital map of the road network along which the vehicle travels.
[0021] In particular, but only if, the pre-recorded trajectory extends to parking spaces located in a (possibly public) parking area having a plurality of different parking spaces (e.g. 3 or more or 5 or more or 10 or more parking spaces), it is possible to search for parking spaces for the vehicle during the execution of the pre-recorded driving maneuver.
[0022] Thus, the search for (alternative) parking spaces can possibly be limited to situations where the pre-recorded maneuver is located in a (possibly public) parking area (and thus there is a relatively high risk that the initial parking space of the pre-recorded maneuver is occupied). Alternatively, the search for alternative parking spaces can possibly be prevented if it is recognized that the parking space of the pre-recorded maneuver is not located in a (possibly public) parking area with multiple parking spaces and / or that the parking space of the pre-recorded maneuver is located on private property. Thus, the comfort of the user of the vehicle can be further improved.
[0023] According to another aspect, there is described a (road vehicle) motor vehicle (in particular a car or a lorry or a bus or a motorcycle) comprising an apparatus as described herein.
[0024] According to another aspect, a method for performing a driving maneuver, in particular a parking maneuver, of a vehicle is described. The method includes guiding the vehicle by automated longitudinal and / or lateral maneuvering along a pre-recorded trajectory during execution of a pre-recorded driving maneuver. The method further includes detecting a parking space for the vehicle while executing the pre-recorded driving maneuver. Additionally, the method includes switching from executing the pre-recorded driving maneuver to executing a parking maneuver (by automated longitudinal and / or lateral maneuvering) into the detected parking space in response to detecting the parking space.
[0025] According to another aspect, a software (SW) program is described, the software program being configurable to execute in a processor (e.g., in a vehicle controller) and thereby to perform the methods described herein.
[0026] According to another aspect, a storage medium is described. The storage medium can include a software program configured to execute on a processor and thereby perform the methods described herein.
[0027] It should be noted that the methods, devices and systems described herein can be used alone or in combination with other methods, devices and systems described herein. Furthermore, aspects of the methods, devices and systems described herein can be combined with each other in various ways. In particular, the features of the claims can be combined in various ways. Also, features shown in parentheses should be understood to be optional features.
[0028] The present invention will be described in detail below with reference to examples. [Brief description of the drawings]
[0029] [Figure 1] FIG. 1 illustrates exemplary components of a vehicle. [Figure 2a] FIG. 2 shows an exemplary recorded driving trajectory for a driving maneuver, in particular a parking maneuver. [Figure 2b] FIG. 13 illustrates an example output for detected alternative parking spaces. [Figure 2c] FIG. 13 illustrates an example parking maneuver travel trajectory for a parking maneuver into an alternative parking space. [Diagram 3] FIG. 2 shows a flowchart of an exemplary method for performing a driving maneuver, in particular a parking maneuver. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
[0030] As explained at the beginning, the present specification is concerned with improving the comfort of a user of a vehicle when performing driving maneuvers, in particular when performing parking maneuvers. In this context, Fig. 1 shows an exemplary vehicle 100 having a number of surrounding sensors 102 (e.g. at least one camera, at least one radar sensor, at least one lidar sensor, at least one ultrasonic sensor, etc.), each configured to detect surrounding data (e.g. sensor data) relating to the surroundings of the vehicle 100. A control device 101 of the vehicle 100 can be configured to evaluate the surrounding data in order to detect one or more objects in the surroundings of the vehicle 100.
[0031] The device 101 can also be configured to operate longitudinal and / or lateral driving actuators 103 of the vehicle 100 (e.g. a drive engine (drive motor), a braking device and / or a steering device) for automated longitudinal and / or lateral driving of the vehicle 100. The one or more actuators 103 can be operated depending on the surrounding data, in particular depending on one or more detected objects.
[0032] Vehicle 100 may further include a user interface 104 that allows interaction between a user and vehicle 100, for example to activate a driver assist feature or to inform the user of the status of a driver assist feature. User interface 104 may include one or more operating elements and / or one or more output elements (e.g., a screen).
[0033] The vehicle 100 may be equipped with a driver assistance system configured to record a driving trajectory traveled by the vehicle 100. The driving trajectory may be traveled manually by a driver of the vehicle 100 and / or automatically by the vehicle 100. Trajectory data for the driving trajectory may be stored in a storage unit 105 of the vehicle 100. The trajectory data may be determined based on sensor data of one or more sensors 102 of the vehicle 100. The trajectory data may be stored for a number of positions (i.e. points) along the driving trajectory, respectively, in the form of: coordinates of each position (e.g. relative to the world coordinate system and / or the coordinate system of the vehicle 100), which can be determined, for example, based on a GNSS sensor of the vehicle 100; the heading and / or orientation of the vehicle 100 at each location; and / or - Travel speed of the vehicle 100 at each position Represents.
[0034] The recording of the driving trajectory can be explicitly started and / or stopped by the user of the vehicle 100 (via the user interface 104), so that the start and / or end points of the stored driving trajectory can be precisely set (specified).
[0035] 2a shows an exemplary driving situation, in which the vehicle 100 drives along a driving trajectory 201 to a parking space 210, which is located, for example, between two marker lines (generally markers). The driver of the vehicle 100 can start recording the driving trajectory 201 at a starting point 204 (for example by operating an operating element of the user interface 104). The driver can manually (non-automatically) drive the vehicle 100 longitudinally and / or laterally to an end point 205 at the parking space 210. The path traveled by the vehicle 100 from the starting point 204 to the end point 205 can be recorded as the driving trajectory 201 and possibly stored in the storage unit 105 of the vehicle 100. In particular, the trajectory data for the driving trajectory 201 can be stored in the storage unit 105 of the vehicle 100.
[0036] The trajectory data can be used for a new execution of a vehicle maneuver, in particular a parking maneuver for parking the vehicle in the parking space 210. For example, upon reaching the start point 204 or before reaching the start point 204, a proposal for a new execution of a driving maneuver can be output to the driver of the vehicle 100 via the user interface 104. The user can accept the proposal (for example by operating an operating element of the user interface 104). As a result, based on the trajectory data, an automated longitudinal and / or lateral steering of the vehicle 100 is performed, by which the vehicle 100 is guided along the pre-recorded driving trajectory 201 to the end point 205 in the parking space 210.
[0037] The vehicle 100 may have as another function a parking assist, which is configured to identify (recognize) one or more parking spaces 220 suitable for the vehicle 100 in the surroundings of the vehicle 100, for example based on one or more surrounding data of the vehicle 100. For this purpose, the recognized parking space 220 may be dimensioned and it may be checked whether the parking space 220 is large enough (e.g. long enough and / or wide enough) for the vehicle 100. If the recognized parking space 220 is suitable (e.g. large enough) for the vehicle 100, a suggestion for performing a parking maneuver into the recognized parking space 220 may be output to the driver of the vehicle 100 via the user interface 104. The driver of the vehicle 100 may accept the suggestion (e.g. by operating an operating element of the user interface 104). As a result, an automated parking maneuver (by automated longitudinal and / or lateral maneuver) is provided by the vehicle 100 to guide the vehicle 100 into the parking space 220. In this regard, a parking maneuver trajectory is identified by the control device 101 of the vehicle 100 (based on ambient data from one or more ambient sensors 102), and the vehicle 100 is automatically guided along the parking maneuver trajectory to the detected parking space 220.
[0038] The user of the vehicle 100 can use the parking assist during the repetition of a pre-recorded driving maneuver, in particular a parking maneuver. The parking assist can possibly be activated by default during the replay of a pre-recorded driving maneuver. Alternatively or additionally, the user can activate the parking assist via the user interface 104.
[0039] Then, while performing the recorded driving maneuver, i.e. while driving on the recorded driving trajectory 201 from the starting point 204 to the end point 205, it is possible to check whether there is an alternative parking space 220 (different from the parking space 210 of the recorded driving maneuver) around the vehicle 100 that is suitable for the vehicle 100.
[0040] If an alternative parking space 220 is recognized, a suggestion to automatically drive the vehicle 100 to the alternative parking space 220 (and interrupt the execution of the recorded driving maneuver) can be output to a user of the vehicle 100 via the user interface 104 (during the execution of the recorded driving maneuver). Figure 2b shows an exemplary output 250 including information 251 that an alternative parking space 220 has been recognized and a response request 252 whether to execute an automated parking maneuver into the recognized parking space 220.
[0041] When the user decides on an automated parking maneuver into the alternative parking space 220, the ongoing execution of the recorded driving maneuver is interrupted and instead the vehicle 100 is automatically guided (longitudinally and / or laterally) into the alternative parking space 220 (without requiring further actions of the user of the vehicle 100). In this connection, it is possible to determine a parking maneuver trajectory 261 extending from an intermediate position 264 to a parking position 265 in the alternative parking space 220, as illustrated, for example, in FIG. 2c. The parking maneuver trajectory can be determined based on sensor data of one or more sensors 102 of the vehicle 100. The intermediate position 264 can be located on the pre-recorded trajectory 201.
[0042] As already mentioned above, it may happen that the parking final position 205 for the replay of the recorded driving maneuver is occupied, especially in a multi-storey car park or a car park without assigned parking spaces 210. This may cause the replay of the pre-recorded driving maneuver to be interrupted before reaching the final position 205.
[0043] Described herein is the functionality of checking possible parking spaces 220 (particularly parking spots) for the vehicle 100 (particularly with regard to the size of each parking space 220) during the running of a replay of a pre-recorded driving maneuver, and suggesting (if appropriate for the vehicle 100) via the user interface 104. The user can then switch to a parking maneuver and park in another parking space 220.
[0044] In one exemplary configuration, the user can initiate a replay (i.e., a repeated execution) of a recorded driving maneuver, whereupon the vehicle 100 is guided by automated longitudinal and / or lateral maneuvers along a pre-recorded driving trajectory 201. The recorded driving trajectory 201 may possibly pass in the vicinity of other parking spots 220. The (control) device 101 can then check whether the parking spot 220 is suitable for the vehicle 100, and possibly output (via the user interface 104) a suggestion for an automated parking maneuver to the parking spot 220.
[0045] The user of vehicle 100 can then brake vehicle 100 to a stationary state and can accept the suggestion for the automated parking maneuver (if vehicle 100 is stationary). Alternatively, or in addition, it may be possible for the user to accept the suggestion while vehicle 100 is moving. Vehicle 100 can then be braked (to a stationary state) in an automated manner.
[0046] Starting from a stationary state of the vehicle 100, an automatic switchover can occur from a replay of the recorded driving maneuver to an automated parking maneuver, followed by automated longitudinal and / or lateral maneuvering of the vehicle 100 into a parking spot 220 (recognized and checked during the replay).
[0047] 3 shows a flow chart of a (computer-implemented) method 300 for executing a driving maneuver, in particular a parking maneuver, of a (motorized) vehicle 100. The method 300 comprises guiding 301 the vehicle 100 during a pre-recorded driving maneuver by automated longitudinal and / or lateral maneuvers (in particular automated longitudinal and lateral maneuvers) along a pre-recorded driving trajectory 201. The trajectory 201 can be pre-stored in a storage unit 105 of the vehicle 100 and can be read out from the storage unit 105 for execution.
[0048] The method 300 further includes detecting 302 a parking space 220 for the vehicle 100 while performing the pre-recorded driving maneuver. The parking space 220 may be located along the pre-recorded trajectory 201. The parking space may be detected based on sensor data of one or more sensors 102 of the vehicle 100.
[0049] Furthermore, the method 300 includes, in response to the detection 302 of the parking space 200, causing a switch 303 from performing a pre-recorded driving maneuver to performing a parking maneuver towards the detected parking space 200. For this purpose, a parking maneuver trajectory 261 can be determined, in particular calculated (for example based on ambient data of one or more ambient sensors 102). The vehicle 100 can then be guided towards the detected parking space 220 by automated longitudinal and / or (in particular and) lateral maneuvering along the parking maneuver trajectory 261.
[0050] The aspects described herein can efficiently and reliably increase a user's comfort when performing a parking maneuver.
[0051] It should be noted that the invention is not limited to the embodiments shown, and in particular that the specification and drawings are merely illustrative of the principles of the proposed methods, devices and systems.
Claims
1. A device (101) for performing a parking maneuver for a vehicle (100), the device (101) comprising: - guiding said vehicle (100) along a pre-recorded trajectory (201) by automated longitudinal and / or lateral steering during the execution of a pre-recorded driving maneuver, - detecting a parking space (220) for said vehicle (100) during the execution of said pre-recorded driving maneuver; and - in response to detection of said parking space (220), switching from performing said pre-recorded driving maneuver to performing a parking maneuver into said detected parking space (200).
1. An apparatus (101) comprising:
2. The device (101), - in response to detection of the parking space (200), outputting suggestions to a user of the vehicle (100) for performing a parking maneuver into the detected parking space (200); - if the user accepts the proposal, to switch from performing the pre-recorded driving maneuver to performing a parking maneuver into the detected parking space (200), - if the user does not accept the proposal, to continue executing the pre-recorded driving maneuver; 2. The apparatus (101) of claim 1, characterized in that it is configured
3. The device (101), - to recognize a user input indicating that the user accepts said proposal; - to automatically decelerate said vehicle (100) to a stationary state at an intermediate position (264) located on said pre-recorded trajectory (201) in response to said recognized user input, - guiding said vehicle (100) from said intermediate position (264) to said detected parking space (200) by automated longitudinal and / or lateral steering when performing a parking maneuver; 3. The apparatus (101) of claim 2, characterized in that it is configured
4. The device (101), - to recognize a user input indicating that the user accepts the proposal after the vehicle (100) has been manually decelerated to rest in an intermediate position (264); - guiding the vehicle (100) from the intermediate position (264) to the detected parking space (200) by automated longitudinal and / or lateral steering in response to the recognized user input when performing a parking maneuver.
3. The apparatus (101) of claim 2, characterized in that it is configured
5. The device (101), - detecting the parking space (220) for the vehicle (100) based on ambient data of one or more ambient sensors (102) of the vehicle (100); - determining a parking maneuver trajectory (261) for a parking maneuver into the detected parking space (200) based on ambient data of one or more ambient sensors (102) of said vehicle (100); and - guiding said vehicle (100) along said identified parking maneuver trajectory (261) by automated longitudinal and / or lateral steering when performing a parking maneuver; The device (101) according to any one of claims 1 to 4, characterized in that it is configured
6. The device (101), - to identify intermediate positions (264) located on said pre-recorded trajectory (201); and - to determine a parking maneuver trajectory (261) for a parking maneuver, starting from said intermediate position (264) and extending to a parking final position (265) in said detected parking space (200); 6. The apparatus (101) according to claim 5, characterized in that it is configured
7. The device (101) determines, based on ambient data from one or more ambient sensors (102) of the vehicle (100), - located around, in particular in the vicinity of, said pre-recorded trajectory (201), and / or - has sufficiently large spatial dimensions for said vehicle (100); The device (101) according to any one of claims 1 to 6, characterized in that it is configured for detecting a parking space (220).
8. The device (101), - outputting the pre-recorded driving maneuver suggestions to a user of the vehicle (100); and - executing said pre-recorded driving maneuvers in response to user input from a user; The device (101) according to any one of claims 1 to 7, characterized in that it is configured
9. The device (101), - to recognize that the vehicle (100) is located at or within a predefined perimeter of the starting point (204) of the pre-recorded driving maneuver; and - in response to said recognition, outputting said suggestions for the execution of said pre-recorded driving maneuvers to a user of said vehicle (100).
9. The apparatus (101) according to claim 8, characterized in that it is configured
10. The device (101), - to check whether said pre-recorded trajectory (201) extends to an original parking space (210) located in a parking area having a number of different parking spaces, in particular in a car park or a car park; and to search for a parking space (220) for the vehicle (100) during the pre-recorded driving maneuver, in particular if and only if the pre-recorded trajectory (201) leads to an initial parking space (210) located in a parking range having a plurality of different parking spaces; The device (101) according to any one of claims 1 to 9, characterized in that it is configured
11. A method (300) for performing a parking maneuver in a vehicle (100), the method (300) comprising: - driving (301) said vehicle (100) along a pre-recorded trajectory (201) by automated longitudinal and / or lateral driving during the execution of a pre-recorded driving maneuver, - detecting (302) a parking space (220) for said vehicle (100) during the execution of said pre-recorded driving maneuver; and - in response to detection of said parking space (220), switching (303) from performing said pre-recorded driving maneuver to performing a parking maneuver into said detected parking space (200). The method (300), comprising: