A method for dynamically replanning parking trajectories

Abstract

To provide a method for dynamically replanning a parking track that can accommodate a changing parking state and has high parking comfort and high user acceptance property.SOLUTION: A method for dynamically replanning a parking track and resolving such the problem that an object O recognized only when a user positioning a vehicle 1 and travelling toward a first target position Z1 enters a parking space is an obstacle includes the steps of: setting a second target position Z2 to be positioned between the object O and a third vehicle 3 while the vehicle travels; and replanning a first parking track P1 to a second parking track P2.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention is at least partially implemented automatically. line Parking process for Dynamic parking trajectory Rescheduling This relates to a method for [Background technology]

[0002] In the prior art, methods are known for planning parking trajectories, in particular for planning circular arc segments, straight lines and / or also is a clothoid curve By combining target position The parking trajectory that reaches Decide Several geometric planning methods are known.

[0003] Implementation of at least partially automatic parking processes line Medium To The surroundings model provided by the vehicle's driver assistance system may change. This can have various causes, for example, the surroundings capture may be slow during the parking process (compared to the capture when passing through the parking space). So , more accurate and when entering a parking space To When passing a parking space is a car Not recognized by both sensor means Around Side New detail Caught to be captured thing and / also For example, changes in the surrounding conditions over time due to pedestrians entering the edge of a parking space can be cited.

[0004] In short, first up front decision Parking trajectory but , it may no longer be possible to carry out the procedure without contact.

[0005] Known from the prior art of In such a situation, the parking assist system will Finished At least Car The second one can be reached without contact by stopping both vehicles. target position Alternatives to of A parking trajectory is calculated, which in many cases requires maneuvering. 。 That is, the vehicle is Running in a single motion Instead of multiple operation Steps in The vehicle will travel along the parking track.

[0006] This kind Rescheduling is perceived as uncomfortable by passengers. Summary of the Invention [Problem to be solved by the invention]

[0007] Based on this, the object of the present invention is to dynamically generate a parking trajectory that can respond to changing parking situations and has high parking comfort and high user acceptance. Rescheduling The object of the present invention is to provide a method for [Means for solving the problem]

[0008] This object is achieved by a method having the features of the independent claim 1. Preferred embodiments are the subject of the dependent claims. Rescheduling The driver assistance system , Germany This is the subject of claim 15.

[0009] According to a first aspect, the present invention is at least partially implemented automatically. line During the parking process And, One parking track in Vehicle To the first target position Dynamically adjust the vehicle's first parking trajectory while moving Rescheduling The present invention relates to a method for producing a fluororesin comprising the steps of: 。

[0010] First, on the first parking track In Vehicle movement During , of the first parking trajectory planned for the parking process. ReschedulingInformation regarding whether or not a request is required is received. For example, this The information is Enclosure from a component of a driver assistance system of the vehicle, such as a component that generates a surrounding model of the surrounding area of ​​the vinegar can be . Applicable Information is ,car Both are the first target position Different from the new New target position To move Should Instruct do.

[0011] continuation , Current status of the vehicle Location from Distant, On the first parking track Location R Starting position From New to the new target position in a single motion Parking To steer A second parking track is planned. this The second parking trajectory is planned based on a trajectory library that includes a number of different trajectory types. These trajectory types are End The orbital segment of Including A trajectory segment can be a straight line, a circular arc segment, also is a clothoid curve In other words, the trajectory library is particularly preferably a trajectory list in which a large number of different trajectory types are stored. The trajectory library is, for example, stored on a central control means of the vehicle. By using a trajectory library in which all trajectory segments are efficiently prepared, a small amount of calculations can be performed. in , robust To and short reaction time in , a guaranteed planning of the second parking trajectory is achieved.

[0012] The second parking track is the first Parking track and Between the second parking track To , and , No. Two parking tracks adjacent to each other Between orbital segments To , each continuous There is a transition In addition, the second parking track is designed to be Parking track and the second parking track, and adjacent to each otherBetween orbital segments To , continuous speed profile There exists It is preferable that the plan be such that

[0013] Second parking track It was decided rear, Single Action The parking process can be completed without stopping the vehicle during the process. Starting position Based on the first parking orbit, Starting position From the target position to the parking position, the actual parking position is based on the second parking trajectory. line will be done.

[0014] The present invention Yo The technical method Benefits teeth, The parking track is Comfortable for Replanned in the form , Single Action That is, stop the vehicle. Or switch and shunt Without Ability to run In addition, the orbital library is Use By doing so, performance calculation load in , and The user Expectations can It is possible to calculate a second parking trajectory with the trajectory course. , the result , own Mobile parking Car process Vehicle occupants To Yo It feels natural can be done.

[0015] one implementation form According to the vehicle's current Location starts the planning process for the second parking trajectory When vehicle position It is. Starting position teeth ,car Both This starting position when moving on the first parking track and / or also means for controlling the vehicle The period during which the curvature value is used for curve control is completion Until To, To finish the planning process of the second parking track Selected attitude do. curve Control Execute The control means may, for example, For vehicle control The multiple curvature values ​​of the first parking trajectory Use , a sudden change in orbit is desired. Successfully do not have control To avoid leading to behavior , the starting position is, The control means The changed curvature value of the second parking trajectory is ,curve When controlling, sequential Consider have sufficient time to consider Hello Select to death Must be.

[0016] According to one embodiment, during entry of the vehicle into the parking space and / or also The vehicle has entered at least partially into the parking space. position In the parking trajectory Rescheduling Information for and / or also is new New target position In short, Rescheduling At the time when the information for has been received, a portion of the first parking track has already been passed.

[0017] According to one embodiment, the trajectory types in the trajectory library are sequentially selected in time order: also If the computing capacity of the computing unit allows, the planning of a number of second parking trajectories can be carried out in parallel. In this case, at least one trajectory planning is carried out for each trajectory type. This allows the planning of a number of second parking trajectories to be carried out in parallel. To Efficiently, each orbital type in the orbital library About Based on the orbit type New target position Whether the second parking trajectory can be found Decide It is possible.

[0018] teenager replacement Generally, the validation is performed sequentially, i.e., for each trajectory type in the trajectory library. At Based on the orbital type, New target position It is verified whether a second parking trajectory to the target position can be found.

[0019] According to one embodiment, a second parking rail The way , parking availability, and / or also First target position New New target position Based on the orbital type in the orbital library, without considering the relative position of plan In other words ,degree Use the orbital type and How can we best reach the new target position? of Parking situation of each Consider Decide Determine Instead, multiple trajectory types are parallel in time until a second parking trajectory is found. also are used to determine the second parking trajectory in time sequence.

[0020] According to one embodiment, the parking situation and / or also teeth, For the first target position new New target position The relative positions are evaluated, and the sequence order of the orbital types is determined based on the evaluation results. Created , Based on this sequence ranking, Second parking track but, Using different orbital types Plan sequentially The planning is terminated when a second parking trajectory is found, for example based on a trajectory type. In this way, the parking situation can be adapted to suit the purpose. Plan can.

[0021] According to one embodiment, the trajectory library includes straight lines, clothoids, and curve , and a first trajectory type in which a trajectory segment of a circular arc segment is combined Including The orbital segments are directly connected to each other.

[0022] According to one embodiment, the trajectory library includes a clothoid in the direction of travel of the vehicle. curve , circular arc segments, and clothoids curve The second track type is a combination of track segments Including These orbital segments also connect directly to each other.

[0023] According to one embodiment, the trajectory library includes the following in the direction of vehicle travel: First radius Circular arc segment, clothoid curve , and a circular arc segment having a second radius is combined with the trajectory segment. The Three-track type Including There are. At that time , The first radius and the second radius are different. The track segments also connect directly to each other.

[0024] According to one embodiment, the trajectory library includes circular arc segments, clothoids, etc., in the direction of vehicle travel. curve , Straight line, Clothoid curve , and the fourth orbit type in which a circular arc segment is combined with an orbit segment Including The track segments are also directly connected to each other. The fourth track type allows for an S-shaped parking track.

[0025] According to one embodiment , stationed Car process, diagonal parking process, also is a right-angle parking process. In such a parking process, the parking stall is deep, and the first capture of the parking situation when passing through the parking space is often insufficient, and the surrounding model is not captured when the vehicle enters at least partially into the parking space. but Change Newness The first parking track Rescheduling It is characterized by the need for

[0026] According to one embodiment, the first and second parking trajectories have a combined length of less than 10 m. This relatively short overall length of the parking trajectory allows for quick and time-efficient generation of the parking trajectory using the trajectory library when the vehicle is moving. Rescheduling is required.

[0027] According to one embodiment, the second parking trajectory is less than 4 m. Despite the short length of the second parking trajectory, dynamic re-planning of the parking trajectory is possible using trajectory types from the trajectory library.

[0028] According to one embodiment, the speed of the vehicle while tracing the first and second parking trajectories is 0.2 m / s ~3 m / s. Due to the low vehicle speed, the second parking track has a relatively small curvature The second parking trajectory can have a shorter radius, but the new New target position can be reached.

[0029] According to a further aspect, the present invention relates to a driver assistance system comprising a computing unit for dynamically replanning a first parking trajectory of a vehicle during an at least partially automatically executing parking process and while the vehicle is moving on the first parking trajectory to a first target position, the computing unit comprising the following steps: - receiving information that while the vehicle is moving on the first parking trajectory, it is necessary to change the first parking trajectory again and that the vehicle should be moved to a new target position by the second parking trajectory; - planning a second parking trajectory for parking in a single motion from a starting position located on the first parking trajectory away from the current position of the vehicle to the new target position, the second parking trajectory being planned based on a trajectory library including a plurality of different trajectory types, the trajectory types including one or more trajectory segments, the trajectory segments being straight lines, circular arc segments or clothoid curves, the second parking trajectory being planned such that there is a continuous curvature transition between the first parking trajectory and the second parking trajectory and between adjacent trajectory segments of the second parking trajectory, - continuously parking the vehicle based on a first parking trajectory to a starting position and a second parking trajectory from the starting position to a new target position; Go ahead performing a parking process in a single operation while is configured to run

[0030] The "orbital library" of the present invention can be interpreted as a set of multiple orbital types. At that time The track types have different shapes, which allows for a variety of Rescheduling By using the trajectory library, the calculation of the parking trajectory can be avoided.

[0031] Further developments, advantages and scope of application of the invention are shown in the following description with reference to examples and drawings, in which all described and / or / without departing from the spirit and scope of the invention. also The illustrated features may be used individually and in any combination as claimed in the claims. also is the subject of the present invention independently of any combination with the reference thereto. The contents of the claims are also incorporated into the specification.

[0032] The present invention will now be described in detail with reference to the drawings and examples. 。 [Brief description of the drawings]

[0033] [Figure 1] Figure 1 is a schematic depiction example of an orthogonal parking process where the presence of an object in the parking space requires replanning of the parking trajectory. [Diagram 2] FIG. 2 is a schematic depiction of a parking situation with a first parking trajectory that was originally planned and a second parking trajectory for reaching a new target position of the vehicle instead of the first target position. [Diagram 3] FIG. 3 is a schematic depiction of a first trajectory type that can be used to plan a second parking trajectory. [Figure 4] FIG. 4 is a schematic depiction of a second trajectory type that can be used to plan a second parking trajectory. [Diagram 5] FIG. 5 is a schematic depiction of a third trajectory type that can be used to plan a second parking trajectory. [Figure 6] FIG. 6 is a schematic depiction of a fourth trajectory type that can be used to plan a second parking trajectory. [Figure 7] FIG. 7 is an example flow chart illustrating steps for carrying out the planning method. [Figure 8] FIG. 8 is an example of a block diagram clarifying the method steps of a method for dynamically re-planning a first parking trajectory. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0034] The present invention relates to a vehicle that is dynamically shifted to a parking trajectory while the vehicle is moving on a first parking trajectory by a driver assist system, particularly a parking assist system. Rescheduling Here, the "dynamic Rescheduling " means that the vehicle is Rescheduling Inside, the car is also moving on the first parking track. Taking into account changes in the vehicle's surroundings ,new New target position have The Two parking tracks decision After that, this This means that the vehicle continues to travel along the second parking track. in this case , first Parking track and the second parking track With Preferably, a continuous transition is performed between Rescheduling The trigger for this is, for example, , stationed The vehicle situation changes, and The vehicle is new New target position What we need to do is , by vehicle sensor means. Automatically generated by the vehicle's computing unit when recognized vinegar Such a change in the parking situation may be, for example, an expansion of the parking space to be parked by the current parking process. or If you zoom out, you may find that initially unrecognized objects are restricting your parking space. also For example, the orientation of a parking space may be initially assumed incorrectly.

[0035] FIG. 1 illustrates diagrammatically the parking process of a vehicle 1 which is trying to park in reverse into a parking space PL perpendicular to the original driving direction FR of the vehicle (perpendicular parking process). The parking space is bounded on both sides by objects, which in the example shown are for example third vehicles 3, 4. Here, the parking process is carried out at least semi-automatically. line In the parking process , stationed The car assist system will: Parking trajectory planning and At least partially N Vehicle 1 Control and It is expected that the person in charge will be in charge of the following:

[0036] When the vehicle 1 passes in front of a parking space PL, the parking space PL is captured by the sensor means of the vehicle, and a model of the surroundings of the parking space is created by the computing unit 2 provided in the vehicle 1. Based on this, the trajectory Planned This is how it is done. do A first parking trajectory is created, and based on this, the vehicle target position The sensor means of the vehicle 1 may be, for example, of the following sensor types: One or more of The sensors may include: ultrasonic sensors, cameras, radar sensors, and lidar sensors.

[0037] Parking space PL of The speed of vehicle 1 passing in front, and / or also According to the distance between the vehicle 1 and the parking space PL, the parking trajectory is changed to the surrounding model that does not match the actual parking situation. Based on In summary, in the embodiment shown in FIG. target position Vehicle 1 heading to Positioning It's a nuisance to R Object O but It is only recognized when you enter the parking space. Therefore, the first parking trajectory P1 must be re-planned to the second parking trajectory P2. .

[0038] Using the second parking trajectory P2, the vehicle 1 target position The second difference from the Z1 target position To Z2 Operate In the embodiment shown, the second target position Z2 is the first target position Z1, the vehicle 1 is between the object O and the third vehicle 3 without contacting the object O. Positioning will be done.

[0039] The second parking track P2 is Parking trajectory P1 and Second parking track Road P 2 Between The transition is continuous. N , particularly preferably continuous curvatureIn addition, a second parking trajectory P2 is calculated while the vehicle 1 is moving, the second parking trajectory P2 being on the first parking trajectory P1. Starting position Starting from Into the parking space Vehicle 1 continuous Exercise Do not stop or turn around. Possible To perform.

[0040] Figure 2 shows the first Parking track P1 and Second parking track Road P 2 Matching Based on this, the dynamics of the first parking trajectory are Rescheduling The method will now be further described.

[0041] As described above, the first parking trajectory P1 is generated based on the surroundings model created before the parking process begins. After the parking process begins, the vehicle 1 is guided by the driver assistance system. The second When moving on the parking track P1 , stationed Information is received that replanning of the vehicle trajectory is required. This is because the vehicle 1 is to be or must be guided not to the first target position Z1 but to a new target position Z2 that is different from the first target position Z1. When this information was received in Vehicle Exists The position is indicated by P1 in FIG. a As shown in the figure.

[0042] Based on this information, vehicle 1's computing unit 2 By The second parking trajectory P2 is calculated. The calculation of the second parking trajectory P2 requires calculation time. At that time ,Vehicle 1's movement In In order to avoid being cut off, the vehicle must be parked in the parking trajectory. Rescheduling Because we want the vehicle to continue running even after receiving information requesting It is on the first parking track P1, and Position P1 a And new New target position P2 and Between Starting position A is , to start the second parking trajectory P2 The vehicle 1 continues to park on the first parking path P1. Starting position Continue moving until you reach A. Starting position From A, vehicle 1 will enter the second parking track P2. New target position Lead to Z2 KuIt is possible.

[0043] this case , the second parking trajectory P2 is Starting position At A, continuous Curvature Transition Continuous orbital transfer with You can get is selected accordingly.

[0044] The second parking trajectory P2 is determined by a geometric planning method (different from known general-purpose planning methods). Decide The second parking trajectory P2 is preferably composed of a plurality of trajectory segments. The trajectory segments may be straight lines, arc segments, also is a clothoid curve Yes It is okay The second parking track P2 then runs in the direction of travel FR. Each other It is made up of multiple directly connected track segments. 。 That is, these track segments are connected to form a single second parking track P2 You get By using this, the vehicle can Curvature transition to starting position Second from target position You can drive to Z2.

[0045] The second parking trajectory P2 is created with a small computational load. Decide To allow the design of the trajectory, a trajectory library is used that contains a variety of trajectory types, where "trajectory type" refers to a certain sequence of predefined trajectory segments. represent These trajectory segments are respectively straight lines, arc segments, also is a clothoid curve However, the transition and length of each trajectory segment can be adjusted according to the situation. , track A set of road types is provided. By using these, it is possible to try to determine a second parking trajectory P2 which allows a continuous transition from the first parking trajectory P1 to the second parking trajectory P2, i.e. the new target position can be reached by a single-motion parking process, i.e. without turning around.

[0046] Figures 3 to 6 show the second parking trajectory P2. Decide 1 illustrates diagrammatically several trajectory types that can be

[0047] The first orbit type, shown in Figure 3, consists of three orbit segments. At that time , in the direction of travel, the first track segment S1 Direct Line, second orbital segment S2 H rosoid curve , and the third orbital segment S3 is yen It is an arc segment. curve (orbital segment S2) provides a continuous link between orbital segments S1 and S3. Curvature Transition has been achieved.

[0048] The second orbit type shown in Figure 4 also consists of three orbit segments. At that time , in the direction of travel, the first track segment S1 is the One Clothoid curve , the second orbital segment S2 is yen arc segment, and the third orbital segment S3 is the Biclosoid curve The first clothoid curve the law of nature , A continuous curvature transition to the second orbital segment S2 is achieved. This means that the clothoid curve is First parking track P1 Leading Curvature adjustment from the section to the arc segment line By is achieved. Second Clothoid curve According to Vehicle By adjusting the orientation, New target position Z2 Desired The vehicle is then moved to the new position. New target position This can lead to the Z2.

[0049] The third orbit type shown in Figure 5 also consists of three orbit segments. At that time , in the direction of travel, the first track segment S1 is the a first circular arc segment having a radius, a second orbit segment S2 H rosoid curve , and the third orbital segment S3 is the A second circular arc segment having two radii. Radius and The second radius and is different A clothoid connects both arc segments. curveis the distance from the first arc segment to the second arc segment. Curvature Transition is chosen to be continuous.

[0050] The fourth track type, shown in FIG. 6, is made up of five track segments S1-S5 to allow for an S-shaped second parking track. is the a first circular arc segment having a radius, a second orbit segment S2 is the One Clothoid curve , the third orbital segment S3 Direct Line, fourth orbital segment S4 is the Biclosoid curve , and the fifth orbital segment S3 is the The first and second arc segments and the first and second clothoid curves are selected symmetrically, i.e., have the same length, the same radius, and a second arc segment having two radii. or ,same Curvature Transition Have do. First and second circular arc segments and first and second clothoids curve If the distances are symmetric, vehicle 1 will travel 2d only Horizontally shifted R, In this case, for each half of the second parking trajectory P2 that has been passed, only A lateral shift of replacement Specifically, first and second arc segments and first and second clothoids curve may be selected asymmetrically.

[0051] The length, radius, and Curvature Transition teeth, Starting position Second from target position To Z2 Towards , individual Orbital segment of Straight Connected to each other and continuous Curvature Transition .times. ...

[0052] FIG. 7 shows a flow chart making clearer example method steps for planning the second parking trajectory P2.

[0053] First, Rescheduling Information is received (S1). Rescheduling information teeth ,The surrounding model has changed, so first target position This indicates that the parking process in Z1 cannot be completed. Rescheduling Information is the first priority target position A new alternative to the Z1 New target position Information for Z2 May include .

[0054] Next, on the first parking track P1 is in and Current status of vehicle 1 Location A and the first target position Between Z1 and A starting position A is decision will be done.

[0055] this Starting position Starting from A, New target position Second parking track P2 to Z2 Plan The plan is designed to plan a number of different trajectory types using geometric planning methods (S2). include This is done based on the trajectory library, whereby the individual trajectory types are processed in parallel: also successively in time, whether it is possible to find a second parking trajectory P2 between the current position A of the vehicle 1 and the first target position Z1, i.e. Starting position First parking track P to A 1、 And, Starting position A continuous parking trajectory P2 from A to the new target position Z2 is formed on the entire trajectory. Maneuvering with curvature in a single motion It will be checked whether this is possible.

[0056] When recursively testing individual orbital types, Parking The car situation decision The trial order of each trajectory type is then determined accordingly. Selected It is selected.

[0057] Next, Starting position A to New New target position To Z2 Single ActionIt is then verified (S3) whether a second parking trajectory P2 can be found which can be reached by

[0058] If you can find it, the parking process but , Starting position Based on the first parking trajectory P1, Starting position A to New New target position The parking position up to Z2 is executed based on the second parking trajectory P2 (S4).

[0059] However, in step S3, the second parking trajectory P2 Decide If not, in step S5, it is determined whether or not a stop condition has been reached. is examined The stop condition is, for example, the second parking trajectory P2. Decide The number of attempts already made to It is okay .

[0060] If the stop condition has not been reached, in step S6 Starting position A is changed. In this case, Starting position But the driving direction FR To , also is the opposite direction to the running direction FR To Current status of vehicle 1 Location and Starting position Distance from A The first The shifts are made until there are enough to calculate two parking trajectories.

[0061] Starting position After changing A, step S2 is performed again. In other words, New starting position From New New target position The second parking trajectory P2 that can reach Z2 Decide trial But It will be carried out.

[0062] Step S5 In If it is determined that the stop condition has been reached, in step S7 , new target position A multi-step parking trajectory that can reach Z2 decision will be done.

[0063] The above method preferably includes a right angle orSuitable for diagonal parking situations. The total length of the parking trajectory (i.e. from the start of the parking process) Starting position A To reach do The first parking track P1 up to , starting position A to New New target position The length of the second parking trajectory Z2 (total of the first parking trajectory P2 up to Z2) is preferably less than 10 m. The length of the second parking trajectory Z2 is preferably less than 5 m, particularly preferably less than 4 m. therefore The total length of the parking tracks, and in particular the length of the second parking track P2, is short. stomach. first Parking track P1 and / also The second parking lot Road P The speed of the vehicle 1 while tracing the vehicle 2 is preferably less than 3 m / s, more preferably less than 1.5 m / s, and particularly preferably less than 0.2 m / s. ~ 1.5 m / s. Because the vehicle speed is low, Single Action The second parking track allows cars to park without stopping. also Without any backlash, target position To reach Z2, curvature A parking orbit with a smaller radius can also be selected.

[0064] FIG. 8 shows a method for dynamically adjusting a first parking trajectory during a parking process that is performed at least semi-automatically. Rescheduling 1 shows a schematic block diagram illustrating the flow of a method for

[0065] While the vehicle is moving on the first parking track, Rescheduling is necessary, i.e., the vehicle is parked in the first parking space by the second parking space. target position Different from the new New target position Information was received that the R (S10).

[0066] Based on this, the current status of the vehicle Location It is far from the parking lot, but it is on the first parking track. Starting position From New New target position fart Single Action Parking at Shunting Realize lineA second parking trajectory is planned based on a trajectory library that includes a number of different trajectory types. At that time , the orbit type is one End The orbital segment of Including Each trajectory segment can be a straight line, a circular arc segment, also is a clothoid curve Yes It is okay The second parking trajectory is planned (S11) with continuous curvature transitions between the first and second parking trajectories and between successive trajectory segments of the second parking trajectory.

[0067] Finally, without stopping the vehicle during this time, Starting position Based on the first parking orbit, Starting position From New New target position Based on the second parking trajectory, Single Action The parking process is now complete. line This is done (S12).

[0068] The invention has been described by way of the above examples, however it will be appreciated that numerous modifications and variations are possible without departing from the scope of the invention as defined in the appended claims. This application relates to the invention described in the claims, but also includes the following as other aspects. 1. 1. A method for dynamically replanning a first parking trajectory (P1) of a vehicle (1) during an at least partially automatically executed parking process and while the vehicle (1) is moving on said first parking trajectory (P1) towards a first target position (Z1), comprising: The method comprises the steps of: - receiving (S10) information while the vehicle (1) is moving on said first parking trajectory (P1) that a replanning of the first parking trajectory (P1) is necessary and that the vehicle (1) should be moved by a second parking trajectory (P2) to a new target position (Z2) different from said first target position (Z1), - planning (S11) a second parking trajectory (P2) for parking in a single movement from a starting position (A) located on the first parking trajectory (P1) away from the current position (P) of the vehicle (1) to the new target position (Z2), the second parking trajectory (P2) being planned on the basis of a trajectory library comprising a plurality of different trajectory types, the trajectory types comprising one or more trajectory segments (S1-S5), the trajectory segments (S1-S5) being straight lines, circular arc segments or clothoid curves, the second parking trajectory (P2) being planned in such a way that there are continuous curvature transitions between the first parking trajectory (P1) and the second parking trajectory (P2) and between adjacent trajectory segments (S1-S5) of the second parking trajectory (P2), - continuously moving the vehicle to the starting position (A) based on the first parking trajectory (P1), and from the starting position (A) to the new target position (Z2) based on the second parking trajectory (P2); Go ahead and executing a parking process in a single operation while driving (S12); A method for providing the above. 2. the current position (P) of the vehicle (1) is the vehicle position (P) at the start of the planning process of the second parking trajectory (P2); and 2. The method according to claim 1, characterized in that the starting position (A) is selected such that the planning process of the second parking trajectory (P2) is completed by the time the vehicle (1) reaches the starting position (A) while moving on the first parking trajectory (P1) and / or by the time the period during which the curvature values ​​are used for the curve control of the control means of the vehicle (1) is completed. 3. 3. The method according to claim 1 or 2, characterized in that the new target position (Z2) is obtained during the entry of the vehicle (1) into the parking space (PL) and / or at a vehicle position where the vehicle (1) has at least partially entered the parking space (PL). 4. 4. A method according to any one of 1 to 3 above, characterized in that the second parking trajectory (P2) is planned successively in time or in parallel in time based on the trajectory type of the trajectory library. 5. 5. The method according to claim 4, characterized in that the second parking trajectory (P2) is planned based on a trajectory type of a trajectory library without taking into account the parking situation and / or the position of the new target position (Z2) relative to the first target position (Z1). 6. 5. The method according to claim 4, characterized in that the parking situation and / or the relative position of the new target position (Z2) with respect to the first target position (Z1) are evaluated, a sequence order of trajectory types is created based on the evaluation results, and based on this sequence order the second parking trajectory (P2) is planned in time sequence using different trajectory types. 7. A method according to any one of 1 to 6 above, characterized in that the track library includes a first track type in which straight lines, clothoid curves, and circular arc segments are combined in the running direction (FR) of the vehicle (1). 8. The method according to any one of 1 to 7 above, characterized in that the track library includes a second track type in which a clothoid curve, a circular arc segment, and a clothoid curve track segment are combined in the running direction (FR) of the vehicle (1). 9. The trajectory library is a combination of trajectory segments of a circular arc segment having a first radius, a clothoid curve, and a circular arc segment having a second radius in the running direction (FR) of the vehicle (1). hand The third orbital type includes 9. The method according to any one of 1 to 8 above, wherein the first radius and the second radius are different. 10. The method according to any one of 1 to 9 above, characterized in that the trajectory library includes a fourth trajectory type in which trajectory segments of a circular arc segment, a clothoid curve, a straight line, a clothoid curve, and a circular arc segment are combined in the traveling direction (FR) of the vehicle (1). 11. 11. The method according to any one of claims 1 to 10, wherein the parking process is an oblique parking process or a right-angle parking process. 12. 12. The method according to any one of claims 1 to 11, characterized in that the first parking track (P1) and the second parking track (P2) have a combined length of less than 10 m. 13. 13. The method according to any one of claims 1 to 12, characterized in that the second parking track (P2) has a length of less than 4 m. 14. A method according to any one of claims 1 to 13, characterized in that the speed of the vehicle (1) while tracing the first parking trajectory (P1) and the second parking trajectory (P2) is between 0.2 m / s and 3 m / s. 15. A driver assist system comprising a computing unit (2), 1. A driver assistance system for dynamically replanning a first parking trajectory (P1) of a vehicle (1) during an at least partially automatically executed parking process and while the vehicle (1) is moving on said first parking trajectory (P1) to a first target position (Z1), comprising: The arithmetic unit (2) includes the following steps: - receiving, while the vehicle (1) is moving on said first parking trajectory (P1), information that a replanning of the first parking trajectory (P1) is necessary and that the vehicle (1) should be moved to a new target position (Z2) by a second parking trajectory (P2), - planning (S11) a second parking trajectory (P2) for parking in a single movement from a starting position (A) located on a first parking trajectory (P1) spaced apart from the current position (P) of the vehicle (1) to the new target position (Z2), the second parking trajectory (P2) being planned on the basis of a trajectory library comprising a plurality of different trajectory types, the trajectory types comprising one or more trajectory segments (S1-S5), the trajectory segments (S1-S5) being straight lines, circular arc segments or clothoid curves, the second parking trajectory (P2) being planned in such a way that there are continuous curvature transitions between the first parking trajectory (P1) and the second parking trajectory (P2) and between adjacent trajectory segments (S1-S5) of the second parking trajectory (P2), - continuously parking the vehicle based on a first parking trajectory (P1) to the starting position (A) and a second parking trajectory (P2) from the starting position (A) to the new target position (Z2); Go ahead performing a parking process in a single operation while A driver assist system configured to: [Explanation of symbols]

[0069] 1 vehicle 2 Calculation Unit 3. Third Car 4. Third Car A Starting position FR Travel direction O Object P Current Location P1 First parking track P2 Second parking track PL Parking Space S1-S5 orbital segment Z1 First target position Z2 new New target position

Claims

1. 1. A method for dynamically replanning a first parking trajectory (P1) of a vehicle (1) during an at least partially automatically executed parking process and while the vehicle (1) is moving on said first parking trajectory (P1) towards a first target position (Z1), comprising: The method comprises the steps of: receiving (S10) information, while the vehicle (1) is moving on said first parking trajectory (P1), that a replanning of the first parking trajectory (P1) is necessary and that the vehicle (1) should be moved by a second parking trajectory (P2) to a new target position (Z2) different from said first target position (Z1), wherein the first parking trajectory (P1) is replanned if it is recognized by the sensor means of the vehicle (1) that the parking situation has changed and that the vehicle (1) must move to said new target position (Z2); a step (S11) of planning a second parking trajectory (P2) for parking in a single movement from a starting position (A) located on the first parking trajectory (P1) away from the current position (P) of the vehicle (1) to the new target position (Z2), the second parking trajectory (P2) being planned on the basis of a trajectory library comprising a plurality of different trajectory types, the trajectory types comprising one or more trajectory segments (S1-S5), the trajectory segments (S1-S5) being straight lines, circular arc segments or clothoid curves, the second parking trajectory (P2) being planned in such a way that there are continuous curvature transitions between the first parking trajectory (P1) and the second parking trajectory (P2) and between adjacent trajectory segments (S1-S5) of the second parking trajectory (P2), respectively; - carrying out (S12) a parking process in a single movement while driving the vehicle continuously along the first parking trajectory (P1) to the starting position (A) and along the second parking trajectory (P2) from the starting position (A) to the new target position (Z2); The method comprising:

4. The method of claim 3, wherein a plurality of said second parking trajectories (P2) are planned successively in time or in parallel in time based on the trajectory types of said trajectory library.

2. the current position (P) of the vehicle (1) is the vehicle position (P) at the start of the planning process of the second parking trajectory (P2); and 2. The method according to claim 1, characterized in that the starting position (A) is selected such that the planning process of the second parking trajectory (P2) is terminated by the time the vehicle (1) reaches the starting position (A) while moving on the first parking trajectory (P1).

3. 3. The method according to claim 1 or 2, characterized in that the new target position (Z2) is obtained during entry of the vehicle (1) into the parking space (PL) and / or at a vehicle position where the vehicle (1) has at least partially entered the parking space (PL).

4. 3. The method according to claim 1 or 2, characterized in that the second parking trajectory (P2) is planned based on trajectory types of a trajectory library without taking into account the parking situation and / or the position of the new target position (Z2) relative to the first target position (Z1).

5. 3. The method according to claim 1 or 2, characterized in that the parking situation and / or the relative position of the new target position (Z2) with respect to the first target position (Z1) is evaluated, a sequential order of trajectory types is generated based on the evaluation results, and based on this sequential order the second parking trajectory (P2) is planned in time sequence with different trajectory types.

6. 3. The method according to claim 1 or 2, characterized in that the trajectory library comprises a first trajectory type in which straight lines, clothoid curves and circular arc segments are combined in the running direction (FR) of the vehicle (1).

7. 3. The method according to claim 1 or 2, characterized in that the trajectory library includes a second trajectory type in which clothoid curves, circular arc segments and trajectory segments of clothoid curves are combined in the running direction (FR) of the vehicle (1).

8. The track library includes a third track type in which a track segment of a circular arc segment having a first radius, a clothoid curve, and a circular arc segment having a second radius is combined in a traveling direction (FR) of the vehicle (1); 3. The method of claim 1 or 2, wherein the first radius and the second radius are different.

9. 3. The method according to claim 1 or 2, characterized in that the trajectory library includes a fourth trajectory type in which the trajectory segments are combined in the running direction (FR) of the vehicle (1) with circular arc segments, clothoid curves, straight lines, clothoid curves and circular arc segments.

10. 3. The method according to claim 1 or 2, characterized in that the parking process is an angle parking process or a right-angle parking process.

11. 3. The method according to claim 1 or 2, characterized in that the first parking track (P1) and the second parking track (P2) have a combined length of less than 10 m.

12. 3. The method according to claim 1 or 2, characterized in that the second parking track (P2) has a length of less than 4 m.

13. 3. The method according to claim 1 or 2, characterized in that the speed of the vehicle (1) while tracing the first parking trajectory (P1) and the second parking trajectory (P2) is between 0.2 m / s and 3 m / s.

14. A driver assist system comprising a computing unit (2), 1. A driver assistance system for dynamically replanning a first parking trajectory (P1) of a vehicle (1) during an at least partially automatically executed parking process and while the vehicle (1) is moving on said first parking trajectory (P1) to a first target position (Z1), comprising: The arithmetic unit (2) comprises the following steps: receiving, while the vehicle (1) is moving on said first parking trajectory (P1), information that a replanning of the first parking trajectory (P1) is necessary and that the vehicle (1) should be moved to a new target position (Z2) by a second parking trajectory (P2), the first parking trajectory (P1) being replanned when it is recognized by the sensor means of the vehicle (1) that the parking situation has changed and that the vehicle (1) must move to said new target position (Z2), planning (S11) a second parking trajectory (P2) for parking in a single movement from a starting position (A) located on a first parking trajectory (P1) spaced apart from the current position (P) of the vehicle (1) to the new target position (Z2), said second parking trajectory (P2) being planned on the basis of a trajectory library comprising a plurality of different trajectory types, said trajectory types comprising one or more trajectory segments (S1-S5), said trajectory segments (S1-S5) being straight lines, circular arc segments or clothoid curves, said second parking trajectory (P2) being planned in such a way that there are continuous curvature transitions between said first parking trajectory (P1) and said second parking trajectory (P2) and between adjacent trajectory segments (S1-S5) of said second parking trajectory (P2), - carrying out a parking process in a single movement while continuously driving the vehicle according to a first parking trajectory (P1) to said starting position (A) and a second parking trajectory (P2) from said starting position (A) to said new target position (Z2); is configured to run A driver assistance system, characterized in that a plurality of the second parking trajectories (P2) are planned successively in time or in parallel in time based on the trajectory type of the trajectory library.

Images