Method and system for replanning a parking trajectory

Abstract

Method for replanning parking trajectories The invention relates to a method for replanning a parking trajectory of a vehicle (1) after receiving information during an at least partly automatically performed parking process that a replanning of a parking trajectory previously planned for said parking process is necessary.

Description

[Technical field]

[0001] The present invention is at least partially automated. Transformed The present invention relates to a method for replanning a parking trajectory for a parking process to be performed. [Background technology]

[0002] Conventional techniques use rules to determine parking trajectories for specific parking situations. Also A method for geometrically planning a trajectory is known. Furthermore, a general purpose trajectory planning means that allows free trajectory planning is also known.

[0003] In a parking assistance system, the trajectory planner should be capable of reacting dynamically, i.e. during an already started parking process, to changes in the surrounding model. Changes in the surrounding model can occur, for example, in the surrounding area (e.g. due to short effective ranges of sensors, or ,Newly captured objects (e.g., due to a slower,more accurate capture of the vehicle while parking) or,the parking space is now larger than when the parking,process was planned. Also (Because the parking lot has become smaller) do This can happen because Initially The planned parking trajectory has changed do Disabled due to peripheral capture, automatic Transformed It may become necessary to interrupt a parking process that is in progress.

[0004] A general purpose trajectory planner can accommodate changes in peripheral capture, but frequently Human It creates parking trajectories that drivers would never consider, and requires complicated calculations. Summary of the Invention [Problem to be solved by the invention]

[0005] The problem of the present invention, which started from this, is to change do Dynamically adapts to parking conditions and has high user AcceptanceA valid and limited calculation ability To provide a method for changing a parking trajectory plan that requires a parking space. [Means for solving the problem]

[0006] This object is achieved by a method having the features of the independent claim 1. Preferred embodiments are the subject of the dependent claims. A system for replanning a parking trajectory of a vehicle is the subject of a parallel independent claim 15.

[0007] first The form of According to the present invention, at least Partially automatic Transformed The present invention relates to a method for replanning the parking trajectory of a vehicle during a parallel parking process (parallel parking to the road shoulder, i.e. parallel parking to other vehicles) that is being performed. The method comprises the following steps: include.

[0008] First, for the parallel parking process Previously The parking trajectory planned for the vehicle is to be changed. For example, the information may be provided by a component of a driver assistance system of the vehicle, such as a component that generates a surrounding model of the surrounding area around the vehicle. vinegar It is possible.

[0009] Next, the vehicle target Topo The target Topo The position is the previous target Topo It can be the same as the current target position, but the new target Topo It may be a division, i.e., the new target Topo The position is to achieve the previous target that was to be achieved in the previously implemented parking process. Topo The target is different. Topo Zition Stay the same R In some cases teeth ,example For example, Initially Planned trajectory runs without collisionIt seems like it will be impossible Changes in peripheral models , also is an unexpected control Deviations , i.e., vehicle Plan From the designated parking trajectory In an unexpected way Deviations In such a case, do.

[0010] As a result, the target Topo Based on the above, the first planning method was used. Multiple Actions Replanning of parking trajectories will be carried out . car Current location of both Replanning the parking trajectory starting from the Both have a safe distance from surrounding objects. Yes First intermediate position DeS character shape of Parking operation Extend or To shorten Including car Both are the targets Topo tion or Target Topo Target area around the segment fart For positioning , a single point starting from the first intermediate position Parking operation , Young is, one More than one of Front and rear Advance parking operation The plan will be implemented.

[0011] Alternatively, or Additionally, the target Topo tion To base Duki , using the second planning method Multiple Actions Replanning of parking trajectories will be carried out. In the second planning method, Target Topo Starting from the Ta Vehicles maintain a safe distance from surrounding objects. Still have Second intermediate position to of single Parking operation , also is, one More than one of Front and rear Advance parking operation The second intermediate position is the starting point. hand , S-shaped route to the vehicle's current location of Parking operation , also is a circular arc and a clothoid. include Parking operation The plan is to implement the "S-shaped of Parking operation " refers to a parking lot that has both a right-hand curve and a left-hand curve. operation This can be interpreted as follows.

[0012] Finally, the first and / or also is re-planned using the second planning method. , current Current vehicles Location and target Topo Between Acceptable A new parking trajectory , achieved within the given planning limits It is verified whether or not the above can be achieved.

[0013] Technical aspects of the method according to the present invention advantage This method allows the parking process to be rescheduled without completely stopping. is possible It became a noh play, and at the same time, Prescribed plan strategy This allows for limited computational overhead. Human The object is to be able to flexibly change the plan of the parking trajectory based on alternative parking trajectories that the driver feels are natural.

[0014] According to one embodiment, depending on the result of the determining step, first, also Then, the second planning method is implemented. That is, the first planning method is acceptable Whether or not a parking trajectory can be obtained has been verified in advance , and depending on the verification results, The first planning method is If there is a chance of success To In the first planning method, only the first planning method is performed. But The first planning method is Prescribed Within the planning limits Acceptable If the parking trajectory is not available, the second planning method But That is, in the second alternative, Advance Without carrying out any verification, directly using the first planning method, Acceptable Obtain a parking trajectory that Trying do.

[0015] According to an embodiment, the second planning method comprises: Prescribed Within the planning limits Acceptable If no suitable parking trajectory is obtained, the third planning method is implemented. or after the validation step To be carried out The first planning method is , and the optimal parking trajectory is calculated. Determine compatibility , the second planning method is acceptable Parking trajectory Decide Can If not , which means that the third planning method must be used. Reduce the computational load while In parking situations, situation Suitable for Available The planning hierarchy that enables Established can be.

[0016] According to an embodiment, the third planning method uses a first intermediate position and a second intermediate position, the first intermediate position being determined by a S-shaped route from the current position of the vehicle. of Parking operation Extend or By shortening it, At that time, the vehicle In the first intermediate position 、 For surrounding objects still Safety interval Have stomach R The second intermediate position is Single from target position Parking operation or teeth One or more of Front and rear Advance parking operation By planning Arrived reach death , In that case, the vehicle In the second intermediate position 、 For surrounding objects still Safety interval Yes attitude R The first intermediate position is Preferably, The first planning method is decision Same as the first intermediate position Also The second intermediate position is Preferably, The second planning method is decision Same as the second intermediate position Also stomach.

[0017] According to an embodiment, a third planning method includes: Decide The partial parking track has a first and a second partial parking track section, the first partial parking track section being located between the first or second intermediate position and the parking space. Located outside, teeth, Located towards the edge of the parking space Third intermediate position and The second partial parking track section is connected to the third intermediate position. 、 Second or first intermediate position and It connects the

[0018] According to an embodiment, the third planning method includes: hand , First intermediate position to The first part of the parking track, First intermediate position to third intermediate position to of One The first partial parking track section and the third intermediate position to the second intermediate position to of One Second partial parking track section and a second partial parking track having a Vehicle target from second intermediate position Topo tion to At least one of t The third parking track 、 of include Parking track Decide In this case, the third intermediate position is preferably in the lateral direction of the parking space. from Look, The vehicle is first guided into the parking space. Parking space Located outside, teeth, Located towards the end of the parking space, preferably in the entry area of ​​the parking space. It is selected so that

[0019] According to one embodiment, the first partial parking track section of the second partial parking track starts from an intermediate position of the set of the first and second intermediate positions which is not deeper in the parking space in the lateral direction of the parking space, so that it can be achieved that the vehicle can leave the parking space again via the second partial parking track more easily and without collisions.

[0020] According to an embodiment, the first partial parking track section of the second partial parking track includes a circular ring segment and a straight line. In other words, the first partial parking track section includes a left curve. also has only sections with right curves. Preferably A clothoid is provided that connects the ring segment and the straight line. But Alternatively, the first partial parking track section of the second partial parking track is configured in an S-shape. Cage , that is, this section has curved sections on both the left and right. especially, The first partial parking track section of the second partial parking track is configured in an S-shape if the first and second intermediate positions have only a short distance from each other. do.

[0021] According to one embodiment, the first or The second partial parking track section is Has an annular segment , The ring segment to the first intermediate position exist vehicle Array direction of 、 Vehicle in second intermediate position Array direction Align relative to also is in the second intermediate position exist vehicle Array direction of 、 Vehicle in first intermediate position Array direction Against Relatively match To carry out Vehicle Array direction By combining these, trajectory planning can be performed more easily.

[0022] According to an embodiment, the third planning method further comprises: Allowed within the given planning limits A new parking track Can be determinedThere was none case , using the third planning method hand Replanning has begun In that case, The first partial parking track section is the first intermediate position Adjacent to Circular segments Possess, The two-part parking track section is the second intermediate position Adjacent to Has an annular segment , using these annular segments, the orientation directions of the vehicles are synchronously adapted to each other. . circle By ring segment, vehicle Array direction The change in the vehicle is achieved. Array direction of this The changes are Preferably, Front of vehicle Parking Car space opening of direction Change of direction to It is carried out to , entering the parking space through this parking space opening. This allows a new initial situation to be obtained for achieving a collision-free partial parking trajectory between the first and second intermediate positions by the third planning method.

[0023] According to one embodiment, the current The earth is vertical For queue parking process Previously Planned parking trajectory above of Predetermined time Running The position where the vehicle is located when , This position is Estimated for calculation of new parking trajectory Can This allows you to plan your trajectory with ease. already For parking situations that are no longer valid Below It is possible to take into account in advance that the vehicle position still changes as the parking process continues on the previously calculated parking trajectory.

[0024] According to one embodiment, the new parking trajectory is calculated in terms of position and curvature. ,vertical For queue parking process Previously It is connected continuously to the planned parking trajectory, which can be achieved for example by using a clothoid, which allows a gap-free transition between the old and new parking trajectory.

[0025] According to one embodiment, the planning limit is the maximum allowable capacity Parking available Operation Number and / or Also teeth, From a given target position Targets that can be reached by the newly planned parking trajectory Topo tion Acceptable The error include These planning limits allow you to determine when each planning method should be interrupted.

[0026] According to one embodiment, the S-shape of Parking operation is at least one circular arc, at least one clothoid, and / or also has at least one straight line include These segments result in a parking trajectory that allows the vehicle to maneuver along the parking trajectory without gaps.

[0027] Further Manner According to the present invention, at least Partially automatic Transformed Replan the parking trajectory of the vehicle during an ongoing parallel parking process A system, the system comprising: Arithmetic unit Including, in the invention Regarding. Current The arithmetic unit comprises the steps of: For parallel parking process Previously receiving information that a change in the planned parking trajectory is required; 、 Vehicle target Topo Steps for receiving a message 、 Ta -Get Position Based on Using the first planning method Multi-action parking trajectory Steps to reschedule And the car Replanning the parking trajectory based on the current location of both To a first intermediate position where the vehicle has a safe distance from surrounding objects S-shaped of Parking Extend the action long Or be shortened Includes , and , vehicle 、 Target Topo To the or Target Topo Target area around the segment fart For positioning , a single point starting from the first intermediate position Parking operation , Young is, one More than one of Front and rear Advance parking operation To plan Includes, steps, and / Also teeth, Target Position Based on this, multiple operations are performed using the second planning method. Parking track The road Steps to reschedule And, Replanning the parking trajectory starting from the target position is ,car Both have a safe distance from surrounding objects. Still have Second intermediate position to of single Parking operation of, Also is, one More than one of Front and rear Advance parking operation To plan And, The current location of the vehicle starting from the intermediate position to S-shaped of Parking operation of, Also is a circular arc and a clothoid. include Parking operation To plan Includes, steps, First and / or Also By rescheduling using the second planning method, Vehicle Current Vehicle Location and target Topo Between Acceptable A new parking trajectory , achieved within the given planning limits A step of verifying whether the 、 Conduct vinegar It is configured so that

[0028] Further developments, advantages and scope of application of the invention are also shown in the following description with reference to exemplary embodiments 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.

[0029] The present invention will now be described in detail with reference to the drawings and examples. 。 [Brief description of the drawings]

[0030] [Figure 1] FIG. 1 is an exemplary schematic diagram of a lateral and parallel parking process according to an originally planned parking trajectory. [Diagram 2] FIG. 2 is an exemplary schematic diagram of a parking trajectory of a lateral-parallel parking process planned based on the first planning method in a changed parking situation compared to the parking situation of FIG. [Diagram 3] FIG. 3 is an exemplary schematic diagram of a parking trajectory of a transverse and parallel parking process planned based on the second planning method in the changed parking situation of FIG. 2. [Figure 4] FIG. 4 is an exemplary schematic diagram of a parking trajectory of a transverse and parallel parking process planned based on the third planning method in the changed parking situation of FIG. [Diagram 5] FIG. 5 is an exemplary block diagram clarifying method steps of a method for implementing a planned modification of a parking trajectory. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0031] The present invention is directed to a method for determining the parking trajectory of a vehicle after the start of a parallel parking process implemented by a parking assist system. Plan picture change The trigger of the plan change is, for example, automatically triggered by a computing unit of the vehicle when a sensor means of the vehicle recognizes that the parking situation has changed. Transformed Generate vinegar Such a change in the parking situation may be, for example, when the parking space where the vehicle was trying to park by the parallel parking process becomes larger. or , when reduced.

[0032] Figure 1 shows This illustrates the initially planned trajectory of the parking process, where Car 1, First, On the S-shaped parking track The firstOne parking operation To Okay. hand To the parking space Reverse death, Next, the second parking lot operation By Teta -Get Topo Zion Z to Moving Forward steered in the direction This is at least Partially automatic Transformed Implemented This is the parking process. That is, the parking assist system Vehicle Control at least Take over part .

[0033] Figure 2 is a comparison of Figure 1 and comparison do This indicates that the parking situation has changed. , In this parking situation, The parking space between the peripheral objects 2 and 3 is enlarged due to, for example, the movement of one of the peripheral objects 2 and 3, which is the vehicle (the peripheral object 2) as shown by the arrow in this example. do There are. but The change in the parking situation may also be due to the parking space between the surrounding objects 2,3 shrinking.

[0034] Due to the changing parking situation, the vehicle's calculation unit automatically optimizes the parking trajectory planned for the parallel parking process. Plan picture change In addition, ,new After the completion of the properly planned parking process Vehicle is located Target Topo Zion Z of Reception vinegar do.

[0035] The target Topo Received Zion Z did Then, first , No. Using a trajectory planning method You can try to capture target position Z. do. in this case, First, for the parking process Initially The S-shape of the planned parking track of Parking operation The partial track of the parking space has expanded Or shrink Small crab Depending hand ,carBoth 1 and surrounding objects 2 、 Special After For the surrounding object 2 To be specified Safety The interval is just maintain Be Ru Parked in Move into the car space To the extent that extension or This is shown in the example of FIG. Shown As a result, vehicle 1 Move to intermediate position ZP1 , This intermediate position ZP1 was initially Planned parking process According to Unlike the position shown in Figure 1 where the change in direction was supposed to occur, ( In Figure 2, this position is indicated by a dashed line.

[0036] Next, starting from the first intermediate position ZP1, further parking operation In this case, vehicle 1 is moved from the first intermediate position ZP1 to the target Topo To move to position Z, use arrow PF2 to park forward. operation , Also is, one More than one of Front and rear Advance parking operation More parking is planned. operation When planning ,car Both 1 are moved from the first intermediate position ZP1 to the target Topo Zion Z, or , the target Topo Target area around Zone Z While observing the designated planning limits, The planning limit is, for example, Front and rear Advance parking operation The maximum number of iterations of or , the target vehicle position that can actually be reached Topo Maximum deviation from the position Value It is possible.

[0037] This planning limit must be adhered to. Can be If not, therefore First Planning Method Even if you use , Acceptable If the parking trajectory cannot be achieved , No. Using the two-plan method Determine allowable parking trajectoriesIt is attempted.

[0038] Alternatively, if it is possible to recognize from the captured parking situation that the objective cannot be achieved by the first planning method, , No. A planning method directly It is also possible to skip ahead and carry out the second planning method described below.

[0039] 3 illustrates a schematic flow of the second planning method, where the parking trajectory is planned along the timeline of the actual parking process, i.e. the current vehicle Location P to target Topo Not to Zone Z, but to Target Topo From Zion Z to the current vehicle Location It is planned in reverse to P.

[0040] In the second planning method, vehicle 1 is the target. Topo From position Z, first the second intermediate position ZP2 (arrow PF3) Can be steered up to , and , this From the second intermediate position ZP2 t Parking operation By the current vehicle Location P (arrow PF4) Can be steered up to Parking track To determine The second intermediate position ZP2 is attempted when the vehicle 1 is in a position to avoid the surrounding objects. 2、 Special To, Neighboring object 2 restricting the rear of the parking space from ,Predefined safety Spaced apart This is the position that is being targeted. Topo The arrival at the second intermediate position ZP2 starting from position Z is single Parking By action ,example If backwards Parking operation By also is, one More than one of Front and rear Advance parking operation Planned by vinegar It is possible.

[0041] It should be noted that the second intermediate position ZP2 is typically a different position from the first intermediate position ZP1 of the first planning method.

[0042] Current Vehicle Location P is Change of plans When you receive information that you need , vehicle 1 The position in which But often, parking After the vehicle trajectory calculation is performed, the vehicle is positioned until an acceptable new parking trajectory is determined. , along the originally planned parking track It is a fictitious position. It is okay .

[0043] Prescribed Plan limits While complying with New parking trajectories allowed can also be determined by the second planning method. If not, a third planning method is preferably used. This third planning method, for example, is based on the first and second intermediate positions ZP1, ZP2 and calculates the first and second intermediate positions ZP1, ZP2 based on the first and second intermediate positions ZP1, ZP2. First and second intermediate positions ZP1, ZP2 We will attempt to connect them via partial parking tracks between them.

[0044] Figure 4 shows the third planning method 1 shows a schematic illustration of a multi-motion parking trajectory, in which , vehicle 1 starts from the current position P, moves to a first intermediate position ZP1, a third intermediate position ZP3, and , via the second intermediate position ZP2 Topo Zion Z Steer to Be do.

[0045] Preferably , the first intermediate position ZP1 and the second intermediate position ZP2 are the first or Explanation of the second planning method (Figures 2 and 3) Decision in relation to Be do. This means that the first intermediate position ZP1 is , stationed For car processes Initially Extending planned parking tracks or Obtained by shortening In that case, Peripheral object 2 Against safety distance but Maintained R The second intermediate position ZP2 is , Zhou For an edge object, e.g., peripheral object 2 It's cheap all interval of just To be able to maintain , vehicle 1 from target position Z rear Move towards As already noted, the first and second intermediate positions ZP1, ZP2 are different positions. Advantageously, In the first and second planning methods decision The intermediate positions ZP1 and ZP2 are and , these intermediate positions ZP1, ZP2 How Reachable Regarding The partial parking trajectory is reused in the third planning method. do.

[0046] after that, The vehicle 1 is moved from the current position P to the target position ZP1 via the first intermediate position ZP1 by the first and second planning methods. Topo Zion Z To steer up to Also, target Topo Position Z to the current position P of vehicle 1 via the second intermediate position ZP It can also be operated up to If this is not possible, in the third planning method, between the first and second intermediate positions ZP1, ZP2 A partial parking trajectory TP of multiple movements is determined. ,child Using the first and second intermediate positions ZP1 and ZP2 In the first partial parking track section TP1, In order to move into the parking space again in the second partial parking track section TP2 that follows, Vehicle 1 leaves the parking space at least partially again. Will be .

[0047] As shown in FIG. 4, the vehicle 1 subsequently moves to the second intermediate position ZP2 using the second partial parking track section TP2. In order to First, the vehicle 1 starts from the first intermediate position ZP1 and moves through the first partial parking track section TP1 away from the second intermediate position ZP2.

[0048] Multiple Actions When planning the partial parking track TP, first or Which of the second intermediate positions ZP1, ZP2 is deeper into the parking space, i.e., when viewed from the side of the parking space, Any intermediate position Parking Space InvadedParking Space to the end of interval is short In this case, this corresponds to the first intermediate position ZP1. Multiple Actions The partial parking trajectory TP is planned in such a way that the intermediate position for the vehicle 1 to exit the parking space is not deepest in the parking space as viewed in the lateral direction of the vehicle 1 .

[0049] Which of the intermediate positions ZP1 and ZP2 is deeper in the parking space? Location Is it in Decision Before determining the angle of vehicle 1, Array Direction (i.e., yaw angle) adjustment when planning the partial parking trajectory TP, each Same vehicle Array direction So that you can start from Can Therefore, first of all, or Second intermediate position ZP1, ZP2 Starting from this, the circular segment can be planned. , The ring segment using the vehicle in the area of ​​the first intermediate position ZP1 The array direction is , the vehicle in the second intermediate position ZP2 Array direction To Relative to , Also is the opposite By adjusting the direction of the vehicle arrangement, The free ends of the ring segments are used to obtain the modified intermediate positions, and based on this, it is determined which intermediate position is deeper in the parking space. That is, the modified intermediate positions are ,car Both Array direction is compared to the intermediate position to be adjusted.

[0050] car Both Parking From the car space again The first partial parking track section TP1 to be issued includes at least one circular arc, at least one clothoid, and / or Also has at least one straight line vinegar It is possible. Preferably The first partial parking track section TP1 has a straight line that ends at the third intermediate position ZP3. doThis is especially the case if the first and second intermediate positions ZP1, ZP2 are spaced apart by a sufficient distance. In an alternative variant, the first partial parking track section TP1 is configured as an S-shaped curve. May .

[0051] Preferably The second partial parking track section TP2 is configured as an S-curve, i.e. has a right-curved section and a left-curved section in order to guide the vehicle from the third intermediate position ZP3 to the second intermediate position ZP. do.

[0052] Preferably The transition between orbital regions with different curvatures, for example from a ring segment to a straight line, is carried out by a curvature adjustment using a clothoid. do. In this case, the clothoid has a continuous curvature transfer You get Selected to This allows the vehicle to smoothly navigate along the parking path. do.

[0053] The parking trajectory can also be re-planned by the third planning method, Prescribed If the planned limits are not met, the vehicle Array direction but Synchronize , i.e., changed in the same direction by the same absolute value. Preferably ,This is the vehicle Array direction After the relative adjustment of As mentioned above, vehicle Array direction but , No. In the region of the first intermediate position ZP1, the vehicle in the second intermediate position ZP2 is Array direction To After being adjusted relative to , also is the opposite Real Carried out Preferably , the vehicle in the area of ​​both intermediate positions ZP1, ZP2 Array direction of Synchronized adjustment Parking Towards the entrance area of ​​the car space The yaw angle in the direction isThe vehicle 1 is rotated out of the parking space to avoid a collision with the surrounding objects 2, 3. Synchronized The turning is performed, for example, by a ring segment.

[0054] Then, starting from the free end of the annular segment, a first and a second partial parking track section TP1, TP2 are provided. To determine the multiple-movement partial parking trajectory , The trajectory planning is restarted, and the first and second partial trajectory sections TP1 and TP2 are used to When the vehicle moves from the first intermediate position ZP1 to the third intermediate position ZP3, Introduction Second intermediate position ZP2 Can be steered up to .

[0055] Figure 5 shows at least Partially automatic Transformed FIG. 2 shows a schematic block diagram illustrating the method flow for replanning a parking trajectory during a parallel parking process being performed.

[0056] First, for the parallel parking process Previously The vehicle 1 receives information that a change in the planned parking trajectory is required (S10). By ,for example, component Using the marginal model is created Provided by component vinegar It is possible.

[0057] Next ,car Both targets Topo The message is received. After the parking process is completed, the vehicle must stop at its target position. (S11).

[0058] The target Topo tion To base Duki , Using the first planning method, multiple operations Parking track of Rescheduling vinegar In the first planning method, the parking trajectory is re-planned based on the current position of the vehicle. Starting from , S-shaped up to the first intermediate position of Parking operation But it will be extended or Shortened At that time, In the first intermediate position, the vehicle but It has a safe distance from surrounding objects. First intermediate position Starting from ,vehicle Tap -Get Topo tion or Target Topo Target area around the segment fart For positioning To , single Parking Action or one More than one of Front and rear Advance parking operation The plan is then implemented (S12).

[0059] Alternatively or Additionally, the target Topo Based on the above, the second planning method was used. Multiple Actions The parking trajectory of the target is re-planned. Topo Starting from the And the car Both have a safe distance from surrounding objects. Still have Second intermediate position to of single Parking Action or one More than one of Front and rear Advance parking operation The second intermediate position is the starting point. hand , S-shaped route to the vehicle's current location of Parking Action or Arcs and clothoids include Parking operation is planned (S13). Preferably ,The replanning of the parking trajectory using the second planning method is Parking track The plan was implemented if it was not successful. do.

[0060] Finally, the first and / or also By rescheduling using the second planning method, Prescribed Within the planning limits, current vehicle Location and target Topo Between Acceptable It is then verified whether a new parking trajectory can be obtained (S14).

[0061] 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. With the parking assist system , at least partially automatic The control of the vehicle (1) To be carried out Column During the parking process , the above Method for replanning a parking trajectory of a vehicle (1) And, -For parallel parking process Previously receiving information that a change in the planned parking trajectory is required (S10); 、 - Vehicle target Topo A step (S11) of receiving a position (Z). 、 - Based on the target position (Z), multiple movements are performed using the first planning method. Parking track Re Planning Steps (S12) , The above The replanning of the parking trajectory starting from the current position (P) of the vehicle (1) is as follows: Up to the first intermediate position (ZP1) where the vehicle (1) has a safe distance from the surrounding object (2). S-shaped of Parking Extend the action long Or be shortened Includes , and , vehicle The above Target Topo Zion (Z) or Target Topo Target area around the position (Z) fart For positioning To, first middle Position(ZP1) Starting from of single Parking operation , Young is, one More than one of Front and rear Advance parking operation To plan Includes steps (S12) 、 and / also teeth, -Target TopoZion (Z) To base Based on this, multiple operations are performed using the second planning method. Parking track The road Steps to reschedule (S13) , The parking trajectory replanning is Target Topo Starting from Zone (Z) Car Both (1) maintain a safe distance from the surrounding object (2). Still have Second intermediate position (ZP2) to of single Parking operation of, also is, one More than one of Front and rear Advance parking operation and, starting from the second intermediate position (ZP2), the current position (P) of the vehicle (1) to S-shaped of Parking operation of, also is a circular arc and a clothoid. include Parking operation To plan Includes steps (S13) 、 -First and / or also is re-planned using the second planning method. ,car Current vehicle (1) Location (P) and target Topo Between Zion (ZP) Acceptable A new parking trajectory , achieved within the given planning limits A step (S14) of verifying whether or not the 、 A method, characterized in that the method is configured to carry out . 2. Depending on the outcome of the decision step, or A second planning method is implemented; also First, the first planning method But The first planning method is Prescribed Within the planning limits Acceptable If the parking trajectory is not available, the second planning method But 2. The method according to claim 1, characterized in that the method is carried out. 3. By the second planning method, Prescribed Within the planning limits AcceptableThe above-mentioned 1, characterized in that a third planning method is implemented when a suitable parking trajectory cannot be obtained. also is the method described in 2. 4. The third planning method is to set the first intermediate position (ZP1) and the second intermediate position (ZP2). Use The above The first intermediate position (ZP1) is located in an S-shaped arc from the current position (P) of the vehicle (1). of Parking operation Extend or By shortening it, it can be reached, and The above Vehicle (1) The above In the first intermediate position (ZP1), relative to the surrounding object (2) still Safety interval We have , and , The above Second intermediate position (ZP2 )teeth , Target Topo From Zion (Z) Single Parking operation or teeth One or more of Front and rear Advance parking Planning your actions and The above Vehicle (1) The above In the second intermediate position (ZP2), relative to the surrounding object (2) still Safety interval Yes 4. The method according to claim 3, wherein 5. The above Third Planning Method is the Between the first and second intermediate positions (ZP1, ZP2) A partial parking trajectory is determined, and the partial parking trajectory is a parking space having first and second partial track sections; The above The first partial parking trajectory section is the first or second intermediate position (ZP1, ZP2) and the parking space. Located outside, and teeth Located towards the edge of the parking space Third intermediate position (ZP3) and It connects The above The second partial parking track section is the third intermediate position (ZP3) and 、Second or first intermediate position (ZP2, ZP1) and 5. The method according to claim 4, wherein the 6. The above Third Planning Method teeth , The above Starting from the current location of vehicle (1), hand, First intermediate position (ZP1) to The first parking track , and First intermediate position (ZP1) to third intermediate position (ZP3) to of One The first partial parking track section; 、 From the third intermediate position (ZP3) to the second intermediate position (ZP2) to of One Second partial parking track section and A second partial parking track having , and From the second intermediate position (ZP2) The above Vehicle (1) target Topo Zion (Z) to At least one of t The third parking track 、 Includes Parking track Decide The above 4 characterized by the above Also is the method described in 5. 7. First partial parking track section of the second partial parking track teeth 7. The method according to claim 6, characterized in that, from among the intermediate positions in the set of first and second intermediate positions (ZP1, ZP2), starting is made from an intermediate position that is not deeper into the parking space, as viewed laterally in the parking space. 8. First partial parking track section of the second partial parking track teeth , one ring segment and one straight line include , Also The above-mentioned 5 is characterized in that the first partial parking track section of the second partial parking track is configured in an S-shape. ~ 7. A method according to any one of claims 1 to 7. 9. first or Second partial parking track section has an annular segment , The ring segment to the first intermediate position (ZP1). Exists Vehicle Array direction of 、 Vehicle in second intermediate position (ZP2) Array direction Align relative to also is in the second intermediate position (ZP2). Exists Vehicle Array direction of 、 First intermediate position (ZP1) Vehicles in Array direction Against Relatively Matching Ruko 4. The method according to any one of the above, characterized in that 10. The above In the third planning method, Allowed within the given planning limits A new parking track Can be determined There was none case , The Using the third planning method hand Rescheduling has begun 、 The first partial parking track section is the first intermediate position (ZP1). Adjacent to Circular segments Possess, The two-part parking track section is the second intermediate position (ZP2) Adjacent to Has an annular segment Using these annular segments, the vehicle orientations are synchronously adapted to each other. 4. The method according to claim 1, further comprising: 11. The above Current location (P) of vehicle (1) is vertical For queue parking process In advance Planned parking trajectory above of Predetermined time Running The position where the vehicle is located when , This position is Estimated for calculation of new parking trajectory Can 4. The method according to claim 1, further comprising: 12. The above New parking track teeth , in terms of position and curvature ,vertical For queue parking process Previously 10. The method according to claim 9, further comprising the step of: continuously connecting to the planned parking trajectory. 13. The above Planning Limits teeth , maximum Tolerance Parking available operation Number and / or also teeth, From a given target position (Z) Targets that can be reached by the newly planned parking trajectory Topo Thesis The allowable The error include 4. The method according to claim 1, further comprising: 14. S-shaped of Parking operation But one arc, one clothoid, and / also is a straight line include 4. The method according to claim 1, further comprising: 15. Small At least partially automatic Transformed To be carried out Column During the parking process 、 System for replanning the parking trajectory of a vehicle (1) And, The system includes a computing unit, the computing unit performing the following steps: -For parallel parking process Previously receiving information that a change in the planned parking trajectory is required; 、 - Target of vehicle (1) Topo Steps for receiving the transition (Z) 、 -Ta -Get Topo Zion (Z) Based on Using the first planning method Multi-action parking trajectory Steps to reschedule The above The replanning of the parking trajectory starting from the current position (P) of the vehicle (1) is as follows: To a first intermediate position where the vehicle has a safe distance from surrounding objects S-shaped of Parking Extend the action long Or be shortened Includes , and , The above Vehicle (1) 、 Target Topo To Zion (Z) or Target TopoTarget area around the position (Z) fart For positioning 2, first intermediate position (ZP1) Single starting point Parking operation , Young is, one More than one of Front and rear Advance parking operation To plan Includes, steps, and / Also teeth, -Target Position (Z) Based on this, multiple operations are performed using the second planning method. Parking track The road Steps to reschedule And, - Replanning the parking trajectory starting from the get position (Z) is ,car Both (1) maintain a safe distance from the surrounding object (2). Still have Second intermediate position (ZP2) to of single Parking operation of, Also is, one More than one of Front and rear Planning your parking steps, and , the current position (P) of the vehicle (1) starting from the second intermediate position (ZP2) to S-shaped of Parking operation of, Also is a circular arc and a clothoid. include Parking operation To plan Includes, steps, -First and / or Also is re-planned using the second planning method. ,car Current vehicle (1) Location (P) and target Topo Between Zion (Z) Acceptable A new parking trajectory , achieved within the given planning limits A step of verifying whether the 、 A system configured to perform the above. [Explanation of symbols]

[0062] 1 vehicle 2. Peripheral objects 3. Peripheral Objects P Current vehicle Location PF1 Arrow PF2 Arrow PF3 Arrow PF4 Arrow Z Target Topo tion ZP1 First Target Topo tion ZP2 Second Target Topo tion ZP3 Third Target Topo tion

Claims

1. A method for replanning a parking trajectory of a vehicle (1) during an already started parallel parking process in which control of the vehicle (1) is at least partially automated by a parking assistance system, comprising: The parking assist system comprises the following steps: - receiving information (S10) that a replanning of a parking trajectory previously planned for a parallel parking process is necessary, - receiving a target position (Z) of the vehicle (S11); - a step (S12) of re-planning a parking trajectory of multiple operations using a first planning method based on a target position (Z), in which the re-planning of the parking trajectory starting from the current position (P) of the vehicle (1) comprises extending or shortening an S-shaped parking operation to a first intermediate position (ZP1) where the vehicle (1) has a safe distance from the surrounding object (2), and includes planning a single parking operation or one or more forward / reverse parking operations starting from the first intermediate position (ZP1) to position the vehicle at the target position (Z) or a target area around the target position (Z); and / or - a step (S13) of re-planning a parking trajectory of multiple movements using a second planning method based on a target position (Z), the re-planning of the parking trajectory including planning a single parking movement from the target position (Z) to a second intermediate position (ZP2) where the vehicle (1) still has a safe distance from the surrounding object (2) or one or more forward / reverse parking movements, and planning an S-shaped parking movement from the second intermediate position (ZP2) to the current position (P) of the vehicle (1) or parking movements including circular arcs and clothoids, - a step (S14) of verifying whether a permissible new parking trajectory between the current position (P) of the vehicle (1) and the target position (ZP) can be achieved within predefined planning limits by re-planning using the first and / or second planning method, The method is configured to perform the steps of:

2. A method as described in claim 1, characterized in that depending on the result of the verifying step, a first or a second planning method is implemented, or first, a first planning method is implemented and, if the first planning method does not result in a parking trajectory that is acceptable within predetermined planning limits, a second planning method is implemented.

3. if the second planning method does not result in a parking trajectory that is acceptable within the predetermined planning limits, a third planning method is implemented; The third planning method uses a first intermediate position (ZP1) and a second intermediate position (ZP2); the first intermediate position (ZP1) can be reached by extending or shortening an S-shaped parking maneuver from the current position (P) of the vehicle (1), and the vehicle (1) still has a safe distance from the surrounding object (2) in the first intermediate position (ZP1); and The second intermediate position (ZP2) can be reached by planning a single parking operation or one or more forward / reverse parking operations from the target position (Z), and the vehicle (1) still has a safe distance from the surrounding object (2) in the second intermediate position (ZP2).

3. The method according to claim 1 or 2.

4. The third planning method determines a partial parking trajectory between a first and a second intermediate position (ZP1, ZP2), the partial parking trajectory having a first and a second partial parking trajectory section, The first partial parking trajectory section connects a first or second intermediate position (ZP1, ZP2) with a third intermediate position (ZP3) located outside the parking space or towards the edge of the parking space, and 4. The method according to claim 3, characterized in that the second partial parking trajectory section connects a third intermediate position (ZP3) with the second or first intermediate position (ZP2, ZP1).

5. The third planning method includes, starting from a current location of the vehicle (1), a first partial parking trajectory to a first intermediate position (ZP1), and A second partial parking track having a first partial parking track section from the first intermediate position (ZP1) to the third intermediate position (ZP3) and a second partial parking track section from the third intermediate position (ZP3) to the second intermediate position (ZP2); and at least one third partial parking trajectory from a second intermediate position (ZP2) to a target position (Z) of the vehicle (1); 4. The method of claim 3, wherein the parking trajectory is determined to include:

6. 6. The method according to claim 5, characterized in that the first partial parking trajectory section of the second partial parking trajectory starts from an intermediate position in the set of the first and second intermediate positions (ZP1, ZP2) which is not deeper into the parking space as viewed in the lateral direction of the parking space.

7. 5. The method according to claim 4, wherein the first partial parking track section of the second partial parking track comprises one circular ring segment and one straight line, or the first partial parking track section of the second partial parking track is configured in an S-shape.

8. The first or second partial parking track section has a circular ring segment, and the circular ring segment is used to relatively align the arrangement direction of the vehicles present at the first intermediate position (ZP1) with respect to the arrangement direction of the vehicles present at the second intermediate position (ZP2), or to relatively align the arrangement direction of the vehicles present at the second intermediate position (ZP2) with the arrangement direction of the vehicles present at the first intermediate position (ZP1).

5. The method of claim 4, further comprising adjusting the relative position of the first and second electrodes relative to the first and second electrodes.

9. The method according to claim 4, characterized in that if in the third planning method a new parking trajectory cannot be determined that is acceptable within the specified planning limits, re-planning is initiated using the third planning method, wherein a first partial parking trajectory section has a circular ring segment adjacent to a first intermediate position (ZP1), and a second partial parking trajectory section has a circular ring segment adjacent to a second intermediate position (ZP2), and the vehicle orientation directions are adapted synchronously to each other using these circular ring segments.

10. A method according to claim 1 or 2, characterized in that the current position (P) of the vehicle (1) is the position where the vehicle (1) would be when driving a parking trajectory previously planned for a parallel parking process at a predetermined time, and this position is estimated to calculate a new parking trajectory.

11. A method according to claim 1 or 2, characterized in that the new parking trajectory is continuously connected in terms of position and curvature to the parking trajectory previously planned for the parallel parking process.

12. A method according to claim 1 or 2, characterized in that the planning limits include the maximum permissible number of parking operations and / or the permissible error of a target position that can be reached by a newly planned parking trajectory from a given target position (Z).

13. 3. The method according to claim 1 or 2, characterized in that the S-shaped parking maneuver comprises a circular arc, a clothoid and / or a straight line.

14. A system for replanning a parking trajectory of a vehicle (1) during an already started parallel parking process in which control of the vehicle (1) is at least partially automated by a parking assistance system, comprising: The system includes a computing unit, the computing unit performing the following steps: receiving information that a replanning of a parking trajectory previously planned for a parallel parking process is necessary, - receiving a target position (Z) of the vehicle (1), - replanning a multi-movement parking trajectory using a first planning method based on a target position (Z), where the replanning of the parking trajectory starting from the current position (P) of the vehicle (1) comprises extending or shortening an S-shaped parking maneuver to a first intermediate position where the vehicle has a safe distance from the surrounding object, and planning a single parking maneuver or one or more forward / reverse parking maneuvers starting from the first intermediate position (ZP1) to position the vehicle (1) to the target position (Z) or to a target area around the target position (Z); and / or - replanning a multi-movement parking trajectory using a second planning method based on the target position (Z), the replanning of the parking trajectory starting from the target position (Z) comprising planning a single parking movement or one or more forward / reverse parking steps to a second intermediate position (ZP2) where the vehicle (1) still has a safe distance from the surrounding object (2), and planning an S-shaped parking movement or a parking movement including a circular arc and a clothoid starting from the second intermediate position (ZP2) to the current position (P) of the vehicle (1), - verifying whether a permissible new parking trajectory between the current position (P) of the vehicle (1) and the target position (Z) can be achieved within predefined planning limits by re-planning using the first and / or second planning methods; A system configured to perform the above.

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