Method and apparatus for assisting with the performance of a parking manoeuvre

Abstract

An apparatus for assisting with the performance of a parking manoeuvre of a vehicle is described. The apparatus is configured to identify the intention to perform a parking manoeuvre of the vehicle and to effect at least one measure that is aimed at keeping free and / or clearing the manoeuvring area for performing the parking manoeuvre.

Description

[0001] Method and device for supporting the execution of a parking maneuver

[0002] The invention relates to a method and a corresponding device designed to enable a comfortable and reliable parking maneuver of a motor vehicle.

[0003] A vehicle may have one or more driver assistance systems configured to automatically guide the vehicle longitudinally and / or laterally. The vehicle may, in particular, include a maneuvering assistant, such as a parking assistant, configured to perform an automated maneuvering maneuver, in particular an automated parking maneuver, of the vehicle.

[0004] This document deals with the technical task of achieving a particularly comfortable and reliable maneuvering maneuver, in particular parking maneuvers, of a vehicle.

[0005] The problem is solved by each of the independent claims. Advantageous embodiments are described, among other things, in the dependent claims. It should be noted that additional features of a patent claim dependent on an independent patent claim can form a separate invention, independent of the combination of all features of the independent patent claim, without the features of the independent patent claim or only in combination with a subset of the features of the independent patent claim, which invention can be made the subject of an independent claim, a divisional application, or a subsequent application. This applies equally to technical teachings described in the description, which can form an invention independent of the features of the independent patent claims.

[0006] According to one aspect, a device for assisting in the execution of a parking maneuver of a (motor) vehicle is described. The parking maneuver can be designed to guide the vehicle backward into a parking space from the road (on which the vehicle is traveling or has traveled). The parking maneuver can include at least one section in which the vehicle reverses on the road against the direction of travel. It may happen that the parking maneuver is impeded by one or more other road users (e.g., one or more other vehicles) following the vehicle on the road.

[0007] The device is configured to detect the vehicle's intention to perform a parking maneuver. In other words, it can detect that the vehicle will perform a parking maneuver shortly (at least with a certain probability).

[0008] The intention to perform the parking maneuver of the vehicle can be recognized, for example (by a device of the vehicle), based on

[0009] - a vehicle's indicator is activated;

[0010] - from navigation data of a vehicle's navigation system (in particular based on the destination of a planned route);

[0011] - an activated driver assistance system of the vehicle for performing parking maneuvers; - an engaged gear, in particular a reverse gear, of the vehicle's transmission;

[0012] - a parking space detected by the vehicle's activated driver assistance system;

[0013] - a parking maneuver already selected for execution; and / or

[0014] - a pre-recorded parking maneuver.

[0015] Alternatively or additionally, the intention to carry out the parking manoeuvre of the vehicle can be detected, e.g. (by a device of another (possibly directly following) road user), on the basis of

[0016] - the detected, activated indicator of the vehicle;

[0017] - the (relatively low) driving speed of the vehicle;

[0018] - an activated light, in particular an activated reversing light, of the vehicle;

[0019] - a parking space detected by a driver assistance system of the other road user (into which the vehicle may wish to park);

[0020] - map data relating to the road travelled by the vehicle (which may, for example, exclude a turning manoeuvre by the vehicle); and / or

[0021] - a message sent by the vehicle and received by the other road user (car-to-car) indicating in particular the location and / or one or more dimensions (e.g. the length and / or the width) of the maneuvering area required for the parking maneuver.

[0022] The device is further configured to initiate at least one action aimed at keeping and / or clearing the (required) maneuvering area clear for performing the parking maneuver. The maneuvering area can be the area of ​​the road surface that is swept over by the vehicle during the parking maneuver. The at least one action can, for example, be aimed at causing the other road user to reverse in order to clear the maneuvering area and / or causing the other road user to drive past the maneuvering area.

[0023] The at least one measure may, in particular, comprise sending a (car-to-car) message to the at least one other (possibly directly following) road user in the vicinity of the vehicle, which is designed to prompt the other road user to keep the maneuvering area clear and / or to clear it. The other road user may, in particular, be prompted to reverse to clear the maneuvering area and / or to drive past the maneuvering area.

[0024] By providing a driver assistance system designed to keep or clear the maneuvering area for a parking maneuver, particularly comfortable and reliable parking maneuvers can be made possible.

[0025] The device can be configured to determine the maneuvering area, in particular the (spatial) position and / or one or more dimensions (e.g., the length and / or width) of the maneuvering area, for the parking maneuver based on sensor data from one or more environmental sensors, in particular based on sensor data from at least one camera and / or at least one radar sensor and / or at least one lidar sensor. When determining the maneuvering area, the driving trajectory of the parking maneuver can be taken into account. This can further increase the reliability of the parking maneuver.

[0026] The device can be configured to detect that a blockage situation exists in which the other road user is prevented by another road user from reversing to clear the maneuvering area. The other road user can be located behind the other road user with respect to the direction of travel on the road. In response to the detected blockage situation, a (car-to-car) message can be sent to the other road user, which message is intended to prompt the other road user to resolve the blockage situation, in particular to prompt the other road user to reverse. This can further increase the reliability of the parking maneuver.

[0027] Alternatively or additionally, the device can be configured (e.g., as part of the other road user) to detect that a blockage situation exists, preventing the other road user from reversing to clear the maneuvering area. In response to the detected blockage situation, a (car-to-car) message can be sent to the vehicle, which is intended to prompt the vehicle to resolve the blockage situation, in particular, which is intended to prompt the vehicle to move forward in the direction of travel to allow the other road user to pass the maneuvering area. This can further increase the reliability of the parking maneuver.

[0028] The device can be configured to automatically guide the vehicle longitudinally and / or laterally to perform the parking maneuver. This allows for a particularly comfortable parking maneuver.

[0029] According to a further aspect, a (road) motor vehicle (in particular a passenger car or a truck or a bus or a motorcycle) is described which comprises the device described in this document.

[0030] According to a further aspect, a method for assisting in the execution of a parking maneuver of a (motor) vehicle is described. The method comprises detecting the intention to perform a parking maneuver of the vehicle. In other words, it can be detected that a parking maneuver of the vehicle is imminent. If necessary, the parking space in which the vehicle is to be or will be parked can also be detected.

[0031] The method further comprises initiating at least one measure aimed at keeping and / or clearing the maneuvering area for performing the parking maneuver. The maneuvering area required for the parking maneuver can be determined. One or more measures can then be initiated aimed at keeping or clearing the determined maneuvering area.

[0032] According to another aspect, a software (SW) program is described. The SW program can be configured to be executed on a processor (e.g., on a vehicle control unit) and thereby to carry out the method described in this document.

[0033] According to a further aspect, a storage medium is described. The storage medium can comprise a software program configured to be executed on a processor and thereby to carry out the method described in this document.

[0034] It should be noted that the methods, devices, and systems described in this document can be used alone or in combination with other methods, devices, and systems described in this document. Furthermore, any aspects of the methods, devices, and systems described in this document can be combined in a variety of ways. In particular, the features of the claims can be combined in a variety of ways. Furthermore, features listed in parentheses are to be understood as optional features. The invention is described in more detail below using exemplary embodiments.

[0035] Figure 1a shows exemplary components of a vehicle;

[0036] Figure 1b shows an exemplary parking situation of a vehicle;

[0037] Figure 2a shows an exemplary maneuvering area for a parking maneuver;

[0038] Figure 2b shows an exemplary evasive maneuver of a vehicle; and

[0039] Figure 3 is a flowchart of an exemplary method for assisting in carrying out a parking maneuver.

[0040] As stated at the outset, this document deals with increasing the comfort and / or reliability of a vehicle when performing a maneuvering maneuver, in particular a parking maneuver. In this context, Fig. 1a shows an exemplary vehicle 100 with one or more environmental sensors 102, each configured to acquire sensor data (also referred to as environmental data) relating to the surroundings of the vehicle 100. Exemplary environmental sensors 102 include a camera, a radar sensor, a lidar sensor, an ultrasonic sensor, etc.

[0041] A (control) device 101 of the vehicle 100 can be configured to evaluate the environmental data, e.g., to detect one or more objects (e.g., other vehicles) in the environment of the vehicle 100. The device 101 can further be configured to effect automated longitudinal and / or lateral guidance of the vehicle 100 based on the environmental data, in particular based on the one or more detected objects. For this purpose, one or more longitudinal and / or lateral guidance actuators 103 (e.g., a drive motor, a braking device, and / or a steering device) of the vehicle 100 can be controlled.

[0042] Fig. 1b shows an exemplary parking situation in which the vehicle 100 is to be reversed into a parking space 120. The (control) device 101 of the vehicle 100 can be configured to detect the parking space 120 based on the sensor data from one or more environmental sensors 102. The parking space 120 can be detected, for example, while the vehicle 100 is driving past the parking space 120.

[0043] The (control) device 101 can further be configured to determine a target trajectory for the parking maneuver into the detected parking space 120. Furthermore, the one or more actuators 103 of the vehicle 100 can be controlled to guide the vehicle 100 (with automated longitudinal and / or lateral guidance) along the determined target trajectory into the parking space 120.

[0044] The parking maneuver, generally the maneuvering maneuver, may be blocked by another road user 110, in particular by another vehicle. As a result, the vehicle 100 may not be able to park in the detected parking space 120. The (control) device 101 can be configured to initiate one or more measures to ensure that no other road user 110 is located in the maneuvering area of ​​the vehicle 100 required for the maneuvering maneuver. In particular, it can be ensured that no other road user 110 enters the maneuvering area before or during the maneuvering maneuver. Alternatively or additionally, it can be ensured that a road user 110 who is already located within the maneuvering area drives out of the maneuvering area.

[0045] Fig. 2a shows an exemplary maneuvering area 200 for the parking maneuver of vehicle 100. The (control) device 101 of vehicle 100 can cause road user 110 not to enter maneuvering area 200 or to exit maneuvering area 200. Alternatively or additionally, as shown in Fig. 2b, road user 110 can be caused to drive past maneuvering area 200 (see trajectory 210). It can thus happen that following traffic 110 blocks the parking maneuver of a vehicle 100. A parking scenario can be detected (by vehicle 100 and / or by following road user 110). The following road user 110 then keeps the required clearance 200 free for the parking maneuver or creates the required clearance 200. This can be achieved by one or more of the following measures (possibly also in combination),

[0046] • the vehicle 100 sends (e.g., by means of a communication unit 105 and / or via a wireless communication connection) a request (e.g., a car-to-car message) to the following road user 110. If the vehicle 100 detects that a parking maneuver is imminent, a signal can be actively sent to the following road user 110. A parking situation can be detected via the activated turn signal and / or via navigation data from the navigation system of the vehicle 100, via an open parking view in the user interface 104 of the vehicle 100, and / or via a specifically selected parking maneuver of a driver assistance system.

[0047] • The following road user 110 can independently recognize the parking situation. The road user 110 can then independently decide how the maneuvering area 200 can be kept clear or cleared for the parking process. The following road user 110 can recognize the parking situation based on one or more of the following criteria:

[0048] - a set indicator of the vehicle 100;

[0049] - a relatively slow driving speed of the vehicle 100;

[0050] - map data relating to the road travelled by the vehicle 100 (e.g. to exclude a turning maneuver by the vehicle 100);

[0051] - Receiving a car-to-car communication message sent by the vehicle 100. The appropriate measure for keeping the required maneuvering area 200 clear may depend on the width of the road, possible oncoming traffic, and / or other following traffic.

[0052] During an active parking space search by the driver assistance system of vehicle 100, following traffic 110 can be signaled that a parking maneuver is planned. This can prompt following traffic 110 to maintain an appropriate maneuvering distance. Alternatively or additionally, following traffic 110 can be prompted to perform a recovery maneuver and / or change lanes.

[0053] If the following road user 110 blocks the parking maneuver, the road user 110 can be requested and / or implemented to reverse in order to exit the maneuvering area 200. Alternatively or additionally, the following road user 110 can be requested and / or implemented to overtake and / or change lanes to avoid the maneuvering area 200.

[0054] It may happen that the following road user 110 is itself blocked by another following road user and thus cannot clear the maneuvering area 200 by reversing. It can be caused (e.g., by a car-to-car message) that all following road users reverse in a coordinated manner in order to clear the maneuvering area 200.

[0055] In general, the scenarios described in this document can also occur independently of a parking scenario, for example, in a relatively narrow alley and / or when parking in a second row. For example, the reverse gear of the preceding vehicle 100 can be detected.

[0056] As soon as the reversing lights are detected, the following road user 110 can reverse accordingly, maintain a distance or overtake.

[0057] Fig. 3 shows a flowchart of a (possibly computer-implemented) method 300 for supporting the execution of a parking maneuver of a (motor) vehicle 100. The method 300 can be executed by the vehicle 100. Alternatively or additionally, the method 300 can be executed by a following road user 110.

[0058] The method 300 includes detecting 301 the intention to perform a parking maneuver of the vehicle 100. The parking maneuver may, for example, be directed to reversing the vehicle 100 into a parking space 120.

[0059] The method 300 further comprises effecting 302 at least one measure aimed at keeping and / or clearing the maneuvering area 200 for carrying out the parking maneuver.

[0060] The measures described in this document can achieve a particularly comfortable and reliable parking maneuver of a vehicle 100.

[0061] The present invention is not limited to the embodiments shown. In particular, it should be noted that the description and figures are intended only to illustrate the principle of the proposed methods, devices, and systems by way of example.

Claims

Claims 1) Device (101) for assisting the execution of a parking maneuver of a vehicle (100); wherein the device (101) is configured - to detect an intention to perform a parking maneuver of the vehicle (100); and - to effect at least one measure aimed at keeping and / or clearing a manoeuvring area (200) for carrying out the parking manoeuvre. 2) Device (101) according to claim 1, wherein the device (101) is part of the vehicle (100), and wherein the device (101) is configured to recognize the intention to perform the parking maneuver of the vehicle (100) on the basis of - a set indicator of the vehicle (100); - navigation data from a navigation system of the vehicle (100); - an activated driver assistance system of the vehicle (100) for carrying out parking maneuvers; - an engaged gear, in particular an engaged reverse gear, of a transmission of the vehicle (100); - a parking space (120) detected by a driver assistance system of the vehicle (100); - a parking maneuver already selected for execution; and / or - a pre-recorded parking maneuver. 3) Device (101) according to claim 1, wherein the device is part of another road user (110) in an environment of the vehicle (100), in particular in the direction of travel behind the vehicle (100), and wherein the Device is arranged to detect the intention to carry out the parking maneuver of the vehicle (100) on the basis - a detected, set indicator of the vehicle (100); - a driving speed of the vehicle (100); - an activated light, in particular an activated reversing light, of the vehicle (100); - a parking space (120) detected by a driver assistance system of the other road user (110); - map data relating to a road travelled by the vehicle (100); and / or - a message sent by the vehicle (100) and received by the other road user (110), which in particular indicates a position and / or one or more dimensions of the shunting area (200). 4) Device (101) according to one of the preceding claims, wherein the at least one measure comprises sending a message to at least one other road user (110) in an environment of the vehicle (100) which is designed to cause the other road user (110) to keep the manoeuvring area (200) clear and / or to clear it, in particular to cause the other road user (110), - reset to clear the shunting area (200); and / or - to drive past the shunting area (200). 5) Device (101) according to claim 4, wherein the device (101) is arranged - to recognize that a blockage situation exists in which the other road user (110) is prevented by another road user from reversing in order to clear the manoeuvring area (200); and - to send a message to the other road user aimed at causing the other road user to resolve the blocking situation, in particular causing the other road user to reverse. 6) Device (101) according to one of claims 4 to 5, wherein the device (101) is arranged - to detect that a blockage situation exists in which the other road user (110) is prevented from reversing in order to clear the manoeuvring area (200); and - to send a message to the vehicle (100) aimed at causing the vehicle (100) to resolve the blocking situation, in particular causing the vehicle (100) to move forward in the direction of travel in order to allow the other road user (110) to drive past the shunting area (200). 7) Device (101) according to one of the preceding claims, wherein the device (101) is configured to determine the maneuvering area (200), in particular a position and / or one or more dimensions of the maneuvering area (200), for the parking maneuver on the basis of sensor data from one or more environmental sensors (102), in particular on the basis of sensor data from at least one camera and / or at least one radar sensor and / or at least one lidar sensor. 8) Device (101) according to one of the preceding claims, wherein the device (101) is configured to automatically guide the vehicle (100) longitudinally and / or transversely to carry out the parking maneuver. 9) Device (101) according to one of the preceding claims, wherein the at least one measure comprises - reversing another road user (110) to clear the manoeuvring area (200); and / or - Another road user (110) passes the shunting area (200). 10) Device (101) according to one of the preceding claims, wherein - the parking manoeuvre is designed to guide the vehicle (100) backwards from a road into a parking space (120); and - the parking manoeuvre comprises at least one section in which the vehicle (100) reverses on the road against a direction of travel. 11) Method (300) for assisting the execution of a parking maneuver of a vehicle (100); the method (300) comprising - detecting (301) an intention to perform a parking maneuver of the vehicle (100); and - effecting (302) at least one measure aimed at keeping and / or clearing a maneuvering area (200) for carrying out the parking maneuver.

Images