Method for carrying out a parking operation of a vehicle at maximum at level 3 autonomy, and electronic parking assistance system

Abstract

The invention relates to a method for carrying out a parking operation of a vehicle (2), in which the parking operation is carried out at level 3 autonomy of the vehicle (2), wherein the possibility of level 3 autonomy is checked in accordance with at least one criterion, and whenever the at least one criterion is no longer satisfied, the degree of autonomy is changed to a level of autonomy of less than 3.

Description

[0001] Method for carrying out a parking operation of a vehicle with a maximum autonomy level of 3, as well as electronic parking assistance system

[0002] One aspect of the invention relates to a method for parking a vehicle. Another aspect of the invention relates to an electronic parking assistance system.

[0003] Vehicles with electronic parking assistance systems are widely known. It is also well known that autonomous driving is divided into five stages, or levels of autonomy. Starting at stage 1, the additional tasks and functions performed by the electronic parking assistance system gradually increase up to stage 5, where fully autonomous driving is carried out solely by the vehicle itself.

[0004] DE 10 2018 113 314 A1 discloses the use of different autonomy levels when performing a vehicle maneuver. Autonomy level 4 is also possible there. A specific change of autonomy levels is not explained in detail there and is not further discussed.

[0005] The object of the present invention is to provide a method for performing a parking process and an electronic parking assistance system in which the parking process is improved by specific settings of autonomy levels. It is also an object to provide a corresponding electronic parking assistance system for a vehicle.

[0006] One aspect of the invention relates to a method for performing a parking operation of a vehicle. The parking operation is performed, particularly if possible, at least partially with the vehicle operating at an autonomy level 3.

[0007] Depending on at least one criterion, the possibility of maintaining or setting autonomy level 3 for the parking process is checked. If at least one criterion is no longer met, the autonomy level is changed to an autonomy level lower than 3. It is therefore possible that autonomy level 3 is set, and a check is made to determine whether it can be maintained. However, it is also possible that a lower autonomy level than 3 is set, and a check is made to determine whether the autonomy level can be increased to 3.

[0008] Autonomy level 3 is generally referred to among experts as highly automated driving. For example, a driver's hands can be taken off the steering wheel, as constant supervision is no longer necessary. However, the driver must be ready and still have an eye on the traffic. With this autonomy level 3, the driver could, for example, call up information on a display unit, watch a film, or perform other activities such as reading, etc., while parking with autonomy level 3. With autonomy level 3, the electronic parking system therefore takes over the entire driving task in specific applications, such as parking here. For maximum safety and reliability, systems such as the steering, braking, on-board power supply, and data processing are designed to be redundant.However, with autonomy level 3, it is specifically intended that the driver is able to take over the entire driving task again at any time upon request from the system.

[0009] In contrast, Level 2 autonomy is referred to in the technical world as partially automated driving. With Level 2 autonomy, the electronic parking system takes over longitudinal and lateral guidance of the vehicle in a specific application, especially during parking, and supports the driver. The driver is expected to monitor the electronic parking system and be able to intervene at any time.

[0010] Autonomy level 1 is referred to in the specialist world as assisted driving. This means that in a specific application, such as parking, an electronic assistance system relieves and supports the driver either when accelerating and braking or when steering the vehicle. However, the driver is always required to monitor the system and be able to intervene immediately and correct it. For example, with an electronic parking assistance system at autonomy level 1, the driver may manually adjust the vehicle's speed, for example by accelerating and braking, while the electronic parking assistance system takes over steering the vehicle. At autonomy level 2, in contrast to autonomy level 1, acceleration and braking are also carried out by the electronic parking assistance system.In a particularly advantageous manner, the method therefore automates a specific driving maneuver, in particular a maneuvering maneuver, and in particular a parking maneuver, in a very specific way. It is now provided that, whenever possible, the parking maneuver is carried out at autonomy level 3. This now makes it particularly advantageous to offer highly automated driving during a parking maneuver. Therefore, depending on the situation and at least in phases, a parking maneuver can be carried out in such a way that a driver can divert their attention from the surroundings and does not have to take over steering, braking, and acceleration at any time. This specific transition to autonomy level 3 is now a further advantage, especially for a parking maneuver, in order to prepare for the imminent exit from the vehicle after completing a parking maneuver.For example, items that need to be taken with you after getting out can be sorted and packed together. This allows the driver to sort and prepare for the subsequent exit well in advance while parking if the parking maneuver is a parking maneuver. On the other hand, if the parking maneuver is a parking maneuver, it is also possible for the driver to prepare for the driving maneuver that will take place after leaving the parking space while leaving the parking space. If necessary, items of clothing can also be put away and / or other items can be distributed and stored in the vehicle. Likewise, eating and / or drinking, for example, can be done in a concentrated and relaxed manner.

[0011] However, the method is also particularly advantageous in that the electronic parking assistance system automatically checks whether this autonomy level 3 can be maintained during the parking process. This ensures a high level of safety at all times, even if this specific autonomy level 3 is set during the parking process. This check to determine whether autonomy level 3 can be maintained does not have to be carried out by the driver or another vehicle occupant, but is done automatically by the parking assistance system. It is also particularly advantageous in this context that, starting from autonomy level 3, it is automatically checked whether a downgrade of the autonomy level is necessary. In particular, there is no intention here to increase the autonomy level beyond autonomy level 3.In one embodiment, if the criterion is no longer met, the level of autonomy is changed from autonomy level 3 to the next lower autonomy level 2. This intelligently ensures that, whenever possible, an abrupt multi-stage degradation of the autonomy level is not carried out. Depending on the situation, the parking assistance system also checks whether a smooth change as a degradation is possible. This also ensures, in the best possible way, that there is no abrupt, complete handover from the parking assistance system to a driver, which could potentially surprise and / or overwhelm the driver. Therefore, if a degradation of the autonomy level from autonomy level 3 is necessary, a conscious attempt is made to initially set autonomy level 2.This occurs when the evaluation of at least one criterion allows it.

[0012] In one embodiment, the change in the level of autonomy is carried out in a cascaded manner by at least two stages or two levels of autonomy depending on the at least one criterion. This is also an advantageous embodiment in order to avoid very large jumps between levels of autonomy, if possible. Through such a cascaded change, the level of autonomy is successively reduced, so that a successive transition of functions from the electronic parking assistance system to a vehicle driver can be carried out over a longer period of time and thus in a more coordinated and concentrated manner. This also enables a high level of safety during the parking process. In particular, a continuous and smooth transition of functions that were performed by the automatic parking system to the vehicle driver can thus take place in a very advantageous manner.

[0013] In one embodiment, the autonomy level is downgraded at least twice by a value of 1, depending on at least one criterion. This means, for example, that the system first switches from autonomy level 3 to autonomy level 2 and then switches from autonomy level 2 to autonomy level 1.

[0014] It is also possible, if necessary, to switch from autonomy level 1 to level 0 in a further cascading stage. In the context of the invention, level 0 means that all functions such as braking, steering, and acceleration must be performed entirely by the driver. In one exemplary embodiment, the automated execution of the parking process is aborted depending on at least one criterion. This essentially switches directly from autonomy level 3 to level 0, in particular without cascaded degradation.

[0015] It is precisely by basing the specific change options on at least one criterion, in particular several, for example at least two, criteria, that an analysis of the current scenario can be carried out in a very needs-based and situation-dependent manner and thus it can be recognized in a very multifaceted and diverse way how a degradation of the degree of autonomy should take place starting from autonomy level 3.

[0016] Especially when such a scenario is necessary, the vehicle's odometry data can also be taken into account. In this context, information from the vehicle's tires can also be considered.

[0017] For example, wheel slippage or something similar can also be detected here. Such information can then also be incorporated into the decision about how such a transition should be made, for example, a transition from autonomy level 3 directly to level 0.

[0018] In one embodiment, at least one environmental criterion of the vehicle's surroundings is considered as a criterion for deciding on a degrading change in the autonomy level. For example, the vehicle's surroundings can be detected using at least one vehicle detection unit. Depending on this, environmental information can then be generated, which is compared with the at least one environmental criterion.

[0019] Environmental information, in particular, provides a wide range of analytical information to determine whether autonomy level 3 is possible. In particular, depending on this environmental information, it is possible to make improved and very detailed decisions, depending on the situation, about how, if necessary, a switch from autonomy level 3 to at least a lower autonomy level should be made and when this should occur.

[0020] In one exemplary embodiment, the environmental criterion checks whether there is a smooth surface to be driven on in the vicinity of the vehicle, in particular in front of the vehicle in the direction of travel. If such a smooth surface is present, it is recognized that autonomy level 3 is enabled and / or can be maintained. A smooth surface in this context means a surface without significant elevations. In particular, this means that only the smooth surface of the roadway is present. In this context, smooth does not mean that a layer of snow or ice or the like is present on the surface. Rather, smooth in the context of this exemplary embodiment refers to the fact that there are no elevations in the sense of obstacles that the vehicle would have to drive over. Therefore, the smooth surface can also be referred to as elevation-free.This allows the environment, particularly the surface, to be assessed very simply to determine whether autonomy level 3 is enabled. In particular, this exemplary embodiment does not require any further in-depth analysis to determine whether there are high or low obstacles that may or may not be driven over. This enables a very simple analysis, as it only needs to be checked whether the surface is smooth. This is particularly advantageous in the direction of travel in front of the vehicle, as this is the main area of ​​the environment that the vehicle is driving through or is intended to drive through.

[0021] In one embodiment, at least one of the following listed environmental criteria is used as a basis:

[0022] - free, accessible area in the vicinity of the vehicle, particularly in the direction of travel in front of the vehicle;

[0023] - height of an element in the vehicle's surroundings;

[0024] - Living beings, especially pedestrians, in the vicinity of the vehicle.

[0025] In particular, with regard to the testing of a freely passable area, a segmentation of the open space or a passable area is tested. This can be evaluated, for example, based on information from at least one camera as the vehicle's detection unit. In this context, a segmentation or classification of the detected environmental areas can be carried out on the basis of the recorded information. In particular, a classification of the area that is intended for future travel by the vehicle can be carried out. In particular, this area should be completely covered by the classified area or the classified area. In particular, the type and / or size of the passable area can thus be analyzed and identified.In particular, the type of surface, such as an asphalt road or the like, can also be detected in this context. This makes it particularly advantageous to identify and extract the area intended for future vehicle travel. This area can then be advantageously identified as a clear, drivable area.

[0026] In particular, with regard to the additional environmental criterion, namely the height assessment of an element in the environment, environmental information from a detection unit embodied as a camera can also be used. In this context, it is also possible for a height map to be available or generated. Based on this height map, the elements, their height, and their position can then be very precisely identified and analyzed. This can also advantageously create an environmental criterion that makes it particularly advantageous to decide whether autonomy level 3 is possible or will continue to be possible, or whether a downgrading of the autonomy level is necessary.

[0027] In one embodiment, information from at least one ultrasonic sensor of the vehicle can also be used as an environmental criterion for the height of an element. An ultrasonic sensor is another embodiment of a detection unit of the vehicle. For example, the information detected by the at least one ultrasonic sensor can be evaluated and then it can be recognized that, for example, no element is present that exceeds a threshold height. It is also possible to use multiple pieces of information from multiple ultrasonic sensors of the vehicle for this purpose. This allows for the reproduction and / or combination of this information. This increases the accuracy of the results.

[0028] The additional environmental criterion for detecting living beings in the vehicle's vicinity can, for example, also be based on information captured by a camera as the detection unit. It is also possible that living being detection, in particular, enables pedestrian detection.

[0029] In the advantageous embodiment mentioned above, in which a surface in the vicinity of the vehicle is detected as smooth, it is particularly advantageous if the surrounding area then intended as the drivable area is completely detected as smooth. This is because the best possible situation in this regard is achieved, as there are no undesirable elevations that would then have to be further analyzed to determine whether they are drivable or may be driven over. Such detection can, for example, also be carried out on the basis of other detection units, such as a radar sensor and / or a lidar sensor. However, here too, information from at least one camera and / or one ultrasonic sensor can be used in addition to or instead of these.

[0030] In one embodiment, autonomy level 3 is maintained and / or reset as long as at least two, in particular all, of these environmental criteria are met. In particular, a specific threshold value and / or a specific probability can be used as a basis in each case. Depending in particular on a comparison of actual information or actual values ​​of these environmental criteria with, for example, predetermined reference values ​​and thus the comparison with the reference probability and the reference threshold value, a decision can then be made as to whether autonomy level 3 is maintained or can be reset if the current autonomy level is lower than autonomy level 3.In particular, if at least two, in particular all, of these environmental criteria are positively fulfilled in this regard, this autonomy level 3 is maintained or it is switched from a lower autonomy level back to autonomy level 3.

[0031] In particular, the vehicle has a maximum autonomy level of 3. It is also possible that the vehicle has a higher level of autonomy, for example, autonomy level 4, but this autonomy level 4 is blocked or not enabled for the parking process. This also means that even in such a configuration, the maximum autonomy level 3 that can be set for a parking process is 3.

[0032] In one embodiment, the parking process is performed as a trained parking process. This means that a trajectory traversed prior to the parking process exists, which can also be referred to as a trained trajectory. This trained trajectory serves as the basis for the parking process and is traversed at least partially as the parking trajectory during the parking process. In particular, this trained trajectory is traversed completely as the parking trajectory. This is another very advantageous embodiment, since it allows for the very simple use of already known and trained trajectories along which the vehicle can be moved during the parking process.Especially in conjunction with the maximum setting of autonomy level 3, a very comfortable parking process is made possible on the one hand, which on the other hand meets very high safety requirements and yet, depending on the situation, relieves the driver of manually performed driving tasks during the parking process or significantly reduces the workload.

[0033] In one embodiment, the parking process is performed, in addition to or instead of, a provided digital map of the vehicle's surroundings. This also allows information to be generated and used to make the parking process safe and convenient.

[0034] In one embodiment, a degrading change in the autonomy level is communicated to a vehicle occupant via an output unit. In particular, this change is preferably announced. Thus, a change in the level of autonomy, which requires the driver to assume more tasks again, is not surprising. This allows the driver to better prepare for the tasks they will have to assume again. In particular, this change can be displayed on a visual display unit as an example of an output unit. In addition to or instead of this, this change can also be communicated, in particular announced, via acoustic information.

[0035] In one embodiment, the automated parking process is aborted by the vehicle's electronic parking assistance system if a vehicle occupant does not confirm the downgrading change in the autonomy level communicated via the output unit. In particular, this can occur if confirmation is not received within a specified time window.

[0036] A further aspect of the invention relates to an electronic parking assistance system for a vehicle. The parking assistance system has at least one detection unit for detecting the surroundings. Furthermore, the parking assistance system has at least one evaluation unit. The parking assistance system is designed to carry out a method according to one of the preceding claims. In particular, this method is carried out with the parking assistance system.

[0037] A further independent aspect of the invention relates to a motor vehicle with an electronic parking assistance system according to the above-mentioned aspect or an advantageous embodiment thereof.

[0038] Embodiments of the invention are explained in more detail below with reference to a schematic drawing. The single figure shows: Fig. 1 a schematic environment with an embodiment of a vehicle according to the invention, which has an embodiment of an electronic parking assistance system according to the invention.

[0039] Fig. 1 shows an environmental scenario 1 in a schematic plan view. A vehicle 2 is shown. This can be a passenger car, a truck, a bus, or the like. In addition, the environment 1 also shows at least one parking zone 3. The parking zone 3 can be a marked parking area for parking the vehicle 2. In particular, the parking zone 3 can be a garage, a carport, or the like. However, it is also possible for the parking zone 3 to be a marked parking area or parking space in a parking garage. It is identified and marked to indicate that it is intended for parking with only one vehicle 2. The vehicle 2 can also be a vehicle combination in this context. In this case, this combination comprises a towing vehicle and a trailer.

[0040] The vehicle 2 has an electronic parking assistance system 4. This system has at least one control unit 5 and / or at least one evaluation unit 6. The control unit 5 and the evaluation unit 6 can also be a combined unit. The parking assistance system 4 can also have at least one electronic memory.

[0041] The vehicle 2 further comprises at least one detection unit 7. This can comprise a camera and / or an ultrasonic sensor and / or a radar sensor and / or a lidar sensor. In particular, the detection unit 7 is designed to detect an area of ​​the environment 1 located in front of the vehicle 2 in the direction of travel. In particular, it is provided that the vehicle 2 can carry out the parking process automatically. For this purpose, it is provided that the electronic parking assistance system is supported to a maximum extent by the autonomy level 3 of the vehicle 2 or is based on this parking assistance system 4. The vehicle 2 therefore has a maximum autonomy level 3, in particular for a parking process.

[0042] During the parking process, vehicle 2 is moved into parking zone 3. In particular, it is provided that it is moved along a trajectory 8. In one embodiment, trajectory 8 can be a trained trajectory. This trajectory, trained before the parking process, is then followed by vehicle 2 during the parking process. It is also possible that, in addition to or instead of this, a digital environmental map of the environment 1 of vehicle 2 is provided. It can then also be provided that the parking process is carried out based on this provided digital environmental map of the environment 1.

[0043] The parking process should be carried out such that, whenever possible, vehicle 2 is moved at autonomy level 3. In particular, the parking process is carried out at autonomy level 3 of vehicle 2 for as long as possible. Depending on at least one criterion, in particular several criteria, the maintenance of autonomy level 3 is checked using the electronic parking assistance system 4. If at least one criterion, in particular at least two criteria, in particular all criteria, are met, the level of autonomy is not changed to an autonomy level less than 3. Otherwise, this already occurs.

[0044] In particular, if at least one criterion is no longer met, the level of autonomy is changed from autonomy level 3 to autonomy level 2. In one embodiment, the change in the level of autonomy can also be carried out in a cascaded manner by at least two levels depending on the at least one criterion. For example, a change can be made from autonomy level 3 first to autonomy level 2 and from there to autonomy level 1. In particular, depending on at least one criterion being met or not met, the level of autonomy is downgraded at least twice by a value of 1 each time.

[0045] Depending on this at least one criterion, or in particular several criteria, the automated parking process is aborted. For example, it can be aborted directly from autonomy level 3. This means that the system then switches from autonomy level 3 to level 0.

[0046] In particular, at least one environmental criterion of the environment 1 of the vehicle 2 is considered as a criterion for deciding on a degrading change in the autonomy level. Thus, in one exemplary embodiment, the environmental criterion can be used to check whether there is a smooth surface in the environment, particularly in the direction of travel in front of the vehicle 2. If such a smooth surface is present, the autonomy level 3 is maintained. At least one of the following listed environmental criteria is used as the basis:

[0047] - free, passable area in the vicinity 1 of the vehicle 2, in particular in the direction of travel of the vehicle 2 in front of the vehicle 2;

[0048] - height of an element in the environment 1 of the vehicle 2;

[0049] - Living beings in the vicinity 1 of the vehicle 2.

[0050] In one embodiment, autonomy level 3 is maintained as long as at least two, in particular all, of these environmental criteria are positively fulfilled.

[0051] In one exemplary embodiment, a change in the autonomy level, in particular a degrading change in the autonomy level, is communicated to a vehicle occupant, in particular the driver. In particular, this occurs via an output unit 9 of the vehicle 2. The output unit 9 can, for example, be designed to output information visually and / or acoustically. Thus, in one exemplary embodiment, the change can also be announced. In particular, an automated parking process is aborted by the electronic parking assistance system 4 of the vehicle 2 if a vehicle occupant, in particular the driver, does not confirm the announced change in the autonomy level. Confirmation can occur, for example, by actuating a control element and / or by a voice command. In particular, confirmation can occur within a predetermined time window after the announcement.

[0052] In Fig. 1, the three symbolic boxes, which are to be understood here merely as examples in terms of number, position, and shape, characterize elements in the environment 1. They are not in the driving path of vehicle 1. In particular, there is a smooth surface in the area that lies in front of vehicle 1 and is to be driven over.

Claims

Patent claims 1 . Method for carrying out a parking process of a vehicle (2), in which the parking process is carried out with an autonomy level 3 of the vehicle (2), wherein the possibility of the autonomy level 3 is checked depending on at least one criterion, and then, if the at least one criterion is no longer met, a change in the autonomy level to an autonomy level less than 3 is carried out.

2. The method according to claim 1, wherein, if the criterion is no longer met, a change in the degree of autonomy from autonomy level 3 to autonomy level 2 is carried out.

3. The method according to claim 1 or 2, wherein the changing of the degree of autonomy is carried out in a cascaded manner by at least two values ​​depending on the at least one criterion.

4. The method according to claim 3, wherein the autonomy level is degraded at least twice by a value of one depending on at least one criterion.

5. Method according to one of the preceding claims 1 to 3, wherein, depending on the at least one criterion, the automated execution of the parking process is aborted, in particular a change is made from autonomy level 3 directly to level 0.

6. Method according to one of the preceding claims, wherein at least one environmental criterion of the environment (1) of the vehicle (2) is taken into account as a criterion for the decision of a degrading change of the autonomy level.

7. The method according to claim 6, wherein the environmental criterion checks whether there is a surface in the environment (1), in particular in the direction of travel in front of the vehicle (2), which is smooth, and if such a smooth surface is present, the autonomy level 3 is maintained or will be maintained.

8. The method according to claim 6 or 7, wherein at least one of the following is used as the environmental criterion: free, drivable area in the environment (1) of the vehicle (2), in particular in the direction of travel of the vehicle (2) in front of the vehicle (2); Height of an element in the environment (1) of the vehicle (2); living beings in the environment (1) of the vehicle (2).

9. The method according to claim 7 and 8, wherein the autonomy level 3 is maintained as long as at least two, in particular all, of these environmental criteria are met.

10. Method according to one of the preceding claims, wherein the vehicle (2) can execute a maximum of autonomy level 3, at least for the parking process or in general.

11. Method according to one of the preceding claims, wherein the parking process is carried out as a trained parking process in which a previously trained and provided trajectory (8) is followed.

12. Method according to one of the preceding claims, wherein the parking process is carried out on the basis of a provided digital environmental map of the surroundings (1) of the vehicle (2).

13. Method according to one of the preceding claims, wherein a degrading change in the autonomy level is communicated to a vehicle occupant using an output unit (9).

14. The method according to claim 9, wherein the automated parking process is aborted by the parking assistance system (4) of the vehicle (1) if a Vehicle occupant does not confirm the degrading change in the autonomy level communicated via the output unit (9).

15. Parking assistance system (4) with at least one detection unit (7) and with at least one evaluation unit (6), wherein the parking assistance system (4) is designed to carry out a method according to one of the preceding claims.

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