Method and driver assistance system

Abstract

In order to identify and display parking spaces (15, 15') for a motor vehicle (1), the parking spaces (15, 15') are identified, wherein a relevant parking space size of the parking spaces (15, 15') is determined, wherein the parking space sizes of the parking spaces (15, 15') are compared with a vehicle size of the motor vehicle (1), and wherein parking spaces (15) which are uncritical with respect to their size for the motor vehicle (1) and parking spaces (15') which are critical with respect to their size for the motor vehicle (1) are graphically represented differently to a driver of the motor vehicle (1).

Description

[0001] Procedures and driver assistance systems

[0002] The invention relates to a method for identifying and displaying parking spaces and a driver assistance system designed to carry out the method.

[0003] At the destination of a journey, especially in city centers and metropolitan areas, the current parking situation is often unknown beforehand. Typical assistance systems usually only show a rough representation of possible parking areas on a map, but not the actual number of available parking spaces. Very often, the search for a parking space in the displayed areas is unsuccessful. This results in an unpredictable amount of time being spent searching for a parking space, which significantly complicates the planning of journeys to such areas. These parking areas are usually not supported by suitable infrastructure, such as sensor-based detection and / or data transmission to a central system, which would allow for the reporting and display of current occupancy.

[0004] It is an object of the present invention to provide a means for the more efficient identification and representation of parking spaces.

[0005] This problem is solved by the subject matter of the independent claim. Advantageous further developments and preferred embodiments are the subject matter of the dependent claims.

[0006] The invention is based on the idea of ​​graphically representing previously identified parking spaces that are uncritical with regard to their size for a motor vehicle and parking spaces that are critical with regard to their size for the motor vehicle differently to a driver of the motor vehicle.

[0007] According to one aspect of the invention, a method for identifying and displaying parking spaces for a motor vehicle is provided. In the method, the parking spaces are identified, the size of each parking space is determined, the size of the parking spaces is compared with the size of the motor vehicle, and parking spaces that are uncritical with respect to their size for the motor vehicle and parking spaces that are critical with respect to their size for the motor vehicle are graphically displayed differently to a driver of the motor vehicle.

[0008] The method for identifying and displaying parking spaces advantageously increases driving comfort, as the driver is not only informed whether parking spaces are available, but also which spaces are particularly easy for the vehicle to park in. A time-consuming search for a parking space large enough for the vehicle is no longer necessary.

[0009] The vehicle preferably has environmental sensors that detect and / or measure the vehicle's surroundings. For example, the environmental sensors may include one or more cameras and / or one or more radar systems and / or one or more lidar systems and / or one or more ultrasonic sensor systems, and the like. These environmental sensors can be used to identify parking spaces. "Identifying" in this context means recognizing whether or not a parking space is available. If a parking space is available, the environmental sensors can measure it to determine its size. This can include, for example, measuring both the width and length of the parking space.The identification of the parking space and its size are reported at a specific time to a backend or central system, which the vehicle, particularly its driver assistance system, can access. A fleet of vehicles can identify and measure numerous parking spaces and provide this information to the central system.

[0010] The vehicle's dimensions can be stored in the driver assistance system. The system then compares the vehicle's dimensions, specifically its width and length, with the dimensions of the parking spaces identified and reported to the central system. Parking spaces too small to accommodate the vehicle are hidden and therefore not displayed to the driver. The remaining available parking spaces are categorized as either non-critical or critical. These non-critical and critical spaces are then presented to the driver graphically, for example, via a human-machine interface, allowing the driver to decide whether to approach a non-critical parking space, which may be further away from their current position, or a critical one.

[0011] In this context, an "easy" parking space is one that can be easily parked in, even by a very inexperienced driver. In contrast, a "difficult" parking space is one that is more difficult to park in than an easy one. For example, it is harder for an inexperienced driver to park in a difficult space than in an easy one. A difficult parking space might also be smaller than an easy one. Furthermore, a difficult parking space might be located on a busy street, which can make parking even more challenging.However, both non-critical and critical parking spaces have in common that their size is larger than the vehicle size, so that the vehicle can be parked in both non-critical and critical parking spaces, although the effort required for parking may be greater for the driver in critical parking spaces.

[0012] According to at least one embodiment, the parking spaces that are uncritical with regard to their size for the motor vehicle and the parking spaces that are critical with regard to their size for the motor vehicle are represented in different colors.

[0013] For example, unproblematic parking spaces are shown in green, while problematic parking spaces are shown in red. However, any other color selection is also possible. Alternatively, the different graphic representation can also be achieved using different hatching or patterns.

[0014] According to at least one embodiment, the color intensity of the different color representations of the parking spaces changes with increasing time after the parking spaces have been identified.

[0015] For example, a parking space is identified by a passing vehicle at a specific time. From that point on, the color intensity changes until the parking space is identified again and the original color intensity is restored. If the parking space is not reported because it is occupied, it will no longer be displayed to the driver.

[0016] According to at least one embodiment, the color intensity of the different colored representations of the parking spaces decreases with increasing time after the parking spaces have been identified.

[0017] For example, the display of non-critical parking spaces changes from dark green in several stages to light green. If the respective parking space is reported again, it is set back to dark green. Similarly, the display of critical parking spaces can change from dark yellow in several stages to light yellow. If the respective parking space is reported again, it is set back to dark yellow.

[0018] According to at least one embodiment, parking spaces that can no longer be identified are reset as occupied, so that these occupied parking spaces are not graphically displayed to the driver.

[0019] In this case, a passing vehicle fails to report the parking spaces to the central system. It can be assumed that the parking spaces are occupied. Therefore, the parking spaces are no longer displayed to the driver.

[0020] According to at least one embodiment, the parking spaces are displayed to the driver on a map section as graphically distinguishable segments.

[0021] For example, the map section is shown to the driver using the human-machine interface. Parking spaces can be displayed on the map section as colored segments in the form of rectangles.

[0022] According to at least one embodiment, different types of parking zones are graphically displayed to the driver on the map section, in particular distinguishable by color.

[0023] Using the human-machine interface, parking zones are preferably displayed using different colors. For example, a graphical, and especially color-coded, distinction can be made to indicate in which parking zones parking is permitted, prohibited, permitted only with special authorization, free of charge, or subject to a fee.

[0024] According to at least one embodiment, the occupancy status of a parking garage, in particular broken down by parking garage levels, is displayed graphically, especially in color, to the driver.

[0025] Here too, a breakdown can be made into non-critical and critical parking spaces. The parking garage can be equipped with sensors to detect available parking spaces.

[0026] According to at least one embodiment, the parking spaces are identified using motor vehicles of a vehicle fleet, wherein the identified parking spaces are reported to a central office which the motor vehicles of the vehicle fleet can access.

[0027] Using the vehicles in the fleet, it is therefore possible to identify parking spaces and report them to the central system. This makes it possible to inform other vehicles in the fleet, with their current or planned position (e.g., as a navigation destination) in that region, about specific available parking spaces. This can be implemented closed within a single manufacturer's fleet ecosystem or in a standardized and / or partnership-oriented manner across manufacturers.

[0028] According to a further aspect of the invention, a driver assistance system for a motor vehicle is provided. The driver assistance system is configured to carry out the method described above.

[0029] The driver assistance system preferably includes a human-machine interface, as previously mentioned, which enables communication between the driver assistance system and the driver of the vehicle. The human-machine interface may include a display unit, particularly in the form of a screen, preferably a touchscreen. However, the display unit may also be, for example, a head-up display (HUD) or part of a head-up display. The display unit can graphically show the driver the identified parking spaces. The driver assistance system may also include a data processing unit. The process can be carried out, at least partially, by the data processing unit. The data processing unit has access to the vehicle's environmental sensors.

[0030] Further features of the invention will become apparent from the claims, the figures, and the description of the figures. The features and combinations of features mentioned above in the description, as well as the features and combinations of features mentioned below in the description of the figures and / or shown in the figures alone, are not only usable in the combinations specified, but also in other combinations or on their own.

[0031] The invention will now be explained in more detail with reference to a preferred embodiment and the drawings. The drawings show:

[0032] Fig. 1 a schematic top view of a motor vehicle

[0033] Fig. 2 shows a schematic view of a human-machine interface for the

[0034] Motor vehicle according to Fig. 1;

[0035] Fig. 3 shows a schematic representation of parking spaces using the human-

[0036] Machine interface as shown in Fig. 2; and

[0037] Fig. 4 is a schematic representation of a parking garage using the human-

[0038] Machine interface as shown in Fig. 2.

[0039] Figure 1 schematically shows an exemplary embodiment of a motor vehicle 1 with a driver assistance system 2. The motor vehicle 1 can be, in particular, an autonomous vehicle 1, for example, corresponding to Level 4 or Level 5 according to the classification in SAE J3016. However, the motor vehicle 1 can also be manually controlled.

[0040] The driver assistance system 2 has a human-machine interface 3, which enables the driver assistance system 2 to communicate with a driver of the motor vehicle 1 and vice versa. The human-machine interface 3 can be a screen, in particular a touchscreen, or can include such a screen. The driver assistance system 2 can also have a data processing unit 4. The driver assistance system 2 is associated with environmental sensors 5 for detecting or recognizing the environment 6 of the motor vehicle 1. For example, the environmental sensors 5 can include one or more cameras and / or one or more radar systems and / or one or more lidar systems and / or one or more ultrasonic sensor systems, and the like. The environmental sensors 5 can include any type of sensors. The environmental sensors 5 can provide sensor data to the driver assistance system 2.The driver assistance system 2 can evaluate this sensor data, for example with the help of the data processing unit 4, and draw conclusions about the environment 6.

[0041] The motor vehicle 1 or the driver assistance system 2 may have a navigation system 7 and / or a communication interface 8. The communication interface 8 can be used, for example, to receive vehicle-to-vehicle messages from other road users or to send vehicle-to-vehicle messages to other road users. Furthermore, the communication interface 8 can be used to make data, such as sensor data from the environmental sensors 5 and / or sensor data from the environmental sensors 5 processed by the data processing unit 4, available to a backend or a central unit 9, for example, in the form of a cloud. The communication interface 8 can also access data stored in the central unit 9 and make this data available to the driver assistance system 2, in particular to the data processing unit 4.

[0042] Motor vehicle 1 is traveling in a direction 10 along lane 11 of a road 12. Several other motor vehicles 13, 14 are parked along the side of lane 11. Between motor vehicles 13, 14 is a free parking space 15, which motor vehicle 1 passes. The environmental sensors 5 detect the presence of the parking space 15 as motor vehicle 1 passes. The parking space 15 is thus identified. Furthermore, the environmental sensors 5 can also detect or measure the width 16 and length 17 of the parking space 15. Based on the width 16 and length 17, the driver assistance system 2, in particular the data processing unit 4, can estimate whether the parking space 15 is large enough for motor vehicle 1 or not. Both the information that a free parking space 15 is available, as well as its width 16 and length 17, can be transmitted to the central office 9 using the communication interface 8.The width 16 and length 17 define the dimensions of parking space 15. In addition, the environmental sensors 5 optionally detect traffic signs 18 located along the road 12. Figure 1 shows a traffic sign 18 containing information about whether, by whom, and / or from when to when parking space 15 can be used. For example, parking space 15 may be available to everyone during a certain period and only to residents during another period. The information contained in traffic sign 18 may also include a parking prohibition and / or a stopping prohibition. The information contained in traffic sign 18 can be evaluated by the driver assistance system 2 based on the sensor data from the environmental sensors 5, for example, using the data processing unit 4. This information regarding traffic sign 18 can then be uploaded to the central unit 9 via the communication interface 8.

[0043] The vehicle 1 is part of a fleet of vehicles 1. Each vehicle 1 in the fleet is equipped with the aforementioned environmental sensors 5, which are necessary for parking and driving assistance. A connection to the central unit 9, for example in the form of a previously mentioned cloud, is also typically present.

[0044] Based on the sensor data collected by the environmental sensors 5 of the vehicles 1 in the vehicle fleet, it is possible to identify parking spaces 15 and report them to the central station 9. This makes it possible to inform other vehicles 1 in the vehicle fleet with a current or planned position in this region (e.g., as a navigation destination) about specific available parking spaces 15. This can be implemented closed within a single manufacturer's vehicle fleet ecosystem or in a standardized and / or partnership-oriented manner across manufacturers.

[0045] A step-by-step procedure for detecting a parking space 15, as previously described, is discussed below. As explained earlier, the environmental sensors 5 can be used to detect parking spaces 15 and, if necessary, to calculate their size. Optionally, based on the vehicle's own position and map data, it can be determined whether parking is permitted in an area of ​​the street 12 where the parking space 15 is located. Based on this, the detection and transmission of parking space information can be activated or deactivated. The central unit 9 thus collects information about the respective parking space 15 and the time of each recording from all vehicles 1 passing by it. Specifically, in a first step, the vehicle 1 can be located using map data.In an optional second step, information regarding the parking zone in which the respective parking space 15 is located can be provided. This information can be obtained from traffic sign 18 and / or map data stored in the central unit 9. In a third step, parking spaces 15 are detected using the environmental sensors 5. In a fourth step, the position of each parking space 15 is reported to the central unit 9.

[0046] A step-by-step procedure for using data concerning a recorded parking space 15 is explained below. The data concerning parking space 15 is used by a vehicle 1 that is driving in a region where parking space 15 is located, or that has parking space 15 as its navigation destination. In addition to the position of the available parking space 15, its size can also optionally be transmitted and, before being displayed, checked using the human-machine interface 3 to determine whether the user's vehicle 1 fits into the available parking space 15. It is thus possible to filter out parking spaces 15 that would be too small for the user's vehicle 1 and hide them on the human-machine interface 3, or to classify them as unsuitable for the size of the user's vehicle 1.

[0047] The parking spaces 15 are then displayed on a currently shown map section using the human-machine interface 3, or can be offered to the driver of the vehicle 1 as an alternative to a view currently displayed using the human-machine interface 3. Optionally, the recency of the last reported detection can be visualized by means of a color-coded or intensity-differentiated display. This allows the driver to decide which parking spaces 15 to approach first. For this purpose, the human-machine interface 3 is designed as a screen or has a screen.

[0048] In a first step, the position of the user's vehicle 1 or a navigation destination is displayed on a map section, particularly with the aid of the human-machine interface 3. In a second step, data or information concerning the parking space 15 or several parking spaces 15, such as their position, width 16, length 17, and / or the last reported time, are retrieved from the central unit 9 for a relevant location and surrounding area. In a third step, the parking space 15 or spaces 15 are displayed on a relevant map section using the human-machine interface 3. Optionally, this can only occur if the user's vehicle 1 fits into the respective parking space 15. In an optional fourth step, for example, a color-coded indicator can be displayed to show the current status of the parking space 15.

[0049] Figure 2 schematically shows an embodiment of a human-machine interface 3 as previously mentioned. The human-machine interface 3 has a display unit 19, in particular in the form of a screen, preferably in the form of a touchscreen. However, the display unit 19 can also be, for example, a head-up display (HUD) or part of a head-up display. The display unit 19 shows a map section 20 with a road 21. The road 12 can be part of the road 21.

[0050] The navigation system 7 can guide the driver of vehicle 1 to the most suitable parking space 15 based on its size, its distance from the current position of vehicle 1, and / or the recency of the information. A route required for this purpose, for example, the shortest route and / or the fastest time, can be displayed on the map 20.

[0051] In particular, map section 20 shows a target area where the driver of motor vehicle 1 intends to park. Parking zones 22 extending along the road 21, which are outlined with dashed lines in Fig. 2, can be, for example, shaded dark blue. Paid parking is possible in these parking zones 22, for example, all day or during a specific period.

[0052] Additional parking zones 23, outlined with dashed lines in Fig. 2, can be highlighted in light blue, for example. In these parking zones 23, parking is free all day or during a specific period. Additional parking zones 24, outlined with dotted lines in Fig. 2, can be highlighted in orange. In these parking zones 24, parking is only permitted with a special permit, for example, for residents, all day or during a specific period. Additional parking zones 25, outlined with double-dashed lines in Fig. 2, can be highlighted in red. Parking is prohibited in these parking zones 25.

[0053] Furthermore, sufficiently large parking spaces 15 are shown in green on map section 20. These parking spaces 15 are outlined with dashed lines in Fig. 2. Parking spaces 15' whose size is critical for the vehicle 1 are shown in yellow. These parking spaces 15' are outlined with dotted lines in Fig. 2. However, the parking spaces 15, 15' are always large enough that at least an experienced driver can park the vehicle 1.

[0054] Parking spaces 15 and 15' are thus categorized into non-critical parking spaces 15 and critical parking spaces 15'. Non-critical parking spaces 15 can be easily used even by inexperienced drivers, whereas critical parking spaces 15', due to their smaller size compared to non-critical parking spaces 15, can pose a greater challenge for inexperienced drivers.

[0055] A precise formula and / or categorization of parking spaces 15, 15' also depends on the accuracy of sensor detection of these spaces by passing vehicles 1. Ideally, with high accuracy, the mere detection or non-detection of a single vehicle 1 is sufficient to display or remove the marking of the respective parking space 15, 15'. If the accuracy is lower, confirmation from other vehicles 1 within a defined timeframe could be awaited, and a color gradient, explained below, could be used.

[0056] Figure 3 schematically shows how the color gradient of the parking spaces 15, 15' shown on map section 20 changes as a function of time t. As mentioned previously, the non-critical parking spaces 15, which are sufficiently large for the vehicle 1, are shown in green, and the critical parking spaces 15', whose size is critical for the vehicle 1, are shown in yellow.

[0057] The less up-to-date or the older the report of the respective parking space 15, 15' to the central office 9 is, the lighter its color becomes on the map section 20.

[0058] For example, the color, and in particular the color intensity, of the non-critical parking spaces 15 changes gradually or continuously from dark green to light green over time t, as indicated in Fig. 3 by the increasingly wider hatching. The darker the color of the non-critical parking space 15, the more recent the notification and the higher the probability that the respective non-critical parking space 15 is not yet occupied. The driver of the vehicle 1 can thus preferentially drive towards non-critical parking spaces 15 highlighted in dark green. The same applies to the critical parking spaces 15', whose color changes gradually or continuously from dark yellow to light yellow over time t, as also indicated in Fig. 3 by the increasingly wider hatching. Fig. 4 schematically shows how a parking garage 26 with several parking levels 27, 28, 29 can be represented by the human-machine interface 3.Firstly, it is possible to indicate whether parking garage 26 is full or not. If parking garage 26 is not full, it can be displayed in green. In Fig. 4, this is indicated by dashed lines. If parking garage 26 is full, it can be displayed in red. In Fig. 4, this is indicated by dotted lines.

[0059] Furthermore, a breakdown by parking garage levels 27, 28, and 29 is also possible. In this case, it is displayed where free parking spaces 15 are available on each parking garage level 27, 28, and 29. Here again, as explained previously, a distinction can be made between non-critical parking spaces 15, which are sufficiently large for the vehicle 1, and critical parking spaces 15' (not shown), whose size is rather tight. Parking garage 26 can have its own sensors to collect data on free parking spaces 15 and 15'. This data can be made available to the central office 9.

[0060] To display the parking space situation on map section 20 using the human-machine interface 3, there is, on the one hand, dynamic input data, such as the report of the respective parking space 15, 15' and the recording time, the type and / or vehicle size of the reporting motor vehicle 1 or the determined parking space size, in particular its width 16 and length 17, the respective motor vehicle 1 with position near the respective parking space 15, 15' as well as the recording time and, if applicable, the parking garage level 27, 28, 29 for parking spaces 15, 15' in the parking garage 26.

[0061] Furthermore, there is also static input data, such as a definition of parking zones 22, 23, 24, 25 regarding parking, or information concerning traffic sign 18. This input data may be dependent on the day of the week and / or time of day.

[0062] From these static and dynamic input data, the driver assistance system 2 calculates, for example with the help of the data processing unit 4, a report of the respective parking space 15, 15' within a certain time window, non-reports of motor vehicles 1 that pass the respective parking space 15, 15' within a certain time window, a comparison of the vehicle size of the own motor vehicle 1 with the reported parking space size and / or a status of the entire parking garage 26, possibly broken down by parking garage level 27, 28, 29.

[0063] Using the human-machine interface 3, parking zones 22, 23, 24, and 25 are then displayed in different colors. As explained previously, this color differentiation can, for example, indicate in which parking zone 22, 23, 24, or 25 parking is permitted, prohibited, permitted only with special authorization, free, or subject to a fee. Parking spaces 15 and 15' are displayed on map section 20 as segments in a specific color, such as green or yellow. Parking spaces 15' with a critical size are shown in a different color than non-critical parking spaces 15 with a sufficient size.

[0064] Depending on the age or number of reports for each parking space (15, 15'), a color gradient changes. Parking spaces (15, 15') are reset, i.e., no longer displayed, if there are no reports from recently passing vehicles (1). Parking garage 26 can be displayed in red or green depending on its status or occupancy.

[0065] Additional information, broken down by parking garage levels 27, 28, and 29, may be provided if necessary.

[0066] Reference symbol list

[0067] motor vehicle

[0068] Driver assistance system

[0069] Human-machine interface

[0070] Data processing unit

[0071] environmental sensors

[0072] Environment

[0073] Navigation system

[0074] Communication interface

[0075] Central office

[0076] Direction of travel

[0077] lane

[0078] Street

[0079] motor vehicle

[0080] Motor vehicle parking space ' Parking space

[0081] Width

[0082] length

[0083] Traffic sign

[0084] Display unit

[0085] Map section

[0086] Road route

[0087] Parking zone

[0088] Parking zone

[0089] Parking zone

[0090] Parking zone

[0091] Parking garage

[0092] Parking garage level

[0093] Parking garage level

[0094] Parking garage level Time

Claims

Patent claims 1. Method for identifying and displaying parking spaces (15, 15') for a motor vehicle (1), wherein the parking spaces (15, 15') are identified, wherein a respective parking space size of the parking spaces (15, 15') is determined, wherein the parking space sizes of the parking spaces (15, 15') are compared with a vehicle size of the motor vehicle (1), and wherein parking spaces (15) that are uncritical with respect to their parking space size for the motor vehicle (1) and parking spaces (15') that are critical with respect to their parking space size for the motor vehicle (1) are graphically displayed differently to a driver of the motor vehicle (1).

2. Method according to claim 1, wherein the parking spaces (15) which are uncritical with respect to their size for the motor vehicle (1) and the parking spaces (15') which are critical with respect to their size for the motor vehicle (1) are represented in different colors.

3. Method according to claim 2, wherein the color intensity of the different color representation of the parking spaces (15, 15') changes with increasing time (t) from the identification of the parking spaces (15, 15').

4. Method according to claim 3, wherein the color intensity of the different color representation of the parking spaces (15, 15') decreases with increasing time (t) from the identification of the parking spaces (15, 15').

5. Method according to any one of claims 1 to 4, wherein parking spaces (15, 15') that can no longer be identified are reset as occupied, so that these occupied parking spaces (15, 15') are not graphically displayed to the driver.

6. Method according to any one of claims 1 to 5, wherein the parking spaces (15, 15') are displayed to the driver on a map section (20) as graphically distinguishable segments.

7. Method according to claim 6, wherein different types of parking zones (22, 23, 24, 25) are graphically, in particular by color, distinguishable to the driver on the map section (20).

8. Method according to one of claims 1 to 7, wherein the occupancy status of a parking garage (26), in particular broken down by parking garage levels (27, 28, 29), is graphically displayed to the driver, in particular in color.

9. Method according to any one of claims 1 to 8, wherein the parking spaces (15, 15') are identified using motor vehicles (1) of a vehicle fleet, and wherein the identified parking spaces (15, 15') are reported to a central location (9) which the motor vehicles (1) of the vehicle fleet can access.

10. Driver assistance system (2) for a motor vehicle (1), wherein the driver assistance system (2) is configured to perform a method according to any one of claims 1 to 9.

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