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WO2012041670A1 - Method and device for assisting a parking maneuver of a vehicle - Google Patents

Method and device for assisting a parking maneuver of a vehicle Download PDF

Info

Publication number
WO2012041670A1
WO2012041670A1 PCT/EP2011/065435 EP2011065435W WO2012041670A1 WO 2012041670 A1 WO2012041670 A1 WO 2012041670A1 EP 2011065435 W EP2011065435 W EP 2011065435W WO 2012041670 A1 WO2012041670 A1 WO 2012041670A1
Authority
WO
WIPO (PCT)
Prior art keywords
parking
vehicle
parking space
boundary
evaluation device
Prior art date
Application number
PCT/EP2011/065435
Other languages
German (de)
French (fr)
Inventor
Oliver Grimm
Nicolas Jecker
Original Assignee
Valeo Schalter Und Sensoren Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Valeo Schalter Und Sensoren Gmbh filed Critical Valeo Schalter Und Sensoren Gmbh
Publication of WO2012041670A1 publication Critical patent/WO2012041670A1/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/0285—Parking performed automatically
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/028—Guided parking by providing commands to the driver, e.g. acoustically or optically
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/52004—Means for monitoring or calibrating
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2015/932—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations
    • G01S2015/933—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations for measuring the dimensions of the parking space when driving past
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2015/932—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations
    • G01S2015/933—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations for measuring the dimensions of the parking space when driving past
    • G01S2015/934—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations for measuring the dimensions of the parking space when driving past for measuring the depth, i.e. width, not length, of the parking space

Definitions

  • the invention relates to a method and a device for supporting a parking operation of a vehicle referred to in the preamble of claim 1 or 13 kind.
  • Such a method and an associated device are already known from DE 10 2008 064 041 AI.
  • the front and rear boundary of a parking space are detected when driving past the vehicle via a parking space measuring device with a distance sensor arranged laterally on the vehicle and using the detected positions by means of an evaluation device determines a parking path of the vehicle in a parking position.
  • the evaluation device of the vehicle then issues corresponding steering commands in order to transfer the vehicle along the ascertained parking path into the parking position.
  • an automatic control of the driving speed during parking is also provided.
  • the control of the driving speed is carried out based on the distance between the vehicle and the nearest parking space boundary. Therefore, this distance is first determined on the basis of the position of the boundary detected during the passage past the parking space measuring device and the distance traveled by the vehicle along the parking path since then.
  • an associated sensor arrangement is provided at the front and rear of the vehicle in each case can be determined by the distance of the vehicle to the parking space boundaries additionally by direct distance measurement after entering the vehicle in the parking space.
  • collision of the vehicle with one of the parking space boundary can be avoided if a too small length of the parking space was determined by means of the parking space measuring device.
  • the approach to the parking space boundary is detected by the distance measurement with the arranged at the front and rear of the vehicle sensor arrangement and brakes the vehicle in time before the obstacle.
  • the vehicle comes to a stop in a position on the parking path, which deviates from the originally defined parking position and usually does not have the optimal distance and the optimal orientation relative to the parking space boundaries.
  • the object of the invention is to further develop a method and a device for supporting a parking operation of a vehicle referred to in the preamble of claim 1 or 13 to the effect that reliability and ease of use are further improved.
  • the evaluation device checks the position of the parking space boundary by means of the measured values of the sensor arrangement arranged at the front and / or rear area and corrects the parking process, provided that a significant deviation has been detected. For this purpose, the evaluation device determines the position of the parking space boundary from the distance measured by means of the sensor arrangement and compares it with the position detected by the parking space measuring device to correct the parking path or abort the parking process when a predetermined tolerance deviation is exceeded.
  • the position of the parking space boundary is thus determined redundantly via two different sensor arrangements: on the one hand based on the measured values of the parking space measuring device, via which the position of the parking space boundary was detected when passing the parking space, and on the other hand - after the vehicle
  • Parking operation is retracted into the parking space - by means arranged at the front and / or rear of the vehicle sensor arrangement.
  • the positions determined in this way are transmitted by the evaluation device into the same reference coordinate system and compared with one another. If a deviation of the absolute obstacle positions is detected by the evaluation device, which exceeds a predetermined, tolerable tolerance deviation, the parking path is then corrected or the parking process is terminated.
  • the parking position and the course of the trajectory are preferably corrected by the evaluation device during the correction of the parking track, parking position and parking track preferably being determined on the basis of the position of the parking space boundary detected by means of the sensor arrangement arranged at the front and / or rear of the vehicle ,
  • the measurement by the front and / or rear of the vehicle arranged sensor arrangement is made directly and is therefore less prone to error as a rule. Furthermore, this measurement also has a greater temporal relevance.
  • the parking path is preferably corrected by the evaluation device such that the vehicle is arranged in the corrected parking position substantially parallel to a lateral boundary of the parking space and / or has a predetermined distance from this. This allows the vehicle to be optimally aligned in the parking space.
  • the parking procedure is preferably terminated when the evaluation device determines that no supported parking operation into the parking space is possible on the basis of the position of the parking space boundary detected by the sensor arrangement arranged at the front and / or rear of the vehicle.
  • Emergency braking of the vehicle to be canceled.
  • an emergency braking is to be understood a braking in which the vehicle is braked with the highest and at least very high braking force to achieve the shortest possible braking distance.
  • the evaluation device can preferably determine a trajectory for the parking operation of the vehicle and output corresponding steering commands for driving the vehicle along the trajectory, wherein the steering of the vehicle is preferably moved by means of an actuator according to the steering commands of the evaluation.
  • the driving speed of the vehicle can be controlled by the evaluation device based on the distance of the vehicle to the parking space boundary.
  • the evaluation device is designed to correct the parking path when a predetermined first maximum deviation is exceeded and when exceeding a given second, larger maximum deviation to cancel the parking.
  • the parking space measuring device may comprise an ultrasonic sensor, which is arranged on a side wall of the vehicle and has a laterally outwardly directed detection area for particularly simple and reliable detection of the parking space boundary.
  • the sensor arrangement preferably comprises ultrasonic sensors of an already existing parking aid, which are arranged on a front and / or rear end wall of the vehicle and have a substantially directed in the vehicle longitudinal direction detection area.
  • Fig. 1 - 3 parking operations of a vehicle in parallel parking spaces each in a schematic plan view.
  • a parking situation is shown.
  • a lateral boundary 1 such. B.
  • a curb park two vehicles form a rear 2 and front boundary 3 of the parking space 4.
  • the vehicle 6 drives along the roadway 5 past the parking space 4.
  • the vehicle 6 has a device for supporting a parking operation, which converts a parking space measuring device 21 and an evaluation device (not shown).
  • the parking space measuring device 21 comprises two lateral distance sensors, which are each arranged near the vehicle bend on the driver or front passenger side of the vehicle 6.
  • the distance sensors are designed as per se known ultrasonic distance sensors and arranged in each case on a lateral edge of a front bumper of the vehicle 6. Alternatively, the distance sensors could also near the rear of the vehicle, z. B be arranged on a rear bumper.
  • the distance sensors are connected to a control unit (not shown) and designed to recognize objects arranged laterally next to the vehicle 6 and to determine their lateral distance from the vehicle 6.
  • the distance sensors are controlled via the control unit in such a way that at least the longitudinal extension of the parking space 4 and the positions of the rear 2 and front boundary 3 of the parking space 4 are determined when the vehicle 6 passes by at the parking space 4 along the roadway 5.
  • other geometric data such as the depth of the parking space 4 or position and course of the lateral boundary 1 can be determined by measurement.
  • the longitudinal extent and possibly additionally determined geometric data can be transmitted to an evaluation unit, which is preferably formed integrally with the control unit and storage means for
  • Storage of this data includes.
  • the vehicle 6 also has at its front and rear bumper each have a sensor array 22 and 23, which includes a plurality of ultrasonic distance sensors.
  • the ultrasonic distance sensors are in each case distributed over the vehicle width and designed to continuously determine the distance to a front or behind the vehicle 6 arranged obstacle in a parking operation of the vehicle 6.
  • the distance signal is then sent to an evaluation unit such.
  • the vehicle 6 further comprises a guideway measuring device with at least one displacement sensor, not shown, for determining a travel path of the motor vehicle 6, wherein the displacement sensor is designed as a known wheel sensor, which the
  • the guideway measuring device is then able to travel the length of the vehicle 6 in the longitudinal direction
  • the measuring device further comprises a steering angle sensor, not shown, via which the adjusted steering angle is continuously measured during the parking process.
  • the time profile of the steering angle is transmitted from the guideway measuring device to the evaluation unit, which continuously determines the position of the vehicle 6 on the basis of the data from the steering angle sensor and the travel path sensor.
  • the evaluation unit comprises, in addition to the storage means, a processor with a program code in order to use the data from the
  • Parking space measurement device transmitted data set a parking position of the vehicle 6 within the parking space 4 and subsequently starting from a starting position of the vehicle 6 to determine a parking 8, along which the vehicle 6 is moved to its parking position 7.
  • the Einparkbahn 8 may include one or more parking trains, between which the direction of travel of the vehicle is changed in each case.
  • the evaluation unit issues corresponding steering commands to achieve the specified parking path 8. These steering commands are transmitted by the evaluation unit via a bus system of the vehicle 6 to an actuator, which then steers the steering accordingly.
  • the steering commands could be issued to the driver by means of an output device, the z. B comprises a arranged in the car interior display and / or a sounder. This would give the driver instructions for manually adjusting certain steering angles. No to be transmitted, so that the parking maneuver can be made manually by the driver. On a control of the steering by the evaluation can be dispensed with.
  • an automatic regulation of the driving speed of the vehicle 6 during the parking operation can be provided by a control device which is connected via the bus system to the engine control and / or the brake system of the vehicle 6.
  • the control device is connected to the evaluation device and to the front 22 and rear sensor arrangement 23 and regulates the travel speed of the vehicle 6 during the parking process on the basis of the evaluation and with the front 22 and rear sensor assembly 23 specific distances of the vehicle 6 to adjacent obstacles.
  • the driver can still influence the driving speed during the parking process by pressing the accelerator or brake pedal.
  • the parking operation of the motor vehicle 1 in the longitudinal parking space P proceeds as follows:
  • the vehicle 6 is passed by the driver along the lane 5 at the parking space 4, wherein the parking space 4 measured by the lateral distance sensor of the parking space measuring device 21 and the positions of the rear 2 and front boundary 3 are determined.
  • the data is then transmitted from the parking space measuring device 21 to the evaluation unit, which determines a parking path 8 in the parking position starting from the start position 9.
  • the evaluation device then indicates to the driver via an output device that a guided parking is possible.
  • a guided parking For parking the driver stops the vehicle 6 after passing the parking space 4 temporarily in the start position 9 and initiates by engaging a reverse gear parking.
  • the subsequent parking process can be completely autonomous expire, ie without further action by the driver.
  • the steering of the vehicle 6 is automatically steered by the evaluation device, while the driving speed is controlled by the control device.
  • the front 22 and rear sensor assembly 23 are activated to measure the distance to obstacles.
  • the sensor assembly 23 measures the distance 11 between the rear of the vehicle 6 and the opposite end wall of the rear boundary 2.
  • the distance 11 is thereby by direct Distance measurement is determined with one or more ultrasonic sensors of the sensor assembly 23, wherein in measurements with multiple measurements, the shortest measured distance is used.
  • the position of the vehicle 2 could also be determined in a manner known per se by measurements with a plurality of sensors of the sensor arrangement 23 in accordance with the principle of triangulation.
  • the evaluation device subsequently ascertains the absolute position of the rear boundary 2 from the determined distance or from the determined relative position of the rear boundary 2 and the position of the vehicle 6 determined by the travel path sensor at the time of the measurement Evaluation device compared with the absolute position, which was previously determined when passing by means of the sensor 21 of the parking space measuring device 21. This results in a corrected longitudinal extension 4 'of the parking space. If these two positions are not or only slightly different from each other, that a predetermined maximum deviation is not exceeded, the parking operation along the originally determined parking track 8 can be continued into the parking position 7. This case is shown in FIG.
  • the evaluation device determines a corrected parking position 10 and a corrected parking track 8 '.
  • the corrected parking track 8 ' differs from the original parking track 8 in a rearward longitudinal section 80.
  • the corrected parking track 8 is composed of the longitudinal section of the original parking track 8 already traveled by the vehicle 6 and a corrected longitudinal section 80 attached thereto , This corrected length section 80 transfers the vehicle 6 from its current position when detecting the rear boundary 2 into the corrected parking position 10.
  • the corrected longitudinal section 80 may form only the last longitudinal section of a total single-entry parking path 8, ie. H. the curve of the Einparkbahn 8 deviates in the corrected length portion 80 of the originally planned Einparkbahn 8 and runs at a lateral distance to this.
  • the corrected longitudinal section 80 comprises a forward train 81 and a subsequent reverse train 82, which finally transfers the vehicle 6 to the corrected parking position 10.
  • the corrected parking position 10 is determined by the evaluation device so that the vehicle 6 is arranged at a predetermined lateral distance from the lateral boundary 1 and substantially parallel to it in the parking space 4.
  • the rear sensor arrangement is constantly activated during the reverse movement of the vehicle 6 into the parking space 4 in order to determine the distance to the rear boundary 2.
  • the position of the rear boundary 2 and the parking path 8 'determined therefrom can be constantly updated. If the parking process of the vehicle 6 includes at least one forward turn beyond the front sensor assembly 22 of the vehicle 6 may be activated to detect the distance of the vehicle 6 to the front boundary 3 during parking.
  • the absolute position of the front boundary is then determined on the basis of the distance measured by means of the front sensor arrangement 22 and the position of the vehicle 6, compared with the position determined during the parking space measurement by means of the lateral sensor arrangement 21 and corresponding to the parking path 8 when a predetermined permissible tolerance deviation is exceeded corrected.
  • FIG. 3 shows a parking operation of the vehicle 6, in which an obstacle 14 unexpectedly emerges in the area of the parking space 4, which obstacle 14 was not recognized by the lateral sensor 21 when the parking space 4 was measured.
  • the obstacle 14 and not the parked vehicle forms the rear boundary of the parking space 4.
  • the obstacle 14 is detected by the rear sensor assembly 23 and determined on the basis of the measured distance and the vehicle position, the absolute position of the obstacle 14.
  • the evaluation determines that the location of the now forming the rear boundary obstacle 14 is outside an allowable tolerance range 12 and thus deviates so significantly from the originally determined position of the rear boundary that parking in the parking space 4 is no longer possible.
  • the evaluation device therefore gives a command to cancel the parking process.
  • the parking process is preferably stopped by a warning to the driver and / or an automatic braking of the vehicle 6.
  • the braking is carried out in particular as emergency braking, ie as braking with maximum braking force.
  • emergency braking ie as braking with maximum braking force.
  • the obstacle 14 is a movable obstacle such. B. is a pedestrian
  • the parking operation along the original Einparkbahn 8 can be continued as soon as the obstacle 14 has moved from the Einparkbahn 8.
  • the parking process but also immediately after an emergency braking or detection of an obstacle 14 are completely aborted.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Acoustics & Sound (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The invention relates to a method and a device for assisting a parking maneuver of a vehicle (6) in a parking spot (4) according to the preamble of claim1 or 13. In order to further improve reliability and user comfort, it is provided that the evaluation device determines the position of the parking space boundary (2, 3) on the basis of the distance measured by the sensor assembly (22, 23) during the parking maneuver, compares said position with the position detected by the parking spot measurement device (21) and corrects the parking trajectory (8) or aborts the parking maneuver when a predefined tolerance margin is exceeded.

Description

Verfahren und Vorrichtung zur Unterstützung eines  Method and device for supporting a
Parkvorgangs eines Fahrzeugs  Parking operation of a vehicle
Die Erfindung betrifft ein Verfahren und eine Vorrichtung zur Unterstützung eines Parkvorgangs eines Fahrzeugs der im Oberbegriff des Anspruchs 1 bzw. 13 genannten Art. The invention relates to a method and a device for supporting a parking operation of a vehicle referred to in the preamble of claim 1 or 13 kind.
Ein derartiges Verfahren und eine zugehörige Vorrichtung sind bereits aus der DE 10 2008 064 041 AI bekannt. Bei dem bekannten Verfahren werden die vordere und hintere Begrenzung einer Parklücke bei einer Vorbeifahrt des Fahrzeugs über eine Parklücken-Messeinrichtung mit seitlich am Fahrzeug angeordnetem Abstandssensor erfasst und anhand der erfassten Positionen mittels einer Auswerteeinrichtung eine Einparkbahn des Fahrzeugs in eine Parkposition ermittelt. Beim Einparkvorgang erteilt die Auswerteeinrichtung des Fahrzeugs dann entsprechende Lenkbefehle, um das Fahrzeug entlang der ermittelten Einparkbahn in die Parkposition zu überführen. Such a method and an associated device are already known from DE 10 2008 064 041 AI. In the known method, the front and rear boundary of a parking space are detected when driving past the vehicle via a parking space measuring device with a distance sensor arranged laterally on the vehicle and using the detected positions by means of an evaluation device determines a parking path of the vehicle in a parking position. During the parking process, the evaluation device of the vehicle then issues corresponding steering commands in order to transfer the vehicle along the ascertained parking path into the parking position.
Um den Fahrkomfort für den Fahrer noch weiter zu verbessern, ist ferner eine automatische Regelung der Fahrgeschwindigkeit beim Einparkvorgang vorgesehen. Die Regelung der Fahrgeschwindigkeit erfolgt dabei anhand des Abstandes zwischen dem Fahrzeug und der nächstgelegenen Parklückenbegrenzung. Dieser Abstand wird daher zunächst anhand der bei der Vorbeifahrt von der Parklücken-Messeinrichtung erfassten Position der Begrenzung und des seitdem vom Fahrzeug entlang der Einparkbahn zurückgelegten Fahrwegs ermittelt. Darüber hinaus ist an Front- und Heckbereich des Fahrzeugs jeweils eine zugehörige Sensoranordnung vorgesehen, über die nach dem Einfahren des Fahrzeugs in die Parklücke der Abstand des Fahrzeugs zu den Parklückenbegrenzungen zusätzlich durch direkte Abstandesmessung bestimmt werden kann. Durch diesen Ansatz lassen sich Messfehler der Parklücken-Messeinrichtung in gewissem Umfang ausgleichen . Insbesondere lassen sich Kollision des Fahrzeugs mit einer der Parklückenbegrenzung vermeiden, wenn mittels der Parklücken-Messeinrichtung eine zu kleine Länge der Parklücke ermittelt wurde. In einem solchen Fall wird die Annäherung an die Parklückenbegrenzung durch die Abstandsmessung mit der am Front- und Heckbereich des Fahrzeugs angeordneten Sensoranordnung erkannt und das Fahrzeug rechtzeitig vor dem Hindernis abgebremst. Dabei ist allerdings von Nachteil, dass das Fahrzeug in einer Position auf der Einparkbahn zum Stehen kommt, die von der ursprünglich festgelegten Parkposition abweicht und in der Regel nicht den optimalen Abstand und die optimale Ausrichtung relativ zu den Parklückenbegrenzungen aufweist . In order to improve the ride comfort for the driver even further, an automatic control of the driving speed during parking is also provided. The control of the driving speed is carried out based on the distance between the vehicle and the nearest parking space boundary. Therefore, this distance is first determined on the basis of the position of the boundary detected during the passage past the parking space measuring device and the distance traveled by the vehicle along the parking path since then. In addition, an associated sensor arrangement is provided at the front and rear of the vehicle in each case can be determined by the distance of the vehicle to the parking space boundaries additionally by direct distance measurement after entering the vehicle in the parking space. By this approach, measurement errors of the parking space measuring device can be compensated to some extent. In particular, collision of the vehicle with one of the parking space boundary can be avoided if a too small length of the parking space was determined by means of the parking space measuring device. In such a case, the approach to the parking space boundary is detected by the distance measurement with the arranged at the front and rear of the vehicle sensor arrangement and brakes the vehicle in time before the obstacle. However, it is disadvantageous that the vehicle comes to a stop in a position on the parking path, which deviates from the originally defined parking position and usually does not have the optimal distance and the optimal orientation relative to the parking space boundaries.
Aufgabe der Erfindung ist es, ein Verfahren und eine Vorrichtung zur Unterstützung eines Parkvorgangs eines Fahrzeugs der im Oberbegriff des Anspruchs 1 bzw. 13 genannten Art dahingehend weiterzuentwickeln, dass Zuverlässigkeit und Bedienkomfort noch weiter verbessert werden. The object of the invention is to further develop a method and a device for supporting a parking operation of a vehicle referred to in the preamble of claim 1 or 13 to the effect that reliability and ease of use are further improved.
Diese Aufgabe wird erfindungsgemäß durch die Merkmale des Anspruchs 1 und 13 gelöst. Weitere die Erfindung in vorteilhafter Weise ausgestaltende Merkmale enthalten die This object is achieved by the features of claim 1 and 13. Further features embodying the invention in an advantageous manner include the
Unteransprüche . Subclaims.
Der mit der Erfindung erzielte Vorteil besteht darin, dass die Auswerteeinrichtung während des Einparkvorgangs die Position der Parklückenbegrenzung mittels der Messwerte der am Front- und/oder Heckbereich angeordneten Sensoranordnung plausibilisiert und den Einparkvorgang korrigiert, sofern eine signifikante Abweichung festgestellt wurde. Hierzu ermittelt die Auswerteeinrichtung aus dem mittels der Sensoranordnung gemessenen Abstand die Position der Parklückenbegrenzung und vergleicht diese mit der von der Parklücken- Messeinrichtung erfassten Position, um bei Überschreiten einer vorgegebenen Toleranzabweichung die Einparkbahn zu korrigieren oder der Einparkvorgang abzubrechen. Erfindungsgemäß wird die Position der Parklückenbegrenzung somit redundant über zwei unterschiedliche Sensoranordnungen bestimmt: Einerseits anhand der Messwerte der Parklücken- Messeinrichtung, über welche die Position der Parklückenbegrenzung bei der Vorbeifahrt an der Parklücke erfasst wurde, und andererseits - nachdem das Fahrzeug beim The advantage achieved with the invention is that during the parking process, the evaluation device checks the position of the parking space boundary by means of the measured values of the sensor arrangement arranged at the front and / or rear area and corrects the parking process, provided that a significant deviation has been detected. For this purpose, the evaluation device determines the position of the parking space boundary from the distance measured by means of the sensor arrangement and compares it with the position detected by the parking space measuring device to correct the parking path or abort the parking process when a predetermined tolerance deviation is exceeded. According to the invention, the position of the parking space boundary is thus determined redundantly via two different sensor arrangements: on the one hand based on the measured values of the parking space measuring device, via which the position of the parking space boundary was detected when passing the parking space, and on the other hand - after the vehicle
Einparkvorgang in die Parklücke eingefahren ist - mittels der am Front- und/oder Heckbereich des Fahrzeugs angeordneten Sensoranordnung. Die so ermittelten Positionen werden von Auswerteeinrichtung in dasselbe Bezugskoordinatensystem übertragen und miteinander verglichen. Sofern von der Auswerteeinrichtung dabei eine Abweichung der absoluten Hindernispositionen festgestellt wird, die eine vorgegebene, tolerierbare Toleranzabweichung überschreitet, wird dann die Einparkbahn korrigiert oder der Einparkvorgang abgebrochen. Parking operation is retracted into the parking space - by means arranged at the front and / or rear of the vehicle sensor arrangement. The positions determined in this way are transmitted by the evaluation device into the same reference coordinate system and compared with one another. If a deviation of the absolute obstacle positions is detected by the evaluation device, which exceeds a predetermined, tolerable tolerance deviation, the parking path is then corrected or the parking process is terminated.
Vorzugsweise wird von der Auswerteeinrichtung bei der Korrektur der Einparkbahn die Parkposition und der Verlauf der Bahnkurve korrigiert, wobei Parkposition und Einparkbahn vor- zusgweise anhand der Position der Parklückenbegrenzung festgelegt werden, die mittels der am Front- und/oder Heckbereich des Fahrzeugs angeordneten Sensoranordnung erfasst wurde. Die Messung durch die Front- und/oder Heckbereich des Fahrzeugs angeordnete Sensoranordnung erfolgt auf direktem Wege und ist daher in der Regel weniger fehlerbehaftet. Des Weiteren weist diese Messung auch eine größere zeitliche Aktualität auf. The parking position and the course of the trajectory are preferably corrected by the evaluation device during the correction of the parking track, parking position and parking track preferably being determined on the basis of the position of the parking space boundary detected by means of the sensor arrangement arranged at the front and / or rear of the vehicle , The measurement by the front and / or rear of the vehicle arranged sensor arrangement is made directly and is therefore less prone to error as a rule. Furthermore, this measurement also has a greater temporal relevance.
Die Einparkbahn wird dabei durch die Auswerteeinrichtung vorzugsweise derart korrigiert, dass das Fahrzeug in der korrigierten Parkposition im Wesentlichen parallel zu einer seitlichen Begrenzung der Parklücke angeordnet ist und/oder einen vorgegebenen Abstand zu dieser aufweist. Dadurch kann das Fahrzeug optimal in der Parklücke ausgerichtet werden. The parking path is preferably corrected by the evaluation device such that the vehicle is arranged in the corrected parking position substantially parallel to a lateral boundary of the parking space and / or has a predetermined distance from this. This allows the vehicle to be optimally aligned in the parking space.
Um auch größere Abweichungen der beiden gemessenen Positionen ausgleichen zu können, kann bei der Korrektur der Einparkbahn wenigstens ein zusätzlicher Einparkzug an die Einparkbahn angefügt werden. In order to be able to compensate for larger deviations of the two measured positions, can in the correction of Einparkbahn at least one additional Einparkzug be attached to the Einparkbahn.
Der Einparkvorgang wird vorzugsweise dann abgebrochen, wenn die Auswerteeinrichtung feststellt, dass anhand der mittels der am Front- und/ oder Heckbereich des Fahrzeugs angeordneten Sensoranordnung erfassten Position der Parklückenbegrenzung kein unterstützter Einparkvorgang in die Parklücke mehr möglich ist. The parking procedure is preferably terminated when the evaluation device determines that no supported parking operation into the parking space is possible on the basis of the position of the parking space boundary detected by the sensor arrangement arranged at the front and / or rear of the vehicle.
Insbesondere bei Feststellung einer sehr großen Abweichung der beiden gemessenen Hindernispositionen - die z. B. auf eine Fehlfunktion des Systems oder ein bewegtes Hindernis im Bereich der Parklücke hindeutet - kann der Einparkvorgang zur Erhöhung der Betriebssicherheit durch eine selbsttätige In particular, when finding a very large deviation of the two measured obstacle positions - the z. B. indicates a malfunction of the system or a moving obstacle in the field of parking space - the parking operation to increase the reliability by an automatic
Notbremsung des Fahrzeugs abgebrochen werden. Als Notbremsung ist dabei eine Bremsung zu verstehen, bei der das Fahrzeug mit höchster und zumindest sehr hoher Bremskraft abgebremst wird, um einen kürzest möglichen Bremsweg zu erzielen. Emergency braking of the vehicle to be canceled. As an emergency braking is to be understood a braking in which the vehicle is braked with the highest and at least very high braking force to achieve the shortest possible braking distance.
Um einen möglichst großen Bedienkomfort zu erzielen, kann die die Auswerteeinrichtung vorzugsweise eine Bahnkurve für den Parkvorgang des Fahrzeugs ermitteln und entsprechende Lenkbefehle zur Fahrt des Fahrzeugs entlang der Bahnkurve ausgeben, wobei die Lenkung des Fahrzeugs vorzugsweise mittels eines Aktuartors entsprechend der Lenkbefehle der Auswerteeinrichtung lenkbewegt wird. In order to achieve the greatest possible ease of use, the evaluation device can preferably determine a trajectory for the parking operation of the vehicle and output corresponding steering commands for driving the vehicle along the trajectory, wherein the steering of the vehicle is preferably moved by means of an actuator according to the steering commands of the evaluation.
Darüber hinaus kann zur Erhöhung des Bedienkomforts beim Einparkvorgang die Fahrgeschwindigkeit des Fahrzeugs von der Auswerteeinrichtung anhand des Abstands des Fahrzeugs zur Parklückenbegrenzung geregelt werden. In addition, to increase the ease of use during the parking process, the driving speed of the vehicle can be controlled by the evaluation device based on the distance of the vehicle to the parking space boundary.
Vorzugsweise ist die Auswerteeinrichtung dazu ausgebildet, bei Überschreiten einer vorgegebenen ersten Maximalabweichung die Einparkbahn zu korrigieren und bei Überschreiten einer vorgegebenen zweiten, größeren Maximalabweichung den Einparkvorgang abzubrechen. Preferably, the evaluation device is designed to correct the parking path when a predetermined first maximum deviation is exceeded and when exceeding a given second, larger maximum deviation to cancel the parking.
Um Sicherheit und Bedienkomfort noch weiter zu verbessern, kann bei Korrektur der Einparkbahn und/oder bei Abbruch des Einparkvorgangs über eine Benutzerschnittstelle ein In order to improve safety and ease of use even further, when correcting the Einparkbahn and / or discontinuation of the parking process via a user interface on
entsprechender Hinweis für den Fahrer ausgegeben werden. corresponding note for the driver.
Die Parklücken-Messeinrichtung kann zur besonders einfachen und zuverlässigen Erfassung der Parklückenbegrenzung einen Ultraschallsensor umfassen, der an einer Seitenwand des Fahrzeugs angeordnet ist und einen seitlich nach außen gerichteten Erfassungsbereich aufweist. The parking space measuring device may comprise an ultrasonic sensor, which is arranged on a side wall of the vehicle and has a laterally outwardly directed detection area for particularly simple and reliable detection of the parking space boundary.
Die Sensoranordnung umfasst vorzugsweise Ultraschallsensoren einer ohnehin vorhandenen Einparkhilfe, die an einer vorderen und/oder hinteren Stirnwand des Fahrzeugs angeordnet sind und einen im Wesentlichen in Fahrzeuglängsrichtung gerichteten Erfassungsbereich aufweisen. The sensor arrangement preferably comprises ultrasonic sensors of an already existing parking aid, which are arranged on a front and / or rear end wall of the vehicle and have a substantially directed in the vehicle longitudinal direction detection area.
Nachfolgend wird ein Ausführungsbeispiel der Erfindung anhand einer zeichnerischen Darstellung näher erläutert. Hereinafter, an embodiment of the invention will be explained in more detail with reference to a drawing.
In der Darstellung zeigen: In the illustration show:
Fig. 1 - 3 Einparkvorgänge eines Fahrzeugs in Längsparklücken jeweils in schematischer Draufsicht. Fig. 1 - 3 parking operations of a vehicle in parallel parking spaces each in a schematic plan view.
In Fig. 1 ist eine Einparksituation dargestellt. An einer seitlichen Begrenzung 1, wie z. B. einem Bordstein parken zwei Fahrzeuge die eine hintere 2 und vordere Begrenzung 3 der Parklücke 4 bilden. Zur Vermessung der Parklücke fährt ein Fahrzeug 6 entlang der Fahrbahn 5 an der Parklücke 4 vorbei. Das Fahrzeug 6 weist eine Vorrichtung zur Unterstützung eines Einparkvorgangs auf, die eine Parklücken-Messeinrichtung 21 sowie eine nicht gezeigte Auswerteeinrichtung um- fasst. Die Parklücken-Messeinrichtung 21 umfasst zwei seitliche Abstandssensoren, die jeweils nahe dem Fahrzeugbug auf der Fahrer- bzw. Beifahrerseite des Fahrzeugs 6 angeordnet sind. Die Abstandssensoren sind als an sich bekannte Ultraschall-Abstandssensoren ausgebildet und jeweils an einem seitlichen Rand eines vorderen Stoßfängers des Fahrzeugs 6 angeordnet. Alternativ könnten die Abstandssensoren aber auch nahe dem Fahrzeugheck, z. B an einem Heckstoßfänger angeordnet sein. In Fig. 1 a parking situation is shown. At a lateral boundary 1, such. B. a curb park two vehicles form a rear 2 and front boundary 3 of the parking space 4. To measure the parking space, a vehicle 6 drives along the roadway 5 past the parking space 4. The vehicle 6 has a device for supporting a parking operation, which converts a parking space measuring device 21 and an evaluation device (not shown). summarizes. The parking space measuring device 21 comprises two lateral distance sensors, which are each arranged near the vehicle bend on the driver or front passenger side of the vehicle 6. The distance sensors are designed as per se known ultrasonic distance sensors and arranged in each case on a lateral edge of a front bumper of the vehicle 6. Alternatively, the distance sensors could also near the rear of the vehicle, z. B be arranged on a rear bumper.
Die Abstandssensoren sind mit einem nicht gezeigten Steuergerät verbunden und dazu ausbildet, seitlich neben dem Fahrzeug 6 angeordnete Objekte zu erkennen und deren seitlichen Abstand zum Fahrzeug 6 zu bestimmen. Über das Steuergerät werden die Abstandssensoren so angesteuert, dass bei der Vorbeifahrt des Fahrzeugs 6 an der Parklücke 4 entlang der Fahrbahn 5 zumindest die LängserStreckung der Parklücke 4 sowie die Positionen der hinteren 2 und vorderen Begrenzung 3 der Parklücke 4 bestimmt wird. Darüber hinaus können aber noch weitere geometrische Daten, wie die Tiefe der Parklücke 4 oder Position und Verlauf der seitlichen Begrenzung 1 durch Messung ermittelt werden. Die LängserStreckung und die ggf. zusätzlich ermittelten geometrischen Daten sind an eine Auswerteeinheit übertragbar, welche vorzugsweise integral mit dem Steuergerät ausgebildet ist und Speichermittel zur The distance sensors are connected to a control unit (not shown) and designed to recognize objects arranged laterally next to the vehicle 6 and to determine their lateral distance from the vehicle 6. The distance sensors are controlled via the control unit in such a way that at least the longitudinal extension of the parking space 4 and the positions of the rear 2 and front boundary 3 of the parking space 4 are determined when the vehicle 6 passes by at the parking space 4 along the roadway 5. In addition, however, other geometric data, such as the depth of the parking space 4 or position and course of the lateral boundary 1 can be determined by measurement. The longitudinal extent and possibly additionally determined geometric data can be transmitted to an evaluation unit, which is preferably formed integrally with the control unit and storage means for
Speicherung dieser Daten umfasst. Storage of this data includes.
Das Fahrzeug 6 weist ferner an seinem vorderen und hinteren Stoßfänger jeweils eine Sensoranordnung 22 bzw. 23 auf, die eine Mehrzahl von Ultraschallabstandssensoren umfasst. Die Ultraschallabstandssensoren sind dabei jeweils über die Fahrzeugbreite verteilt angeordnet und dazu ausgebildet, bei einem Parkvorgang des Fahrzeugs 6 fortlaufend den Abstand zu einem vor bzw. hinter dem Fahrzeug 6 angeordneten Hindernis zu bestimmen. Das Abstandsignal wird dann an eine Auswerteeinheit wie z. B. ein Display oder ein Tongeber weitergeleitet und an den Fahrer ausgegeben. Das Fahrzeug 6 umfasst ferner eine Fahrweg-Messeinrichtung mit wenigstens einem nicht gezeigten Wegsensor zur Ermittlung eines Fahrwegs des Kraftwagens 6, wobei der Wegsensor als an sich bekannter Radsensor ausgebildet ist, welcher die The vehicle 6 also has at its front and rear bumper each have a sensor array 22 and 23, which includes a plurality of ultrasonic distance sensors. The ultrasonic distance sensors are in each case distributed over the vehicle width and designed to continuously determine the distance to a front or behind the vehicle 6 arranged obstacle in a parking operation of the vehicle 6. The distance signal is then sent to an evaluation unit such. As a display or sounder forwarded and output to the driver. The vehicle 6 further comprises a guideway measuring device with at least one displacement sensor, not shown, for determining a travel path of the motor vehicle 6, wherein the displacement sensor is designed as a known wheel sensor, which the
Umdrehungen eines Fahrzeugrades misst. Anhand des Radumfangs ist die Fahrweg-Messeinrichtung dann in der Lage, den vom Fahrzeug 6 in Längsrichtung zurückgelegten Fahrweg zu Turns of a vehicle wheel measures. Based on the wheel circumference, the guideway measuring device is then able to travel the length of the vehicle 6 in the longitudinal direction
bestimmen. Um den Fahrweg quer zur Längsrichtung zu determine. To the track transverse to the longitudinal direction
bestimmen, umfasst die Messeinrichtung ferner einen nicht gezeigten Lenkwinkelsensor, über welchen beim Parkvorgang fortlaufend der eingestellte Lenkwinkel gemessen wird. Der zeitliche Verlauf des Lenkwinkels wird von der Fahrweg- Messeinrichtung an die Auswerteeinheit übermittelt, welche anhand der Daten von Lenkwinkelsensor und Fahrwegsensor fortlaufend die Position des Fahrzeugs 6 bestimmt. determine, the measuring device further comprises a steering angle sensor, not shown, via which the adjusted steering angle is continuously measured during the parking process. The time profile of the steering angle is transmitted from the guideway measuring device to the evaluation unit, which continuously determines the position of the vehicle 6 on the basis of the data from the steering angle sensor and the travel path sensor.
Die Auswerteeinheit umfasst neben den Speichermitteln einen Prozessor mit einem Programmcode, um anhand der von der The evaluation unit comprises, in addition to the storage means, a processor with a program code in order to use the data from the
Parklücken-Messeinrichtung übermittelten Daten eine Parkposition des Fahrzeugs 6 innerhalb der Parklücke 4 festzulegen und nachfolgend ausgehend von einer Startposition des Fahrzeugs 6 eine Einparkbahn 8 zu ermitteln, entlang welcher das Fahrzeug 6 in seine Parkposition 7 gefahren wird. Die Einparkbahn 8 kann dabei einen oder mehrere Parkzüge umfassen, zwischen denen die Fahrtrichtung des Fahrzeugs jeweils gewechselt wird. Parking space measurement device transmitted data set a parking position of the vehicle 6 within the parking space 4 and subsequently starting from a starting position of the vehicle 6 to determine a parking 8, along which the vehicle 6 is moved to its parking position 7. The Einparkbahn 8 may include one or more parking trains, between which the direction of travel of the vehicle is changed in each case.
Die Auswerteeinheit erteilt entsprechende Lenkbefehle zur Erzielung der festgelegten Einparkbahn 8. Diese Lenkbefehle werden von der Auswerteeinheit über ein Bussystem des Fahrzeugs 6 an einen Aktuartor übermittelt, welcher dann die Lenkung entsprechend lenkbewegt. Alternativ könnten die Lenkbefehle dem Fahrer mittels einer Ausgabeeinrichtung ausgeben werden, die z. B ein im Wageninnenraum angeordnetes Display und/oder einen Tongeber umfasst. Dabei würden dem Fahrer Anweisungen zur manuellen Einstellung von bestimmten Lenkwin- kein zu übermittelt, so dass der Einparkvorgang vom Fahrer manuell vorgenommen werden kann. Auf eine Ansteuerung der Lenkung durch die Auswerteeinrichtung kann dabei verzichtet werden . The evaluation unit issues corresponding steering commands to achieve the specified parking path 8. These steering commands are transmitted by the evaluation unit via a bus system of the vehicle 6 to an actuator, which then steers the steering accordingly. Alternatively, the steering commands could be issued to the driver by means of an output device, the z. B comprises a arranged in the car interior display and / or a sounder. This would give the driver instructions for manually adjusting certain steering angles. No to be transmitted, so that the parking maneuver can be made manually by the driver. On a control of the steering by the evaluation can be dispensed with.
Des Weiteren kann eine automatische Regelung der Fahrgeschwindigkeit des Fahrzeugs 6 beim Parkvorgang durch eine Steuereinrichtung vorgesehen sein, die über das Bussystem mit der Motorsteuerung und/oder der Bremsanlage des Fahrzeugs 6 verbunden ist. Die Steuereinrichtung ist dabei mit der Auswerteeinrichtung sowie mit der vorderen 22 und hinteren Sensoranordnung 23 verbunden und regelt die Fahrgeschwindigkeit des Fahrzeugs 6 beim Parkvorgang anhand der von Auswerteeinrichtung sowie mit der vorderen 22 und hinteren Sensoranordnung 23 bestimmten Abstände des Fahrzeugs 6 zu benachbarten Hindernissen. Der Fahrer kann die Fahrgeschwindigkeit beim Parkvorgang aber weiterhin durch Betätigung von Gas- oder Bremspedal beeinflussen. Furthermore, an automatic regulation of the driving speed of the vehicle 6 during the parking operation can be provided by a control device which is connected via the bus system to the engine control and / or the brake system of the vehicle 6. The control device is connected to the evaluation device and to the front 22 and rear sensor arrangement 23 and regulates the travel speed of the vehicle 6 during the parking process on the basis of the evaluation and with the front 22 and rear sensor assembly 23 specific distances of the vehicle 6 to adjacent obstacles. The driver can still influence the driving speed during the parking process by pressing the accelerator or brake pedal.
Der Einparkvorgang des Kraftwagens 1 in die Längsparklücke P läuft wie folgt ab: The parking operation of the motor vehicle 1 in the longitudinal parking space P proceeds as follows:
Zunächst wird das Fahrzeug 6 vom Fahrer entlang der Fahrbahn 5 an der Parklücke 4 vorbeigefahren, wobei die Parklücke 4 mittels des seitlichen Abstandssensors der Parklücken-Messeinrichtung 21 vermessen und die Positionen der hinteren 2 und vorderen Begrenzung 3 bestimmt werden. Die Daten werden dann von der Parklücken-Messeinrichtung 21 an die Auswerteeinheit übertragen, welche ausgehend von der Startposition 9 eine Einparkbahn 8 in die Parkposition festlegt. First, the vehicle 6 is passed by the driver along the lane 5 at the parking space 4, wherein the parking space 4 measured by the lateral distance sensor of the parking space measuring device 21 and the positions of the rear 2 and front boundary 3 are determined. The data is then transmitted from the parking space measuring device 21 to the evaluation unit, which determines a parking path 8 in the parking position starting from the start position 9.
Die Auswerteeinrichtung zeigt dem Fahrer dann über eine Ausgabeeinrichtung an, dass ein geführtes Einparken möglich ist. Zum Einparken stoppt der Fahrer das Fahrzeug 6 nach Passieren der Parklücke 4 vorübergehend in der Startposition 9 und leitet durch Einlegen eines Rückwärtsganges den Einparkvorgang ein. Der nachfolgende Einparkvorgang kann vollständig autonom ablaufen, d. h. ohne weiteres Zutun des Fahrers. Dabei wird die Lenkung des Fahrzeugs 6 durch die Auswerteeinrichtung selbsttätig lenkbewegt, während die Fahrgeschwindigkeit durch die Steuereinrichtung geregelt wird. The evaluation device then indicates to the driver via an output device that a guided parking is possible. For parking the driver stops the vehicle 6 after passing the parking space 4 temporarily in the start position 9 and initiates by engaging a reverse gear parking. The subsequent parking process can be completely autonomous expire, ie without further action by the driver. In this case, the steering of the vehicle 6 is automatically steered by the evaluation device, while the driving speed is controlled by the control device.
Beim Einfahren des Fahrzeugs 6 in die Parklücke 4 sind die vordere 22 und hintere Sensoranordnung 23 aktiviert, um den Abstand zu Hindernissen zu messen. Dabei gelangt die hintere Begrenzung 2 zu einem bestimmten Zeitpunkt in den Erfassungsbereich der hinteren Sensoranordnung 23. Zu diesem Zeitpunkt misst die Sensoranordnung 23 den Abstand 11 zwischen dem Heck des Fahrzeugs 6 und der gegenüberliegenden Stirnwand der hinteren Begrenzung 2. Der Abstand 11 wird dabei durch direkte Abstandsmessung mit einem oder mehreren Ultraschallsensoren der Sensoranordnung 23 ermittelt, wobei bei Messungen mit mehreren Messungen der kürzeste gemessene Abstand herangezogen wird. Alternativ könnte aber auch die Position des Fahrzeugs 2 in an sich bekannter Weise durch Messungen mit mehreren Sensoren der Sensoranordnung 23 nach dem Prinzip der Triangulation ermittelt werden. When entering the vehicle 6 in the parking space 4, the front 22 and rear sensor assembly 23 are activated to measure the distance to obstacles. At this time, the sensor assembly 23 measures the distance 11 between the rear of the vehicle 6 and the opposite end wall of the rear boundary 2. The distance 11 is thereby by direct Distance measurement is determined with one or more ultrasonic sensors of the sensor assembly 23, wherein in measurements with multiple measurements, the shortest measured distance is used. Alternatively, however, the position of the vehicle 2 could also be determined in a manner known per se by measurements with a plurality of sensors of the sensor arrangement 23 in accordance with the principle of triangulation.
Die Auswerteeinrichtung ermittelt nachfolgend aus dem ermittelten Abstand bzw. aus der ermittelten Relativposition der hinteren Begrenzung 2 und der anhand des Fahrwegsensor bestimmten Position des Fahrzeugs 6 zum Zeitpunkt der Messung die absolute Position der hinteren Begrenzung 2. Diese absolute Position der Begrenzung 2 wird dann von der Auswerteeinrichtung mit der absoluten Position verglichen, welche zuvor bei der Vorbeifahrt mittels des Sensors 21 der Parklücken- Messeinrichtung 21 ermittelt wurde. Es ergibt sich eine korrigierte LängserStreckung 4' der Parklücke. Sofern diese beiden Position nicht oder so nur geringfügig voneinander abweichen, dass eine vorgegebene Maximalabweichung nicht überschritten wird, kann der Einparkvorgang entlang der ursprünglich festgelegten Einparkbahn 8 bis in die Parkposition 7 fortgesetzt werden. Dieser Fall ist in Fig. 1 dargestellt . Sofern die Auswerteeinrichtung bei dem Vergleich jedoch feststellt, dass die beiden Positionen um mehr als die vorgegebene Maximalabweichung voneinander abweichen, ermittelt die Auswerteeinrichtung ein korrigierte Parkposition 10 und eine korrigierte Einparkbahn 8'. Dieser Fall ist in Fig. 2 dargestellt. Die korrigierte Einparkbahn 8' unterscheidet sich von der ursprünglichen Einparkbahn 8 in einem hinteren Längenabschnitt 80. Mit anderen Worten setzt sich die korrigierte Einparkbahn 8 also aus dem vom Fahrzeug 6 bereits durch- fahrenen Längenabschnitt der ursprünglichen Einparkbahn 8 sowie einen daran angesetzten korrigierten Längenabschnitt 80 zusammen. Dieser korrigierte Längenabschnitt 80 überführt das Fahrzeug 6 ausgehend von seiner aktuellen Position bei Erfassung der hinteren Begrenzung 2 in die korrigierte Parkposition 10. The evaluation device subsequently ascertains the absolute position of the rear boundary 2 from the determined distance or from the determined relative position of the rear boundary 2 and the position of the vehicle 6 determined by the travel path sensor at the time of the measurement Evaluation device compared with the absolute position, which was previously determined when passing by means of the sensor 21 of the parking space measuring device 21. This results in a corrected longitudinal extension 4 'of the parking space. If these two positions are not or only slightly different from each other, that a predetermined maximum deviation is not exceeded, the parking operation along the originally determined parking track 8 can be continued into the parking position 7. This case is shown in FIG. However, if the evaluation device determines in the comparison that the two positions deviate from each other by more than the predetermined maximum deviation, the evaluation device determines a corrected parking position 10 and a corrected parking track 8 '. This case is shown in FIG. The corrected parking track 8 'differs from the original parking track 8 in a rearward longitudinal section 80. In other words, the corrected parking track 8 is composed of the longitudinal section of the original parking track 8 already traveled by the vehicle 6 and a corrected longitudinal section 80 attached thereto , This corrected length section 80 transfers the vehicle 6 from its current position when detecting the rear boundary 2 into the corrected parking position 10.
In bestimmten Fällen kann es ausreichen, dass der korrigierte Längenabschnitt 80 lediglich den letzten Längenabschnitt einer insgesamt einzügigen Einparkbahn 8 bildet, d. h. der Kurvenverlauf der Einparkbahn 8 weicht in dem korrigierten Längenabschnitt 80 von der ursprünglich geplanten Einparkbahn 8 ab und verläuft in seitlichem Abstand zu dieser. Sofern die Position der hinteren Begrenzung 2 jedoch erheblich von der ursprünglich erfassten Position abweicht, kann es erforderlich sein, einen korrigierten Längenabschnitt 80 mit mehreren Zügen 81 und 82 vorzusehen. Dieser Fall ist in Fig. 2 dargestellt. Dabei umfasst der korrigierte Längenabschnitt 80 einen Vorwärtszug 81 und einen daran anschließenden Rückwärtszug 82, welcher das Fahrzeug 6 schließlich in die korrigierte Parkposition 10 überführt. In certain cases, it may be sufficient for the corrected longitudinal section 80 to form only the last longitudinal section of a total single-entry parking path 8, ie. H. the curve of the Einparkbahn 8 deviates in the corrected length portion 80 of the originally planned Einparkbahn 8 and runs at a lateral distance to this. However, if the position of the rear boundary 2 differs significantly from the originally detected position, it may be necessary to provide a corrected length section 80 with multiple trains 81 and 82. This case is shown in FIG. In this case, the corrected longitudinal section 80 comprises a forward train 81 and a subsequent reverse train 82, which finally transfers the vehicle 6 to the corrected parking position 10.
Die korrigierte Parkposition 10 wird von der Auswerteeinrichtung so festgelegt, dass das Fahrzeug 6 in einem vorgegebenen seitlichen Abstand zur seitlichen Begrenzung 1 und im Wesentlichen parallel zu dieser in der Parklücke 4 angeordnet ist. Alternativ wäre es aber auch möglich, die Parkposition 10 so festzulegen, dass das Fahrzeug 6 einen vorgegebenen seitli- chen Abstand und in eine vorgegebene Orientierung relativ zur hinteren 2 und/oder vorderen Begrenzung 3 aufweist. The corrected parking position 10 is determined by the evaluation device so that the vehicle 6 is arranged at a predetermined lateral distance from the lateral boundary 1 and substantially parallel to it in the parking space 4. Alternatively, it would also be possible to set the parking position 10 such that the vehicle 6 has a predetermined lateral chen distance and in a predetermined orientation relative to the rear 2 and / or front boundary 3 has.
Die hintere Sensoranordnung ist bei der Rückwärtsfahrt des Fahrzeugs 6 in die Parklücke 4 ständig aktiviert, um dem Abstand zur hinteren Begrenzung 2 zu ermitteln. Dadurch können die Position der hinteren Begrenzung 2 und die daraus ermittelte Einparkbahn 8' immer wieder aktualisiert werden. Sofern der Einparkvorgang des Fahrzeugs 6 wenigstens einen Vorwärtszug umfasst kann darüber hinaus auch die vordere Sensoranordnung 22 des Fahrzeugs 6 aktiviert sein, um beim Einparkvorgang den Abstand des Fahrzeugs 6 zur vorderen Begrenzung 3 zu erfassen. Anhand des mittels der vorderen Sensoranordnung 22 gemessenen Abstandes und der Position des Fahrzeugs 6 wird dann die absolute Position der vorderen Begrenzung ermittelt, mit der bei der Parklückenvermessung mittels der seitlichen Sensoranordnung 21 ermittelten Position verglichen und bei Überschreiten einer vorgegebenen, zulässigen Toleranzabweichung die Einparkbahn 8 entsprechend korrigiert. The rear sensor arrangement is constantly activated during the reverse movement of the vehicle 6 into the parking space 4 in order to determine the distance to the rear boundary 2. As a result, the position of the rear boundary 2 and the parking path 8 'determined therefrom can be constantly updated. If the parking process of the vehicle 6 includes at least one forward turn beyond the front sensor assembly 22 of the vehicle 6 may be activated to detect the distance of the vehicle 6 to the front boundary 3 during parking. The absolute position of the front boundary is then determined on the basis of the distance measured by means of the front sensor arrangement 22 and the position of the vehicle 6, compared with the position determined during the parking space measurement by means of the lateral sensor arrangement 21 and corresponding to the parking path 8 when a predetermined permissible tolerance deviation is exceeded corrected.
In Fig. 3 ist ein Einparkvorgang des Fahrzeugs 6 gezeigt, bei dem im Bereich der Parklücke 4 unerwartet ein Hindernis 14 auftaucht, welches bei der Vermessung der Parklücke 4 nicht vom seitlichen Sensor 21 erkannt wurde. Somit bildet das Hindernis 14 und nicht mehr das geparkte Fahrzeug die hintere Begrenzung der Parklücke 4. Beim Einparkvorgang wird das Hindernis 14 von der hinteren Sensoranordnung 23 erfasst und anhand des gemessenen Abstandes und der Fahrzeugposition die absolute Position des Hindernisses 14 ermittelt. Dabei stellt die Auswerteeinrichtung fest, dass die Lage des nunmehr die hintere Begrenzung bildenden Hindernisses 14 außerhalb eines zulässigen Toleranzbereichs 12 liegt und somit so erheblich von der ursprünglich ermittelten Lage der hinteren Begrenzung abweicht, dass ein Einparken in die Parklücke 4 nicht mehr möglich ist. Die Auswerteeinrichtung gibt daher einen Befehl zum Abbruch des Einparkvorgangs. Der Einparkvorgang wird vorzugsweise durch einen Warnhinweis an den Fahrer und/oder eine selbsttätige Bremsung des Fahrzeugs 6 abgebrochen. Die Bremsung wird dabei insbesondere als Notbremsung durchgeführt, d. h. als Bremsung mit maximaler Bremskraft. Falls es sich bei dem Hindernis 14 um ein bewegliches Hindernis, wie z. B. einen Fußgänger handelt, kann der Einparkvorgang entlang der ursprünglichen Einparkbahn 8 fortgesetzt werden, sobald sich das Hindernis 14 aus der Einparkbahn 8 bewegt hat. Alternativ kann der Einparkvorgang aber auch unmittelbar nach einer Notbremsung bzw. einer Erkennung eines Hindernisses 14 vollständig abgebrochen werden. FIG. 3 shows a parking operation of the vehicle 6, in which an obstacle 14 unexpectedly emerges in the area of the parking space 4, which obstacle 14 was not recognized by the lateral sensor 21 when the parking space 4 was measured. Thus, the obstacle 14 and not the parked vehicle forms the rear boundary of the parking space 4. During the parking process, the obstacle 14 is detected by the rear sensor assembly 23 and determined on the basis of the measured distance and the vehicle position, the absolute position of the obstacle 14. In this case, the evaluation determines that the location of the now forming the rear boundary obstacle 14 is outside an allowable tolerance range 12 and thus deviates so significantly from the originally determined position of the rear boundary that parking in the parking space 4 is no longer possible. The evaluation device therefore gives a command to cancel the parking process. The parking process is preferably stopped by a warning to the driver and / or an automatic braking of the vehicle 6. The braking is carried out in particular as emergency braking, ie as braking with maximum braking force. If the obstacle 14 is a movable obstacle such. B. is a pedestrian, the parking operation along the original Einparkbahn 8 can be continued as soon as the obstacle 14 has moved from the Einparkbahn 8. Alternatively, the parking process but also immediately after an emergency braking or detection of an obstacle 14 are completely aborted.

Claims

Patentansprüche claims
1. Verfahren zur Unterstützung eines Einparkvorgangs eines Fahrzeugs (6) in eine Parklücke (4) mit den Schritten: A method of supporting a parking operation of a vehicle (6) in a parking space (4), comprising the steps of:
Erfassung der Position wenigstens einer Parklückenbegrenzung (2, 3) mittels einer seitlich am Fahrzeug (6) angeordneten Parklücken-Messeinrichtung (21) bei einer Vorbeifahrt des Fahrzeugs (6) an der Parklücke (4), Detecting the position of at least one parking space boundary (2, 3) by means of a parking space measuring device (21) arranged laterally on the vehicle (6) when the vehicle (6) passes by at the parking space (4),
Ermittlung einer Einparkbahn (8) des Fahrzeugs (6) in eine Parkposition (10) anhand der Position der Parklückenbegrenzung (2, 3) mittels einer Auswerteeinrichtung und  Determining a Einparkbahn (8) of the vehicle (6) in a parking position (10) based on the position of the parking space boundary (2, 3) by means of an evaluation and
Messen des Abstandes des Fahrzeugs (6) zur Parklückenbegrenzung (2, 3) beim Einparkvorgang mittels wenigstens einer an einem Front- und/oder Heckbereich des Fahrzeugs (6) angeordneten Sensoranordnung (22, 23) Measuring the distance of the vehicle (6) to the parking space boundary (2, 3) during the parking process by means of at least one arranged at a front and / or rear of the vehicle (6) sensor arrangement (22, 23)
dadurch gekennzeichnet, characterized,
dass die Auswerteeinrichtung beim Einparkvorgang aus dem mittels der Sensoranordnung (22, 23) gemessenen Abstand die Position der Parklückenbegrenzung (2, 3) ermittelt, diese mit der von der Parklücken-Messeinrichtung (21) erfassten Position vergleicht und bei Überschreiten einer vorgegebenen Toleranzabweichung die Einparkbahn (8) korrigiert oder den Einparkvorgang abbricht. in that the evaluation device determines the position of the parking space boundary (2, 3) from the distance measured by means of the sensor arrangement (22, 23), compares it with the position detected by the parking space measuring device (21) and, if a predetermined tolerance deviation is exceeded, the parking path (8) corrects or stops the parking process.
2. Verfahren nach Anspruch 1, 2. The method according to claim 1,
dadurch gekennzeichnet, characterized,
dass die Auswerteeinrichtung bei der Korrektur der Einparkbahn (8) die Parkposition (10) und den Verlauf der Bahnkurve (8') korrigiert. in that the evaluation device corrects the parking position (10) and the course of the trajectory (8 ') during the correction of the parking track (8).
3. Verfahren nach einem der vorhergehenden Ansprüche, 3. The method according to any one of the preceding claims,
dadurch gekennzeichnet, characterized,
dass korrigierte Parkposition (10) und Einparkbahn (8') anhand der Position der Parklückenbegrenzung (2, 3) festgelegt werden, die mittels der am Front- und/ oder Heckbereich des Fahrzeugs (6) angeordneten Sensoranordnung (22, 23) erfasst wurde . in that the corrected parking position (10) and parking path (8 ') are determined on the basis of the position of the parking space boundary (2, 3), which is determined by means of the front and / or rear area of the parking space Vehicle (6) arranged sensor arrangement (22, 23) has been detected.
4. Verfahren nach einem der vorhergehenden Ansprüche, 4. The method according to any one of the preceding claims,
dadurch gekennzeichnet, characterized,
dass die Einparkbahn (8) durch die Auswerteeinrichtung derart korrigiert wird, dass das Fahrzeug (6) in der korrigierten Parkposition (10) im Wesentlichen parallel zu einer seitlichen Begrenzung (1) der Parklücke (4) angeordnet ist und/oder einen vorgegebenen Abstand zu dieser aufweist. in that the parking track (8) is corrected by the evaluation device such that the vehicle (6) is arranged in the corrected parking position (10) substantially parallel to a lateral boundary (1) of the parking space (4) and / or a predetermined distance this has.
5. Verfahren nach einem der vorhergehenden Ansprüche, 5. The method according to any one of the preceding claims,
dadurch gekennzeichnet, characterized,
dass bei Korrektur der Einparkbahn (8) wenigstens ein zusätzlicher Einparkzug (81, 82) an die Einparkbahn (8) angefügt wird. in that when the parking track (8) is corrected, at least one additional parking train (81, 82) is added to the parking track (8).
6. Verfahren nach einem der vorhergehenden Ansprüche, 6. The method according to any one of the preceding claims,
dadurch gekennzeichnet, characterized,
dass durch die Auswerteeinrichtung anhand der mittels der am Front- und/ oder Heckbereich des Fahrzeugs (6) angeordneten Sensoranordnung (22, 23) erfassten Position der Parklückenbegrenzung (2, 3) geprüft wird, ob noch ein Einparkvorgang möglich ist, und der Einparkvorgang abgebrochen wird, wenn kein unterstützter Einparkvorgang in die Parklücke (4) mehr möglich ist . that is checked by the evaluation by means of the means of the front and / or rear of the vehicle (6) arranged sensor arrangement (22, 23) detected position of the parking space boundary (2, 3), if a parking operation is still possible, and the parking operation canceled is, if no supported parking operation in the parking space (4) is possible.
7. Verfahren nach einem der vorhergehenden Ansprüche, 7. The method according to any one of the preceding claims,
dadurch gekennzeichnet, characterized,
dass die Auswerteeinrichtung bei Abbruch des Einparkvorgangs eine Notbremsung des Fahrzeugs (6) einleitet. that the evaluation device initiates emergency braking of the vehicle (6) when the parking operation is interrupted.
8. Verfahren nach einem der vorhergehenden Ansprüche, 8. The method according to any one of the preceding claims,
dadurch gekennzeichnet, characterized,
dass die Auswerteeinrichtung entsprechende Lenkbefehle zur Fahrt des Fahrzeugs (6) entlang der Einparkbahn (8, 8') ausgibt . the evaluation device outputs corresponding steering commands for driving the vehicle (6) along the parking track (8, 8 ').
9. Verfahren nach Anspruch 8, 9. The method according to claim 8,
dadurch gekennzeichnet, characterized,
dass die Lenkung des Fahrzeugs (6) mittels eines Aktuartors entsprechend der Lenkbefehle der Auswerteeinrichtung lenkbewegt wird. in that the steering of the vehicle (6) is steered by means of an actuator in accordance with the steering commands of the evaluation device.
10. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, 10. The method according to any one of the preceding claims, characterized
dass beim Einparkvorgang die Fahrgeschwindigkeit des that the parking speed of the
Fahrzeugs (6) von der Auswerteeinrichtung anhand des Abstands des Fahrzeugs (6) zur Parklückenbegrenzung (2, 3) geregelt wird . Vehicle (6) is controlled by the evaluation device based on the distance of the vehicle (6) to the parking space boundary (2, 3).
11. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, 11. The method according to any one of the preceding claims, characterized
dass die Auswerteeinrichtung bei Überschreiten einer vorgegebenen ersten Toleranzabweichung die Einparkbahn (8) korrigiert und bei Überschreiten einer vorgegebenen zweiten, größeren Abweichung (12) den Einparkvorgang abbricht. that the evaluation device corrects the parking path (8) when a predetermined first tolerance deviation is exceeded, and stops the parking procedure when a predetermined, larger, larger deviation (12) is exceeded.
12. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, 12. The method according to any one of the preceding claims, characterized
dass bei Korrektur der Einparkbahn (8) und/oder Abbruch des Einparkvorgangs ein entsprechender Warnhinweis an den Fahrer ausgegeben wird. that when correcting the parking track (8) and / or stopping the parking process, a corresponding warning is issued to the driver.
13. Vorrichtung zur Unterstützung eines Einparkvorgangs eines Fahrzeugs (6) in eine Parklücke (4) mit einer seitlich am Fahrzeug (6) angeordneten Parklücken-Messeinrichtung (21), um bei einer Vorbeifahrt des Fahrzeugs (6) an der Parklücke (4) die Position wenigstens einer Parklückenbegrenzung (2, 3) zu erfassen, mit einer Auswerteeinrichtung, um anhand der erfassten Position der Parklückenbegrenzung (2, 3) eine Einparkbahn (8) des Fahrzeugs (6) in eine Parkposition (7) zu ermitteln, und mit einer an einem Front- und/oder Heckbereich des Fahrzeugs (6) angeordneten Sensoranordnung (22, 23), um beim Einparkvorgang den Abstand des Fahrzeugs (6) zur Parklückenbegrenzung (2, 3) zu messen, 13. A device for assisting a parking operation of a vehicle (6) in a parking space (4) with a laterally on the vehicle (6) arranged parking space measuring device (21) in order to pass the vehicle (6) at the parking space (4) Position of at least one parking space boundary (2, 3) to detect, with an evaluation to determine based on the detected position of the parking space boundary (2, 3) a parking path (8) of the vehicle (6) in a parking position (7), and with a Sensor arrangement (22, 22) arranged at a front and / or rear area of the vehicle (6) 23) to measure during parking the distance of the vehicle (6) to the parking space boundary (2, 3),
dadurch gekennzeichnet, characterized,
dass die Auswerteeinrichtung dazu ausgebildet ist, beim Einparkvorgang aus dem mittels der Sensoranordnung (22, 23) gemessenen Abstand die Position der Parklückenbegrenzung (2, 3) zu ermitteln, diese mit der von der Parklücken-Messeinrichtung (21) erfassten Position zu vergleichen und bei Überschreiten einer vorgegebenen Maximalabweichung die Einparkbahn (8) zu korrigieren oder den Einparkvorgang abzubrechen. in that the evaluation device is designed to determine the position of the parking space boundary (2, 3) from the distance measured by means of the sensor arrangement (22, 23) during the parking process, to compare it with the position detected by the parking space measuring device (21) and at Exceeding a predetermined maximum deviation to correct the parking track (8) or cancel the parking process.
14. Vorrichtung nach Anspruch 13, 14. Device according to claim 13,
dadurch gekennzeichnet, characterized,
dass die Parklücken-Messeinrichtung (21) einen Ultraschallsensor umfasst, der an einer Seitenwand des Fahrzeugs (6) angeordnet ist und einen seitlich nach außen gerichteten Erfassungsbereich aufweist. in that the parking space measuring device (21) comprises an ultrasonic sensor which is arranged on a side wall of the vehicle (6) and has a laterally outwardly directed detection area.
15. Vorrichtung nach Anspruch 13 oder 14, 15. Device according to claim 13 or 14,
dadurch gekennzeichnet, characterized,
dass die am Front- und/oder Heckbereich des Fahrzeugs (6) angeordnete Sensoranordnung (22, 23) Ultraschallsensoren umfasst, die an einer vorderen bzw. hinteren Stirnwand des Fahrzeugs (6) angeordnet sind und einen im Wesentlichen in Fahrzeuglängsrichtung gerichteten Erfassungsbereich aufweisen . in that the sensor arrangement (22, 23) arranged at the front and / or rear area of the vehicle (6) comprises ultrasound sensors which are arranged on a front or rear end wall of the vehicle (6) and have a detection area directed essentially in the vehicle longitudinal direction.
PCT/EP2011/065435 2010-09-30 2011-09-07 Method and device for assisting a parking maneuver of a vehicle WO2012041670A1 (en)

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