publication number DE102009028251 (A1)
Publication Date: 2011-02 - 10
Inventor: HOFFMANN CHRISTIAN [DE]; SCHNEIDER MARCUS [DE]; SCHOEN Michael [DE]; ALIKADIC MIRZA [DE] + (HOFFMANN, CHRISTIAN; SCHNEIDER, MARCUS; Schönherr, MICHAEL; ALIKADIC, MIRZA)
Applicant : BOSCH GMBH ROBERT [DE] + (ROBERT BOSCH GMBH)
Classification:
International: B60W30/06; G08G1/16
European: B62D15/02H4; B62D15/02H6
Application number: 20,090,805 DE200910028251
Priority number (s): DE200910028251 20,090,805
The EPA is not responsible for the accuracy of data from other authorities than the EPA due, and thus in particular not liable for its completeness, timeliness or fitness for a particular purpose. Information, please refer to the respective patent authorities.
translate this text description of DE 102009028251 (A1)
[0001] The present invention relates to a method of assisted Parking a vehicle in a parking space with a parking assistance device that guides the vehicle along at least one parking trajectory.
[0002] The so-called semi-automatic parking means a parking assistance device to command a vessel permits in a parking space, which can be given to the driver through the parking assistance device either a steering movement or the parking assistance device causes an active steering of the vehicle and the driver only needs the Gas and brake pedal use. The parking space in the vehicle to be parked, can be a parallel parking space, so that the vehicle in the Parkendposition aligned parallel to the roadway where the vehicle drives up to the parking space. If the parking space designed as a diagonal parking space, the vehicle is in the Parkendposition diagonally parked on the roadway, so that the vehicle such as an angle of about 45 [deg.] Includes the road. Depending on the design of the parking space as a parallel parking space or a diagonal parking space are the objects that restrict the parking space, in most cases, parallel or diagonally aligned with the road. The objects usually involve other vehicles, so that the vehicle itself offset parallel or in series in a row between the parked vehicles must be parked already.
[0003] The parking assistance device on the side of the missing Existing vehicle detection means such as via ultrasonic sensors, while a slow forward motion of the objects that restrict the parking space. Using the determined signal pattern that is passed by the detection means to the parking assistance device is detected, if and where there is relative to the vehicle a suitable parking space. If parked in a parking space that was detected by the detection means, this can be done via a Rückwärtszug, and the parking assistance device takes over the steering process, while the driver then only the brake and the accelerator has to operate. The intervention in the steering system of the vehicle through the parking assistance device is done so that the vehicle to park diverted both the parking space to the limiting objects, and that the vehicle at the end of the parking in a parallel parking space parallel to the road boundary, usually the curb is. In another possible variant channel, the driver still himself, but shares the parking assist system with the driver, the driver's steering operation which has to execute. In each case, however, the parking assistance device, a steering motion that is run either automatically or semi-taken over by the driver.
[0004] According to a further stage of development of parking assistance device may be parked in cross-parking spaces, so that the Vehicle at the end of the parking process is perpendicular to the curb of the roadway. Even with these systems, the parking spot position determined by the side of existing on the vehicle detection means, such as ultrasonic sensors. The decision as to whether a parking space is parallel or transverse to the roadway may, for example, by default the driver be in the actuated this a selection button to enter the parking assistance device to know whether the vehicle perpendicular or parallel parked on the road should be.
[0005] In case of incorrect operation, such as when the driver with a real cross-present parking situation with several adjacent free parking accidentally a parallel parking process initiates, the result is merely an undesirable orientation of the car park for violations, but there is no conflict with the parking space defining objects to be expected.
[0006] However, this problem arises when the choice of a parallel parking spot and a diagonal parking space is taken. Diagonal parking spaces can be only very limited reference to the detection means on the passing of the vehicle to the diagonal parking spaces different from cross-parking spaces, so the driver is integrated in the decision process. Runs under the driver in the choice of parking spot type errors, and mistakenly chooses a parallel parking spot instead of a diagonal parking space, it will come with a high probability of collision of the vehicle with the parking space bounding object, usually another vehicle.
[0007] DE 10 2007 027 438 A1 discloses a method for parking a vehicle backed into a parking space with a parking assistance device already known. This acquisition means are used, provided the distances to the parking space defining objects in a set of records to the parking assistance device. Based on these records, a steering movement to be introduced or given. As a result, it can be a vehicle parked in exactly a cross-parking space.
[0008] DE 10 2006 052 575 A1 describes another method of supporting parking a vehicle in a cross-parking space with a parking assistance device, being able to be run automatically with as few operator actions by the driver of the parking process, even if the parking space, for example in terms of depth, measured to the direction of a road, not sufficiently determined. In this case, an automatic Einparkmodus be directly activated without a driver input for operating a parking maneuver, if the detected obstacles and / or open spaces by means of a detection agent in a parking space have been reliably determined. A criterion that can be used to determine whether a parallel Parking or a cross-parking is desired by the driver, an angle is between a longitudinal direction of the vehicle and a front side of the parking space dar. the driver stops the vehicle at an angle to the longitudinal axis relative to the front of the parking space of a so-called release angle exceeded, then assumed that the driver intends a cross-parking. It is also proposed that the driver input is scheduled to be confirmed only if the angle between the longitudinal direction of the vehicle and a front side of the parking space exceeds a predetermined firing angle.
[0009] The known methods can not overcome the risk are that can happen through a mistake by the driver to the parking assistance device in the selection between a parallel parking spot and a diagonal parking space, a collision with the parking space bounding objects.
[0010] It is therefore an object of the present invention to provide a method for assisted parking a vehicle in a parking space with a parking assistance device that overcomes the disadvantages of the above-mentioned prior art and enables collision-free parking in a parking space, as Parallel parking spot can be configured or as a diagonal parking space.
[0011] This object is based on a method supported parking a vehicle in a parking space in accordance with claim 1 and a parking assistance device solved according to claim 9 with the respective characteristic features. Advantageous developments of the invention are set forth in the dependent claims.
[0012] The invention includes the technical teaching that the process at least the steps of guiding the vehicle along a first portion of the parking trajectory intermediate to a point, the intermediate point is determined such that a subsequent parking the vehicle in the parking space is possible, which is designed as a parallel parking space or a diagonal parking space, recognition of the parking space as a parallel parking space or a diagonal parking space, and of guiding the vehicle along a following on the first section the second section of the parking trajectory, which is chosen so that the vehicle is out as a function of the existence of a parallel parking space or a diagonal parking space, comprises.
[0013] core of the invention is a division of the parking trajectory in a first section and a second section. The first section of the parking trajectory is up to the intermediate point here is determined such that both a continuation of the parking in a diagonal to the road parking spaces oriented parallel to the road or into a targeted parking space possible is. If the intermediate point is achieved, a recognition of the parking space as a parallel parking space or a diagonal parking space. If a parallel parking spot is detected, the vehicle along the second portion of the parking trajectory is conducted so that the vehicle is parked parallel to the roadway. Is a diagonal parking space is detected, the second portion is selected so that the vehicle is parked in a diagonal to the driving lane parking position. The second section of the parking trajectory, in particular, is made conditional on how to align the objects have to limit the parking space. The recognition of the parking space as a parallel parking space or a diagonal parking space is preferably based on the recognition of the parking space bounding objects. The procedure follows in principle at an earlier recognition of the parking spot by the parking assistance device, and the parking of the vehicle is preferably a Rückwärtszug along the two-part parking trajectory, but can also be done with a Vorwärtszug.
[0014] To identify the parking space as a parallel parking space or a diagonal parking space is provided detection means, which transmits in the step of recognition of the parking space information of the nature of the parking space in the parking assistance device. The detection means can be used as ultrasonic sensors or radar sensors be fitted to the vehicle by which the parking space is visible and vermessbar. The detection means may be both on the basic recognition of the parking space can be used, such as when the vehicle slowly moved past the parking space, the parking space on the presence of the parking space bounding objects detected by the detection means. Furthermore, the detection means are used to detect after reaching the intermediate point, is according to the nature of the parking space.
[0015] The parking space may be limited by objects that are preferably other parked vehicles. The recognition of the parking space as a parallel parking space or a diagonal parking spot is performed by detecting at least one of the objects with the detection solvent.
[0016] the parking space limiting objects can be vehicles parked diagonally to the ground when the parking space is a diagonal parking space with the cars parked parallel in a row to the road if the parking space is a parallel parking space. Parallel parking space means, therefore, that the vehicles parked parallel to the road, with a diagonal parking space is given by vehicles parked at an angle, preferably 45 [deg.], With the road. can
[0017] The acquisition means a distance between the vehicle and determine at least one of the objects, preferably two detection means in the form of ultrasonic sensors on each side of the vehicle are available. The first section of the parking trajectory is up to the intermediate point is determined such that the vehicle has an orientation in which the vehicle is arranged approximately parallel to a vehicle if that vehicle is aligned diagonally to the road, on approaching the vehicle the parking space. Consequently, the vehicle is diagonal to the road boundary to some extent steered into the parking space until the intermediate point is reached. If the parking space, a parallel parking space, the vehicle is at a diagonal angle to the vehicle, which limit the parallel parking space at front and behind each other.
[0018] By detecting means is above the second section of the parking trajectory then detected a substantially constant distance, if the parking space is a diagonal parking space, so that the second section is essentially run as a straight line reversing. If the first section of the parking trajectory a bow section, the vehicle in a diagonal parking space is parallel to the adjacent vehicle. now is the second part of the parking trajectory running, the vehicle runs only with a Rückwärtseinparkzug parallel to the adjacent vehicle. Therefore will not change the detected by the detection center distance between the vehicle and the adjacent vehicle.
[0019] When the detection by means of the second section of the parking trajectory detects an increasing distance, if the parking space is designed as a parallel parking space, the second section is essentially running as a web cam. This trajectory has an opposite curvature relative to the trajectory, which relates to the first section of the parking trajectory. The measurement of the distance can take place both before reaching the intermediate point and after reaching the intermediate point. Since the parking space limiting vehicles generally known manner comprise a rectangular cross section, the distance between the vehicle to park and the adjacent Vehicle will be minimal if the detection means detects a corner of the vehicle, the distance increases again when the recording medium is moved past the corner of the vehicle. Thus, a parallel parking spot can be detected. Is the vehicle diagonally adjacent to the roadway, the distance between the moving vehicle and the parking space limiting vehicle over the entire second section of the parking trajectory essentially constant.
[0020] The present invention is further directed to a parking assistance device for parking a vehicle backed into a parking space along at least one parking trajectory, with the parking trajectory in a first section and a second section is divided and provided between the sections, an intermediate point and orientation of the vehicle is determined in the intermediate point, such that a subsequent parking is possible in one as a parallel parking space or a diagonal parking spot running parking space, with a recognition of the parking space is made possible, in such that recognition of the parking space as a parallel parking space or a diagonal parking space is. Furthermore, a detection means is provided by means of which the recognition as a parallel parking space or as a diagonal parking space.
[0021] Further measures improving the invention are hereinafter together with the description of a preferred Embodiment of the invention using the figures in greater detail. It shows
[0022] 1a a parking a vehicle in a parking space, which is designed as a diagonal parking space,
[0023] 1b a parking a vehicle in a parking space, which is designed as a parallel parking space,
a [0024] 2 embodiment of a parking trajectory for parking a vehicle in a parallel parking space, the vehicle in both the starting point as is shown in an intermediate point and after the intermediate point, a second section follows the parking trajectory in the parallel parking space,
[0025] 2b, an embodiment a parking trajectory for parking a vehicle in a diagonal parking space, the vehicle in both the starting point as is shown in an intermediate point and after the intermediate point, a second section of parking space the parking trajectory in the diagonal follows
[0026] 3a is a diagram of a distance d between which to park the vehicle and a nearby vehicle to the parking path s, as this is obtained if the parking space is designed as a parallel parking space,
[0027] 3b is a diagram of a distance d between to park the vehicle and a nearby vehicle to the parking path s, as This occurs when the parking space designed as a diagonal parking spot is.
[0028] The 1a and 1b show an embodiment of a parking situation of a vehicle in a parking space a second The parking space 2 is bounded by a first object 7 in the form of a first vehicle 7 and a second object 8 in the form of a second vehicle eighth The cars 7 and 8 are diagonal to the road, so that the parking space 2 is a diagonal parking space. The vehicle 1 is slowly moved past the parking space, 2 against the direction of the arrow shown. On a vehicle detecting means 6a and 6b present, which are designed as ultrasonic sensors detect the parking space and second For detection of the parking space 2, the vehicle 1 slowly moved past the vehicles 7 and 8, so that by the acquisition means 6a and 6b on the first vehicle 7 and 7a, a first marker is detected on the vehicle 8 a second marking point 8a. The relatively inaccurate profile, which is detected by detecting means 6a and 6b, for the detection of a parking space 2 is possible, not the provision of the parking spot as a diagonal parking space or parallel parking space. Therefore, the driver will be given provided the information that a parking space is available, and the vehicle may be opposite to the direction of the arrow is moved back into the starting position.
[0029] The 2a and 2b show the vehicle 1 in both the situation under 1a and 1b and in the position in an intermediate point 4 after passing through a first portion 3 of the parking trajectory. The parking trajectory describes a trajectory that is both to park the vehicle 1 shown in a diagonal parking space 2a and in a parallel parking space suitable according to 2b. While the vehicle 1 is moved to the intermediate point 4 along the first section 3 of the parking trajectory is determined by the detection means 6a and 6b, a distance d, which is in accordance with the present embodiment to park between the vehicle 1 and the measured vehicle 7.
[0030] In 2a, the parking space 2 is formed as a diagonal parking space, so that the cars 7 and 8 are aligned diagonally to the road on which the vehicle is one of the parking spot two approaches. The Vehicle 1 is shown both in the starting position and in the intermediate section 4, again with the detection means 6a and 6b both a first position a distance and a second position b distance is measured from the vehicle 7th The distances d between the detection means 6a and 6b and the first distance and the second position a distance position b are the same size formed, so that the parking space 2 detected by detecting means 6a and 6b as a diagonal parking space. Consequently, the parking assistance device determines the second section 5a of the parking trajectory than just reversing. Along the second portion 5b, the vehicle 1 moves parallel to the parked car to parked car 7 and 8 so that the distance d no further changes.
[0031] 2b 2 shows the parking space as a parallel parking space. Consequently, the vehicles are 7 and 8 parallel to the road, on approaching the vehicle 1 of the parking space second Between the vehicle 1 and the vehicle 7, a distance d is measured. Through the acquisition means 6a and 6b, both in a first position a distance and in a second distance, a distance measured position b, the precipitates of different sizes. If the vehicle is 1 in a position where the detecting means 6b measures the distance d to the first position a distance, the distance d is relatively small. If the vehicle continues to move toward the intermediate point 4, the distance d between the detection means 6a and the second distance to the vehicle position b 7 again. Thus, a parallel parking space are detected and the vehicle 1 is parked along the second portion 5b to the final parking position into the parking space second
[0032] FIGS 3a and 3b in a chart the course of the distance d over the path s, which measures the vehicle to the first section 3 and the second section 5a and 5b of the parking trajectory. On the ordinate the distance d, both the first position a distance and the second position b distance is shown between the detection means 6a and 6b and the vehicle 7th 3a this case shows the course of the distance d when parking in a parallel parking space, so that the distance initially smaller , when approaching the detection means 6a and 6b of the vehicle corner, which is designated with the first position a distance. If the vehicle by another in the parking space increases, the distance again, so that the distance d in the second distance position b is greater than the first distance position a.
[0033] 3b, the distance d shown on a diagonal parking space, so that the distance between the detecting means 6a and 6b and the vehicle 7 stops changing. Consequently, the distance d in the first position a distance as great as in the second position a distance b.
[0034] The invention is not limited in its embodiment to the above-described preferred embodiment. Rather, a number of variants are conceivable that make use of the solution even for basically different configurations. All of the claims, the description or the drawings, the features and / or benefits, including design details, spatial arrangements and process steps may be essential to the invention both individually and in various combinations.
QUOTES INCLUDED IN THE DESCRIPTION
[0035] This list of references cited by the applicant was automatically generated and is intended solely to improve the reader's included. The list is not part of the German Patent and Utility model. The DPMA is not responsible for any errors or omissions.
cited patent literature
[0036]
- DE 102 007 027 438 A1 [0007]
- support DE 102 006 052 575 A1 [0008]
procedures for parking in a parking space and apparatus therefor
Technical and scientific translations
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