WO2023217484A1 - Procédé de fonctionnement d'un système d'aide au stationnement pour un véhicule et système d'aide au stationnement - Google Patents

Procédé de fonctionnement d'un système d'aide au stationnement pour un véhicule et système d'aide au stationnement Download PDF

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Publication number
WO2023217484A1
WO2023217484A1 PCT/EP2023/059673 EP2023059673W WO2023217484A1 WO 2023217484 A1 WO2023217484 A1 WO 2023217484A1 EP 2023059673 W EP2023059673 W EP 2023059673W WO 2023217484 A1 WO2023217484 A1 WO 2023217484A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
starting position
steering
parking
environment
Prior art date
Application number
PCT/EP2023/059673
Other languages
German (de)
English (en)
Inventor
Philipp Hüger
Bastian Göricke
Markus Radimirsch
Original Assignee
Volkswagen Aktiengesellschaft
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 Volkswagen Aktiengesellschaft filed Critical Volkswagen Aktiengesellschaft
Publication of WO2023217484A1 publication Critical patent/WO2023217484A1/fr

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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
    • B62D15/028—Guided parking by providing commands to the driver, e.g. acoustically or optically
    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space

Definitions

  • the invention relates to a method for operating a parking assistance system for a vehicle and a parking assistance system.
  • Parking assistance systems are known in which the driver independently drives past a free parking space, the free parking space is measured and the driver then receives instructions for a manually carried out parking process.
  • a parking assistance device which can selectively determine a suitable target parking position that can be used for parking assistance, with a suitable priority, by appropriately using an obstacle detection device and a parking space detection device.
  • a parking assistance device for supporting the parking of a vehicle comprising the obstacle detection device for detecting an obstacle in the vicinity of the vehicle; and parking section line detecting means for detecting a parking section line painted on the ground; wherein when the parking section line is detected by the parking section line detector, the device calculates the target parking position based on the detected parking section line.
  • the invention is based on the object of improving a method for operating a parking assistance system for a vehicle and a parking assistance system, in particular with regard to moving to a starting position for the parking process.
  • a method for operating a parking assistance system for a vehicle is provided, with an environment around the vehicle being monitored by means of a Surroundings sensors are detected, whereby a free parking space is detected, an environment map being created based on the detected free parking space and the detected environment, in which possible starting positions for a single-stage parking operation of the vehicle in the free parking space are stored, with each of the possible starting positions an evaluation is carried out based on at least one evaluation criterion and a respective evaluation result linked to the respective starting position is stored in the environment map, and an optimal starting position is selected based on the evaluation results and at least one steering recommendation is issued to a driver and / or the vehicle at least is moved partially automatically to the selected starting position.
  • a parking assistance system for a vehicle comprising an environment sensor system, set up to detect an environment of the vehicle, and a control device, wherein the control device is set up to evaluate environment data provided by the environment sensor system and, based on the environment data, to identify a free parking space in the area recognize, to create an environment map based on the detected free parking space and the recorded environment and to store possible starting positions for a single parking operation of the vehicle into the free parking space, to carry out an evaluation for each of the possible starting positions based on at least one evaluation criterion and to provide a respective evaluation result the respective starting position in the environment map, and based on the evaluation results, selecting an optimal starting position and issuing at least one steering recommendation to a driver and / or driving the vehicle to the selected starting position at least partially automatically.
  • the method and the parking assistance system make it possible to support a driver in selecting and moving to a starting position for a manual or partially automated parking process in a detected free parking space, so that the selected starting position can be reliably reached.
  • This is achieved by creating an environment map based on the detected free parking space and the recorded surroundings.
  • Possible starting positions for a single-stage parking maneuver of the vehicle into the free parking space are stored in the surrounding map.
  • the possible starting positions are determined in particular by means of a trajectory planner in a manner known per se. To do this, the trajectory planner assumes a starting position in the surrounding area and a target position in the free parking space and tries to find a single parking trajectory. For this purpose, in particular circle segments, straight lines and/or clothoids can be placed together.
  • the trajectory planner takes particular account of vehicle properties (vehicle geometry, steering properties, maximum possible wheel angle, etc.), a tramway width determined from the surrounding data, obstacles and properties of the parking space (width, length).
  • vehicle properties vehicle geometry, steering properties, maximum possible wheel angle, etc.
  • a tramway width determined from the surrounding data
  • obstacles and properties of the parking space width, length.
  • all positions in a limited environment around the vehicle are passed through step by step as starting positions. Those starting positions from which a one-step parking operation to the target position in the free parking space is not possible are discarded; those starting positions at which a one-step parking operation is possible are stored in the environment map as possible starting positions (in particular together with the respective generated trajectories).
  • An evaluation is carried out for each of the possible starting positions based on at least one evaluation criterion and a respective evaluation result is linked to the respective starting position and stored in the environment map. Based on the evaluation results, an optimal starting position is selected (for example, the one with the largest value is selected).
  • An advantage of the method and the parking assistance system is that an optimal starting position is selected from several possible starting positions.
  • a further advantage is that the driver of the vehicle is assisted when approaching the selected optimal starting position by means of at least one steering recommendation and/or the selected starting position is approached at least partially automatically.
  • a one-step parking process is in particular a parking process that can be carried out in one go, that is, in particular a parking process in which no gear change (in particular reverse gear, forward gear, reverse gear) takes place.
  • no gear change in particular reverse gear, forward gear, reverse gear
  • at least one gear change takes place from a reverse gear to a forward gear and then back into reverse gear (or vice versa).
  • the surrounding sensor system includes at least one surrounding sensor.
  • An environment sensor can in particular be a camera, a stereo camera, a lidar, a radar or an ultrasonic sensor.
  • the at least one steering recommendation is generated in particular by means of the control device.
  • the control device can, for example, compare a current position of the vehicle with the selected starting position and, based on a comparison result Generate and provide at least one steering recommendation, for example in the form of a control signal for steering the vehicle. This is done repeatedly until the selected starting position is reached. In particular, this can also be done in a controlled manner using a regulation.
  • an assisted parking process can be started.
  • the driver is given instructions for action, for example a form of (further) steering recommendations and/or steering instructions.
  • the parking process is carried out at least partially automatically, starting from the selected starting position.
  • the detection of a free parking space can be carried out, for example, based on the recorded surrounding data using known computer vision and/or machine learning methods.
  • Parts of the parking assistance system in particular the control device, can be designed individually or collectively as a combination of hardware and software, for example as program code that is executed on a microcontroller or microprocessor. However, it can also be provided that parts are designed individually or combined as an application-specific integrated circuit (ASIC) and/or field-programmable gate array (FPGA).
  • ASIC application-specific integrated circuit
  • FPGA field-programmable gate array
  • the at least one steering recommendation is issued in the form of haptic feedback on the steering wheel of the vehicle.
  • This allows the driver to detect at least one steering recommendation haptically on the steering wheel.
  • a steering wheel actuator force feedback actuator, FFA
  • FFA force feedback actuator
  • the control device uses the momentarily generated torque, the steering wheel is moved for a brief moment in the direction in which the driver should steer.
  • the control device generates a corresponding control signal for outputting the at least one steering recommendation and supplies it to the steering, in particular a steering control or steering regulation, of the vehicle.
  • a target orientation of the vehicle is determined for each of the starting positions and stored in the environment map. In this way, additional information about the orientation of the vehicle at the starting position can be stored, with which a one-step parking process, in particular optimally, can be carried out.
  • the target orientation is also determined in a manner known per se by means of the trajectory planner. In particular, the target orientation results from a course of the trajectories determined for the possible starting positions.
  • the at least one steering recommendation is generated in such a way and/or the vehicle is driven at least partially automatically in such a way that the vehicle has the target orientation stored for this purpose when it reaches the selected starting position. As a result, the vehicle is already aligned according to the target orientation when it reaches the selected starting position.
  • At least one automated braking action is carried out when approaching the selected starting position. This means that the vehicle can be automatically brought to a stop when starting manually when the selected starting position is reached. This allows you to reach the selected starting position accurately.
  • a touch on the steering wheel is detected and recognized, with the selected starting position being controlled at least partially automatically when it is recognized that the driver has taken his hands off the steering wheel. This allows the driver to signal to the parking assistance system that he wants the selected starting position to be controlled partially automatically.
  • the partially automated control takes place in particular after starting an assisted parking process.
  • an evaluation criterion takes into account a steering deflection of a parking process starting from the starting position and/or a number of steering movements to be carried out during the parking process.
  • an evaluation can be carried out based on the parking process to be carried out (ie the trajectory to be carried out for this purpose and assigned to the starting position).
  • parking processes or trajectories from the starting position to the target position in the free parking space are evaluated with regard to the maximum steering deflection required for this and/or the number of steering movements to be carried out.
  • the Evaluation is carried out in such a way that a larger steering deflection is rated worse than a smaller steering deflection.
  • the evaluation can additionally or alternatively be carried out in such a way that a larger number of steering movements is evaluated worse than a smaller number of steering movements.
  • an evaluation criterion takes into account a distance maintained during the parking process from obstacles in the surrounding area and/or the extent of driving over an oncoming lane necessary to carry out the parking process.
  • a starting position from which a one-step parking process is possible, but a trajectory for implementing the parking process is unfavorable because the vehicle would come close to other obstacles can be rated worse than starting positions in which the associated trajectory is larger distance from obstacles.
  • a starting position from which it is necessary to drive over the oncoming lane can also be rated worse than a starting position from which the oncoming lane has to be crossed less or not at all.
  • an evaluation criterion takes into account driving requirements of the parking process corresponding to the selected starting position. This makes it possible to take into account whether a trajectory to be driven from a starting position is demanding or less demanding in relation to the driver's driving skills. In particular, trajectories that are easy to understand for a human driver and are easier to implement in terms of driving technology can be better evaluated than trajectories that require greater driving skills.
  • the respective evaluation results can be summarized, in particular in a weighted form, to form an (overall) evaluation result, which is stored in the environment map at the respective starting position.
  • the starting position can then be selected whose (overall) evaluation result is best (e.g. which has the largest value).
  • FIG. 1 shows a schematic representation of an embodiment of the parking assistance system
  • Fig. 2 is a schematic representation to illustrate the invention
  • Fig. 3 is a schematic representation to illustrate the invention
  • Fig. 4 is a schematic representation to illustrate the invention
  • Fig. 5 is a schematic representation of an environment map to illustrate the invention.
  • the parking assistance system 1 shows a schematic representation of an embodiment of the parking assistance system 1.
  • the parking assistance system 1 includes an environment sensor 2 and a control device 3.
  • the parking assistance system 1 is arranged in a vehicle 50, in particular a motor vehicle.
  • the parking assistance system 1 is set up to carry out the method described in this disclosure. The method is explained in more detail below using the parking assistance system 1.
  • the environment sensor system 2 is set up to detect an environment of the vehicle 50.
  • the environment sensor system 2 can, for example, have one or more of the following sensors: a camera, a stereo camera, a radar sensor, an ultrasonic sensor, a lidar sensor, etc.
  • the environment sensor system 2 generates environment data 10 describing the environment, which are fed to the control device 3.
  • the control device 3 includes a computing device 3-1 and a memory 3-2.
  • the computing device 3-1 carries out calculations necessary in particular for carrying out the method.
  • the control device 3 is set up to evaluate surroundings data 10 provided by the surroundings sensor system 2 and, based on the surroundings data 10, to recognize a free parking space 61 (FIGS. 2 to 4) in the surroundings. Furthermore, the control device 3 creates an environment map 4 based on the recognized free parking space 61 and the detected environment and stores in it possible starting positions 5 for a single-stage parking process of the vehicle 50 into the free parking space 61.
  • the control device 3 generates, in particular, trajectories that realize a single-stage parking process between positions in the environment and a target position in the recognized free parking space 61 in a manner known per se, as already described above in the general description.
  • the control device 3 For each of the possible starting positions 5, the control device 3 carries out an evaluation based on at least one evaluation criterion 30.
  • a respective evaluation result 31 (FIG. 5) is communicated by the control device 3 with the respective Starting position 5 is stored in the environment map 4.
  • the control device 3 selects an optimal starting position 5 and issues at least one steering recommendation 20 to a driver in order to approach the selected starting position 5.
  • the control device 3 generates in particular a corresponding control signal 21, which is fed to a steering system 51 of the vehicle 50.
  • the at least one steering recommendation 20 is output in the form of haptic feedback on the steering wheel of the vehicle 50.
  • the control signal 21 causes the steering 51, for example, to generate a torque on the steering wheel of the vehicle 50 pointing in the direction of the steering recommendation 20, with which a driver is shown a steering direction in which he must steer in order to approach the selected starting position.
  • the vehicle 50 is driven to the selected starting position 5 at least partially automatically.
  • the selected starting position 5 is transmitted to a vehicle control 52, which then controls the selected starting position 5 at least partially automatically.
  • FIGS. 2 to 4 show schematic representations to illustrate a sequence of an embodiment of the method for operating a parking assistance system for a vehicle 50. Shown is a parking scene 60 in which the vehicle 50, assisted by the parking assistance system described in this disclosure, is supposed to park in a free parking space 61.
  • the vehicle 50 has just driven past the free parking space 61 and has detected it using the surrounding sensor system. Furthermore, the environment sensor system also detects an environment of the vehicle 50. Based on the detected free parking space 61 and the detected environment, an environment map 4 is created, which is indicated in FIG. 3 lying around the vehicle 50 and is shown in FIG. 5. Possible starting positions 5 for a one-step parking process 6 (FIG. 4) of the vehicle 50 to a target position 16 in the free parking space 61 are or are stored in the environment map 4.
  • FIG. 4 Possible starting positions 5 for a one-step parking process 6 (FIG. 4) of the vehicle 50 to a target position 16 in the free parking space 61 are or are stored in the environment map 4.
  • an evaluation is carried out based on at least one evaluation criterion 30 (Fig. 1) and a respective evaluation result 31 is linked to the respective starting position 5 and stored in the environment map 4 (Fig. 5).
  • the evaluation result 31 is shown in FIG. 5 as an example as hatching in three gradations.
  • an optimal starting position 5 is selected, which should then be approached.
  • at least one steering recommendation 20 is issued to a driver and/or the vehicle 50 is driven to the selected starting position 5 at least partially automatically.
  • a starting position 5 is selected as the optimal starting position 5, which comes from the starting positions 5 with the best evaluation results 31 (strongest hatching), for example because this has the best evaluation result 31 of these.
  • a target orientation 7 (see arrows in FIG. 5) of the vehicle 50 is determined for each of the starting positions 5 and stored in the environment map 4.
  • the at least one steering recommendation 20 (FIG. 1) is generated in such a way and/or the vehicle 50 is driven at least partially automatically in such a way that the vehicle 50 has the target orientation 7 stored for this purpose when it reaches the selected starting position 5.
  • At least one automated braking action is carried out when approaching the selected starting position 5.
  • the vehicle 50 can be stopped automatically at the selected starting position 5.
  • a brake signal 22 is transmitted to the vehicle control 52, which carries out the braking action.
  • a touch on the steering wheel is detected and recognized, with the selected starting position 5 being controlled at least partially automatically when it is recognized that the driver has taken his hands off the steering wheel.
  • the touch is detected, for example, by means of a sensor system (not shown) set up for this purpose in the steering 51 of the vehicle 50, with a touch signal 53 being fed to the parking assistance system 1. If the parking assistance system 1 (or the control device 3) detects that a touch ends, the partially automated control of the selected starting position 5 is started. If the steering wheel is then detected to be touched again, provision can be made to abort the partially automated start-up and issue steering recommendations 20 again.
  • an evaluation criterion 30 takes into account a steering deflection of a parking process 6 (FIG. 4) starting from the starting position 5 and/or a number of steering movements to be carried out during the parking process 6.
  • the control device 3 can, for example, determine a maximum steering deflection and/or a number of steering direction changes that occur in order to execute a trajectory corresponding to a starting position 5.
  • an evaluation criterion 30 takes into account a distance to obstacles in the surrounding area maintained while carrying out the parking process 6 and/or an extent of driving over an oncoming lane necessary to carry out the parking process 6.
  • the control device 3 determines, for example, the resulting distance to obstacles for the trajectories corresponding to the starting positions 5 and / or the control device 3 determines a total area of an oncoming lane that must be driven over by the vehicle 50 when executing a trajectory.
  • an evaluation criterion 30 takes into account driving requirements of the parking process 6 corresponding to the selected starting position 5.
  • the control device 3 can, for example, determine a number and/or a degree of difficulty of steering operations of the trajectories linked to the starting positions 5.
  • Parking assistance system Environment sensors Control device -1 Computing device -2 Memory Environment map Start position Parking process Target orientation 0 Environment data 6 Target position 0 Steering recommendation 1
  • Vehicle control 3 Touch signal 0 Parking scene 1 free parking space

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

L'invention concerne un procédé de fonctionnement d'un système d'aide au stationnement (1) pour un véhicule (50), l'environnement du véhicule (50) étant balayé au moyen d'un système de capteur d'environnement (2) ; un emplacement de stationnement libre (61) étant détecté ; une carte (4) de l'environnement étant créée sur la base de l'emplacement de stationnement libre détecté (61) et de l'environnement balayé, dans laquelle carte sont stockées des positions de départ possibles (5) pour un processus de stationnement à déplacement unique (6) du véhicule (50) dans l'espace de stationnement libre (61) ; une évaluation étant effectuée pour chacune des positions de départ possibles (5) sur la base d'au moins un critère d'évaluation (30), et un résultat d'évaluation (31) étant stocké dans la carte (4) de l'environnement de façon à être lié à la position de départ (5) ; et une position de départ optimale (5) étant sélectionnée sur la base des résultats d'évaluation (31), et au moins une recommandation de direction (20) étant délivrée à un conducteur et/ou le véhicule (50) se déplaçant vers la position de départ sélectionnée (5) d'une manière au moins partiellement automatisée. L'invention concerne en outre un système d'aide au stationnement (1).
PCT/EP2023/059673 2022-05-10 2023-04-13 Procédé de fonctionnement d'un système d'aide au stationnement pour un véhicule et système d'aide au stationnement WO2023217484A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102022204574.2 2022-05-10
DE102022204574.2A DE102022204574A1 (de) 2022-05-10 2022-05-10 Verfahren zum Betreiben eines Einparkassistenzsystems für ein Fahrzeug und Einparkassistenzsystem

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WO2023217484A1 true WO2023217484A1 (fr) 2023-11-16

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060235590A1 (en) * 2005-02-11 2006-10-19 Farhad Bolourchi Parking assist utilizing steering system
US20070063874A1 (en) * 2003-07-21 2007-03-22 Christian Danz Method and device for determining the position and/or the anticipated position of a vehicle during a parking operation in relation to the oncoming lane of a multi-lane roadway
US20090174574A1 (en) 2006-04-25 2009-07-09 Tomohiko Endo Parking assist apparatus and method
US20110082613A1 (en) * 2007-02-28 2011-04-07 Moritz Oetiker Semiautomatic parking machine
US20130173148A1 (en) * 2010-06-29 2013-07-04 Toyota Jidosha Kabushiki Kaisha Parking assistance apparatus

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102021200188B3 (de) 2021-01-11 2022-06-02 Volkswagen Aktiengesellschaft Verfahren zum Unterstützen eines Fahrers eines Kraftfahrzeugs bei einem Einparkvorgang und Kraftfahrzeug

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070063874A1 (en) * 2003-07-21 2007-03-22 Christian Danz Method and device for determining the position and/or the anticipated position of a vehicle during a parking operation in relation to the oncoming lane of a multi-lane roadway
US20060235590A1 (en) * 2005-02-11 2006-10-19 Farhad Bolourchi Parking assist utilizing steering system
US20090174574A1 (en) 2006-04-25 2009-07-09 Tomohiko Endo Parking assist apparatus and method
EP2017138B1 (fr) * 2006-04-25 2012-05-16 Toyota Jidosha Kabushiki Kaisha Dispositif et procede d'aide au stationnement
US20110082613A1 (en) * 2007-02-28 2011-04-07 Moritz Oetiker Semiautomatic parking machine
US20130173148A1 (en) * 2010-06-29 2013-07-04 Toyota Jidosha Kabushiki Kaisha Parking assistance apparatus

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