GB2641365A

GB2641365A - A method for determining a maneuver path of a motor vehicle in surroundings of the motor vehicle by an assistance system, a computer program product, a non-

Info

Publication number: GB2641365A
Application number: GB2407515.2A
Authority: GB
Inventors: Brown Aaron; Monninger Thomas
Original assignee: Mercedes Benz Group AG
Current assignee: Mercedes Benz Group AG
Priority date: 2024-05-28
Filing date: 2024-05-28
Publication date: 2025-12-03
Also published as: GB202407515D0; DE102024130968A1

Abstract

An assistance system 12 of a motor vehicle 10 comprises a capturing device (e.g. camera, Lidar, radar or ultrasonic sensor 18), an electronic computing device 20 and a display device 22. It determines a maneuver path 14 for the vehicle by capturing the vehicle’s surroundings 16; analyzing them depending on a vehicle size parameter 24; using the analyzed surroundings to determine the maneuver path (e.g. accounting for an object 26,28); and providing the maneuver path 14a,b on the display device. A clearance value 35 between the vehicle and object may be displayed. The system may thus provide visual confirmation of whether the vehicle can squeeze through a tight corridor 14a between parked 28, waiting or departing 36 vehicles in a carpark 38 or should make a U-turn 14b.

Description

A Method For Determining A Maneuver Path Of A Motor Vehicle In Surroundings Of The Motor Vehicle By An Assistance System, A Computer Program Product, A Non-Transitory Computer-Readable-Storage Medium, As Well As An Assistance System

FIELD OF THE INVENTION

[0001] The present invention relates to the field of automobiles. More specifically, the present invention relates to a method for determining a maneuver path of a motor vehicle in surroundings of the motor vehicle by an assistance system of the motor vehicle. Furthermore, the present invention relates to a corresponding computer program product, a corresponding non-transitory computer-readable storage medium, as well as to a corresponding assistance system.

BACKGROUND INFORMATION

[0002] In, for example, a popular parking lot sometimes drivers may wait for another driver to pull out and a leave a spot. When this happens, it can be the case that this can take quite a bit of time, depending on how long the incoming driver is willing to wait due to the general scarcity of parking spaces and the amount of time the driver getting ready to leave their space is not feeling rushed off. In this situation, any drivers behind the waiting driver enter an interesting scenario of whether to drive around the waiting driver or wait which can highly depend on how easy it is to pass. This is not always clear when the parking spaces are tight.

SUMMARY OF THE INVENTION

[0003] It is an object of the invention to provide a method, a corresponding computer program product, a corresponding non-transitory computer-readable storage medium, as well as a corresponding assistance system, by which a drivable maneuver path of the motor vehicle is provided for a driver of the motor vehicle.

[0004] This object is solved by a method, a corresponding computer program product, a corresponding non-transitory computer-readable storage medium, as well as a corresponding assistance system according to the independent claims. Advantageous embodiments are presented in the dependent claims.

[0005] One aspect of the invention relates to a method for determining a maneuver path of a motor vehicle in surroundings of the motor vehicle by an assistance system of the motor vehicle. The surroundings of the motor vehicle are captured by a capturing device of the assistance system. The surroundings are analyzed depending on size parameters of the motor vehicle by an electronic computing device of the assistance system. At least one maneuver path of the motor vehicle is determined depending on the analyzed surroundings. The at least one determined maneuver path is provided on a display device of the assistance system.

[0006] Therefore, the driver/customer may use the path confirmation as an aid to know that the motor vehicle could potentially and safely get through a tight parking corridor. Determining an idea of whether or not the motor vehicle can drive through a corridor can take a lot of practice getting used to a motor vehicle, and even then, if the space is tight enough that can still lead to high uncertainty. This invention aims to relief stress from the driver by giving reassurance that a drive corridor maneuver is indeed possible by sensor space estimation.

[0007] In particular, the invention provides a visual confirmation of path clearance confirmation which measures space occupancy using sensors and can determine if the motor vehicle is able to clear possible driving detectors that maneuver around, for example, other vehicles, or even general paths in very tight parking lots themselves. In particular, the invention uses the general environment representation to perform environmental checks and visualizes this to the driver. When maneuvering through parking lots with tight spaces, cross traffic, vehicles park in second row or furthermore, it is useful to have a perception that does geometric reconstruction of the environment indicates the remaining clearance if one would proceed to try to squeeze through/in.

[0008] For example, the capturing device may be configured as an ultrasonic sensor, Lidar sensor, radar sensor or a camera.

[0009] As the size parameters a length of the motor vehicle, a width of the motor vehicle, a wheel radius of the motor vehicle, a turning radius of the motor vehicle or further size parameters may be taken into consideration.

[0010] According to an embodiment, an object in the surrounding is taken into consideration by determining at least one maneuver path.

[0011] In another embodiment a drive-by to the object is provided as the maneuver path.

[0012] In another embodiment a U-turn in the surroundings is provided as the maneuver path.

[0013] In another embodiment the maneuver path is provided in a parking area for the motor vehicle.

[0014] In another embodiment additionally a clearance value between the motor vehicle and at least one object is displayed on the display device.

[0015] In particular, the method is a computer-implemented method. Therefore, another aspect of the invention relates to the computer program product comprising program code means for performing a method according to the proceeding aspect.

[0016] A still further aspect of the invention relates to a non-transitory computer-readable storage medium comprising at least the computer program product according to the preceding aspect.

[0017] Furthermore, the present invention relates to an assistance system for determining a maneuver path of a motor vehicle in surroundings of the motor vehicle, comprising at least one capturing device, one electronic computing device, and one display device, wherein the assistance system is configured for performing a method according to the preceding aspect. In particular, the method is performed is performed by the assistance system.

[0018] A still further aspect of the invention relates to a motor vehicle comprising at least the assistance system according to the preceding aspect.

[0019] Advantageous embodiments of the method are to be regarded as advantageous embodiments of the computer program product, the non-transitory computer-readable storage medium, the assistance system, as well as the motor vehicle.

[0020] The assistance system as well as the motor vehicle comprises means for performing the method.

[0021] A computing unit/electronic computing device may in particular be understood as a data processing device, which comprises processing circuitry. The computing unit can therefore in particular process data to perform computing operations. This may also include operations to perform indexed accesses to a data structure, for example a look-up table, LUT.

[0022] In particular, the computing unit may include one or more computers, one or more microcontrollers, and/or one or more integrated circuits, for example, one or more application-specific integrated circuits, ASIC, one or more field-programmable gate arrays, FPGA, and/or one or more systems on a chip, SoC. The computing unit may also include one or more processors, for example one or more microprocessors, one or more central processing units, CPU, one or more graphics processing units, GPU, and/or one or more signal processors, in particular one or more digital signal processors, DSP. The computing unit may also include a physical or a virtual cluster of computers or other of said units.

[0023] In various embodiments, the computing unit includes one or more hardware and/or software interfaces and/or one or more memory units.

[0024] A memory unit may be implemented as a volatile data memory, for example a dynamic random access memory, DRAM, or a static random access memory, SRAM, or as a non-volatile data memory, for example a read-only memory, ROM, a programmable read-only memory, PROM, an erasable programmable read-only memory, EPROM, an electrically erasable programmable read-only memory, EEPROM, a flash memory or flash EEPROM, a ferroelectric random access memory, FRAM, a magnetoresistive random access memory, MRAM, or a phase-change random access memory, PCRAM.

[0025] Further advantages, features, and details of the invention derive from the following description of a preferred embodiment as well as from the drawing. The features and feature combinations previously mentioned in the description as well as the features and feature combinations mentioned in the following description of the figure and/or shown in the figure alone can be employed not only in the respectively indicated combination but also in any other combination or taken alone without leaving the scope of the invention.

BRIEF DESCRIPTION OF THE DRAWING

[0026] The novel features and characteristic of the disclosure are set forth in the appended claims. The accompanying drawings, which are incorporated in and constitute a part of this disclosure, illustrate exemplary embodiments and together with the description, serve to explain the disclosed principles. The same numbers are used throughout the figures to reference like features and components. Some embodiments of system and/or methods in accordance with embodiments of the present subject matter are now described below, by way of example only, and with reference to the accompanying figures.

[0027] The drawing shows in: [0028] Fig. 1 a schematic top view according to the embodiment of a motor vehicle comprising an embodiment of an assistance system.

[0029] In the figure the same elements or elements having the same function are indicated by the same reference signs.

DETAILED DESCRIPTION

[0030] In the present document, the word "exemplary" is used herein to mean "serving as an example, instance, or illustration". Any embodiment or implementation of the present subject matter described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.

[0031] While the disclosure is susceptible to various modifications and alternative forms, specific embodiments thereof have been shown by way of example in the drawing and will be described in detail below. It should be understood, however, that it is not intended to limit the disclosure to the particular forms disclosed, but on the contrary, the disclosure is to cover all modifications, equivalents, and alternatives falling within the scope of the disclosure.

[0032] The terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion so that a setup, device or method that comprises a list of components or steps does not include only those components or steps but may include other components or steps not expressly listed or inherent to such setup or device or method. In other words, one or more elements in a system or apparatus preceded by "comprises" or "comprise" does not or do not, without more constraints, preclude the existence of other elements or additional elements in the system or method.

[0033] In the following detailed description of the embodiment of the disclosure, reference is made to the accompanying drawing that forms part hereof, and in which is shown by way of illustration a specific embodiment in which the disclosure may be practiced. This embodiment is described in sufficient detail to enable those skilled in the art to practice the disclosure, and it is to be understood that other embodiments may be utilized and that changes may be made without departing from the scope of the present disclosure. The following description is, therefore, not to be taken in a limiting sense.

[0034] Fig. 1 shows a schematic top view according to an embodiment of a motor vehicle 10. The motor vehicle 10 comprises at least one assistance system 12. The assistance system 12 is configured for determining a maneuver path 14 of the motor vehicle 10 in surroundings 16 of the motor vehicle 10. The assistance system 12 comprises at least one capturing device 18. The capturing device 18 may be, for example, configured as a Lidar sensor, a radar sensor, an ultrasonic sensor, or a camera. Furthermore, the assistance system 12 comprises at least one electronic computing device 20 and one display device 22.

[0035] In particular, as shown in Fig. 1 the maneuver path 14 is provided in a parking area 24. In other words, the surroundings 16 may be a parking lot/parking area 24.

[0036] In particular Fig. 1 shows a method for determining the maneuver path 14 for the motor vehicle 10. The surroundings 16 are captured by the capturing device 18 of the assistance system 12. The surroundings 16 are analyzed depending on at least one size parameter 24 of the motor vehicle 10 by the electronic computing device 20. At least one maneuver path 14 of the motor vehicle 10 is determined depending on the analyzed surroundings 16. The at least one determined maneuver path 14 is displayed on the display device 22 of the assistance system 12.

[0037] In particular, an object 26, 28 in the surroundings 16 is taken into consideration by determining the at least one maneuver path 14. In particular, as shown, another motor vehicle 26 may drive out a parking lot 30. Therefore, the another motor vehicle 26 may drive along a parking path 32. A still further motor vehicle 28 may park in another parking lot 34.

[0038] As shown in Fig. 1 the assistance system 12 may check if a drive-by 14a to the object 26 is provided as the maneuver path 14. Additionally or alternatively a U-turn 14b may be provided as the maneuver path 14. In another embodiment additionally a clearance value 36 between the motor vehicle 10 and at least one object 26, 28 may be displayed on the display device 22.

[0039] In particular, the shown embodiment provides a visual confirmation of path clearance confirmation which measures space occupancy using sensors and can determine if the motor vehicle 10 is able to clear possible driving trajectories that maneuver around other vehicles, or even general paths. The idea is about using a generated environment representation to perform geometric checks and visualize this checks to the driver.

[0040] When maneuvering through parking lots with tight spaces, cross traffic, vehicles parked in second row or furthermore, it is advantageous to have a perception that does geometric construction of the environment and indicates the remaining clearance if the motor vehicle 10 may proceed to try to squeeze through/in.

[0041] In the state of the art, it is shown to visualize the drive corridor in the camera image. The task over figuring out the remaining clearance remains with the driver, which is oftentimes difficult to do based on the perspective image from the camera.

[0042] The proposed solution is to show available maneuverability to the driver, basically a projection of vehicle flow by using the perception of the surroundings 16. In particular, it is provided, how the motor vehicle 10 may move forward through the environment without getting stuck where it would collide with the environment. This can even include doing a U-turn 14b to the assistance system 12 where the assistance system 12 shows yes, the motor vehicle 10 is able to smoothly do a U-turn 14b without having to reverse and adjust.

List of reference signs Motor vehicle 12 Assistance system 14 Maneuver path 14a Drive by 14b U-turn 16 Surroundings 18 Capturing device Electronic computing device 22 Display device 24 Size parameter 26 Object 28 Another object Parking lot 32 Parking path 34 Another parking lot

Claims

CLAIMS1. A method for determining a maneuver path (14) of a motor vehicle (10) in surroundings (16) of the motor vehicle (10) by an assistance system (12) of the motor vehicle (10), comprising the steps of: - capturing the surroundings (16) of the motor vehicle (10) by a capturing device (18) of the assistance system (12); - analyzing the surroundings (16) depending on at least one size parameters (24) of the motor vehicle (10) by an electronic computing device (20) of the assistance system (12); - determining at least one maneuver path (14) of the motor vehicle (10) depending on the analyzed surroundings (16); and - providing the at least one determined maneuver path (14) on a display device (22) of the assistance system (12).
2. The method according to claim 1, characterized in that an object (26, 28) in the surroundings (16) is taken into consideration by determining the at least one maneuver path (14).
3. The method according to claim 2, characterized in that a drive by (14a) to the object (26, 28) is provided as the maneuver path (14).
4. The method according to any one of claims 1 to 3, characterized in that a U-turn (14b) in the surroundings (16) is provided as the maneuver path (14).
5. The method according to any one of claims 1 to 4, characterized in that the maneuver path (14) is provided in a parking area (38) for the motor vehicle (10).
6. The method according to any one of claims 1 to 5, characterized in that additionally a clearance value (36) between the motor vehicle (10) and at least one object (26, 28) is displayed on the display device (22).
7. A computer program product comprising program code means for performing a method according to any one of claims 1 to 6.
8. A non-transitory computer-readable storage medium comprising at least the computer program product according to claim 7.
9. An assistance system (12) for determining a maneuver path (14) of a motor vehicle (10) in surroundings (16) of the motor vehicle (10), comprising at least one capturing device (18), one electronic computing device (20), and one display device (22), wherein the assistance system (12) is configured for performing a method according to any one of claims 1 to 6.