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WO2018127365A1 - Procédé d'assistance au conducteur d'un véhicule motorisé lors du stationnement grâce à un dispositif d'assistance au conducteur, produit programme informatique et dispositif d'assistance au conducteur correspondants - Google Patents

Procédé d'assistance au conducteur d'un véhicule motorisé lors du stationnement grâce à un dispositif d'assistance au conducteur, produit programme informatique et dispositif d'assistance au conducteur correspondants Download PDF

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Publication number
WO2018127365A1
WO2018127365A1 PCT/EP2017/082389 EP2017082389W WO2018127365A1 WO 2018127365 A1 WO2018127365 A1 WO 2018127365A1 EP 2017082389 W EP2017082389 W EP 2017082389W WO 2018127365 A1 WO2018127365 A1 WO 2018127365A1
Authority
WO
WIPO (PCT)
Prior art keywords
parking
assistance device
motor vehicle
driver assistance
driver
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/EP2017/082389
Other languages
English (en)
Inventor
Olivia Donnellan
Ciaran Hughes
Jonathan Horgan
Catherine Enright
Gustavo Pelaez
German Feijoo
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Connaught Electronics Ltd
Original Assignee
Connaught Electronics Ltd
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 Connaught Electronics Ltd filed Critical Connaught Electronics Ltd
Publication of WO2018127365A1 publication Critical patent/WO2018127365A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • B62D15/0285—Parking performed automatically

Definitions

  • the invention relates to a method for assisting a driver of a motor vehicle when parking in one of a plurality of parking spaces of a parking zone using a driver assistance device of the motor vehicle.
  • the invention further relates to a corresponding computer program product and driver assistance device for assisting a driver of a motor vehicle when parking in one of a plurality of parking spaces of a parking zone.
  • Modern semi-autonomous cars are designed to park themselves. In order to do this they need to be aware of the geometry of their environment.
  • a new category of automated parking systems is the trained parking system.
  • Document DE 10 2013 015 348 A1 describes a method for assisting a driver of a motor vehicle when parking in one of a plurality of parking spaces of a parking zone using a driver assistance device of the motor vehicle.
  • the method comprises a training (or learning) mode of the driver assistance device and an operating mode of the driver assistance device. In both, the training mode and the operating mode, the motor vehicle has to drive through a path from the starting point to a final position of the parking procedure at the corresponding parking space.
  • This method is a method of "fully trained parking”.
  • the corresponding parking system of the driver system device is a "fully trained parking system”.
  • the method comprises (i) in a training mode of the driver assistance device (learning mode): recording and storing reference data about a path from a reference starting position to a reference target position, while the motor vehicle is driven on said path under driver control; wherein at least one of the parking spaces is reachable from the reference target position using an automated parking system of the driver assistance device, which parking system works without training; and (ii) in a subsequent operating mode different from the training mode: driving the motor vehicle to the reference target position under control of the driver assistance device using the reference data; selecting the parking space and/or the maneuver type of a parking maneuver to be performed by the automated parking system; and parking the motor vehicle into said parking space under control of the automated parking system.
  • learning mode recording and storing reference data about a path from a reference starting position to a reference target position, while the motor vehicle is driven on said path under driver control; wherein at least one of the parking spaces is reachable from the reference target position using an automated parking system of the driver assistance device, which parking system works without training
  • Automated parking systems working without training are already in the market (e.g. Valeo Park4U).
  • Typical maneuver types performed by the automated parking system are, e.g., forward parking, reverse parking, parallel parking, perpendicular parking.
  • Preferably at least two of the parking spaces are reachable from the reference target position using the automated parking system.
  • the invention provides a solution to facilitate driver-selection of potential parking places and/or parking manoeuvres, with only the need to store one trained path/trajectory. This would provide much more flexibility and control to the driver as well as limiting the resource needs and thus costs for the embedded implementation.
  • This method overcomes the following weaknesses of "fully trained parking” by use of a training mode and an operating mode of the driver assistance device, both modes ending with the vehicle in the final parking position at the parking space: (a) Training needs to be performed by the driver at least once per potential parking place (also referred to as parking slot).
  • the driver assistance device records the reference data about the path in the training mode using at least one sensor for detecting features of the environment in a surrounding area of the path.
  • Trained parking systems use various sensors to record information from the environment (landmarks) corresponding to a driven ("trained") trajectory/path, and on a subsequent "replay" they relate the newly sensed information to the previously stored information to work out their position relative to the stored trajectory', which is then used to make decisions on how to manoeuvre the vehicle until it eventually parks at the stored park slot location.
  • the sensor or at least one of the sensors can be a camera, especially a front camera and/or a rear camera. Other possible sensors are, e.g., laser scanner and/or radar devices.
  • the automated parking system of the driver assistance device uses the sensor or at least one of the sensors for detecting features of the environment in the surrounding area of the path for parking the motor vehicle into the selected parking space.
  • the sensor(s) are able to detect the features of the environment like, e.g., features of objects, which enter at least one corresponding surrounding region of the motor vehicle in which the sensor(s) is/are sensitive.
  • the parking of the motor vehicle into the selected parking space is a parking according to one or more of the following maneuver types of the parking maneuver: forward parking, reverse parking, parallel parking, and perpendicular parking.
  • the maneuver can be a combination of these maneuvers, e.g. forward perpendicular.
  • the maneuver can be other types of maneuver also, e.g. fishbone parking... etc.
  • the corresponding parking path or parking trajectory is a typical path for the maneuver type, e.g. a reversing-path/reversing- trajectory (reversing into the parking space, often in combination with a subsequent correction).
  • the selection of the parking space and/or the maneuver type of the parking maneuver is a selection performed manually by the driver or an automatic selection performed by the driver assistance device.
  • the reference data define reference points of the path trained in the training mode and/or landmark information about the objects in the surrounding area of said path.
  • the path is sufficiently described by said reference points.
  • the computer program product according to the invention comprises computer- executable program code portions having program code instructions configured to execute the aforementioned method.
  • the invention further relates to a driver assistance device for assisting a driver of a motor vehicle when parking in one of a plurality of parking spaces of a parking zone, wherein the driver assistance device is configured
  • the driver assistance device can be a computer-based device comprising a processor and a data memory. According to a preferred embodiment of this driver assistance device, this driver assistance device is arranged for performing the aforementioned method.
  • this driver assistance device comprises at least one sensor for detecting features of the environment in at least one surrounding region of the motor vehicle, by which the driver assistance device records the reference data about the path in the training mode.
  • the reference data are data for defining reference points of the path trained in the training mode and/or data of landmark information about objects in the surrounding area of said path.
  • the path is sufficiently described by said reference points.
  • Fig. 1 shows a top view of a first example of a parking procedure with a trained path in combination with an automatic final parking manoeuvre
  • Fig. 2 shows a top view of a second example of a parking procedure with a trained path in combination with an automatic final parking manoeuvre.
  • Fig. 1 shows a top view of a motor vehicle 10 on a road 12.
  • the motor vehicle 10 is for example a passenger car.
  • a parking zone 14 with two parking spaces (parking slots) 16, 18.
  • the two parking spaces 16, 18 are arranged in a row, wherein both parking spaces 16, 18 are essentially orientated in parallel to the road course.
  • the motor vehicle 10 comprises a driver assistance device with at least two sensors and an automated parking system working without training (not shown).
  • the sensors are located at the front area and the rear area of the vehicle 10.
  • the detection areas of these sensors are environal regions 20, 22 at the front and rear area of the motor vehicle 10.
  • the vehicle 10 is driving along a path 24 on the road 12 from a reference starting position 26 to a reference target position 28 of said path 24.
  • the path 24 comprises a curved section followed by a straight section and is sufficiently described by a plurality of reference points 30 on the path 24.
  • the environal objects 32, 34 of the example shown in Fig. 1 are roadside trees 32 and parking space limitations 34 of the two parking spaces 16, 18.
  • the motor vehicle 10 is parked (reversed to be more precisely) into one of the parking space 16 by an automated parking manoeuvre performed by the automated parking system working without training (short: non-trained automated parking system).
  • the corresponding parking path or parking trajectory 36 of this parking manoeuvre is a typical path/trajectory determined by the non-trained automated parking system reversing the vehicle into the parking space 16 in combination with a subsequent correction until the vehicle 10 reaches the final parking position 38.
  • a possible parking trajectory 40 of a parking manoeuvre for parking the vehicle 10 into the other parking space 16 is shown as well.
  • a corresponding method for assisting a driver of the motor vehicle 10 when parking in one of the two parking spaces 16, 18 of the parking zone 14 using the driver assistance device comprises a training mode and a subsequent operating mode:
  • Reference data about the path 24 from the reference starting position 26 to the reference target position 28 are recorded and stored by means of the driver assistance device, while the motor vehicle 10 is driven on said path 24 under driver control.
  • the reference target position 28 is chosen such that both of the parking spaces 16, 18 can be reached from said reference target position 28 using the automated parking system of the driver assistance device.
  • the motor vehicle is driven to the reference target position 28 under control of the driver assistance device using the reference data.
  • One of the parking spaces (in the shown example the first parking space 16) is selected by the driver by means of a query protocol of the driver assistance device.
  • the motor vehicle 10 is parked into the selected parking space 16 under control of the automated parking system of the driver assistance device.
  • the driver assistance device is trained to follow a path/trajectory 24 from the start of a home zone (reference starting position 26) to the start of the parking area (reference target position 28), but, unlike Park4U® Home, the training does not include the final parking manoeuvre (parking trajectories 36, 40).
  • the vehicle 10 can use the already existing Park4U® functionality to identify potential parking slots (parking positions 16, 18). These slots can then be offered to the driver as options using the already existing Park4U® or Park4U® Remote functionality.
  • the device can provide extra information to the driver including, but not limited to:
  • the above information can be sent to the driver by means of WIFI or Bluetooth, or similar, to a receiver such as a phone.
  • the information provided can aid the driver in making a decision on which parking space 16, 18 to choose, which manoeuvre type to choose (e.g. forward/reverse parking), or what should be the next steps of the vehicle 10.
  • the driver will receive an image of the area which allows him to make an informed decision about what the vehicle 10 should do next. If there is something that should not be in the area, the driver can be made aware.
  • Fig. 2 shows another top view of a motor vehicle 10 on a road 12.
  • a parking zone 14 with two parking spaces (parking slots) 16, 18.
  • the two parking spaces 16, 18 are arranged in parallel and each of the parking spaces runs diagonal with respect to the road course.
  • the situational image provides more information than the current Park4U® HMI as the driver can see if the identified parking slots are in fact suitable parking spaces 16, 18, e.g. if parking in the identified slot could block the driveway for other drivers, or if the slot is partly on a public road or outside the boundary of the home zone, or if the identified slot is reserved for someone else.
  • the driver can also be aware of other vehicles around and the potential availability of other parking positions.
  • the options that can be provided to the driver in this situation can include but are not limited to:
  • the driver can then select one of the above mentioned options on their Smartphone and the vehicle 10 will perform the manoeuvre and inform the driver on completion.
  • the driver has more flexibility in choosing the parking slot (this becomes more pertinent when the user has information that the system cannot know, for example the driver may know that another driver will require the selected slot so it should not be used); 2.
  • the driver has more flexibility in choosing the parking manoeuvre;
  • the driver only has to perform training once
  • the driver has more knowledge about the resulting parking location of the vehicle 10.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un procédé d'assistance au conducteur d'un véhicule motorisé (10) lors du stationnement dans un espace parmi une pluralité d'espaces de stationnement (16, 18) d'une zone de stationnement (14) au moyen d'un dispositif d'assistance au conducteur du véhicule motorisé (10), le procédé comprenant : dans un mode d'apprentissage du dispositif d'assistance au conducteur : l'enregistrement et le stockage de données de référence concernant un trajet (24) à partir d'une position de départ de référence (26) vers une position cible de référence (28), tandis que le véhicule motorisé (10) est entraîné sur ledit trajet (24) sous la commande du conducteur ; au moins un espace parmi les espaces de stationnement (16, 18) pouvant être atteint à partir de la position cible de référence (28) à l'aide d'un système de stationnement automatisé du dispositif d'assistance au conducteur, lequel système de stationnement fonctionne sans apprentissage ; et dans un mode de fonctionnement ultérieur différent du mode d'apprentissage : l'entraînement du véhicule motorisé vers la position cible de référence (28) sous la commande du dispositif d'assistance au conducteur à l'aide des données de référence ; la sélection de l'espace de stationnement (16) et/ou du type de manœuvre d'une manœuvre de stationnement à effectuer par le système de stationnement automatisé ; et le stationnement du véhicule automobile (10) dans ledit espace de stationnement (16) sous la commande du système de stationnement automatisé. L'invention concerne également un produit programme informatique correspondant et un dispositif d'assistance au conducteur correspondant.
PCT/EP2017/082389 2017-01-03 2017-12-12 Procédé d'assistance au conducteur d'un véhicule motorisé lors du stationnement grâce à un dispositif d'assistance au conducteur, produit programme informatique et dispositif d'assistance au conducteur correspondants Ceased WO2018127365A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017100061.5 2017-01-03
DE102017100061.5A DE102017100061A1 (de) 2017-01-03 2017-01-03 Verfahren zum Unterstützen eines Fahrers eines Kraftfahrzeugs beim Einparken unter Verwendung einer Fahrerassistenzvorrichtung, entsprechendes Computerprogrammprodukt und Fahrerassistenzvorrichtung

Publications (1)

Publication Number Publication Date
WO2018127365A1 true WO2018127365A1 (fr) 2018-07-12

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DE (1) DE102017100061A1 (fr)
WO (1) WO2018127365A1 (fr)

Cited By (6)

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CN109591809A (zh) * 2018-11-07 2019-04-09 天津卡达克数据有限公司 一种基于电磁循迹与多传感器融合的自动泊车方法
CN110228465A (zh) * 2019-05-31 2019-09-13 深圳市航盛电子股份有限公司 一种半自动泊车系统路径规划方法
CN110838244A (zh) * 2019-10-17 2020-02-25 惠州市德赛西威智能交通技术研究院有限公司 一种适用于超声波垂直泊车位的车位航向调整方法
JP2023023158A (ja) * 2021-08-04 2023-02-16 株式会社デンソー 運転支援装置、運転支援方法
WO2024157444A1 (fr) * 2023-01-27 2024-08-02 日産自動車株式会社 Procédé d'aide au stationnement et dispositif d'aide au stationnement
US12146754B2 (en) 2021-03-19 2024-11-19 Ford Global Technologies, Llc User trained map for valet parking feature

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DE102018104963A1 (de) * 2018-03-05 2019-09-05 Connaught Electronics Ltd. Verfahren zum Unterstützen eines Benutzers eines Kraftfahrzeugs beim Einparken auf einem Parkplatz, entsprechendes Computerprogrammprodukt, Unterstützungssystem und Kraftfahrzeug
DE102018212060A1 (de) * 2018-07-19 2020-01-23 Robert Bosch Gmbh Verfahren zum Führen eines Fahrzeugs von einer Startposition zu einer Zielposition
DE102022126293A1 (de) * 2022-10-11 2024-04-11 Valeo Schalter Und Sensoren Gmbh Verfahren zum Betreiben eines Fahrerassistenzsystems für ein Kraftfahrzeug, Fahrerassistenzsystem für ein Kraftfahrzeug und Kraftfahrzeug
DE102023122190A1 (de) 2023-08-18 2025-02-20 Bayerische Motoren Werke Aktiengesellschaft Verfahren und Vorrichtung zur Durchführung eines Fahrmanövers

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DE102013015348A1 (de) 2013-09-17 2014-04-10 Daimler Ag Verfahren und Vorrichtung zum Betrieb eines Fahrzeugs
DE102014216577A1 (de) * 2014-08-21 2016-02-25 Robert Bosch Gmbh Verfahren und Vorrichtung zur Unterstützung eines Fahrers eines Kraftfahrzeugs
DE102014220263A1 (de) * 2014-10-07 2016-04-07 Conti Temic Microelectronic Gmbh Verfahren und System zum Unterstützen eines Einparkvorganges eines Kraftfahrzeuges

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DE102014200611A1 (de) * 2014-01-15 2015-07-16 Robert Bosch Gmbh Verfahren zum autonomen Parken eines Fahrzeugs, Fahrerassistenzvorrichtung zur Durchführung des Verfahrens, sowie Fahrzeug mit der Fahrerassistenzvorrichtung
DE102016211180B4 (de) * 2015-09-08 2021-12-23 Volkswagen Aktiengesellschaft Verfahren und Vorrichtung zum Durchführen einer automatisierten Fahrt eines Fahrzeugs

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Publication number Priority date Publication date Assignee Title
DE102013015348A1 (de) 2013-09-17 2014-04-10 Daimler Ag Verfahren und Vorrichtung zum Betrieb eines Fahrzeugs
DE102014216577A1 (de) * 2014-08-21 2016-02-25 Robert Bosch Gmbh Verfahren und Vorrichtung zur Unterstützung eines Fahrers eines Kraftfahrzeugs
DE102014220263A1 (de) * 2014-10-07 2016-04-07 Conti Temic Microelectronic Gmbh Verfahren und System zum Unterstützen eines Einparkvorganges eines Kraftfahrzeuges

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109591809A (zh) * 2018-11-07 2019-04-09 天津卡达克数据有限公司 一种基于电磁循迹与多传感器融合的自动泊车方法
CN109591809B (zh) * 2018-11-07 2020-05-19 中汽数据(天津)有限公司 一种基于电磁循迹与多传感器融合的自动泊车方法
CN110228465A (zh) * 2019-05-31 2019-09-13 深圳市航盛电子股份有限公司 一种半自动泊车系统路径规划方法
CN110838244A (zh) * 2019-10-17 2020-02-25 惠州市德赛西威智能交通技术研究院有限公司 一种适用于超声波垂直泊车位的车位航向调整方法
CN110838244B (zh) * 2019-10-17 2021-02-02 惠州市德赛西威智能交通技术研究院有限公司 一种基于超声波的垂直泊车位的车位航向调整方法
US12146754B2 (en) 2021-03-19 2024-11-19 Ford Global Technologies, Llc User trained map for valet parking feature
JP2023023158A (ja) * 2021-08-04 2023-02-16 株式会社デンソー 運転支援装置、運転支援方法
JP7663049B2 (ja) 2021-08-04 2025-04-16 株式会社デンソー 運転支援装置、運転支援方法
WO2024157444A1 (fr) * 2023-01-27 2024-08-02 日産自動車株式会社 Procédé d'aide au stationnement et dispositif d'aide au stationnement

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