Signaling information on a detected parking space to the operator of a remote control for a parking assistance system which can be controlled by remote control for automatically parking a motor vehicle

Abstract

One aspect of the invention relates to a method for signaling information to the operator of the remote control for a parking assistance system which can be controlled by remote control from outside of a motor vehicle for automatically parking the motor vehicle into a parking space. The method includes detecting surroundings information with respect to the vehicle surroundings on the motor vehicle side using a surrounding sensor system of the motor vehicle. The parking assistance system in the motor vehicle detects a parking space on the basis of the surroundings information, and information on the detection of a parking space is transmitted from the motor vehicle to the remote control via a wireless communication connection. On the basis of the received information, the remote control signals the presence of the detected parking space to the operator.

Claims

1. A method, comprising: detecting, by a motor vehicle having a parking assistance system controllable by a remote control, that one from among a set of potential scenarios is currently present, wherein the set of potential scenarios includes: a parking space is present and can be parked-in, the parking space is present but cannot be parked-in, and the parking space is not present, wherein the detection is based on vehicle sensor system captured surroundings information; and controlling the vehicle on the basis of the detection and a user operation of the remote control, so as to maneuver the motor vehicle according to one from among a set of potential maneuvers, wherein the set of potential maneuvers includes: in response to detecting that the parking space is present and can be parked-in, maneuvering the vehicle to park in the parking space using automated transverse guidance, in response to detecting that the parking space is present but cannot be parked in, maneuvering the vehicle forward and/or reverse without using automated transverse guidance, and in response to detecting that the parking space is not present maneuvering the vehicle forward and/or reverse without using automated transverse guidance.

2. The method as claimed in claim 1, wherein the parking space is a forward parking space, and the detection is further based on one or more criteria that relate to: an orientation of the vehicle with respect to the parking space, a lateral offset of the vehicle with respect to the parking space, a width of the parking space, and a distance of the vehicle from the parking space.

3. The method as claimed in claim 1, further comprising: determining a Q-factor reflecting a difficulty level for the parking assistance system to park the vehicle in the parking space from the current location; identifying a parking situation from among the following: (a) a high Q-factor parking situation in which the determined Q-factor exceeds a predetermined threshold, and (b) a low Q-factor parking situation in which the determined Q-factor does not exceed the predetermined threshold; transmitting the identified parking situation to the remote control; signaling, by the remote control, the identified parking situation to the operator.

4. The method as claimed in claim 1, further comprising: identifying a parking situation from among the following parking situations: (a) a no identified parking space situation, (b) a parkable-in parking space situation, (c) a parkable-in parking space situation, in which a Q-factor is lower than in (b), and (d) an un-parkable-in parking space situation, wherein the Q-factor reflects a difficulty level for the parking assistance system to park the vehicle in the parking space from the current location.

5. The method as claimed in claim 3, further comprising: identifying the parking situation from among the further following parking situations: (a) a no identified parking space situation, (b) a parkable-in parking space situation, (c) a parkable-in parking space situation, in which the Q-factor is lower than in (b), and (d) an un-parkable-in parking space situation.

6. The method as claimed in claim 4, further comprising: signaling, by the remote control, the identified parking situation to the operator, wherein at least two of the parking situations are respectively signaled in a manner distinguishable for the operator using different pictograms associated with the respective parking situations displayed on a screen of the remote control.

7. The method as claimed in claim 1, wherein the parking assistance system is configured to park the motor vehicle in forward parking spaces by traveling at least one of forward and reverse, and wherein the remote control comprises a control means for controlling the at least one of forward and reverse travel of the motor vehicle.

8. The method as claimed in claim 7, wherein the automated transverse guidance maneuvers the motor vehicle into the parking space in an automatically directed fashion.

9. The method as claimed in claim 1, further comprising: signaling, by the remote control to the operator, whether the vehicle is steered into the parking space straight on without turning the steering wheel or the vehicle is steered into the parking space in a manner directed using automated transverse guidance.

10. The method as claimed in claim 7, further comprising: in response to detecting the parking space: determining a parking line in the longitudinal direction of the parking space, based on the surroundings information, and operating the parking assistance system to control the vehicle to park in the parking space using automated transverse guidance, wherein a longitudinal axis of the motor vehicle is regulated to a parking line.

11. The method as claimed in claim 10, wherein the method further comprises at least one of: checking a criterion relating to an orientation of the vehicle with respect to the parking space based on an orientation of the vehicle longitudinal axis and an orientation of the parking line; checking a criterion relating to a lateral offset of the vehicle with respect to the parking space based on a length of a perpendicular of a vehicle reference point to the parking line.

12. The method as claimed in claim 1, wherein the remote control comprises a visual display for signaling to the operator.

13. The method as claimed in claim 12, wherein the remote control comprises a screen as the visual display, and the signaling to the operator is via a pictogram depicted on the screen.

14. The method of claim 1, wherein detecting that the parking space is present and can be parked in is based on surroundings information indicating: respective positions of a first anchor point denoting an entrance of the parking space, and at least one of: a lateral orientation line on a same side of the first anchor point, and a second anchor point opposite the first anchor point, and wherein detecting that the parking space is not present or cannot be parked in is based on surroundings information indicating: the respective positions of the first anchor point, and at least one of: the lateral orientation line and the second anchor point, or the absence of at least one of: the first anchor point, and at least one of: the lateral orientation line and the second anchor point.

15. A remote control for a parking assistance system that is controllable by remote control from outside a motor vehicle to automatically parking the motor vehicle in a parking space, the remote control comprising: a bidirectional wireless communication device that initiates the parking assistance system to control the vehicle via user operation of the remote control, so as to maneuver the motor vehicle such that: in response to detecting, by the parking assistance system, that the parking space is present in the vehicle surroundings and can be parked-in, the parking assistance system maneuvers the vehicle to park in the parking space using automated transverse guidance, in response to detecting, by the parking assistance system, that the parking space is present but cannot be parked-in, the parking assistance system maneuvers the vehicle forward and/or reverse without using automated transverse guidance, and in response to detecting, by the parking assistance system, that the parking space is not present, the parking assistance system maneuvers the vehicle forward and/or reverse without using automated transverse guidance, wherein the detections by the parking assistance system are based on vehicle sensor system captured surroundings information.

16. A vehicle-based parking assistance system, controllable by remote control from outside a motor vehicle to automatically park the motor vehicle, the vehicle-based parking assistance system comprising: an ambient sensor system that determines surroundings information regarding the vehicle surroundings; parking space identification means that detects that one from among a set of potential scenarios is currently present, wherein the set of potential scenarios includes: a parking space is present and can be parked-in, the parking space is present but cannot be parked-in, and the parking space is not present, wherein the determination is based on the surroundings information; and one or more controllers that control the vehicle on the basis of the detection and a user operation of the remote control according to one from among a set of potential maneuvers, wherein the set of potential maneuvers includes: in response to detecting that the parking space is present and can be parked-in, maneuvering the vehicle to park in the parking space using automated transverse guidance, in response to detecting, by the parking assistance system, that the parking space is present but cannot be parked-in, maneuvering the vehicle forward and/or reverse without using automated transverse guidance, and in response to detecting that the parking space is not present maneuvering the vehicle forward and/or reverse without using automated transverse guidance.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) The invention is described below on the basis of an exemplary embodiment with reference to the appended drawings, in which:

(2) FIG. 1 shows a passenger car with an exemplary embodiment of the parking assistance system according to the invention, which is controllable by remote control;

(3) FIG. 2 shows an exemplary flowchart for the method according to the invention;

(4) FIG. 3-FIG. 6 show the determination of anchor points, lateral parking space orientation lines and the parking line in various exemplary situations; and

(5) FIG. 7-FIG. 8 show exemplary graphical depictions on a touchscreen of the remote control.

DETAILED DESCRIPTION OF THE DRAWINGS

(6) FIG. 1 schematically depicts a passenger car 1 with an exemplary embodiment of the parking assistance system 5 according to the invention, which is controllable by remote control 2 by an operator 3 of the remote control 2. The remote control 2 is preferably also used as a vehicle key. The parking assistance system 5 supports a parking process into a forward parking space 4. The forward parking space 4 is a garage, for example. The forward parking space 4 can be bounded by a physical boundary, e.g. the garage wall, another vehicle, plants, or else by ground markings. The parking assistant 5 comprises two modes, for example: a parking mode, wherein the parking assistant parks the vehicle on the parking space 4 forwards, and an exit mode, in which the parking assistant 5 takes the vehicle 1 out of the parking space 4 in reverse. Both modes preferably have no positive coupling. Accordingly, the driver can park his vehicle 1 himself, for example, and subsequently have the exit maneuver performed using the function described.

(7) Since the operator 3 is not in the vehicle 1 during the parking maneuver and the vehicle 1 does not now have to be left afterwards, the parking space may also be a narrow parking space in relation to the vehicle width (for example a narrow garage). In order to park the vehicle 1 in the parking space 4, the driver 3 gets out of the vehicle 1 in front of the parking space and uses a remote control 2 to start the automatic parking process. From that time onwards, the parking assistant 5 undertakes control of the drive, braking and steering functions and of the gear shift function and maneuvers the vehicle into the narrow garage—and also out of it again. Thus, the driver continues to be saved the inconvenience of getting in and out in narrow garages and possibly damaged doors. To simplify matters, FIG. 1 does not depict the automatic control functions of the parking assistance system 5 for controlling drive, brakes, etc. or the interface to the applicable controllers of the vehicle 1.

(8) The parking assistance system 5 preferably comprises an ultrasonic sensor system 6a on the vehicle front and an ultrasonic sensor system 6b on the vehicle rear. Preferably, there is also provision for a camera sensor system 6c that is directed forwards. The sensor information from the ambient sensor systems 6a, 6b, 6c is processed further by a parking space identification device 8. On the basis of the sensor information, a parking space is identified in the parking space identification device 8 and the parking space is qualified as able to be parked in or not able to be parked in. Information 9 about the identification of the parking space and the ability thereof to be parked in is sent from a bidirectional wireless communication device 10 to the bidirectional communication device 11 of the remote control 2, particularly in the form of a radio signal. Further, the bidirectional communication device 10 can receive control signals from the remote control 2.

(9) Further, control means 12-13 are provided for controlling the parking process, preferably in the form of virtual keys on a touchscreen 14; alternatively, physical keys are also conceivable. In the case of the exemplary embodiment in FIG. 1, a (in this case virtual) forward key 12 for controlling the forward travel of the passenger car 1 and a (in this case virtual) reverse key 14 for controlling the reverse travel of the passenger car are provided in the remote control 2. By operating and holding the forward key 12, the vehicle 1 is moved in a forward direction, and when the forward key 12 is released the vehicle 1 is slowed down. By operating and holding the forward key 13, the vehicle 1 is moved in a reverse direction, and when the reverse key 13 is released the vehicle 1 is slowed down.

(10) Further, the remote control 2 optionally comprises a dead man's key 16 that additionally needs to be operated by the user 3, otherwise the vehicle is slowed down; when the dead man's key 16 is released the vehicle is preferably slowed down more sharply than when the forward 12 or reverse key 13 is released (e.g. emergency braking in comparison with comfortable braking with lower noise generation).

(11) Furthermore, the remote control 2 comprises a visual display of the identification of the parking space and the ability thereof to be parked in. This is implemented by applicable pictograms on the touchscreen.

(12) The basic sequence of a parking process is described below.

(13) First of all, the driver stops in front of the forward parking space and switches off the motor and engages the P transmission stage. The driver gets out, positions himself behind the vehicle 1 and activates the parking function using the remote control 2. If the dead man's key 16 is pressed, the drive motor is started. To signal the readiness of the vehicle to go, the driving lights, particularly the rear lights of the vehicle, are automatically switched on and the exterior mirrors are automatically folded, for example folded in and folded out again (if the exterior mirrors were previously folded out) or folded out (if the exterior mirrors were previously folded in).

(14) If the driver operates the forward key 12 while the dead man's key 16 continues to be operated, transmission stage D is engaged and the vehicle moves at a setpoint speed prescribed by the longitudinal controller (e.g. 2 km/h) in the direction of the parking space 4. If the system has identified a parking space that can be parked in, the vehicle is also automatically directed in this case.

(15) A change of direction is possible at any time; this requires the reverse key 13 to be operated during forward travel. A fresh change of direction then requires the forward key 12 to be operated again.

(16) To end the parking process, the forward key 12 or the dead man's key 16 can be released. The vehicle then stops in the parking space, changes over the transmission stage from D to P, applies the electric parking brake and stops the motor.

(17) FIG. 2 depicts an exemplary flowchart for the signaling of the identification of a parking space and the ability thereof to be parked in to the user 3 using the remote control 2.

(18) In step 100, surroundings information regarding the vehicle surroundings is ascertained by means of the ambient sensor system 6a, 6b, 6c. This happens while actually driving up to the parking space 4 until the vehicle 1 is parked in front of the parking space 4, provided that there has been a drop below a limit speed of, by way of example, 10 km/h, and preferably also afterwards during the automated parking process. To this end, the ambient sensor system 6a, 6b, 6c is used to determine the position of objects, for example the position of lateral boundaries of a parking space such as vehicles, lateral walls of a garage or markings put on the ground, and these objects are entered in a surroundings map of the vehicle surroundings.

(19) In step 110, the motor vehicle 1 identifies a parking space based on the surroundings information. By way of example, the identification of a parking space involves a left and a right anchor point (typically the two corners of the entrance) being determined that denote the entrance of the parking space. FIG. 3 depicts an exemplary left anchor point 300 and an exemplary right anchor point 301 in a surroundings map with the identified objects. Ideally, an anchor point is situated on a lateral parking space orientation line (in the case of the anchor point 300, the parking space orientation line 301, and in the case of the anchor point 301). The lateral parking space orientation lines 302, 303 are determined from the detected objects (physical objects such as vehicle or walls or a marking on the ground surface) of the boundary of the parking space 4. A parking space is preferably deemed to have been identified when at least one anchor point and a lateral parking space orientation line on the same side of the parking space 4 or a second anchor point on the other side are found.

(20) Further, a parking line 305 is determined. The parking line 305 is used for computing the input signal for the transverse controller of the transverse guidance. The parking line 305 preferably has no defined length and is preferably of infinite length.

(21) When it has been possible to find a right parking space orientation line 301 and a left parking space orientation line 302, the orientation of the parking line 305 corresponds to the mean value (e.g. 15° in reference to the vehicle longitudinal axis 306) from the orientation (e.g. 10° in reference to the vehicle longitudinal axis 306) of the lateral parking space orientation line 302 and the orientation (e.g. 20° in reference to the vehicle longitudinal axis 306) of the other lateral parking space orientation line 303.

(22) The parking line is positioned such that the distances of the two anchor points 300, 301 from the parking line 305 are essentially identical.

(23) Preferably, a center of rotation 307 is determined in order to stipulate the position of the parking line 305. The position of the parking line 305 is defined by the center of rotation 307, through which the parking line 305 must run and which is arranged centrally between the two anchor points 301, 302, specifically preferably such that the lengths d/2 of the two perpendiculars of the two anchor points 300, 301 to the parking line 305 are identical.

(24) If a parking space cannot be identified (for example because only a single anchor point 301, 302 without an associated lateral parking space orientation line can be found), then the parking line 305 is chosen to be identical to the vehicle longitudinal axis 306, so that the vehicle is moved straight on along the vehicle longitudinal axis.

(25) If only a single lateral parking orientation line 302, 303 and at least the associated anchor point 300, 301 on the same side can be determined, then the orientation of the parking line 305 corresponds to the orientation of the one parking orientation line 302, 303.

(26) If only a single anchor point 300, 301 can be found in this case or if the parking space width is greater than a threshold value b.sub.max for the parking space width, then the parking orientation line 302, 303 is positioned at a particular distance from the anchor point, for example at the distance of half the vehicle width b.sub.VEH plus a safety distance Δs (e.g. Δs=0.45 m). The center of rotation 307 is therefore computed as follows, for example: the perpendicular of the center of rotation 307 on the parking orientation line 302, 303 must run through the anchor point 300, 301 of the associated parking orientation line 302, 303. The distance of the center of rotation 307 from this anchor point 300, 301 in this case corresponds to half the vehicle width b.sub.VEH plus a safety distance Δs (e.g. Δs=0.45 m), for example. This is depicted by way of example in FIG. 4.

(27) If two anchor points 300, 301 and only a single lateral parking orientation line 302, 303 can be found and the distance between the anchor points 300, 301 is less than or equal to the maximum parking space width b.sub.max, then the center of rotation 307 is determined as follows: the parking line 305 needs to be positioned such that the lengths of the perpendiculars of the anchor points 300, 301 to the parking line 305 are essentially the same. This is depicted by way of example in FIG. 5.

(28) If it is possible to find two anchor points 300, 301 at a distance of greater than the minimum parking space width b.sub.min (e.g. 2.60 m) and less than the maximum parking space width b.sub.max (e.g. 3.50 m), but no lateral parking space orientation line, then the parking line 305 has its orientation defined as an orthogonal on the straight line that runs through the two anchor points 300, 301, the parking line 305 running through the central point of the straight line between the two anchor points 300, 301. This is depicted by way of example in FIG. 6.

(29) If the distance between two anchor points is less than the minimum parking space width b.sub.min, then the parking line 305 is defined in accordance with the vehicle longitudinal axis 306, so that the vehicle 1 travels straight on.

(30) In step 120 in FIG. 2, identification of the parking space on the basis of multiple criteria is followed by the current parking situation being ascertained from a plurality of possible parking situation types. The possible parking situation types are, by way of example:

(31) 1. no identified parking space,

(32) 2. an identified parking space that can be parked in, which can be parked in from the current vehicle position by remote control using the parking assistance system,

(33) 3. an identified parking space that can be parked in, which can be parked in from the current vehicle position by remote control using the parking assistance system, wherein the Q factor of the ability of the parking space to be parked in is lower than in the case of the aforementioned 3rd parking situation type, and

(34) 4. an identified parking space that cannot be parked in from the current vehicle position by remote control using the parking assistance system.

(35) In this regard, it is particularly established whether the possibly identified parking space 4 can be parked in. In order to check the ability of the parking space to be parked in, the angle α between the orientation of the vehicle longitudinal axis 306 and the orientation of the parking line 305 is determined (see FIG. 3). Further, the lateral offset Δs.sub.v of the vehicle 1 with respect to the parking space 4 is determined. The lateral offset Δs.sub.v corresponds to the length of the perpendicular of the vehicle reference point (for example middle of the rear axle) to the parking line 305, for example, as depicted by way of example in FIG. 3. Further, the width b of the parking space 4 is determined, for example as the distance between the two anchor points 301, 302. Furthermore, the distance a between the vehicle and the parking space is determined, for example as distance a between a vehicle reference point (the middle 308 of the rear axle) and a reference point on the parking space (e.g. the center of rotation).

(36) The 1.sup.st parking situation type with the parking space not identified exists when at least one anchor point and a lateral parking space orientation line on the same side or a second anchor point on the other side are not found.

(37) The 2.sup.nd parking situation type with a parking space that can be parked in exists when the following conditions are cumulatively met: the absolute value of the angle α is less than or equal to a threshold value α,.sub.TH,1 (e.g. α,.sub.TH,1=10°), the absolute value of the lateral offset Δs.sub.v is less than or equal to a threshold value Δs.sub.v,TH,1 (e.g. Δs.sub.v,TH,1=1 m), the width b of the parking space is greater than or equal to the minimum width b.sub.min and the distance a is less than or equal to a threshold value a.sub.max.

(38) The existence of the 3.sup.rd parking situation type with a parking space that can be parked in with a low Q factor for the ability of the parking space to be parked in is established when the following conditions are cumulatively met: the absolute value of the angle α is less than or equal to a threshold value α,.sub.TH,2>α,.sub.TH,1 (e.g. α,.sub.TH,2=30°), the absolute value of the lateral offset Δs.sub.v is less than or equal to a threshold value Δs.sub.v,TH,2>Δs.sub.v,TH,1 (e.g. Δs.sub.v,TH,2=1.5 m), the width b of the parking space is greater than or equal to the minimum width b.sub.min and the distance a is less than or equal to a threshold value a.sub.max.

(39) The existence of the 4.sup.th parking situation type with the parking space that is identified but that cannot be parked in is established when one of the following conditions is met: the absolute value of the angle α is greater than the threshold value α,.sub.TH,2 (e.g. α,.sub.TH,2=30°), the absolute value of the lateral offset Δs.sub.v is greater than the threshold value Δs.sub.v,TH,2 (e.g. Δs.sub.v,TH,2=1.5 m), the width b of the parking space is less than the minimum width b.sub.min or the distance a is greater than the threshold value a.sub.max.

(40) Instead of the 4 criteria described above, it is possible, in an alternative embodiment, for just a subset of these 4 criteria to be checked.

(41) The information PS about the currently existing parking situation type is sent from the vehicle to the remote control 2 in step 130. The information PS about the currently existing parking situation type is, by way of example, a byte whose value describes the currently existing parking situation type.

(42) The information PS about the currently existing parking situation type is received by the remote control 2 in step 140.

(43) Based on the information PS about the currently existing parking situation type, a pictogram associated with the information PS is depicted on the screen 14 (see step 150).

(44) If, in accordance with the information PS, the 2.sup.nd parking situation with a parking space that can be parked in exists, then the touchscreen 14 depicts the image shown in FIG. 7 with the virtual control keys 12 and 13 for the forward direction and the reverse direction, for example. The identified parking space that can be parked in, in accordance with the 2.sup.nd parking situation type, is depicted as pictogram 400.

(45) If, in accordance with the information PS, the 3.sup.rd parking situation with a parking space that can be parked in, but a lower Q factor for the ability of the parking space to be parked in, exists, then the touchscreen 14 depicts the image shown in FIG. 7, for example, wherein the depicted pictogram has a different color than in the case of the 2.sup.nd parking situation to allow the user to distinguish between them (e.g. green in the case of the 2.sup.nd parking situation and blue in the case of the 3.sup.rd parking situation).

(46) If, in accordance with the information PS, the 1.sup.st parking situation (parking space not identified) or the 4.sup.th parking situation (parking space identified, but not able to be parked in) exists, then the image depicted in FIG. 8 is depicted on the touchscreen, the pictogram 401 having no parking space highlighted in it, and instead the route being continued without a parking space.

(47) The parking situation that is determined in the vehicle-based parking assistance system, and the signaling of the parking situation on the remote control, can be continually updated during the parking maneuver when circumstances change. By way of example, the parking situation can change from the 3.sup.rd parking situation to the 2.sup.nd parking situation or from the first parking situation 1. to the 2.sup.nd, 3.sup.rd or 4.sup.th parking situation. The change is then accordingly communicated to the user on the screen.

(48) In this exemplary embodiment, the vehicle can be steered into the parking space in a manner directed with automated transverse guidance only in parking situations 2. and 3., the longitudinal axis 306 of the motor vehicle 1 being controlled or regulated for the parking line 305 as part of the transverse guidance.

(49) To this end, the current actual angle α between the current orientation of the vehicle longitudinal axis 306 and the parking line 305 and the current actual offset Δs.sub.v between the vehicle 1 and the parking line 305 are continually determined during the parking maneuver, for example. These variables α, Δs.sub.v are used by the transverse controller of the transverse guidance as input variables. The transverse controller attempts to bring the actual angle α and the actual offset Δs.sub.v to zero, so that the vehicle is guided to the parking line 305.

(50) In parking situations 1. and 4., the parking line 305 is chosen in accordance with the vehicle longitudinal axis 306, so that there is no discrepancy α, Δs.sub.v and the vehicle 1 travels straight on.

(51) The foregoing disclosure has been set forth merely to illustrate the invention and is not intended to be limiting. Since modifications of the disclosed embodiments incorporating the spirit and substance of the invention may occur to persons skilled in the art, the invention should be construed to include everything within the scope of the appended claims and equivalents thereof.