METHOD FOR DETECTING A PARKING SPACE BECOMING AVAILABLE BY WAY OF AN ASSISTANCE SYSTEM COMPRISING A RADAR SENSOR, AND ASSISTANCE SYSTEM AND MOTOR VEHICLE

Abstract

Technologies and techniques for detecting a parking space becoming available via an assistance system of a vehicle searching for a parking space. Radar signals are emitted by at least one radar sensor searching for the parking space and whether a parking space becoming available is recognized on the basis of received radar signals, which are evaluated by an evaluation unit of the vehicle. Micro-movements of a vehicle parked in a parking space, may characterize the vacating of the parking space, and may be detected by evaluating the radar signals reflected by this parked vehicle. A presumptive parking space becoming available may be identified by the assistance systems on the basis of such a detection of a micro-movement. An assistance system and a motor vehicle using the assistance system are also disclosed.

Claims

1-9. (canceled)

10. A method for detecting a parking space for a vehicle, comprising: emitting and receiving radar signals via at least one radar sensor; evaluating the received radar signals via an evaluation unit to detect a prospective parking space, wherein the evaluating comprises detecting radar reflections from the received radar signal indicating micromovements of a vehicle parked in a parking space; and identifying the prospective parking space based on the evaluating.

11. The method of claim 10, wherein the micromovements comprise mechanical vibrations of the parked vehicle associated with a starting of an engine of the parked vehicle.

12. The method of claim 10, wherein the micromovements comprise one or more of pitching movements of the parked vehicle about a transverse axis of the parked vehicle in the parked state, and/or rolling movements of the parked vehicle about a longitudinal axis of the parked vehicle in the parked state.

13. The method of claim 12, further comprising detecting a person at the parked vehicle via a further acquisition unit of the vehicle, wherein, on the basis of an acquired person and an occurrence of the pitching movement and/or a rolling movement, the identified prospective parking space is validated.

14. The method of claim 10, wherein evaluating the received radar signals comprises evaluating the received radar signals based on a micro-Doppler effect that has occurred and, depending on detected micro-Doppler shifts in the received radar signal, an operating state of the parked vehicle is detected indicating an imminent vacating of the parking space.

15. The method of claim 10, further comprising acquiring maneuvering movements of the parked vehicle within the parking space, and, depending thereon, detecting an imminent vacating of the parking space.

16. The method of claim 10, further comprising evaluating received radar signals reflected off a side of a street opposite the prospective parking space, and identifying the prospective parking space therefrom.

17. A system for detecting a parking space for a vehicle, comprising: at least one radar sensor; and at least one evaluation unit, wherein the at least one radar sensor and evaluation unit are configured to emit and receive radar signals via the at least one radar sensor; evaluate the received radar signals via the evaluation unit to detect a prospective parking space, wherein the evaluating comprises detecting radar reflections from the received radar signal indicating micromovements of a vehicle parked in a parking space; and identify the prospective parking space based on the evaluating.

18. The system of claim 17, wherein the micromovements comprise mechanical vibrations of the parked vehicle associated with a starting of an engine of the parked vehicle.

19. The system of claim 17, wherein the micromovements comprise one or more of pitching movements of the parked vehicle about a transverse axis of the parked vehicle in the parked state, and/or rolling movements of the parked vehicle about a longitudinal axis of the parked vehicle in the parked state.

20. The system of claim 19, further comprising a further acquisition unit, operatively coupled to the evaluation unit, wherein the further acquisition unit is configured to detect a person at the parked vehicle, wherein, on the basis of an acquired person and an occurrence of the pitching movement and/or a rolling movement, the identified prospective parking space is validated.

21. The system of claim 17, wherein the at least one radar sensor and evaluation unit are configured to evaluate the received radar signals by evaluating the received radar signals based on a micro-Doppler effect that has occurred and, depending on detected micro-Doppler shifts in the received radar signal, an operating state of the parked vehicle is detected indicating an imminent vacating of the parking space.

22. The system of claim 17, wherein the at least one radar sensor and evaluation unit are configured to acquire maneuvering movements of the parked vehicle within the parking space, and, depending thereon, detecting an imminent vacating of the parking space.

23. The system of claim 17, wherein the at least one radar sensor and evaluation unit are configured to evaluate received radar signals reflected off a side of a street opposite the prospective parking space, and identifying the prospective parking space therefrom.

24. A method for detecting a parking space for a vehicle, comprising: emitting and receiving radar signals via at least one radar sensor; evaluating the received radar signals via an evaluation unit to detect a prospective parking space, wherein the evaluating comprises detecting radar reflections from the received radar signal indicating micromovements of a vehicle parked in a parking space, wherein evaluating the received radar signals comprises evaluating the received radar signals based on a micro-Doppler effect that has occurred and, depending on detected micro-Doppler shifts in the received radar signal, an operating state of the parked vehicle is detected indicating an imminent vacating of the parking space; and identifying the prospective parking space based on the evaluating.

25. The method of claim 24, wherein the micromovements comprise mechanical vibrations of the parked vehicle associated with a starting of an engine of the parked vehicle.

26. The method of claim 24, wherein the micromovements comprise one or more of pitching movements of the parked vehicle about a transverse axis of the parked vehicle in the parked state, and/or rolling movements of the parked vehicle about a longitudinal axis of the parked vehicle in the parked state.

27. The method of claim 26, further comprising detecting a person at the parked vehicle via a further acquisition unit of the vehicle, wherein, on the basis of an acquired person and an occurrence of the pitching movement and/or a rolling movement, the identified prospective parking space is validated.

28. The method of claim 24, further comprising acquiring maneuvering movements of the parked vehicle within the parking space, and, depending thereon, detecting an imminent vacating of the parking space.

29. The method of claim 24, further comprising evaluating received radar signals reflected off a side of a street opposite the prospective parking space, and identifying the prospective parking space therefrom.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The present disclosure will be described in more detail hereafter based on a preferred exemplary embodiment. In the drawings:

[0026] FIG. 1 shows an illustration of a configuration for a parking process for a vehicle, under some aspects of the present disclosure.

DETAILED DESCRIPTION

[0027] The exemplary embodiment explained below is a preferred embodiment of the present disclosure. In the example, the described components of the embodiment each represent individual features of the present disclosure that are to be considered independently of one another, which also embody the present disclosure independently of one another and are therefore to be regarded as part of the present disclosure either individually or in a combination other than the one shown. Furthermore, the embodiment as described can also be supplemented by further features of the present disclosure have already been described.

[0028] FIG. 1 shows a perspective view of a traffic scenario 1. A vehicle 2, which is a motor vehicle here, in particular a passenger car, is located on a roadway 3. Off to the side of the roadway 3, for example, there is a plurality of parking spots 4, of which only a few are provided with the reference numeral for the sake of better clarity. These parking spaces 4 are configured, for example, as perpendicular parking spots. The vehicle 2 that is searching for a parking space 4 moves in the direction of the arrow P on the roadway 3. This vehicle 2 has an electronic assistance system 5. The electronic assistance system 5 is designed to detect a parking space 4 that will become available, but that, while the search is ongoing, is currently still occupied by another object, in particular another vehicle 6. In particular, this assistance system 5 is also designed to detect a free parking space 4.

[0029] The assistance system 5 is, for example, also designed to carry out an at least semi-autonomous, in particular fully autonomous, parking process of the vehicle 2 in an available parking space 4.

[0030] This assistance system 5 preferably has at least one radar sensor 7, in particular several radar sensors 7. Said at least one radar sensor 7 is arranged on the vehicle 2. The assistance system 5 preferably has at least one further acquisition unit, in particular an optical acquisition unit 8. This detection unit can, in particular, be a camera, and it can be, in particular, sensitive in the spectral range that is visible to humans.

[0031] In addition, the assistance system 5 preferably also has an evaluation unit 9. This unit is arranged in particular in the vehicle 2, as shown in the Fig.

[0032] In the exemplary embodiment, the parking spaces 4 are occupied by vehicles. In this state, the at least one radar sensor 7 of the vehicle 2 that is searching for a parking space 4 emits radar signals that are reflected off objects in the vicinity. On the basis of such reflected and received radar signals, which are received by the vehicle 2 and evaluated by the evaluation unit 9 of the vehicle 2, it is detected whether a parking space 4 will become available in the near future, but which is currently still occupied by a vehicle.

[0033] For this purpose, it is provided that micro-movements of at least one vehicle 6 that is parked in a parking space 4 are detected upon an evaluation of the radar signals reflected by this parked vehicle 6 and that are received by the vehicle 2 that is searching for a parking space 4. On the basis of such detected micro-movements, it is at least suspected or estimated, in particular by the assistance system 5, that the parking space 4 will become available.

[0034] In the exemplary embodiment it is provided that, for example, the further vehicle 6, which is parked in the parking spot or the parking space 4, performs micro-movements. Said micro-movements are detected by evaluating the previously mentioned radar signals. In particular, mechanical vibrations of the parked vehicle 6 are detected as micro-movements of the further vehicle 6. For example, these are micro-movements of the vehicle 6 occur, in particular, when a drive unit 10 of this vehicle 6 is started and/or when this drive unit 10 of this vehicle 6 has already been started. In particular, these micro-movements are in the form of mechanical vibrations that are also present when the vehicle 6 is at a standstill and not moving, and only the drive unit 10 is started or the drive unit 10 has already been started, and the further vehicle 6 is not yet moving or driving. For example, these vibrations can be corresponding mechanical vibrations of the vehicle body.

[0035] In addition to, or instead of, it can be provided that pitching movements of this parked vehicle 6 about a transverse axis A of this vehicle 6 in the parked state and/or rolling movements of this parked vehicle 6 about a longitudinal axis B of this vehicle 6 in the parked state can be detected as micro-movements.

[0036] In some examples, it can also be provided that a person 11 at the parked vehicle 6 can be detected, when a person is present, with a further acquisition unit such as, for example, acquisition unit 8 of the vehicle 2 that is searching for a parking space 4. On the basis of an acquired person 11 and an occurrence of a pitching movement and/or a rolling movement, it can be estimated that the parked vehicle 6 will vacate the parking space. In particular, this fact is suspected or estimated even more precisely than it would be possible if only micro-movements were determined on the basis of the evaluation of the radar signals.

[0037] The evaluation of the received radar signals is carried out with regard to a micro-Doppler effect that has occurred. An operating state of the parked vehicle 6 is detected on the basis of detected micro-Doppler shifts in the received radar signal, which at least allows for suspecting that a vacating action of the parking space will occur.

[0038] In addition, actually occurring maneuvering movements, which represent a movement of the parked vehicle 6 within the parking space 4, can be acquired in particular with the at least one radar sensor 7 and/or the acquisition unit 8 and, on the basis thereof, a vacating of a parking space can be detected or suspected with an even higher probability.

[0039] Likewise, it is possible for the radar signals which were reflected off the side of the street 12 opposite the occupied parking space 4 to be received by the vehicle 2 that is searching for a parking space, and thus a parking space 4 that is becoming available can be detected, which cannot be seen from the current position of the vehicle 2 that is searching for a parking space 4, and which can be assessed with regard to becoming available. For example, such a parking space, which cannot be seen from the current position of the vehicle 2, can be hidden behind other objects, such as parked vehicles and/or trees and/or walls or the like, or it can be provided in a corresponding side street to the roadway 3, from where it branches off or with which it intersects. In the Fig., this opposite side of the street 12 is therefore only symbolically indicated by the reference numeral, and it is intended to represent any condition according to which parking spaces that are currently still occupied and cannot be seen from the current position of the vehicle 2 that is searching for a parking space 4 are available. They are therefore on the side of the roadway 3 opposite the side of the street 12. Thus, they can be in the area of the parking spaces 4 shown in the Fig. or in a street that curves relative hereto, or the like.

LIST OF REFERENCE NUMERALS

[0040] 1 traffic scenario [0041] 2 vehicle [0042] 3 roadway [0043] 4 parking space [0044] 5 assistance system [0045] 6 vehicle [0046] 7 radar sensor [0047] 8 acquisition unit [0048] 9 evaluation unit [0049] 10 drive unit [0050] 11 person [0051] 12 side of the street [0052] A transverse axis [0053] B longitudinal axis [0054] P arrow