Patent Application
20240051604
This application claims priority to German Patent Application No. DE 10 2021 200 188.2, filed on Jan. 11, 2021 with the German Patent and Trademark Office. The contents of the aforesaid Patent Application are incorporated herein for all purposes.
The invention relates to a method for operating a motor vehicle in which a driver of the motor vehicle is assisted during a parking operation by at least one indication being output. Here, at least one trajectory along which the motor vehicle can be moved into a target position in one move is communicated to the driver. The invention further relates to a motor vehicle for assisting a driver during a parking operation.
This background section is provided for the purpose of generally describing the context of the disclosure. Work of the presently named inventor(s), to the extent the work is described in this background section, as well as aspects of the description that may not otherwise qualify as prior art at the time of filing, are neither expressly nor impliedly admitted as prior art against the present disclosure.
Motor vehicles that are currently available may have parking assistance systems in which the driver themselves drives past a parking space, stops, and then engages the reverse gear. If the driver in the motor vehicle has activated a parking assistance function of the system, the indication that no parking space has yet been found or that a parking space has been found but the motor vehicle cannot move into the parking space from the actual position of the motor vehicle can appear on a display of the motor vehicle. Furthermore, it can be displayed to the driver on the display that they have now reached a position at which they should engage the reverse gear in order to maneuver the motor vehicle into the parking space.
However, in the case of a parking assistance system of this kind, it is possible that the driver stops at a location from which a parking operation is only possible in multiple moves. This is not only laborious but also more time-consuming than single-move parking, i.e., parking in just one move.
Furthermore, it is possible that the driver stops at a location from which it is not at all possible to park, for example because there is not sufficient space to perform a corresponding steering deflection of steerable wheels of the motor vehicle due to other parked motor vehicles or the like. In such a case, no assistance function of the motor vehicle in which the motor vehicle automatically performs steering deflections of the steerable wheels of the motor vehicle can be activated. This is also disadvantageous with respect to parking that is as quick as possible.
A need exists to provide a method which allows for a particularly simple and quick parking and to provide a motor vehicle configured for carrying out the method.
The need is addressed by the subject matter of the independent claims. Embodiments of the invention are described in the dependent claims, the following description, and the drawings.
The details of one or more embodiments are set forth in the accompanying drawings and the description below. Other features will be apparent from the description, drawings, and from the claims.
In the following description of embodiments of the invention, specific details are described in order to provide a thorough understanding of the invention. However, it will be apparent to one of ordinary skill in the art that the invention may be practiced without these specific details. In other instances, well-known features have not been described in detail to avoid unnecessarily complicating the instant description.
In the method according to some embodiments for operating a motor vehicle, a driver of the motor vehicle is assisted during a parking operation by at least one indication being output. At least one trajectory along which the motor vehicle can be moved into a target position in one move is communicated to the driver. In the method, when a multiple-move parking operation has to be performed in order to reach the target position from an actual position of the motor vehicle, a start position which is different from the actual position is communicated to the driver by means of an assistance apparatus of the motor vehicle. The motor vehicle can move from the start position into the target position in one move.
The assistance apparatus therefore ensures that the driver of the motor vehicle can reliably reach the start position from which single-move and thus time-efficient parking is possible. Consequently, by means of the method, particularly simple and quick parking can be achieved.
Furthermore, the method makes it possible to perform a trained or learned parking operation from the start position, in which parking operation the motor vehicle automatically or autonomously travels along a trajectory of which the parameters were previously stored in a corresponding apparatus of the motor vehicle. This also results in improved assistance of the driver during the parking operation.
In some embodiments, the method makes it possible, for example in a narrow alley and/or in the case of an oncoming lane blocked by other motor vehicles, for the driver to be guided in a targeted manner to the start position from which the single-move parking operation can be performed even in such difficult conditions. As a result, the method can beneficially be used in particularly diverse situations.
For example, when the target position is reached by the motor vehicle, the parking operation is completed. In this case, guidance of the motor vehicle from the start position in the one move to the target position, which corresponds, for example, to a parking position of the motor vehicle in a parking space, involves particularly little effort.
For example, the assistance apparatus assists the driver with reaching the start position with the motor vehicle by outputting the at least one indication. In this way, it can be ensured that the driver reaches the start position that is favorable for the single-move parking operation in a particularly reliable and quick manner.
For example, at least one dimension of the motor vehicle is taken into account by an evaluation apparatus of the motor vehicle in order to determine the start position. For example, such a dimension may include a length, a width, a wheel base of the motor vehicle, or the like. Such geometric data of the motor vehicle are helpful when determining the start position.
Additionally or alternatively, a maximum possible steering deflection of at least one steerable wheel of the motor vehicle can be taken into account by the evaluation apparatus of the motor vehicle. This is also beneficial with regard to the reliable determination of a promising start position for the single-move parking operation.
Furthermore, parameters such as a distance between the motor vehicle and at least one obstacle arranged in the surroundings of the motor vehicle during travel along the trajectory and/or at least one dimension of a parking space in which the motor vehicle is located when it reaches the target position can be taken into account by the evaluation apparatus of the motor vehicle in order to determine the start position. Parameters of this kind are also helpful for the determination of the start position.
For example, a plurality of trajectories along each of which the motor vehicle can be moved into the target position in one move is communicated to the driver by the assistance apparatus. Here, the respective trajectory is assigned to a class and the class to which the respective trajectory belongs is communicated to the driver. In this way, the driver obtains the information that, in principle, different trajectories can be used to reach the target position. This produces a particularly high degree of flexibility with regard to the single-move parking. And by means of the assignment of the trajectory to a respective class, the driver for example receives information as to how the respective trajectory is to be assessed, for example, with respect to a simplicity of the parking operation. This is beneficial for the driver, because the driver can therefore establish the extent to which a trajectory that is possible in principle appeals to them.
For example, a magnitude of at least one steering deflection of at least one steerable wheel of the motor vehicle to be performed when traveling along the trajectory is taken into account by an evaluation apparatus of the motor vehicle when assigning the respective trajectory to the class.
Additionally or alternatively, a number of steering deflections of at least one steerable wheel of the motor vehicle to be performed when traveling along the trajectory can be taken into account by the evaluation apparatus of the motor vehicle. Parameters of this kind thus correspond to how easy or convenient or efficient the respective trajectory is with regard to reaching the target position.
Additionally or alternatively, parameters such as a distance between the motor vehicle and at least one obstacle arranged in the surroundings of the motor vehicle during travel along the trajectory and/or a use of a travel lane provided for at least one road user other than the motor vehicle during travel along the trajectory and/or a length of the trajectory can be taken into account by the evaluation apparatus of the motor vehicle when assigning the respective trajectory to the class.
Parameters of this kind are also well suited for the assignment of the respective trajectory to one of the classes. This is because such parameters also correlate with how easy travel along the trajectory can be made or how quickly the trajectory can be covered. This is also beneficial with regard to a quick and simple parking operation to be performed.
In particular, based on the class to which the respective trajectory is assigned, the driver can make a good estimate of how easily the parking operation can be performed from the start position. As a result, the driver can use a trajectory that fits particularly well with their individual preferences or, alternatively, move to another start position if the trajectory beginning at said start position seems more favorable or easier to them with regard to the parking operation.
For example, as the at least one indication, the assistance apparatus displays at least one direction arrow to the driver on a display of the motor vehicle and/or gives the driver at least one recommendation for actuating a steering handle of the motor vehicle. Additionally or alternatively, an acoustic indication can also be output to the driver by the assistance apparatus. Indications of this kind are helpful both when traveling along the trajectory and for reaching the target position.
Additionally or alternatively, as the at least one indication, the assistance apparatus displays the start position to the driver on a display of the motor vehicle. For example, the start position may be marked on the display by means of a symbol, for example a finish flag or the like. In this way, the driver is given an easily understandable indication as to the location of the start position from which the parking operation can be performed in one move and thus particularly quickly and easily.
It has proven particularly beneficial if, as the at least one indication, the assistance apparatus displays to the driver on a display of the motor vehicle at least one region in the surroundings of the motor vehicle within which the at least one trajectory is located. In this way, the driver can be instructed in a very comprehensible manner as to from where in the surroundings of the motor vehicle single-move parking operations are possible at all in relation to the actual position of the motor vehicle. This is beneficial for the subsequent performance of the single-move parking maneuver or parking operation.
In particular, the at least one trajectory and an assignment of the at least one trajectory to one of the classes can be marked in the at least one region. In this regard, it can be provided, for example, that the region is divided into subareas that correspond to a respective class. In particular, it can be provided that the respective trajectory can be marked as belonging to the class which corresponds to the subarea within which the respective trajectory begins. In this way, the assignment of the trajectories beginning within the region to the respective classes is particularly easy for the driver to comprehend.
For example, the assistance apparatus assists the driver during travel along the trajectory by outputting the at least one indication. This makes the parking operation very easy for the driver if the driver performs at least part of the parking operation themselves, i.e., if the driver themselves performs driving maneuvers such as acceleration and/or braking, maintenance of a (for example low) travel speed and/or actuation of a steering handle of the motor vehicle or the like.
For example, the at least one indication is superimposed on an image taken by means of at least one camera of the motor vehicle and displayed to the driver. By using augmented reality (AR) in this way, the at least one indication can be output to the driver in a particularly intuitive manner. This is particularly helpful, both for assisting the driver for the purpose of reaching the start position and during travel along the trajectory.
Additionally or alternatively, the at least one indication can be displayed on a display of a navigation system of the motor vehicle. For example, the indication can be communicated in a very comprehensible manner to the driver on a screen of the navigation system.
Additionally or alternatively, it is possible to communicate the at least one indication to the driver by means of a head-up display of the motor vehicle. A display or display apparatus of this kind, in which the indication is superimposed on the field of view of the driver while said driver is looking through a windscreen of the motor vehicle, can also beneficially be used for outputting the indication to the driver.
For example, the motor vehicle is moved by means of a control apparatus of the motor vehicle that is designed for autonomous guidance of the motor vehicle from the start position into the target position in one move. In this case, the driver does not need to perform actions themselves in order to move the motor vehicle along the trajectory and into the target position in one move. Rather, the control apparatus designed for autonomous guidance of the motor vehicle provides corresponding steering deflections of at least one steerable wheel of the motor vehicle as well as onward movement and braking of the motor vehicle during travel along the trajectory and when the target position has been reached. This makes the method particularly low-effort and convenient for the driver.
For example, the start position and/or the at least one trajectory is communicated to the driver by the assistance apparatus if the driver informs the assistance apparatus that a parking operation is to be performed. For example, the driver can inform the assistance apparatus that they intend to park the motor vehicle in a parking space by actuating a corresponding control element. Subsequently, the driver is assisted by the assistance apparatus as early as during the search for the parking space. For example, it can in particular be provided that the driver can already identify and drive to a suitable stopping position as the start position when driving past a parking space. Subsequently, the parking operation can be performed particularly well and easily.
This is beneficial, if for example further motor vehicles on an oncoming lane restrict the space available for parking and thus a suitable start position for the single-move parking by the driver alone cannot be easily found. Consequently, assistance of this kind for the driver is particularly beneficial.
The motor vehicle according to some embodiments is designed to assist a driver of the motor vehicle during a parking operation by at least one indication being output. The motor vehicle is further designed to communicate to the driver at least one trajectory along which the motor vehicle can be moved into a target position in one move. The motor vehicle comprises an assistance apparatus which is designed to communicate to the driver a start position that is different from the actual position if a multiple-move parking operation has to be performed from an actual position of the motor vehicle in order to reach the target position. The motor vehicle can move from the start position into the target position in one move. Consequently, the motor vehicle is designed to carry out the method according to some embodiments such that a particularly simple and quick parking operation can be performed by means of the motor vehicle.
The benefits described for the method and the various embodiments also apply to the motor vehicle and vice versa.
Also belonging to the disclosure are thus, in particular, embodiments of the motor vehicle that have features which have already been described in conjunction with the embodiments of the method. For this reason, the corresponding embodiments are not described again here for the motor vehicle.
The invention also includes combinations of the features of the described embodiments.
In the following, further exemplary embodiments of the invention are described. Reference will be made to the drawings in which the various elements of embodiments will be given numerical designations and in which further embodiments will be discussed.
Specific references to components, process steps, and other elements are not intended to be limiting.
In the embodiments described herein, the described components of the embodiments each represent individual features that are to be considered independent of one another, in the combination as shown or described, and in combinations other than shown or described. In addition, the described embodiments can also be supplemented by features other than those described.
Elements having the same functions are, in each case, provided with the same reference numerals in the FIGS.
An evaluation apparatus 22 of the motor vehicle 10 (cf.
The possibility of single-move parking will now be explained based on
The area or rather region 24 can also be referred to as a heat map (thermal image). According to
For example, trajectories along which the motor vehicle 10 can be maneuvered in a particularly simple manner into the parking space 20 can be marked within the first subarea 28 by means of first, relatively thick arrows. Arrows present in the second subareas 30 can be designed so as to be thinner in comparison or can differ in another way from the first arrows shown within the first subarea 28. And in the third subareas 32, further, again thinner arrows or the like can in turn denote trajectories along which the motor vehicle 10 can be moved in order to arrive at the parking space 20. The different design of the respective arrow thus signifies that a respective trajectory 26 belongs to a particular class.
In the present case, however, it should be assumed for illustrative reasons that the subareas 28, 30, 32 of the region 24 are in different colors. The color of the respective subarea 28, 30, 32 corresponds to the assignment of the subarea 28, 30, 32 to a particular class.
For example, the first subarea 28 shown in
In contrast, laterally adjoining the first subarea 28 are the second subareas 30, which may for example be colored yellow or have a yellow color. The yellow color of the second subareas 30 indicates that, although a single-move parking operation is still possible in the case of a start position of the motor vehicle 10 within the second subareas 30, this is less convenient or simple than if the start position were located within the first subarea 28.
Further, third subareas 32 adjoin the second subareas 30 at the edges. If the motor vehicle 10 is located on one of said third subareas 32 shown by way of example in
A trajectory for parking the motor vehicle 10 in a single move may begin, for example, on one of the third subareas 32, then may traverse one of the second subareas 30, and may finally lead to the target position in the parking space 20 within the first subarea 28. In such a case, said trajectory is for example assigned to the class in which the third subarea 32 is found. Analogously, a trajectory which begins on one of the second subareas 30 and then leads to the target position in the parking space 20 within the first subarea 28 is for example assigned to the class in which the second subarea 30 is found.
A series of criteria can be used by the evaluation apparatus 22 which are taken into account during assignment to a respective class of a respective trajectory 26 that allows for the single-move parking operation, i.e. the movement of the motor vehicle 10 into the parking space 20 in one move.
For example, said criteria may include the smallest possible steering angles or, in other words, a magnitude of at least one steering deflection of steerable wheels 34 (cf.
In the example illustrated using
However, if the motor vehicle 10 is located on one of the third subareas 32 shown in red in
Further areas 36 shown in
An assistance apparatus 38 of the motor vehicle 10 represented in a highly schematic manner in
In this way, direction arrows, for example, can be displayed on the screen 40, or steering recommendations can be output on the screen 40 or on a display of this kind. Additionally or alternatively, it is possible to display on the screen 40 suitable areas or regions over which the motor vehicle 10 travels during the single-move parking. As shown by way of example in
Furthermore, it is possible to use a form of representation in which augmented reality (AR) is used. For example, an image or rather camera image or video image that can be taken by means of at least one camera 42 (cf.
However, it is also possible for the motor vehicle 10 to comprise a rear view camera (cf.
Furthermore, it is possible to use a head-up display 44 of the motor vehicle 10 (cf.
It is also possible to display the motor vehicle 10 and, additionally, the surroundings around the motor vehicle 10 in a bird's eye view on the screen 40 or a display of this kind of the motor vehicle 10. The area or rather the region 24 with the subareas 28, 30, 32 can also be superimposed very well and clearly on a representation of this kind. In addition or as an alternative to visual aids of this kind, the driver can also be assisted by the assistance apparatus 38 of the motor vehicle 10 by means of acoustic instructions during the single-move parking operation.
By means of the output of the at least one indication, the driver is informed, for example, of the trajectory 26 on which or, alternatively, of the subareas 28, 30, 32 within which they have to move the motor vehicle 10 in order to park the motor vehicle 10 in one move.
For example, a flag 48 or a symbol of this kind, which depicts a start position suitable for the single-move parking for the driver, can be displayed within the region 24. The flag 48, which marks the start position in the case of the variant of the assistance apparatus 38 illustrated by way of example based on
The flag 48 may, in particular, be displayed in a different color if the motor vehicle 10 has reached said start position according to
A further beneficial application scenario will be illustrated with reference to
Another application scenario that will be explained with reference to
Furthermore,
It can be provided that, during parking, the driver of the motor vehicle 10 actuates a steering handle such as a steering wheel 56 (cf.
However, it is also possible for the motor vehicle 10 to comprise a control apparatus 58 (cf.
Therefore, by means of indications or rather instructions that are output by the assistance apparatus 38, the driver of the motor vehicle 10 can be assisted with arriving at the start position from which the motor vehicle 10 can autonomously perform the single-move parking operation. In the case of a trained parking operation of this kind, the surroundings of the motor vehicle 10 can be recorded, in particular, by means of the at least one camera 42 of the motor vehicle 10 in order to maneuver the motor vehicle 10 into the parking position on a learned trajectory. The driver of the motor vehicle 10 can therefore also be merely assisted with reaching the start position from which the control apparatus 58 then maneuvers the motor vehicle 10 into the parking space without the driver of the motor vehicle 10 having to be active in this.
The vehicles 50 on the oncoming lane 18 shown schematically in
Furthermore, it can be seen from
In summary, the examples show how the motor vehicle 10 can implement a system for single-move parking with AR assistance for an optimal start position and a trajectory 26 for single-move parking.
The invention has been described in the preceding using various exemplary embodiments. Other variations to the disclosed embodiments may be understood and effected by those skilled in the art in practicing the claimed invention, from a study of the drawings, the disclosure, and the appended claims. In the claims, the word “comprising” does not exclude other elements or steps, and the indefinite article “a” or “an” does not exclude a plurality. A single processor, module or other unit or device may fulfil the functions of several items recited in the claims.
The term “exemplary” used throughout the specification means “serving as an example, instance, or exemplification” and does not mean “preferred” or “having advantages” over other embodiments. The term “in particular” and “particularly” used throughout the specification means “for example” or “for instance”.
The mere fact that certain measures are recited in mutually different dependent claims or embodiments does not indicate that a combination of these measures cannot be used to advantage. Any reference signs in the claims should not be construed as limiting the scope.
| Number | Date | Country | Kind |
|---|---|---|---|
| 10 2021 200 188.2 | Jan 2021 | DE | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/EP2021/085297 | 12/10/2021 | WO |
