Parking assistance system with universal parking space detection

• US 10,543,851 B2
• Filed: 08/25/2017
• Issued: 01/28/2020
• Est. Priority Date: 02/28/2015
• Status: Active Grant

• Current Assignee: Bayerische Motoren Werke AG
• Original Assignee: Bayerische Motoren Werke AG
• Inventors: Freistadt, Alois, Ahrens, Dirk, Schmidt, Joachim
• Primary Examiner(s): Trivedi, Atul
• Application Number:
  US15/686,275
• Publication Number:
  US 20170369078A1
• Time in Patent Office: 886 Days
• Field of Search: 701 23
• CPC Class Codes: B60W 2050/146 Display means
• CPC Class Codes: B60W 2520/04 Vehicle stop
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2540/00 Input parameters relating to occupants
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2555/00 Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
• CPC Class Codes: B60W 30/06 Automatic manoeuvring for parking
• CPC Class Codes: B60W 50/10 Interpretation of driver requests or demands
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: B62D 15/0285 Parking performed automatically
• CPC Class Codes: G06V 20/586 of parking space

Abstract

A parking assistance system executes a process to measure the parking space by a sensor prior to carrying out an automated parking maneuver and to detect the parking space type from a plurality of detectable parking space types using specific criteria on the basis of the measurement of the parking space. The plurality of parking space types includes a longitudinal parking space type, in which a vehicle can park longitudinally, a transverse parking space type, in which a vehicle can park transversely, and a universal parking space type in which the vehicle can park both longitudinally as well as transversely. In the event that the parking space has been detected as a universal parking space type, the parking assistance system provides the driver with the choice to select a parking direction, namely whether the parking assistance system is to park longitudinally or transversely into the parking space. The parking assistance system parks the vehicle into the parking space longitudinally or transversely according to the selection of the driver, wherein the parking trajectory depends on the selection of the driver.

Claims

1. A system for performing an automated parking maneuver of a motor vehicle into a parking space with at least automated transverse guidance along a parking trajectory, comprising:

a parking assistance system that executes a process to;

measure the parking space, via a sensor, before performing the automated parking maneuver,

on the basis of the measurement of the parking space, recognize the parking space type of the parking space from a set of recognizable, different parking space types, wherein the set of parking space types comprises;

(i) a longitudinal parking space type in which it is possible to park longitudinally,

(ii) a transverse parking space type, in which it is possible to park transversely, and

(iii) a universal parking space type, in which it is possible to park both longitudinally as well as transversely,

in an event that the parking space is recognized as being of the universal parking space type, give a selection option to a driver to select a parking direction of whether the parking assistance system should park longitudinally or transversely into the parking space, and

park the motor vehicle longitudinally or transversely into the parking space automatically according to the selection of the driver.

2. The parking assistance system as claimed in claim 1, wherein the parking assistance system further executes the process to recognize the universal parking space type with reference to predetermined, cumulative criteria, wherein

the cumulative criteria for the recognition of the universal parking space type comprise a length criterion which indicates an adequate length of the parking space for longitudinal parking, and a depth criterion which indicates an adequate depth of the parking space for transverse parking.

3. The parking assistance system as claimed in claim 2, wherein

the depth criterion is that in a course of the measurement of the parking space no object is detected in the parking space transverse to the roadway within the range of the sensor, or

the depth criterion is that a measured depth of the parking space transverse to the roadway is greater than or is greater than or equal to a depth threshold value, wherein the depth threshold value corresponds to the length of the vehicle itself or the length of the vehicle itself plus an additional length in the range greater than 0 m and less than 1.0 m.

4. The parking assistance system as claimed in claim 2, wherein

the length criterion is that a measured length of the parking space in the direction of the roadway is greater than or is greater than or equal to a specific length threshold value, and

the length threshold value corresponds to the length of the vehicle itself plus an additional length in the range from 0 m to 1.6 m.

5. The parking assistance system as claimed in claim 1, wherein the parking assistance system further executes the process to:

for an event that the parking space is recognized as being of the universal parking space type, display to the driver on a screen a selection menu with options of longitudinal parking and transverse parking, and

receive a driver input for the selection of one of the options.

6. The parking assistance system as claimed in claim 1, wherein a preferred parking direction is preset for the universal parking space type.

7. The parking assistance system as claimed in claim 6, wherein, for a case in which the parking space is recognized as being of the universal parking space type, the parking assistance system is configured so that parking in the preset parking direction is initiated with fewer operating steps than parking in the other parking direction.

8. The parking assistance system as claimed in claim 6, wherein

the parking assistance system further executes the process to:

in the case in which the parking space is recognized as being of the universal parking space type, display a selection menu with the options of longitudinal parking and transverse parking to the driver on a screen, and

receive a driver input for selecting one of the two options, wherein the preset parking direction is preselected in the selection menu, and this preselection is confirmable through actuation of an operating element.

9. The parking assistance system as claimed in claim 6, wherein the parking assistance system further executes the process to:

in the absence of an explicit selection of the driver, automatically select the preset parking direction of longitudinal parking or transverse parking, and

park the motor vehicle longitudinally or transversely into the parking space in accordance with this automatic selection.

10. The parking assistance system as claimed in claim 6, wherein the preferred parking direction for the universal parking space type is preset by the driver.

11. The parking assistance system as claimed in claim 6, wherein the preset parking direction is determined based on a current geographic location of the motor vehicle.

12. The parking assistance system as claimed in claim 11, wherein

a position-related preset parking direction is stored for parking at a specific local position, and

the position-related preset parking direction depends on at least one previous selection by the driver relating to the parking direction at a universal parking space at this position.

13. The parking assistance system as claimed in claim 6, wherein the preset parking direction is determined based on a country location of the motor vehicle.

14. The parking assistance system as claimed in claim 6, wherein the preset parking direction depends on at least one earlier selection by the driver in relation to the parking direction at a universal parking space.

15. The parking assistance system as claimed in claim 6, wherein the parking assistance system further executes the process to only provide the selection option after the vehicle has become stationary.

16. The parking assistance system as claimed in claim 1, wherein the parking assistance system further executes the process to:

in a case in which the parking space is recognized as being of the universal parking space type, display a pictogram for a universal parking space type to the driver on a screen,

in a case in which the parking space is recognized as being of the longitudinal parking space type, display a pictogram for a longitudinal parking space type to the driver on a screen, and

in a case in which the parking space is recognized as being of the transverse parking space type, display a pictogram for a transverse parking space type to the driver on a screen.

17. A method for performing an automated parking maneuver of a motor vehicle into a parking space with at least automated transverse guidance along a parking trajectory, the method comprising the acts of:

measuring the parking space, via a sensor, before performing the automated parking maneuver,

on the basis of the measurement of the parking space, recognizing the parking space type of the parking space from a set of recognizable parking space types, wherein the set of parking space types comprises;

(i) a longitudinal parking space type, in which it is possible to park longitudinally

(ii) a transverse parking space type, in which it is possible to park transversely, and

(iii) a universal parking space type, in which it is possible to park both longitudinally as well as transversely, and

for a case in which the parking space is recognized as being of the universal parking space type, providing a selection option for the driver to select a parking direction of whether the parking assistance system should park longitudinally or transversely into the parking space, and

automatically parking the vehicle longitudinally or transversely into the parking space according to the selection of the driver.