Method and Device for Outputting Parking Instructions

• US 20100039292A1
• Filed: 04/27/2006
• Published: 02/18/2010
• Est. Priority Date: 06/13/2005
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Preissler, Peter, Scherl, Michael
• Granted Patent: US 8,115,653 B2
• Time in Patent Office: Days
• US Class Current: 340/932.200
• CPC Class Codes: B62D 15/027 Parking aids, e.g. instruction means
• CPC Class Codes: B62D 15/028 Guided parking by providing commands to the driver, e.g. acoustically or optically
• CPC Class Codes: G01S 2013/9314 Parking operations
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G08G 1/165 for passive traffic, e.g. including static obstacles, trees
• CPC Class Codes: G08G 1/168 Driving aids for parking, e.g. acoustic or visual feedback on parking space

Abstract

In a method and a corresponding device for outputting parking instructions to a driver of a vehicle, the parking process is divided into a multiplicity of sections each having a constant specified steering angle, and there being situated between each two sections a stopping point that is to be approached after a corresponding stop instruction within a stopping path. A respective tolerance band is defined for the stopping path and/or for the steering angle, a corresponding stop instruction, corresponding to a specified stopping path, and/or a corresponding specified steering angle being defined for each section, taking into account the respective tolerance band.

Claims

1-10. -10. (canceled)

11. A method for outputting parking instructions to a driver of a vehicle, comprising:

dividing a parking process into a multiplicity of sections each having a constant specified steering angle, a stopping point being situated between each two sections that is to be approached within a stopping path after a corresponding stop instruction,

defining a respective tolerance band for at least one of (a) the stopping path and (b) a steering angle; and

defining, for each section, a corresponding stop instruction corresponding to at least one of (a) a specified stopping path and (b) a corresponding specified steering angle, taking into account the respective tolerance band.

12. The method according to claim 11, wherein during a driving instruction a cyclical check is performed as to whether a current steering angle lies in a valid range of possible steering angles for successful parking, and a corrective instruction for stopping and for setting a corrected steering angle is outputted only if a relevant steering angle lies outside the range of valid steering angles.

13. The method according to claim 11, wherein immediately after stopping of the vehicle at a respective stopping point, a check is performed as to whether the stopping path lies in a valid range of possible stopping paths for successful parking, and a corrective instruction for setting a correct stopping path, in the form of an additional section, is outputted only if an actual stopping path lies outside the range of valid stopping paths.

14. The method according to claim 11, wherein the tolerance band is dynamically adapted.

15. The method according to claim 14, wherein the dynamic adaptation of the tolerance band for the stopping path takes into account a statistical variance of acquired stopping paths.

16. The method according to claim 14, wherein the dynamic adaptation of the tolerance band for the steering angle takes into account a statistical variance of acquired steering angle settings.

17. The method according to claim 11, wherein a size of a respective tolerance band is selected corresponding to various driver categories.

18. The method according to claim 11, wherein on the basis of at least one criterion, a successful parking process is defined ahead of time, the criterion permitting a multiplicity of end positions.

19. The method according to claim 18, wherein the criterion includes at least one of (a) a maximum number of passes, (b) a minimum pass length, (c) a maximum protrusion into an opposite lane of traffic, (d) one of (i) a minimum and (ii) a maximum distance to a curb, (e) a maximum distance to a reference line defined by adjacent parked vehicles, (f) a maximum angular deviation from at least one of (i) a direction of the curb and (ii) a reference line, (g) one of (i) a minimum and (ii) a maximum distance from front and rear parking space boundaries.

20. A device for outputting parking instructions to a driver of a vehicle, a parking process being divided into a multiplicity of sections each having a constant specified steering angle, and there being situated between each two sections a stopping point that is to be approached within a stopping path after a corresponding stop instruction, comprising:

an environment acquisition unit configured to acquire a parking space;

an evaluation unit configured to define a tolerance band for at least one of (a) the stopping path and (b) a steering angle and to define a corresponding stop instruction corresponding to at least one of (a) a specified stopping path and (b) a corresponding specified steering angle for a respective section, taking into account the respective tolerance band;

an output unit configured to output instructions for steering angle and stopping points, in response to the evaluation unit;

a steering angle sensor configured to determine a current steering angle; and

a distance sensor configured to determine a traveled distance.