Method for assisting a driver of a vehicle when parking in a parking space
First Claim
1. A method for assisting a driver of a vehicle when parking in a parking space the method comprising:
- measuring a possible parking space;
calculating a parking trajectory on the basis of a current parking space geometry which is determined from the measurement of the parking space, and on the basis of a vehicle position relative to the parking space; and
subsequently carrying out a parking process during which the vehicle is steered along the parking trajectory into the parking space; and
continuously determining the current parking space geometry during the parking process using current sensor data acquired by a sensor system for measuring the parking space, and comparing the current parking space geometry with a previous parking space geometry determined before the start of the parking process,wherein, when the previous and current parking space geometries differ from one another, a deviation which is present is evaluated and the parking trajectory is corrected and/or re-calculated, andwherein the comparison between the previous parking space geometry determined before the parking process and the current parking space geometry determined during the parking process is carried out by sensing, during the entry into the parking space, the lateral distance, to the left and right of the vehicle, from objects which bound the parking space and by comparing said lateral distance with the distances which are expected on the basis of the originally sensed parking space geometry and the current vehicle position.
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Accused Products
Abstract
A method for assisting a driver of a vehicle when parking in a parking space is disclosed. The method involves measuring a possible parking space, calculating a parking trajectory on the basis of a current parking space geometry determined from the measurement of the parking space and on the basis of a vehicle position relative to the parking space, and a parking process is subsequently carried out during which the vehicle is steered along the parking trajectory into the parking space, continuing to determine, during the parking process, the current parking space geometry and is compared with a previous parking space geometry determined before the start of the parking process, where, if the two parking space geometries differ from one another, a deviation which is present is evaluated and the parking trajectory corrected and/or re-calculated.
23 Citations
23 Claims
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1. A method for assisting a driver of a vehicle when parking in a parking space the method comprising:
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measuring a possible parking space; calculating a parking trajectory on the basis of a current parking space geometry which is determined from the measurement of the parking space, and on the basis of a vehicle position relative to the parking space; and subsequently carrying out a parking process during which the vehicle is steered along the parking trajectory into the parking space; and continuously determining the current parking space geometry during the parking process using current sensor data acquired by a sensor system for measuring the parking space, and comparing the current parking space geometry with a previous parking space geometry determined before the start of the parking process, wherein, when the previous and current parking space geometries differ from one another, a deviation which is present is evaluated and the parking trajectory is corrected and/or re-calculated, and wherein the comparison between the previous parking space geometry determined before the parking process and the current parking space geometry determined during the parking process is carried out by sensing, during the entry into the parking space, the lateral distance, to the left and right of the vehicle, from objects which bound the parking space and by comparing said lateral distance with the distances which are expected on the basis of the originally sensed parking space geometry and the current vehicle position. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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21. A driver assistance device, the device comprising:
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a sensor system for measuring a parking space before and during a parking process, wherein current sensor data obtained by the sensor system is used to continuously determine a current parking space geometry during the parking process; a microprocessor which is connected to the sensor system and has associated storage, the microprocessor being configured to; calculate and correct a parking trajectory on the basis of the current parking space geometry determined during the parking process and a previous parking space geometry determined before the parking process, wherein the parking space geometries are determined from the measurement of the parking space before and during the parking process, and on the basis of a vehicle position relative to the parking space, compare the current parking space geometry with the previous parking space geometry, and when the two parking space geometries differ from one another, a difference which is present is evaluated and the parking trajectory is corrected and/or recalculated, wherein the comparison between the previous parking space geometry determined before the parking process and the current parking space geometry determined during the parking process is carried out by sensing, during the entry into the parking space, the lateral distance, to the left and right of the vehicle, from objects which bound the parking space and by comparing said lateral distance with the distances which are expected on the basis of the originally sensed parking space geometry and the current vehicle position; and carry out the parking process during which the vehicle is steered along the parking trajectory into the parking space. - View Dependent Claims (22)
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23. A computer program product stored on a non-transitory computer-readable storage medium, comprising computer-readable program code which, when the computer program product is executed on a microprocessor with associated storage means or on a computer, cause the latter to carry out a method comprising:
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measuring a possible parking space; calculating a parking trajectory on the basis of a current parking space geometry which is determined from the measurement of the parking space, and on the basis of a vehicle position relative to the parking space; subsequently carrying out a parking process during which the vehicle is steered along the parking trajectory into the parking space; and continuously determining the current parking space geometry during the parking process using current sensor data acquired by a sensor system for measuring the parking space, and comparing the current parking space geometry with a previous parking space geometry determined before the start of the parking process, wherein the comparison between the previous parking space geometry determined before the parking process and the current parking space geometry determined during the parking process is carried out by sensing, during the entry into the parking space, the lateral distance, to the left and right of the vehicle, from objects which bound the parking space and by comparing said lateral distance with the distances which are expected on the basis of the originally sensed parking space geometry and the current vehicle position, and wherein, when the previous and current parking space geometries differ from one another, a deviation which is present is evaluated and the parking trajectory is corrected and/or re-calculated.
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Specification