Deciding on the direction of travel in the event of a resumption of movement in an automated parking process by means of a parking assistance system

• US 9,630,617 B2
• Filed: 01/28/2016
• Issued: 04/25/2017
• Est. Priority Date: 07/29/2013
• Status: Active Grant

• Current Assignee: Bayerische Motoren Werke AG
• Original Assignee: Bayerische Motoren Werke AG
• Inventors: Burtsche, Thomas, Velten, Thomas, Schillinger, Rainer, Goldmann, Thomas
• Primary Examiner(s): CAMBY, RICHARD M
• Application Number:
  US15/008,941
• Publication Number:
  US 20160144858A1
• Time in Patent Office: 453 Days
• Field of Search: 701 23
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2710/18 Braking system
• CPC Class Codes: B60W 2710/20 Steering systems
• CPC Class Codes: B60W 30/06 Automatic manoeuvring for parking
• CPC Class Codes: B62D 15/0285 Parking performed automatically

Abstract

A method is provided for resuming the movement of a motor vehicle after unforeseen stopping in an automated parking process performed by a parking assistance system having automated longitudinal and transverse guidance. If the vehicle is stopped, a decision is made about a resumption of movement of the vehicle in the prior direction of travel that existed before the vehicle was stopped. The decision is made in dependence on the remaining travel path from the current position to the next planned stopping point of the trajectory lying in the prior direction of travel. A stopping point of the trajectory can be a reversal point or the final parking position, for example. If the decision is positive, the movement of the vehicle is resumed in the prior direction of travel. If the decision is negative, the movement of the vehicle is resumed against the prior direction of travel. Alternatively, in the case of a negative decision, the movement of the vehicle may not be resumed and the parking process may be ended.

Claims

1. A method for resuming movement of a motor vehicle after unforeseen stopping in an automated parking process along a planned trajectory carried out by a parking assistance system having automated longitudinal and transverse guidance, the method comprising the acts of:

in an event of a stopping of the vehicle, deciding about a resumption of movement of the vehicle in the previous direction of travel which existed before the vehicle was stopped;

as a function of a length of a remaining route from a current position up to a next planned stopping point, in the previous direction of travel, on the trajectory

in the event of a positive decision, resuming the movement of the vehicle in the previous direction of travel, and

in the event of a negative decision;

 

a) resuming the movement of the vehicle counter to the previous direction of travel or

 

b) not resuming the movement of the vehicle and ending the parking process.

2. The method as claimed in claim 1, wherein:

the decision is made as a function of the length of the remaining route from the current position up to a next planned reversal point, in the previous direction of travel, on the trajectory, and

in the event of a negative decision, starting the movement of the vehicle counter to the previous direction of travel.

3. The method as claimed in claim 1, wherein:

the decision is made as a function of the length of the remaining route from the current position up to a final parked position on the trajectory if there is no planned reversal point between the current position and the final parked position on the trajectory, and

in the event of a negative decision, not resuming the movement of the vehicle and ending the vehicle parking process.

4. The method as claimed in claim 1, wherein in order to make a decision about a resumption of movement of the vehicle in the previous direction of travel which existed before the vehicle was stopped, a threshold value comparison of the length of the remaining route from the current position up to the next planned stopping point, in the previous direction of travel, on the trajectory is made with a threshold value which is greater than zero.

5. The method as claimed in claim 4, wherein within the scope of the threshold value comparison it is checked whether the length of the remaining route from the current position up to the next planned stopping point, in the previous direction of travel, on the trajectory is less than or less than or equal to the threshold value.

6. The method as claimed in claim 5, wherein

in the event of the length of the remaining route being less than or less than or equal to the threshold value, the movement of the vehicle counter to the previous direction of travel is started, or the movement of the vehicle is not resumed and the parking process is ended.

7. The method as claimed in claim 4, wherein the threshold value is a value in the range from 30 cm to 5 cm.

8. The method as claimed in claim 4, wherein the threshold value corresponds approximately to the value of 10 cm.

9. The method as claimed in claim 1, wherein:

the parking process is a process of reversing into a parking space,

within the scope of the method it is checked whether the vehicle has reached or passed a specific point on the parking-space-entering trajectory of the first maneuver movement for entering the parking space in the reverse direction,

and

in the event of a possible obstacle being present in the previous direction of travel, the movement of the vehicle is resumed counter to the previous direction of travel if this specific point on the parking-space-entering trajectory has been reached or passed.

10. The method as claimed in claim 8, wherein the point on the parking-space-entering trajectory corresponds to a point starting from which or after which an acceptable final parked position can be reached in the event of the movement of the vehicle being resumed counter to the previous direction of travel.

11. A parking assistance system having automated longitudinal and transverse guidance for a motor vehicle, comprising a control unit of the parking assistance system configured to execute a decision:

whether, in an event of unforeseen stopping in an automated parking process along a planned trajectory, to resume movement of the vehicle in the previous direction of travel which existed before the vehicle was stopped;

as a function of a length of the remaining route from the current position up to the next planned stopping point, in the previous direction of travel, on the trajectory,

 

in order to;

1) in the event of a positive decision, bring about resumption of the movement of the vehicle in the previous direction of travel, and

2) in the event of a negative decision, bring about resumption of the movement of the vehicle counter to the previous direction of travel or not to bring about resumption of the movement of the vehicle and to end the parking process.

12. A motor vehicle, comprising:

a parking assistance system having automated longitudinal and transverse guidance for a motor vehicle, comprising a control unit of the parking assistance system configured to execute a decision;

whether, in an event of unforeseen stopping in an automated parking process along a planned trajectory, to resume movement of the vehicle in the previous direction of travel which existed before the vehicle was stopped;

as a function of a length of the remaining route from the current position up to a next planned stopping point, in the previous direction of travel, on the trajectory,

in order to;

1) in the event of a positive decision, bring about resumption of the movement of the vehicle in the previous direction of travel, and

2) in the event of a negative decision, bring about resumption of the movement of the vehicle counter to the previous direction of travel or to end the parking process.