Orientation of the extent of a vehicle in the direction of the roadway in a parked end position with a parking assistance system for transverse parking

• US 9,783,231 B2
• Filed: 03/08/2016
• Issued: 10/10/2017
• Est. Priority Date: 03/08/2015
• Status: Active Grant

• Current Assignee: Bayerische Motoren Werke AG
• Original Assignee: Bayerische Motoren Werke AG
• Inventors: Freistadt, Alois, Sarihan, Izden
• Primary Examiner(s): WHALEN, MICHAEL F
• Application Number:
  US15/064,134
• Publication Number:
  US 20160257343A1
• Time in Patent Office: 581 Days
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2720/24 Direction of travel
• CPC Class Codes: B60W 30/06 Automatic manoeuvring for parking
• CPC Class Codes: B62D 15/0285 Parking performed automatically

Abstract

A parking assistance system is provided for carrying out an automated parking maneuver of a motor vehicle into a perpendicular parking space transversely with respect to the roadway along a parking trajectory to a parked end position. The parking assistance system is configured to determine an offset between the extent of one object in the direction of the roadway on one side of the parking space and the extent of another object in the direction of the roadway on the other side of the space by way of a sensor system. The parking assistance system is configured to determine a parking trajectory with a parked end position based on the offset.

Claims

1. A parking assistance system for carrying out an automated parking maneuver of a motor vehicle into a perpendicular parking space transversely with respect to the roadway, wherein the perpendicular parking space is bounded by a lateral object on one side of the perpendicular parking space and another lateral object on another side of the perpendicular parking space, with at least automated lateral guidance along a parking trajectory, which parking assistance system is configured to:

(i) determine, via a sensor system, at least one offset between an extent of the lateral object in the direction of the roadway and an extent of the another lateral object in the direction of the roadway,

(ii) determine a parking trajectory with a parked end position based on the at least one offset, wherein;

(a) insofar as a first offset is present in a first case, in a planned parked end position the extent of the vehicle in the direction of the roadway

is oriented essentially toward the extent of that lateral object of the two lateral objects which extends further in the direction of the roadway, or

is oriented toward a first intermediate value between the extent of the lateral object in the direction of the roadway and the extent of the another lateral object in the direction of the roadway, and

(b) insofar as a second offset is present in a second case that is smaller than the first offset of the first case, in the planned parked end position the extent of the vehicle in the direction of the roadway

is oriented toward a second intermediate value between the extent of the lateral object in the direction of the roadway and the extent of the another lateral object in the direction of the roadway, wherein the first intermediate value in the first case is closer to the extent of that lateral object of the two lateral objects extending further in the direction of the roadway than the second intermediate value in the second case, or

is oriented essentially toward the extent of that lateral object of the two lateral objects which extends less far in the direction of the roadway.

2. The parking assistance system according to claim 1, wherein:

insofar as the first offset is present in the first case, in the parked end position the extent of the vehicle in the direction of the roadway is oriented essentially toward the extent of that lateral object of the two lateral objects which extends further in the direction of the roadway, and

insofar as the second offset which is smaller compared to the first case is present in the second case, in the parked end position the extent of the vehicle in the direction of the roadway is oriented toward an intermediate value between the extent of the lateral object in the direction of the roadway and the extent of the another lateral object in the direction of the roadway.

3. The parking assistance system according to claim 1, wherein the first and second intermediate values correspond to a fixed fraction of the at least one offset in each case.

4. The parking assistance system according to claim 3, wherein in the second case the fraction corresponds to half the at least one offset.

5. The parking assistance system according to claim 1, wherein:

the parking assistance system is configured to carry out a threshold value comparison with a threshold value for the at least one offset,

the first case corresponds to a situation in which the first offset is greater than or greater than or equal to the threshold value, and

the second case corresponds to the situation in which the second offset is less than or equal to or less than the threshold value.

6. The parking assistance system according to claim 1, wherein the parking assistance system is configured to:

determine a measure which is characteristic of the extent of the lateral object and a measure which is characteristic of the extent of the another lateral object, and

determine the at least one offset on the basis thereof.

7. The parking assistance system according to claim 1, wherein the extent of the lateral object in the direction of the roadway and the extent of the another later object in the direction of the roadway are:

i) smaller than an overall length of the lateral object, and ii) smaller than an overall length of the another lateral object, respectively.

8. The parking assistance system according to claim 1, wherein the extent of the lateral object in the direction of the roadway and the extent of the another later object in the direction of the roadway correspond to:

i) a distance between a point on the lateral object closest to the roadway and a point on the roadway, and ii) a distance between a point on the another lateral object closest to the roadway and the point on the roadway, respectively.

9. A method for carrying out an automated parking maneuver of a motor vehicle into a perpendicular parking space transversely with respect to a roadway, wherein the perpendicular parking space is bounded by a lateral object on one side of the perpendicular parking space and by another lateral object on another side of the perpendicular parking space, with at least automated lateral guidance along a parking trajectory, wherein the method comprises the acts of:

(i) determining, via a sensor system, at least one offset between an extent of the lateral object in the direction of the roadway and the extent of the another lateral object in the direction of the roadway,

(ii) determining a parking trajectory with a parked end position based on the at least one offset, wherein

(a) insofar as a first offset is present in a first case, in a planned parked end position the extent of the vehicle in the direction of the roadway

is oriented essentially toward the extent of that lateral object of the two lateral objects which extends further in the direction of the roadway, or

is oriented at least toward a first intermediate value between the extent of the lateral object in the direction of the roadway and the extent of the another lateral object in the direction of the roadway, and

(b) insofar as a second offset is present in a second case that is smaller than the first offset of the first case, in the planned parked end position the extent of the vehicle in the direction of the roadway

is oriented toward a second intermediate value between the extent of the lateral object in the direction of the roadway and the extent of the another lateral object in the direction of the roadway, wherein the first intermediate value in the first case is closer to the extent of that lateral object of the two lateral objects extending further in the direction of the roadway than the second intermediate value in the second case, or

is oriented essentially toward the extent of that lateral object of the two lateral objects which extends less far in the direction of the roadway.

10. The method according to claim 9, wherein the extent of the lateral object in the direction of the roadway and the extent of the another later object in the direction of the roadway are:

i) smaller than an overall length of the lateral object, and ii) smaller than an overall length of the another lateral object, respectively.

11. The method according to claim 9, wherein the extent of the lateral object in the direction of the roadway and the extent of the another later object in the direction of the roadway correspond to:

i) a distance between a point on the lateral object closest to the roadway and a point on the roadway, and ii) a distance between a point on the another lateral object closest to the roadway and the point on the roadway, respectively.

12. A parking assistance system for carrying out an automated parking maneuver, the system comprising:

a motor vehicle;

at least one sensor operatively configured in the motor vehicle; and

an electronic control unit that receives signals from the at least one sensor, the electronic control unit maneuvering the motor vehicle into a perpendicular parking space transversely with respect to the roadway, the perpendicular parking space being bounded by a first lateral object on one side of the perpendicular parking space and a second lateral object on another side of the perpendicular parking space, wherein the electronic control unit;

using the at least one sensor, determines;

i) a first offset that corresponds to a first reference distance between an end of the first lateral object and a reference point on the roadway, and ii) a second offset that corresponds to a second reference distance between an end of the second lateral object and the reference point on the roadway,

calculates an observed offset by taking the absolute value of the difference between the first offset and the second offset,

carries out a threshold comparison, in which the observed offset is compared to a threshold offset value that is stored in the electronic control unit, and

outputs a command that instructs the motor vehicle to move into a first end parking position based on the outcome of the threshold comparison.

13. The system according to claim 12, wherein

if a result of the threshold comparison is that the observed offset is greater than the threshold offset, the electronic control unit sets the first end parking position such that a distance between one end of the motor vehicle and the reference point on the roadway is the same as a smaller of the first reference distance and the second reference distance, and

if a result of the threshold comparison is that the observed offset is smaller than the threshold offset, the electronic control unit sets the first end parking position such that a distance between the one end of the motor vehicle and the reference point on the roadway is halfway between the first reference distance and the second reference distance.