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 20160257343A1
• Filed: 03/08/2016
• Published: 09/08/2016
• 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
• Granted Patent: US 9,783,231 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• 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, an offset between an extent of the one object in the direction of the roadway and an extent of the other object in the direction of the roadway,

(ii) determine a parking trajectory with a parked end position based on the 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 object of the two objects which extends further in the direction of the roadway, or

 

is oriented toward a first intermediate value between the extent of the one object in the direction of the roadway and the extent of the other 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 is oriented in the direction of the roadway

toward a second intermediate value between the extent of the one object in the direction of the roadway and the extent of the other object in the direction of the roadway, wherein the first intermediate value in the first case is closer to the extent of the object 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 object of the two 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 object of the two 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 one object in the direction of the roadway and the extent of the other 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 offset in each case.

4. The parking assistance system according to claim 3, wherein in the second case the fraction corresponds to half the 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 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 one object and a measure which is characteristic of the extent of the other object, and

determine the offset on the basis thereof.

7. 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, an offset between an extent of the one object in the direction of the roadway and the extent of the other object in the direction of the roadway,

(ii) determining a parking trajectory with a parked end position based on the 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 object of the two 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 one object in the direction of the roadway and the extent of the other 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 is oriented in the direction of the roadway

toward a second intermediate value between the extent of the one object in the direction of the roadway and the extent of the other object in the direction of the roadway, wherein the first intermediate value in the first case is closer to the extent of the object 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 object of the two objects which extends less far in the direction of the roadway.