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CN-115667056-B - Method for parking assistance of a motor vehicle and driver assistance system

CN115667056BCN 115667056 BCN115667056 BCN 115667056BCN-115667056-B

Abstract

The invention relates to a method and a driver assistance system for parking assistance of a motor vehicle. According to a method for carrying out a parking assistance for a motor vehicle (1) during a manual steering parking maneuver, sensor data representing the environment of the motor vehicle (1) are generated by means of an environment sensor system (3) of the motor vehicle (1), at least one reference track (7) is determined by means of a computing unit (4) of the motor vehicle (1) from the sensor data, and an actual value of a parameter which can be varied at a time point during the parking maneuver is determined by means of a sensor system (5) of the motor vehicle (1). At least one predicted deviation of the parameter from the setpoint value is determined by means of a computing unit (4) from the at least one reference trajectory (7) and from the actual value, and a haptic signal is automatically generated as a steering recommendation for the driver of the motor vehicle (1) as a function of the at least one predicted deviation.

Inventors

  • J. Zealand
  • CALLIES LOTHAR
  • T. Hessel

Assignees

  • 大众汽车股份公司

Dates

Publication Date
20260512
Application Date
20210512
Priority Date
20200609

Claims (10)

  1. 1. Method for parking assistance of a motor vehicle (1) in a manual steering parking maneuver, wherein -Generating sensor data representative of the environment of the motor vehicle (1) by means of an environment sensor system (3) of the motor vehicle (1); -determining at least one reference trajectory for the motor vehicle (1) from the sensor data by means of a computing unit (4) of the motor vehicle (1); -determining, by means of the computing unit (4), by a sensor system (5) of the motor vehicle (1), an actual value of a parameter of the motor vehicle (1) that is changeable during a parking maneuver at a point in time during the parking maneuver; It is characterized in that the method comprises the steps of, -Determining at least one predicted deviation of the parameter from a theoretical value from the at least one reference trajectory and from an actual value by means of the calculation unit (4), wherein the predicted deviation of the parameter is an estimated or predicted deviation of the parameter from the theoretical value at a point in time after the point in time at which the actual value was determined, and -Automatically generating a haptic signal as a steering suggestion for a driver of the motor vehicle (1) as a function of the at least one predicted deviation.
  2. 2. Method according to claim 1, characterized in that an additional steering torque is generated in the steering system of the motor vehicle (1) to generate a haptic signal.
  3. 3. Method according to any one of the preceding claims, characterized in that a theoretical trajectory (7) for the motor vehicle (1) is determined as a first reference trajectory of the at least one reference trajectory, wherein the theoretical trajectory (7) contains a target position (8) for a parking maneuver of the motor vehicle (1).
  4. 4. The method of claim 3, wherein the step of, -Predicting the trajectory of the motor vehicle (1) from the actual values, and -Determining a deviation of the parameter according to the theoretical trajectory (7) from the parameter according to the predicted trajectory as a first predicted deviation of the at least one predicted deviation.
  5. 5. The method of claim 3, wherein the step of, -Determining a modified theoretical trajectory for the motor vehicle (1) as a second reference trajectory of the at least one reference trajectory, and -The modified theoretical trajectory contains a modified target position for the motor vehicle (1) relative to the target position (8).
  6. 6. The method according to claim 5, characterized in that a deviation of the parameter from the actual value according to the modified theoretical trajectory is determined as a second predicted deviation of the at least one predicted deviation.
  7. 7. The method of claim 3, wherein the step of, -Determining a modified actual value from said actual value, and -Determining as a further predicted deviation of the at least one predicted deviation a deviation of a parameter from the modified actual value according to the theoretical trajectory (7).
  8. 8. The method according to claim 1 or 2, wherein the haptic signal is generated only if one of the at least one predicted deviation is greater than or equal to a preset minimum deviation.
  9. 9. A driver assistance system for a motor vehicle (1) for parking assistance in a manual steering parking maneuver, the driver assistance system (2) having: -an environment sensor system (3) set up to generate sensor data representative of the environment of the motor vehicle (1); -a calculation unit (4) which is designed to determine at least one reference trajectory for the motor vehicle (1) from the sensor data, and -A sensor system (5) which is set up to determine an actual value of a parameter of the motor vehicle (1) which is changeable during a parking maneuver at a point in time during the parking maneuver; It is characterized in that the method comprises the steps of, The calculation unit (4) is designed to determine at least one predicted deviation of the parameter from a setpoint value from the at least one reference trajectory and from an actual value, wherein the predicted deviation of the parameter is an estimated or predicted deviation of the parameter from the setpoint value at a point in time after the point in time at which the actual value was determined, and -The driver assistance system (2) has an actuator unit (6) which is designed to automatically generate a haptic signal as a steering suggestion for the driver of the motor vehicle (1) as a function of the at least one predicted deviation.
  10. 10. A motor vehicle having a driver assistance system (2) according to claim 9.

Description

Method for parking assistance of a motor vehicle and driver assistance system Technical Field The invention relates to a method for assisting a vehicle in a manual steering parking maneuver, wherein sensor data representing the environment of the vehicle are generated by means of an environment sensor system of the vehicle, at least one reference track of the vehicle is determined by means of a computing unit of the vehicle from the sensor data, and the actual value of a variable parameter of the vehicle during the parking maneuver is determined by means of the computing unit by means of the sensor system of the vehicle at a point in time during the parking maneuver. The invention also relates to a corresponding driver assistance system and to a motor vehicle having such a driver assistance system. Background In the auxiliary parking of a motor vehicle, the environment sensor system of the motor vehicle can identify a suitable parking space and the driver assistance system can plan an optimal trajectory for the motor vehicle in order to maneuver the motor vehicle into the parking space. During manual driving of the motor vehicle into the parking space by the driver, the driver may obtain an indication from the driver assistance system so as to follow the best trajectory as possible. However, the driver needs a certain time until the driver perceives and understands the instructions of the driver assistance system and finally realizes the instructions. This results in that in no case does an optimal trajectory be followed or an optimal parking position or parking orientation be achieved. The higher the vehicle speed and the longer the driver's reaction time during parking, the greater the bias tends to be. A method for outputting a parking instruction is described in DE 10 2004 047 484 A1. Here, a steering instruction for deflecting the steering device is output, and after the steering instruction is output, after a preset distance, if the preset steering angle is not adjusted, a correction instruction is output. However, this method has the disadvantage that the correction command is given too late if possible, compared to the optimal parking position which can also be achieved without additional parking maneuvers. Further, the driver must perform not only the steering instruction but also the correction instruction, so that the above-described problem is not solved but only the transition. Document DE 10 2004 001 122 A1 describes a method for providing information for parallel parking of a vehicle. In this case, the entry into the parking space should be optimally achieved independently of the entry speed and the response time of the driver. For this purpose, an optical or acoustic signal is output to the driver during the parking process to persuade the driver to stop the vehicle. The signal is output in consideration of the reaction time of the driver and the vehicle speed so as to stop the vehicle in time. Comfort is reduced by repeatedly stopping the vehicle during the parking process and the parking process lasts longer than necessary. Disclosure of Invention Against this background, the object of the present invention is to provide an improved solution for parking assistance for a motor vehicle in a manual steering parking maneuver, by means of which a target position for the motor vehicle can be reached with greater reliability or greater accuracy without reducing the driving comfort for the driver. The object is achieved by the corresponding matters of the independent claims. Advantageous developments and preferred embodiments are the subject matter of the dependent claims. The improved solution is based on the idea of generating a haptic signal as a steering recommendation for the driver, which haptic signal is not based on the current adjustment deviation, but rather on a predicted or predicted adjustment deviation. According to this further development, a method for parking assistance for a motor vehicle in a manual steering parking maneuver is described. Sensor data representing the environment of the motor vehicle are generated by means of an environment sensor system of the motor vehicle. At least one reference trajectory for the motor vehicle, in particular for a parking maneuver, is determined from the sensor data by means of a computing unit of the motor vehicle. The actual value of the parameter of the motor vehicle that can be varied during the parking maneuver is determined by means of the computing unit via a sensor system of the motor vehicle at a point in time during the parking maneuver. At least one predicted deviation of the parameter from a setpoint value for the parameter is determined by means of the computing unit from the at least one reference trajectory and from an actual value. Based on the at least one predicted deviation, in particular by means of an actuator unit of the motor vehicle, a haptic signal is automatically generated as a steering recommendation for a driver o