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CN-116670015-B - Method for at least semi-automatic parking of a motor vehicle, driving assistance system and motor vehicle

CN116670015BCN 116670015 BCN116670015 BCN 116670015BCN-116670015-B

Abstract

The invention relates to a method for at least semi-automatic parking of a motor vehicle (10), wherein a track (24) is provided along which track (24) the motor vehicle (10) runs at least semi-automatically, and wherein the track (24) is displayed on a display device (22, 38) by means of an overview map (28) of the environment. The respective environment region (U1, U2, U3, U4, U5, U6, U7, U8) of the environment (U) is detected by means of at least one camera as respective image data (B, B, B2, B3, B4, B5, B6, B7, B8), which are stored at least partially in a manner assigned to the respective environment region (U1, U2, U3, U4, U5, U6, U7, U8), wherein at the point in time of the display of the overview map (28), all image data (B, B, B2, B3, B4, B5, B6, B7, B8) stored up to this point in time are displayed in the corresponding display region (A1, A2, A3, A4, A5, A6, A7, A8) of the overview map (28).

Inventors

  • S. Paula
  • A. Castro Pena
  • A. Xu Erzeman
  • P. Cressman
  • M. Lv Bu grams

Assignees

  • 奥迪股份公司
  • 凯瑞达欧洲公司

Dates

Publication Date
20260505
Application Date
20220222
Priority Date
20210223

Claims (8)

  1. 1. A method for at least semi-automatic parking of a motor vehicle (10), wherein, -Providing and storing a trajectory (24) from a start point (24A) to an end point (24B); -in case the motor vehicle (10) is located at a predetermined nearby position of the provided trajectory (24), driving the motor vehicle (10) at least semi-automatically along the trajectory (24) to an end point (24B); -displaying the trajectory (24) on a display device (22, 38); -displaying an overview map (28) of the environment (U) surrounding the track (24), and -Showing the trajectory (24) in an overview map (28); Characterized in that the overview map (28) has a plurality of different display areas (A1, A2, A3, A4, A5, A6, A7, A8) which correspond to respective environment areas (U1, U2, U3, U4, U5, U6, U7, U8) of the environment (U) of the track (24), wherein, as soon as image data (B, B, B2, B3, U4, U5, U6, U7, U8) relating to the respective environment areas (U1, U2, U3, U4, U5, B3, B4, B5, B6, B7, B8) are detected by means of at least one camera of the motor vehicle (10), at least a part of the respective detected image data (B, B1, B2, B3, B4, B5, B6, B7, B8) is stored as a current image data portion (B, B1, B2, B3, B4, B5, B6, B7, B8) in association with the respective environmental region (U1, U2, U3, U4, U5, U6, U7, U8) involved, and at the point in time when the overview map (28) is displayed, all current image data portions (B, B1, B2, B3, B4, B5, B6, B7, B8) stored up to this point in time are displayed in the display region (A1, A2, A3, A4, A5, A6, A7, A8) of the overview map (28) corresponding to the respective environmental region (U1, U2, U3, U4, U5, U6, U7, U8), The objects (30) detected in a specific one (U1, U2, U3, U4, U5, U6, U7, U8) of the environment areas (U1, U2, U3, U4, U5, U6, U7, U8) by means of the detection device of the motor vehicle (10) are classified as travelable or non-travelable, the objects (30) and the categories (32) assigned to the objects (30) are displayed in the overview map (28) in the display areas (A1, A2, A3, A4, A5, A6, A7, A8) assigned to the specific environment area (U1, U2, U3, U4, U5, U6, U7, U8), A correction of the classification of the object (30) is performed in accordance with the user input.
  2. 2. The method according to claim 1, characterized in that when at least one camera re-detects current image data (B, B, B2, B3, B4, B5, B6, B7, B8) related to a first ambient area (U1, U2, U3, U4, U5, U6, B7, B8), a first image data portion (B, B1, B2, B3, B4, B5, B6, B7, B8) of the stored current image data portion (B, B1, B2, B3, B4, B5, B6, B7, B8) of the first ambient area in the ambient area (U1, U2, U3, U4, U5, B6, B7, B8) is updated.
  3. 3. The method according to claim 1 or 2, characterized in that when re-detecting a specific environment area (U1, U2, U3, U4, U5, U6, U7, U8) comprising the object (30): -updating and/or plausibility detection of the presence of an object (30), and/or Updating and/or plausibility checking of the classification of the object (30), Wherein the result of the update and/or the reliability detection is output.
  4. 4. Method according to claim 1 or 2, characterized in that the starting point (24A) and/or the ending point (24B) and/or the course of the trajectory (24) in a predetermined travelable region is changed in response to a user input.
  5. 5. Method according to claim 1 or 2, characterized in that the overview map (28) and/or the track (24) is transmitted by means of wireless communication (40) to a vehicle external device (34), which is a central data processing device, and/or to other motor vehicles (10) and/or mobile communication equipment.
  6. 6. Method according to claim 1 or 2, characterized in that the processing of the overview map (28) and/or the trajectory (24) is performed by a computing device (34) outside the motor vehicle in accordance with user input and the processing results are transmitted to the motor vehicle (10), wherein the display and/or at least semi-automatic driving of the motor vehicle (10) is performed in accordance with the transmitted processing results.
  7. 7. A driving assistance system (12) for at least semi-automatic parking of a motor vehicle (10), wherein the driving assistance system (12) is designed for, -Storing the provided trajectory (24) from the start point (24A) to the end point (24B); -in case the motor vehicle (10) is located at a predetermined nearby position of the provided trajectory (24), driving the motor vehicle (10) at least semi-automatically along the trajectory (24) to an end point (24B); -displaying the trajectory (24) on a display device (22, 38); -displaying an overview map (28) of the environment (U) surrounding the track (24), and -Showing the trajectory (24) in an overview map (28), Characterized in that the overview map (28) has a plurality of different display areas (A1, A2, A3, A4, A5, A6, A7, A8) which correspond to respective environment areas (U1, U2, U3, U4, U5, U6, U7, U8) of the environment (U) of the track (24), wherein the driving assistance system (12) is designed to, upon detection of image data (B, B, B2, B3, B4, B6, B7, B8) which relate to the respective environment areas (U1, U2, U3, U4, U5, U6, U7, U8) by means of at least one camera of the motor vehicle (10), at least a part of the respective detected image data (B, B, B2, B3, B4, B5, B6, B7, B8) is stored as a current image data portion (B, B1, B2, B3, B4, B5, B6, B7, B8) in association with the respective environmental region (U1, U2, U3, U4, U5, U6, U7, U8) involved, and at the point in time when the overview map (28) is displayed, all current image data portions (B, B, B2, B3, B4, B5, B6, B7, B8) stored up to this point in time are displayed in the display region (A1, A2, A3, A4, A5, A6, A7, A8) of the overview map (28) corresponding to the respective environmental region (U1, U2, U3, U4, U5, U6, U7, U8), The objects (30) detected in a specific one (U1, U2, U3, U4, U5, U6, U7, U8) of the environment areas (U1, U2, U3, U4, U5, U6, U7, U8) by means of the detection device of the motor vehicle (10) are classified as travelable or non-travelable, the objects (30) and the categories (32) assigned to the objects (30) are displayed in the overview map (28) in the display areas (A1, A2, A3, A4, A5, A6, A7, A8) assigned to the specific environment area (U1, U2, U3, U4, U5, U6, U7, U8), A correction of the classification of the object (30) is performed in accordance with the user input.
  8. 8. A motor vehicle (10) having a driving assistance system (12) according to claim 7.

Description

Method for at least semi-automatic parking of a motor vehicle, driving assistance system and motor vehicle Technical Field The invention relates to a method for at least semi-automatic parking of a motor vehicle, wherein a trajectory from a start point to an end point is provided and stored, and in the event of the motor vehicle being located in the vicinity of a predetermined position of the provided trajectory, the motor vehicle travels at least semi-automatically along the trajectory to the end point, the trajectory is displayed on a display device, an overview map of the environment surrounding the trajectory is displayed, and the trajectory is displayed in the overview map. The invention also relates to a driving assistance system and a motor vehicle. Background The present invention relates generally to the field of so-called trained parking. The trained parking function can teach the driver a specific lane, usually for the parking process, in such a way that the driver manually drives through the lane while recording the driving, and then stores the lane by means of the function. The stored parking process can then be retrieved from any point of the record, whereby the vehicle passes at least semi-automatically through the journey until the end point is reached. In this case, "at least semi-automatically" means that the vehicle can autonomously travel through the track and that steering as well as acceleration and braking can be carried out. However, it may additionally be necessary for the driver to have to actuate a safety switch during this time, or at least to be ready for intervention. In such at least semi-automatic parking, the motor vehicle can thus be driven completely automatically, i.e. automatically guided longitudinally and transversely with respect to the motor vehicle. In this case, DE 10 2017 115 810 A1 describes an automatic parking method for a trajectory based on a starting point to a target point, wherein the trajectory is shown in a user interface and an environment region of the trajectory is shown, and a travelable region in the environment region is determined, and the trajectory is automatically adjusted from the starting point to the target point taking into account the travelable region. In this case, the user can execute a corresponding input via the user interface in order to define a non-passable or non-passable area, for example a flower bed or a lawn. The trajectory may be specified by calculation or alternatively learned by the driver steering the vehicle from the starting point to the target point, and the vehicle records the traveled trajectory or a driving maneuver for traveling the trajectory and subsequently reproduces the trajectory or the driving maneuver. Furthermore, DE 2013 213 225A1 describes a parking assistance system in which a stored parking or maneuvering maneuver along a trajectory is provided and the trajectory and the environmental object from the starting position to the target position of the vehicle are shown to the driver via a display device. Furthermore, an obstacle located in front of the vehicle is shown to the driver, wherein the driver instructs the parking assistance system how the vehicle bypasses the obstacle by an input via the operating element. Such obstacles or general environmental objects may be schematically shown to the driver on the display device. The driver may then decide how to bypass such an object. In the parking systems known to date, only the obstacle currently detectable by the corresponding sensor of the motor vehicle can be displayed to the driver. If the track to be travelled extends, for example, through a hidden observation area, for example around a building, these objects can only be displayed to the driver for a very short time, i.e. only when the motor vehicle is travelling so far that they are also located in the detection area of the sensor of the motor vehicle. However, as clear a representation as possible of the surroundings of the track plays an important role not only in the avoidance of collisions, but also, for example, in the selection of a suitable course of the track itself. Even when the driver teaches the trajectory to be travelled to the motor vehicle itself by the driver initially driving over the trajectory to be travelled, it is not always clear at this time, just in the case of a long parking trajectory, whether the trajectory to be travelled is still disadvantageous and, for example, passes directly through the entrance of the house or at other disadvantageous locations. It is also not always possible to clearly identify which objects are involved here, since only rough contours etc. are shown locally, by drawing the detected environmental objects in the overview map generally only briefly. With such rough overview maps, it is often difficult or even impossible for the driver to understand whether the object is actually correctly classified as a non-traversable object or a traversable objec