Automated parking

Patent metadata

Field	Value
Publication number	US-10657817-B2
Application number	US-201615355578-A
Country	US
Kind code	B2
Filing date	Nov 18, 2016
Priority date	Nov 20, 2015
Publication date	May 19, 2020
Grant date	May 19, 2020

Abstract

A motor vehicle includes a sensor for scanning a surrounding area. A method for controlling the motor vehicle includes steps of ascertaining a driving situation of the motor vehicle, scanning the surrounding area of the motor vehicle with the aid of the sensor, processing the scanned information and controlling the motor vehicle on the basis of the processed information. The scanning and/or processing are/is carried out as a function of the ascertained driving situation.

First claim

What is claimed is:

1. A method for controlling and parking in a parking space of a parking lot a motor vehicle having a sensor for scanning a surrounding area of the motor vehicle, the method comprising:
ascertaining a driving situation of the motor vehicle;
scanning the surrounding area with the sensor, which is on-board the vehicle, to produce scanned information;
processing the scanned information; and controlling and parking in the parking space of the parking lot the motor vehicle based on the processed information, wherein at least one of the scanning and the processing takes place as a function of the ascertained driving situation;
wherein a driver of the vehicle leaves the vehicle at a hand-over-point in the parking lot, and wherein the vehicle is autonomously guided on a route having different driving sections to the parking space and parking the vehicle in the parking space,
wherein the motor vehicle is controlled in the parking lot within a framework of an automated parking process,
wherein at least one of the scanning and the processing takes place as a function of a state of the ground,
wherein the ground is a surface on which the motor vehicle is standing or across which the motor vehicle is traveling, and wherein the state of the ground includes at least one of a roughness of a cement pavement or other floor pavement, a rough asphalt, pebbles or crushed rock, and/or a structure or an obstacle on the ground, including at least one of an indentation, a threshold, an edge, a step, a rain gutter or a bulge,
wherein the parking lot includes an infrastructure, which includes a further processing device, a wireless communications device to communicate with a communications device of the motor vehicle, and at least one further sensor for scanning the motor vehicle or a surrounding area, including at least a portion of the route traveled by the vehicle to the parking space,
wherein the ascertaining includes ascertaining a position of the motor vehicle in the parking lot, wherein the driving situation is ascertained based on the ascertained position, and
wherein the ascertained driving situation is determined based on the ascertained position and based on driving parameters, including a distance to a topographical obstacle, including at least one of the threshold, a ramp and/or a pedestrian crossing in the parking lot.

2. The method as recited in claim 1 , wherein the driving situation is ascertained by a parking-lot-side processing system and transmitted to the motor vehicle.

3. The method as recited in claim 1 , wherein:
the surrounding area of the motor vehicle is scanned with the aid of sensors of a parking- lot-side processing system,
the scanned information is transmitted to the motor vehicle, and
the driving situation is ascertained by a processing device of the motor vehicle.

4. The method as recited in claim 1 , wherein the motor vehicle includes a plurality of sensors, and wherein the driving situation is ascertained autonomously on the part of the motor vehicle.

5. The method as recited in claim 1 , wherein at least one of the scanning and the processing as a function of the ascertained driving situation includes a variation of a detection region of the sensor.

6. The method as recited in claim 1 , wherein at least one of the scanning and the processing as a function of the ascertained driving situation includes a use of a threshold value selected on the basis of the driving situation.

7. The method as recited in claim 1 , wherein at least one of the scanning and the processing as a function of the ascertained driving information includes selectively detecting a predefined object on the basis of sensor information.

8. The method as recited in claim 7 , further comprising:
adapting a threshold value for a size of the object to be detected as a function of the ascertained driving situation.

9. The method as recited in claim 1 , wherein the driving situation includes one of: starting to drive, straight-ahead driving, cornering, parking, leaving a parking space, driving on a straight ramp, driving on a ramp featuring a curve, turning, and stopping.

10. A non-transitory computer readable medium having a computer program, which is executable by a processor, comprising:
a program code arrangement having a program code for controlling and parking in a parking space of a parking lot a motor vehicle having a sensor for scanning a surrounding area of the motor vehicle, by performing the following:
ascertaining a driving situation of the motor vehicle;
scanning the surrounding area with the sensor, which is on-board the vehicle, to produce scanned information;
processing the scanned information; and
controlling the motor vehicle based on the processed information; wherein at least one of the scanning and the processing takes place as a function of the ascertained driving situation, and wherein a driver of the vehicle leaves the vehicle at a hand-over-point in the parking lot, and wherein the vehicle is autonomously guided on a route having different driving sections to the parking space and parking the vehicle in the parking space,
wherein the motor vehicle is controlled in the parking lot within a framework of an automated parking process,
wherein at least one of the scanning and the processing takes place as a function of a state of the ground,
wherein the ground is a surface on which the motor vehicle is standing or across which the motor vehicle is traveling, and wherein the state of the ground includes at least one of a roughness of a cement pavement or other floor pavement, a rough asphalt, pebbles or crushed rock, and/or a structure or an obstacle on the ground, including at least one of an indentation, a threshold, an edge, a step, a rain gutter or a bulge,
wherein the parking lot includes an infrastructure, which includes a further processing device, a wireless communications device to communicate with a communications device of the motor vehicle, and at least one further sensor for scanning the motor vehicle or a surrounding area, including at least a portion of the route traveled by the vehicle to the parking space,
wherein the ascertaining includes ascertaining a position of the motor vehicle in the parking lot, wherein the driving situation is ascertained based on the ascertained position, and
wherein the ascertained driving situation is determined based on the ascertained position and based on driving parameters, including a distance to a topographical obstacle, including at least one of the threshold, a ramp and/or a pedestrian crossing in the parking lot.

11. A device for controlling and parking in in a parking space of a parking lot a motor vehicle, comprising:
an interface to a control device for controlling the motor vehicle;
a sensor, which is on-board the vehicle, for scanning a surrounding area of the motor vehicle to produce scanned information; and
a processing device for processing the scanned information and for actuating the control device on the basis of the processed information, wherein at least one of the scanning of the sensor and the processing taking place as a function of an ascertained driving situation of the motor vehicle; wherein
a driver of the vehicle leaves the vehicle at a hand-over-point in the parking lot, and wherein the vehicle is autonomously guided on a route having different driving sections to the parking space and parking the vehicle in the parking space,
wherein the motor vehicle is controlled in the parking lot within a framework of an automated parking process, and
wherein at least one of the scanning and the processing takes place as a function of a state of the ground,
wherein the ground is a surface on

Assignees

• Bosch Gmbh Robert

Inventors

• Schoenherr Michael
• Nordbruch Stefan

Classifications

• B60W40/06

  Road conditions · CPC title

• G08G1/096775

  where the origin of the information is a central station · CPC title

• B60W2420/403

  Image sensing, e.g. optical camera · CPC title

• B60W2552/15

  Road slope, i.e. the inclination of a road segment in the longitudinal direction · CPC title

• B60W40/072

  Curvature of the road · CPC title