Method for manoeuvring a motor vehicle into a parking space with determination of a parking trajectory, driver assistance system and motor vehicle

Patent metadata

Field	Value
Publication number	US-10906533-B2
Application number	US-201716305966-A
Country	US
Kind code	B2
Filing date	May 24, 2017
Priority date	May 30, 2016
Publication date	Feb 2, 2021
Grant date	Feb 2, 2021

Abstract

A method for manoeuvring a motor vehicle into a parking space includes: determining a parking trajectory from a starting point to a destination point in the parking space, wherein the parking trajectory includes circular arcs, straight lines, and clothoids; manoeuvring the motor vehicle along the determined parking trajectory into the parking space; and determining an auxiliary trajectory with a plurality of sections from the starting point to the destination point. The auxiliary trajectory includes circular arcs and straight lines as the sections, a respective transition region is defined for neighbouring sections, and a clothoid is determined for the respective transition regions. The parking trajectory is determined from the auxiliary trajectory in which the respective transition regions are replaced by the clothoids.

First claim

The invention claimed is:

1. A method for manoeuvring a motor vehicle into a parking space, the method comprising:
determining a parking trajectory from a starting point to a destination point in the parking space, wherein the parking trajectory is composed of circular arcs, straight lines and clothoids;
manoeuvring the motor vehicle along the determined parking trajectory into the parking space; and
determining an auxiliary trajectory with a plurality of sections from the starting point to the destination point,
wherein the auxiliary trajectory comprises circular arcs and straight lines as the sections, a respective transition region is defined for neighbouring sections, and a clothoid is determined for the respective transition regions,
wherein the parking trajectory is determined from the auxiliary trajectory in which the respective transition regions are replaced by the clothoids, and
wherein the sections of the auxiliary trajectory are determined so that the circular arcs and the straight lines are arranged in alternation with one another.

2. The method according to claim 1 , wherein a circular-arc section of the circular arc and/or a straight-line section of the straight line is determined for defining the respective transition regions, which is replaced by the respective clothoid when determining the parking trajectory.

3. The method according to claim 1 , wherein to determine respective clothoids an auxiliary circular arc is determined for the circular arc, wherein a radius of the auxiliary circular arc is smaller than a radius of the circular arc, and the auxiliary circular arc touches the circular arc at a fixed point.

4. The method according to claim 3 , wherein the auxiliary circular arc is determined in such a way that the fixed point is arranged at a centre of the circular arc if a section of the auxiliary trajectory is adjacent at both ends of the circular arc, or that the fixed point corresponds to the starting point of the auxiliary trajectory if the circular arc includes the starting point, or that the fixed point corresponds to the destination point of the auxiliary trajectory if the circular arc includes the destination point.

5. The method according to claim 3 , wherein a difference is determined between the radius of the circular arc and the radius of the auxiliary circular arc on the basis of an angle of a circular segment assigned to the circular-arc section of the circular arc, wherein the angle extends from the fixed point to a contact point of the circular arc with the neighbouring section.

6. The method according to claim 3 , wherein the difference between the radius of the circular arc and the radius of the auxiliary circular arc is determined with reference to a length of the straight-line section of the neighbouring straight line.

7. The method according to claim 1 , wherein the respective clothoid in the transition regions is determined such that a change in the curvature of the clothoid is minimum.

8. A driver assistance system for a motor vehicle, the driver assistance system comprising a processor coupled to a memory, the processor coupled to the memory being configured to:
manoeuvre a motor vehicle into a parking space by determining a parking trajectory from a starting point to a destination point in the parking space, wherein the parking trajectory is composed of circular arcs, straight lines and clothoids, and
wherein the motor vehicle is manoeuvred along the determined parking trajectory into the parking space;
determine an auxiliary trajectory with a plurality of sections from the starting point to the destination point, wherein the auxiliary trajectory comprises circular arcs and straight lines as the plurality of sections,
define a respective transition region for neighbouring sections, and
determine a clothoid for the respective transition regions,
wherein the parking trajectory is determined from the auxiliary trajectory in which the respective transition regions are replaced by the clothoids, and
wherein the sections of the auxiliary trajectory are determined so that the circular arcs and the straight lines are arranged in alternation with one another.

9. The driver assistance system according to claim 8 , wherein the driver assistance system manoeuvres the motor vehicle at least semi-autonomously along the parking trajectory.

10. A motor vehicle with a driver assistance system according to claim 8 .

Assignees

• Valeo Schalter & Sensoren Gmbh

Inventors

• Bensemann Rolf
• Heimberger Markus

Classifications

• B62D15/0285 Primary

  Parking performed automatically · CPC title

• G05D1/0212

  with means for defining a desired trajectory (involving a plurality of land vehicles G05D1/0287) · CPC title

• B62D15/027

  Parking aids, e.g. instruction means · CPC title

• B60W30/06 Primary

  Automatic manoeuvring for parking · CPC title