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US 12,583,518 B2Granted
Method for operating a parking assistance system, computer program product, parking assistance system and vehicle
AssigneeValeo Schalter und Sensoren GmbH
InventorUsama Mohamad
Life of this patent
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Abstract
A method for operating a parking assistance system (110) for a vehicle (100) is proposed, which is configured to capture and store a trajectory to be trained, in a training mode (MOD0), and which is configured to follow the stored trajectory by means of the vehicle (100) in a following mode (MOD1). In order to ascertain whether stored optical features, which are used to orient the vehicle in the following mode, need to be updated, distributions of parameters of the optical features are compared. If the similarity of the compared distributions falls below a predetermined threshold, an update is carried out.
Claims11
A method for operating a parking assistance system for a vehicle, comprising:
- capturing and storing a trajectory to be trained, in a training mode;
- and
- autonomously or semi-autonomously following the stored trajectory by the vehicle in a following mode by controlling a steering apparatus and an automatic gear selection system of the vehicle,
- wherein the training mode comprises:
- A1) manually driving the vehicle along the trajectory,
- A2) receiving at least one image of an environment of the vehicle during manual driving,
- A3) ascertaining a plurality of optical features in the received image, wherein each optical feature is characterized by at least one parameter, and
- A4) storing a data set comprising the ascertained optical features;
- wherein the following mode comprises:
- B1) receiving at least one current image of the environment of the vehicle while operating the parking assistance system in the following mode,
- B2) ascertaining the optical features in the received current image,
- B3) ascertaining a first distribution of at least one of the parameters based on the stored data set and ascertaining a second distribution of the parameter based on the ascertained optical features of the current image,
- B4) ascertaining a similarity between the first distribution and the second distribution, and
- B5) updating the stored data set if the similarity ascertained is less than or equal to a predetermined update threshold;
- wherein in the training mode, steps A2)-A4) are carried out for multiple positions along the trajectory to be trained, so that for each of the positions a corresponding data set is stored,
- wherein in the following mode, steps B3) and B4) are carried out for all stored data sets, and
- wherein step B5) is carried out when the first distribution and the second distribution have a similarity threshold value above a predetermined similarity threshold.
14 more elements
A parking assistance system for a vehicle,
- which is configured to capture and store a trajectory to be trained, in a training mode, and
- which is configured to follow the stored trajectory by the vehicle in a following mode, wherein the parking assistance system comprises:
- a reception unit for receiving at least one image of an environment of the vehicle while said vehicle travels along the trajectory to be trained, in the training mode,
- a first ascertainment unit for ascertaining a plurality of optical features in the received image, wherein each optical feature is characterized by at least one parameter, and
- a storage unit for storing a data set comprising the ascertained optical features,
- wherein the reception unit is configured to receive at least one current image of the environment of the vehicle while the vehicle travels along the trajectory in the following mode and the first ascertainment unit is configured to ascertain the optical features in the received current image, and
- wherein the parking assistance system also comprises:
- a second ascertainment unit for ascertaining a first distribution of at least one of the parameters based on the stored data set and for ascertaining a second distribution of the parameter based on the ascertained optical features of the current image,
- a comparison unit for ascertaining a similarity between the first distribution and the second distribution, and
- an updating unit for updating the stored data set if the ascertained similarity is less than or equal to a predetermined update threshold,
- wherein the parking assistance system is configured to control the vehicle to autonomously or semi-autonomously follow the stored trajectory in the following mode by controlling a steering apparatus and an automatic gear selection system of the vehicle,
- wherein, in the training mode, the reception unit receives the images, the first ascertainment unit ascertains the plurality of optical features, and the storage unit stores the data set for multiple positions along the trajectory to be trained, so that for each of the positions a corresponding data set is stored,
- wherein, in the following mode, the second ascertainment unit ascertains the first distribution of the at least one of the parameters and the comparison unit ascertains the similarity between the first distribution and the second distribution for all stored data sets, and
- wherein the updating unit updates the stored data set when the first distribution and the second distribution have a similarity threshold value above a predetermined similarity threshold.
11 more elements
Dependencies are inferred from the claim text.