# US 2020/0401127 A1 · Remote-Controlled Parking Assistance System With Autonomous Decision About the Presence of a Parking or Parking-Space-Exiting Situation and Corresponding Parking Method

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- Number: US 2020/0401127 A1
- Document ID: US20200401127A1
- Status: Published application
- Kind: A1
- Application number: 16/969,376
- Filed: 2019-02-18
- Published: 2020-12-24
- Earliest claimed: 2018-02-23
- Assignees: Bayerische Motoren Werke Aktiengesellschaft
- Applicants: Bayerische Motoren Werke Aktiengesellschaft
- Inventors: Martin KRAMER; Tobias STROBEL
- Web page: https://patentgrep.com/patent/US20200401127A1

## CPC

- G05D 1/0011: {associated with a remote control arrangement}
- B62D 15/0285: {Parking performed automatically}
- G05D 1/0088: {characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours (using knowledge based models G06N5/00)}
- G08G 1/144: {on portable or mobile units, e.g. personal digital assistant [PDA]}
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M)
- G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93})

## Abstract

A parking assistance system is remote-controlled from outside a motor vehicle and has a remote-controlled parking function for automated parking and exiting from a parking space with at least automated longitudinal guidance into and respectively out of a parking space. The parking assistance system permits parking in the forward parking direction or rearward parking direction depending on the position of the parking space with respect to the vehicle in question. The parking assistance system has a receiver for receiving a movement direction of the vehicle selected by the user. The receiver can receive as the movement direction (selected by the user), a selected forward driving movement direction for driving the vehicle forwards or a rearward driving movement direction for driving the vehicle in reverse depending on the user's choice. A control device which is coupled to the receiver is configured to decide independently, without the user making any specification about the presence of a parking situation or parking-space-exiting situation, whether there is a parking situation or parking-space-exiting situation. If the control device detects the presence of a parking situation, the vehicle is parked in the parking space in accordance with the received selected movement direction by forward driving or driving in reverse. Otherwise, if the control device detects the presence of a parking-space-exiting situation, the vehicle is made to exit the parking space in accordance with the received selected movement direction by forward driving or driving in reverse.

## Claims

### Claim at position 1

-16. (canceled)

### Claim 17

A parking assistance system which is remote-controllable from outside a motor vehicle and has a remote-controlled parking function for automated parking in and exiting from a parking space, which system permits parking in a forward parking direction or in a reverse parking direction depending on a position of a parking space, wherein the parking assistance system comprises:
a receiver for receiving a movement direction of the vehicle, selected at a user end, wherein it is possible to receive as a selected movement direction:
(i) a forward-driving movement direction for driving the vehicle forward and
(ii) a reverse-driving movement direction for driving the vehicle in reverse; and
a control device which is coupled to the receiver and is configured to:
decide independently, without user-end specification about the presence of a parking situation or parking-space-exiting situation, whether a parking situation or a parking-space-exiting situation is present,
when the presence of a parking situation is detected, park the vehicle in accordance with the received selected movement direction by forward driving or driving in reverse into the parking space,
and
when the presence of a parking-space-exiting situation is detected, make the vehicle exit the parking space in accordance with the received selected movement direction by way of forward movement or movement in reverse.

### Claim 18 (depends on 17)

The parking assistance system according to claim 17, wherein the control device is configured to:
detect a change in position of the vehicle with respect to a parking position of the vehicle in which the vehicle has been parked without using the remote-controlled parking function, and
decide autonomously on the basis of the detected change in position and the received selected movement direction, whether a parking situation or a parking-space-exiting situation is present.

### Claim 19 (depends on 18)

The parking assistance system according to claim 18, wherein the parking assistance system further comprises:
a position-determining device for determining the vehicle position of the motor vehicle, and
wherein the control device is coupled to the position-determining device in order to receive the determined vehicle position, and is configured to:
specify as the parking position of the vehicle, the vehicle position which is present when or after the vehicle is parked, and
detect a change in position on the basis of the specified parking position and the current vehicle position.

### Claim 20 (depends on 19)

The parking assistance system according to claim 19, wherein
the control device is configured to specify as the parking position the vehicle position when the remote-controlled parking function is activated before the start of the parking maneuver.

### Claim 21 (depends on 20)

The parking assistance system according to claim 20, wherein
the control device is configured not to define the vehicle position as a parking position when the remote-control parking function is activated before the start of the parking maneuver if a stored parking position is already present.

### Claim 22 (depends on 19)

The parking assistance system according to claim 19, wherein the control device is configured to:
detect that the vehicle has been moved without using the remote-controlled parking function, and
reject the parking position in response thereto.

### Claim 23 (depends on 18)

The parking assistance system according to claim 18, wherein the control device is configured to:
decide that a parking situation is present:
(i) when it is detected that there is a change in position with respect to the parking position in the forward direction and a selected forward-driving movement direction,
or
(ii) when it is detected that there is a change in position with respect to the parking position in the reverse direction and a selected reverse-driving movement direction; and
decide that a parking-space-exiting situation is present:
(i) when it is detected that there is a change in position with respect to the parking position in the forward direction and a selected reverse-driving movement direction, or
(ii) when it is detected that there is a change in position with respect to the parking position in the reverse direction and a selected forward-driving movement direction.

### Claim 24 (depends on 18)

The parking assistance system according to claim 18, wherein in order to detect the change in position, the control device is configured to detect:
whether the vehicle is currently located in a front position region, wherein a defined reference point of the vehicle lies, when viewed in the direction of the vehicle, in front of a discrimination straight line, or
whether the vehicle is instead currently located in a rear position region, wherein the reference point lies, when viewed in the direction of the vehicle, behind the discrimination straight line,
wherein the discrimination straight line runs through the position of the reference point in the parking position and is oriented transverse with respect to the vehicle orientation in the parking position.

### Claim 25 (depends on 23)

The parking assistance system according to claim 23, wherein the control device is configured to:
decide that a parking situation is present:
(i) when it is detected that the vehicle is located in the front position region and there is a selected forward-driving movement direction, or
(ii) when it is detected that the vehicle is located in a rear position region and there is a selected reverse-driving movement direction, and
decide that a parking-space-exiting position is present:
(i) when it is detected that the vehicle is located in a front position region and there is a reverse-driving movement direction, or
(ii) when it is detected that the vehicle is located in a rear position region and there is a forward-driving movement direction.

### Claim 26 (depends on 17)

The parking assistance system according to claim 17, wherein the control device is configured to:
detect a change in position of the vehicle with respect to a parking position of the vehicle in which the vehicle has been parked without using the remote-controlled parking function, and
detect, on the basis of the detected change in position, whether there is a forward parking direction or a reverse parking direction.

### Claim 27 (depends on 26)

The parking assistance system according to claim 26, wherein the control device is configured to:
search for a suitable parking place or an object in front of the vehicle when a forward-parking direction is detected,
search for a suitable parking space or an object behind the vehicle when a reverse-parking direction is detected.

### Claim 28 (depends on 17)

The parking assistance system according to claim 17, wherein the control device is configured to:
park the vehicle in a steered fashion into the parking space when the presence of a parking situation is detected,
and
make the vehicle exit a parking space in an unsteered fashion when the presence of a parking-space-exiting maneuver is detected.

### Claim 29 (depends on 17)

The parking assistance system according to claim 17, wherein
the parking assistance system comprises a surroundings sensor system which is coupled to the control device and makes available surroundings information about the surroundings of the vehicle, and
the control device is configured to:
detect the presence of a narrow point around the vehicle on the basis of surroundings information of the surroundings sensor system, and
decide as a function thereof that there is a parking-space-exiting situation.

### Claim 30 (depends on 29)

The parking assistance system according to claim 29, wherein
the parking space is a forward parking space, and
the control device is configured to detect the presence of a narrow point on the basis of surroundings information about the presence of at least one obstacle to the side of the vehicle.

### Claim 31 (depends on 17)

The parking assistance system according to claim 17, wherein the parking space is a forward parking space.

### Claim 32

A parking method for automated parking of a motor vehicle in a parking space and exiting of the motor vehicle from a parking space, wherein depending on a position of the parking space, parking can be carried out in a forward parking direction or in a reverse parking direction, wherein the method comprises the steps of:
receiving a movement direction, selected at a user end, of the vehicle from outside the vehicle, wherein it is possible to receive as a selected movement direction:
(i) a forward-driving movement direction for driving the vehicle forward and
(ii) a reverse-driving movement direction for driving the vehicle in reverse, and
without user-end specification about a presence of a parking situation or parking-space-exiting situation, deciding autonomously as to whether there is a parking situation or a parking-space-exiting situation,
when the presence of a parking situation is detected, parking the vehicle in accordance with the received selected movement direction by forward movement or reverse movement into the parking space, and
when the presence of a parking-space-exiting situation is detected, moving the vehicle out of the parking space in accordance with the received selected movement direction by forward movement or reverse movement out of the parking space.