CN106515741A - Device and method of automatic driving of vehicle - Google Patents
Device and method of automatic driving of vehicle Download PDFInfo
- Publication number
- CN106515741A CN106515741A CN201610819948.9A CN201610819948A CN106515741A CN 106515741 A CN106515741 A CN 106515741A CN 201610819948 A CN201610819948 A CN 201610819948A CN 106515741 A CN106515741 A CN 106515741A
- Authority
- CN
- China
- Prior art keywords
- motor vehicles
- trigger mechanism
- regulation
- detonation sensor
- signal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/027—Parking aids, e.g. instruction means
- B62D15/0285—Parking performed automatically
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0062—Adapting control system settings
- B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Power-Operated Mechanisms For Wings (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a device 1 used for automatic driving of a vehicle 50. The device comprises at least one sensing mechanism 2,3 used for detecting the surrounding environment of the vehicle 50, at least a control part 4 of at least an actuator used for controlling the vehicle, and a memory 7 used to store the image of the surrounding environment. The control part 4 is used to evaluate the surrounding environment data detected by the sensing mechanism 2,3, and with the help of the surrounding environmental data, the vehicle 50 is positioned in the image of the surrounding environment, and the actuator 5,6 of the vehicle 50 is controlled, and therefore the vehicle can drive along the specific track automatically. The control part 4 comprises a trigger mechanism 8, and can be used to start the automatic driving of the vehicle along the specific track. The trigger mechanism 8 is provided with a knock sensor 9. The invention also discloses the related method.
Description
Technical field
The present invention relates to a kind of apparatus and method of the automatic Pilot for motor vehicles.
Background technology
Modern automotive has multiple aid systems, and which aids in driver in the case of vehicle is driven.Here, more
It is that, using semi-automatic and automatic system, which allows the semi- or fully automated control of motor vehicles, and is sitting in machine without driver
In motor-car.
Known motor vehicles can be by means of aid system automatic Pilot.For example, motor vehicles can be driven towards in car in like fashion automatically
Placement location in storehouse or on parking lot.In this regard, the surrounding of motor vehicles is generally detected by sensing mechanism and motor vehicles are borrowed
Help the ambient data by produced by sensing mechanism to be positioned in the environmental view for being stored.Motor vehicles and then with
Automatic running is controlled along the track of regulation.For example, rail that is being stored by this or calculating that can be so in parking lot
Motor vehicles are controlled on mark.
In order to start automatic running, what the behavior of driver was commonly necessary.For example can selected by driver it is desired
Behavior as expecting after track.If driver is in outside motor vehicles, it is known that for example, be mounted at car by manipulating
Remote control (such as VW Park Assist Vision, BMW Remote Park in key or in mobile phone
Assist) start automatic running.
A kind of method for performing the automatic parking process of motor vehicles by known to 2013/159845 A1 of file WO, its
In, there is communication connection being between the operator outside motor vehicles and motor vehicles, can transmit at least one by which is used for
The instruction of the automatic parking process of activation motor vehicles.Wireless communication device is provided with for this.
But be arranged in the case of modern automotive so that crew module directly utilize key but only via by
The contactless wireless identification of the chip in key is installed in (is exempted from key and enters system, such as Keyless Access
System KESSY) it is opened and closed.Key need not be taken out from pocket by driver again, for entering in vehicle.
Therefore the startup via the remote control being installed in key of automatic running is a kind of comfortableness loss for driver,
Because key must be taken out from pocket by which.
The content of the invention
Therefore, the problem that the present invention is based on is to realize a kind of apparatus and method of the automatic Pilot for motor vehicles,
Start-up course is improved wherein.
The technical purpose is according to the present invention by a kind of device of the feature with Patent right requirement 1 and one kind with special
The method of the feature of sharp claim 10 is realizing.The favourable design of the present invention is drawn by dependent claims.
Next, detonation sensor generally should represent it is a kind of suitable for detection it is at motor vehicles, especially outside motor vehicles
The skew and vibration of the machinery or sound in pulse type at surface and convert thereof into the sensing mechanism of electric signal.
Pinking is in the word that next not only should be understood on spoken language but also is generally understood as with pulse type
The arbitrary acoustical signal of feature.
Device for the automatic Pilot of motor vehicles includes at least one for detecting the sensing of the surrounding of motor vehicles
Mechanism, at least one are used for the control unit of at least one executor for controlling motor vehicles and the storage for storing environmental view
Device, wherein, at least one control unit is configured for assessing the ambient data detected by least one sensing mechanism, borrows
Help evaluated ambient data to position motor vehicles in environment map around and control at least one executor of motor vehicles,
So as to cross the track of regulation with automatic running, wherein, control unit includes trigger mechanism, and which starts along the automatic of the track of regulation
Traveling, wherein, trigger mechanism has detonation sensor.
Further it is provided that a kind of method of the automatic Pilot for motor vehicles, which comprises the following steps：Pass by least one
The surrounding of sense mechanism detection motor vehicles, the ambient data by assessment by produced by surrounding after testing are in week
Motor vehicles, the automatic Pilot by controlling at least one executor of motor vehicles along the track of regulation is positioned in enclosing environment map,
Wherein, trigger mechanism starts automatic Pilot, and wherein, when the signal of regulation is detected by detonation sensor, the trigger mechanism is opened
Dynamic automatic Pilot.
The present invention is based on following thought, and the detonation signal of the regulation that will be detected by detonation sensor is used for starting along rule
The automatic running of fixed track.If for example by being selected desired track or being selected by device or calculate track by driver
Track is defined, then automatic running must be activated.It is arranged to for this, driver gets off from motor vehicles, closes the door and such as profit
With the handss being laid flat from outside pinking to the roof of motor vehicles.In the case of the detonation signal that there is the standard for meeting regulation,
Start the track of automatic running and motor vehicles automatically along regulation for example to drive in empty vacancy of parking lots.
The advantage of apparatus and method of the invention is that driver is no longer dependent on remote control to start automatic Pilot
The additional device of device or other outside vehicle.Therefore eliminate the loaded down with trivial details searching of remote control or key and take out.Pass through
Exempt from the comfortableness obtained into system by key to be also retained in the case of Function for Automatic Pilot.
It is arranged in a special form of implementation, the signal for starting the regulation of automatic Pilot is that a kind of study of Confucian classics is practised
Signal.This advantageously, driver can be using the detonation signal of personal preference or the detonation frequency of personal preference for this
To start automatic Pilot.The study (Anlernen) of signal for example can be travelled in the study to the track for being stored
(Lernfahrt) it is recorded before or after.
Detonation sensor can be constructed with polytype.A kind of particularly simple and efficient side for determining knock noise
Method is using solid sound transducer.Here, solid sound transducer is regularly for example connected via vehicle body with motor vehicles, from
And cause by can be detected well towards motor vehicles, for example towards the sound formed by the pinking of roof.The present invention's is another
Therefore one form of implementation is arranged to, and detonation sensor includes solid sound transducer.
Detonation sensor is also configured to pressure transducer.Therefore it is arranged in another form of implementation, detonation sensor
Including pressure transducer.By means of pressure transducer so that the deformation of the body part of such as motor vehicles is (as which is in the situation of pinking
Formed in) can be measured and further assessment can be used for as electric signal.
One form of implementation is equally possible, is arranged to wherein, and detonation sensor includes force transducer.
Another form of implementation is arranged to, and detonation sensor includes acceleration sensor.Made by means of such acceleration sensor
The mechanical bias (as which forms in the case of pinking in a typical manner) of body part that for example determine can be detected and
Can be utilized.
The type of detonation sensor in principle can unrestricted choice.Can for example using being also present in machine as detonation sensor
The sensor suitable for detecting detonation signal in motor-car.
It is arranged in another kind of form of implementation, trigger mechanism is included for post processing and assessment by detonation sensor institute
The apparatus for evaluating of the signal of detection.This advantageously, can be verified by the detonation signal detected by detonation sensor can
Letter property.In order to prevent false triggering, here desirably, the signal detected by detonation sensor by post processing and assessment.
In a form of implementation, here is arranged to, apparatus for evaluating be configured for analyzing the amplitude of signal after testing and/
Or process in time, wherein, trigger mechanism start automatic running, when signal after testing have regulation amplitude and/or
During the process in time of the amplitude range and/or regulation of regulation.This advantageously, in simple Trusting eBusiness
Framework in guarantee that not to be each trigger automatic Pilot by the signal detected by detonation sensor.
It is capable of achieving in like fashion, the detonation signal for only determining and/or detonation frequency trigger automatic Pilot.So for example can be real
It is existing, with three pinkings triggering automatic Pilot from the equal intervals of about half second to the roof of motor vehicles, it is but once strong quick-fried
Shake will not trigger automatic Pilot (as which is for example by as the Semen Castaneae fallen on roof is formed).Weaker quick pinking is (such as
As which is formed in the case of rainwater is got on the roof of motor vehicles with snapping) also can be by means of commenting accordingly
Estimate and be ignored in the case of triggering automatic Pilot.
Generally, post processing and assessment in the case of can be different used in apparatus for evaluating measure.It is merely exemplary herein
Refer to Fourier analysis or frequency analyses, the filtration of frequency band, pattern recognition method and the threshold value evaluator that determine and open
Close.Post processing and assessment not only can be by means of analogue techniques but also the DSP skills that can be supported by means of digital technology and/or processor
Art is performing.
It is arranged in a form of implementation, trigger mechanism is only within the persistent period of regulation after the track for selecting regulation
Start automatic running.For example, the persistent period of such regulation can be one minute.Then there is driver time enough to exist
Get off from motor vehicles after selecting track, close motor vehicles and start automatic running, such as by the roof towards motor vehicles
Three regular pinkings.Advantage is in the case of automatic running is started the reliability that improves and to prevent or minimize non-
Desired false triggering.
It is arranged in another form of implementation, trigger mechanism is sensitive only for the region of the restriction of motor vehicles.This carries
High reliability and robustness of the device with respect to false triggering.Thus, can trigger the startup of automatic running wherein by pinking
Region can for example be limited to directly being in the car roof area above operator seat of motor vehicles.So, driver can from
Start automatic running after getting off in motor vehicles, but copilot cannot.By limiting sensitive region, can limit in addition by
The probability of the false triggering that other events cause.Therefore, sensitive region is less, and the Semen Castaneae for for example falling is by getting to triggering machine
The probability for triggering automatic Pilot in the sensitizing range of structure is then less.
It is clear that it is possible, trigger mechanism includes other sensing mechanism or mechanism, such as remote control, is installed in key
In remote control or mobile phone, can equally start automatic Pilot via which.
Description of the drawings
Next the present invention is elaborated according to preferred embodiment in the case of referring to the drawings.Wherein：
Fig. 1 shows the schematic diagram of a form of implementation of the device of the automatic Pilot for motor vehicles；
Fig. 2 a show the schematic diagram for starting the detonation signal of automatic running；
Fig. 2 b show the schematic diagram of the detonation signal for not starting automatic running.
List of numerals
1 device
2 sensing mechanisms
3 other sensing mechanisms
4 control units
5 executors
6 other executors
7 memorizeies
8 trigger mechanisms
9 detonation sensor
10 apparatus for evaluating
20 regions for limiting
22 threshold values
23', 23'', 23''' pinking pulse
25 pinking sequences
26 other pinking sequences
30 solid sound transducers
31 pressure transducers
32 force transducers
33 acceleration transducers
50 motor vehicles
51 roofs.
Specific embodiment
A form of implementation of the device 1 of automatic Pilot for motor vehicles 50 is show schematically show in FIG.Device 1
Include including sensing mechanism 2 and optionally other sensing mechanism 3, the surrounding of its detection motor vehicles 50.Additionally, device 1
Including control unit 4 and memorizer 7, control unit 4 controls at least one executor 5 of motor vehicles 50 and optionally controls as desired
The other executor 6 of system, stores environmental view and at least one track in memorizer 7.Control unit 4 includes trigger mechanism 8,
Wherein, trigger mechanism 8 includes detonation sensor 9 and optionally includes apparatus for evaluating 10.
At least one executor 5 controlled by control unit of motor vehicles 50 and other executor 6 are for example configured to use
Automatically turn to, shift gears, brake and drive system, so that automatic running is possibly realized in control.
Detonation sensor 9 can include alternatively or in combination at least one solid sound sensor according to form of implementation selectivity
Device 30, at least one pressure transducer 31, at least one force transducer 32 or at least one acceleration sensor 33, its individually or
Detonation signal is detected in combination.Here, the combination in any of two or more in different sensors is possible.
Device 1 detects the surrounding of motor vehicles 50 via at least one sensing mechanism 2.By data after testing, control
Portion 4 positions motor vehicles 50 in the environmental view being stored in memorizer 7.If control unit 4 is for example recognized empty
Vacancy of parking lots, is stored in memorizer 7 by the track of the current location to its of motor vehicles 50 or such track can be another
Other places providing (such as by calculating), the driver of motor vehicles 50 it is optional go out track.If driver selects track and motor-driven
Car 50 is in its original position, then trigger mechanism 8 prevents the automatic Pilot along selected track to be activated.With track or
The moment of another definition is selected, and the persistent period that can start automatic Pilot wherein terminates.Such persistent period is, for example,
One minute.And then driver gets off from motor vehicles 50, closes driver door and with the regular interval of half second to machine
51 pinking of roof of motor-car 50 three times.
Here, pinking in the region 20 of restriction of the driver on roof 51.Only in the region 20 of the restriction, machine is triggered
The detonation sensor 9 of structure 8 is sensitive.Detonation sensor 9 detects three pinkings and converts thereof into electric signal, and which should
Electric signal is conveyed to apparatus for evaluating 10.The apparatus for evaluating amplitude and its structural appraisal in time with regard to the electric signal
Detonation signal and identify, detonation signal after testing in the framework of the predefined margin of tolerance with for starting automatic Pilot
Predefined detonation signal it is consistent.Trigger mechanism 8 triggers and enabling signal is issued at control unit 4.Control unit 4 is and then
By means of executor 5,6 control motor vehicles 50 along selected track, for example enter in vacancy of parking lots.
It is assumed that, the initial position of motor vehicles 50 is in just to be cast under the big chestnuts tree of chestnuts.It is further assumed that
After track is selected, but still before driver gets off from motor vehicles 50, three chestnuts fall machine with half second compartment of terrain
On the roof 51 of motor-car 50, but wherein only only one is in the region 20 for limiting.Therefore detonation sensor only detects only
One pulse and trigger mechanism 8 does not start automatic Pilot.
It is assumed that as follows, i.e. rain and rainwater is got on the roof 51 of motor vehicles 50 and produced in this place with snapping
The regular percussion of life.Although a part for rainwater is got on the region 20 of the restriction of roof 51 and in this place by detonation sensor
9 detect, but apparatus for evaluating 10 is identified, which is not intended to start the pinking of automatic Pilot, but other signals.So
Difference can for example via the amplitude for signal after testing threshold value determination realizing.Only when threshold value is exceeded,
Just carried out to signal for example in view of the further analysis of its structure in time by apparatus for evaluating 10.
It is achieved in, only opens in the case of the correct pinking sequence in the region 20 of the restriction of the roof 51 of motor vehicles 50
Dynamic automatic Pilot.
Fig. 2 a exemplarily show the process in time of the amplitude of detonation signal, as which is examined by detonation sensor
As survey.Here, which is in moment t0,t1And t2With three pinking pulse 23', 23'''s, 23''' is regular quick-fried at place
Shake sequence 25.Thus, each pinking pulse 23', 23'', 23''' Δ t apart1With Δ t2Interval.So, trigger mechanism
Apparatus for evaluating for example assess must be at least partially in the amplitude on threshold value 22 or signal intensity, thus in the case of assessment
Consider pinking pulse 23', 23'', 23'''.Herein, all three pinking pulse 23', 23'', 23''' are on threshold value 22,
So that the evaluated device of its all three considers.And then, for example assess time interval Δ t1With Δ t2.If which is in
It is determined that the margin of tolerance in, then identify for start automatic Pilot pinking sequence 25 and trigger mechanism by corresponding signal send out
Go out at the control unit of the device.
Obviously, other the pinking sequences 25 for starting automatic Pilot are also possible, the pinking sequence for illustrating in fig. 2 a
Row 25 are only used for graphic extension.In principle, pinking sequence 25 also more complicated or relatively simply can be constructed.Assessment measure also relatively can be answered
Design miscellaneously.
Fig. 2 b show schematically show another pinking sequence 26 detected by the detonation sensor of trigger mechanism.Which relates to again
And three pinkings pulse 23', 23'', 23''', but which is different in its amplitude or signal intensity and also do not advise in time
Rule.Here, a 23' and the 3rd 23''' pinkings pulse have the amplitude of the threshold value 22 less than regulation or signal intensity, so that
Obtain its not evaluated device to consider.Time interval Δ t1With Δ t2It is also different, so that trigger mechanism does not start driving automatically
Sail.
Naturally it is still possible that with pinking pulse 23', the amplitude of 23'', the 23''' characteristic quilt different with time interval
Assessment.The pinking sequence 25,26 for illustrating equally is considered only as the example for the graphic extension present invention.
Claims (10)
1. a kind of device (1) of the automatic running for motor vehicles (50), is used for detecting the motor vehicles including at least one
(50) sensing mechanism (2,3) of surrounding, at least one are used for controlling at least one executor (5,6) of the motor vehicles
Control unit (4) and the memorizer (7) for storing environmental view, wherein, at least one control unit (4) be configured to use
In assessment, by least one sensing mechanism, (2, the ambient data for 3) being detected, by means of the evaluated surrounding
Environmental data positions the motor vehicles (50) and at least one of control motor vehicles (50) in the environmental view and holds
(5,6), so as to cross the track of regulation with automatic running, wherein, described control unit (4) include trigger mechanism (8) to row device, and which opens
The automatic running of the dynamic track along the regulation, it is characterised in that described trigger mechanism (8) have detonation sensor (9).
2. device according to claim 1, it is characterised in that described detonation sensor (9) include solid sound transducer
(30)。
3. device according to claim 1 and 2, it is characterised in that described detonation sensor (9) include pressure transducer
(31)。
4. according to device in any one of the preceding claims wherein, it is characterised in that described detonation sensor (9) are passed including power
Sensor (32).
5. according to device in any one of the preceding claims wherein, it is characterised in that described detonation sensor (9) include accelerating
Sensor (33).
6. according to device in any one of the preceding claims wherein, it is characterised in that trigger mechanism (8) are included for rear
Process and assess the apparatus for evaluating (10) of the signal detected by the detonation sensor (9).
7. it is device (1) according to claim 6, it is characterised in that apparatus for evaluating (10) are configured for analyzing institute
State the amplitude and/or process in time of signal after testing, and wherein, when the signal after testing has the width of regulation
During the process in time of degree and/or the amplitude range for specifying and/or regulation, described trigger mechanism (8) start it is described automatically
Traveling.
8. according to device in any one of the preceding claims wherein (1), it is characterised in that trigger mechanism (8) are only on rule
Start the automatic running after the track for selecting the regulation in the fixed persistent period.
9. according to device in any one of the preceding claims wherein (1), it is characterised in that trigger mechanism (8) only for
The region (20) of the restriction of motor vehicles (50) is sensitive.
10. a kind of method of the automatic Pilot for motor vehicles (50), comprises the following steps：
By at least one sensing mechanism (2,3) detect motor vehicles (50) surrounding,
By described in positioning in ambient data of the assessment by produced by the surrounding after testing around environment map
Motor vehicles (50),
By control motor vehicles (50) at least one executor (5, the automatic Pilot of the track that edge 6) specifies,
Wherein, trigger mechanism (8) starts the automatic Pilot,
Characterized in that,
When the signal of regulation is detected by detonation sensor (9), described trigger mechanism (8) start the automatic Pilot.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102015217485.9A DE102015217485A1 (en) | 2015-09-14 | 2015-09-14 | Device and method for the automated driving of a motor vehicle |
| DE102015217485.9 | 2015-09-14 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106515741A true CN106515741A (en) | 2017-03-22 |
| CN106515741B CN106515741B (en) | 2021-03-19 |
Family
ID=58160575
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610819948.9A Active CN106515741B (en) | 2015-09-14 | 2016-09-13 | Device and method for automatic driving of a motor vehicle |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN106515741B (en) |
| DE (1) | DE102015217485A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109017807A (en) * | 2018-08-09 | 2018-12-18 | 北京智行者科技有限公司 | A kind of control system control method |
| CN112798102A (en) * | 2021-04-13 | 2021-05-14 | 盛瑞传动股份有限公司 | Sound quality evaluation method, device, system and medium |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10766446B2 (en) * | 2017-06-08 | 2020-09-08 | Ford Global Technologies, Llc | External vehicle component control |
| DE102021127414B3 (en) | 2021-10-21 | 2023-03-02 | Cariad Se | Method for operating a motor vehicle and a vehicle controller for operating a motor vehicle |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102030039A (en) * | 2009-10-07 | 2011-04-27 | 福特全球技术公司 | Vehicle park assist system and method for parking a vehicle using such system |
| CN102407815A (en) * | 2010-09-21 | 2012-04-11 | 罗伯特·博世有限公司 | Input detector and method for operating the same |
| WO2013159845A1 (en) * | 2012-04-28 | 2013-10-31 | Daimler Ag | Method for autonomous parking of a motor vehicle, driver assistance device for performing the method and motor vehicle with the driver assistance device |
| DE102013217071A1 (en) * | 2013-08-27 | 2015-03-05 | Volkswagen Aktiengesellschaft | Method and device for an automated parking process of a motor vehicle |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4243522A1 (en) * | 1992-12-22 | 1994-06-23 | Jochen Depmeyer | Alerting device for driver of double-parked goods vehicle |
-
2015
- 2015-09-14 DE DE102015217485.9A patent/DE102015217485A1/en active Pending
-
2016
- 2016-09-13 CN CN201610819948.9A patent/CN106515741B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102030039A (en) * | 2009-10-07 | 2011-04-27 | 福特全球技术公司 | Vehicle park assist system and method for parking a vehicle using such system |
| CN102407815A (en) * | 2010-09-21 | 2012-04-11 | 罗伯特·博世有限公司 | Input detector and method for operating the same |
| WO2013159845A1 (en) * | 2012-04-28 | 2013-10-31 | Daimler Ag | Method for autonomous parking of a motor vehicle, driver assistance device for performing the method and motor vehicle with the driver assistance device |
| DE102013217071A1 (en) * | 2013-08-27 | 2015-03-05 | Volkswagen Aktiengesellschaft | Method and device for an automated parking process of a motor vehicle |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109017807A (en) * | 2018-08-09 | 2018-12-18 | 北京智行者科技有限公司 | A kind of control system control method |
| CN109017807B (en) * | 2018-08-09 | 2020-01-24 | 北京智行者科技有限公司 | Control method of control system |
| CN112798102A (en) * | 2021-04-13 | 2021-05-14 | 盛瑞传动股份有限公司 | Sound quality evaluation method, device, system and medium |
Also Published As
| Publication number | Publication date |
|---|---|
| DE102015217485A1 (en) | 2017-03-16 |
| CN106515741B (en) | 2021-03-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105989725B (en) | Road sign judgment means | |
| CN106515741A (en) | Device and method of automatic driving of vehicle | |
| CN105270292B (en) | System and method for controlling access to human-machine interface in vehicle | |
| JP4743054B2 (en) | Vehicle drive recorder | |
| CN102015381A (en) | Method and device for actuating a door or flap of a vehicle | |
| CN108466616B (en) | Method for automatically identifying collision event, storage medium and vehicle-mounted terminal | |
| US20180137697A1 (en) | Vehicle sound activation | |
| CN106515723A (en) | Apparatus and method for automatic driving of a motor vehicle | |
| JP2010072766A (en) | Driving information evaluation system | |
| JP2021026718A (en) | Driving behavior evaluation device and program | |
| CN106537183A (en) | Method for operating a motor vehicle, and motor vehicle | |
| CN112689587A (en) | Method for classifying non-driving task activities in consideration of interruptability of non-driving task activities of driver when taking over driving task is required and method for releasing non-driving task activities again after non-driving task activities are interrupted due to taking over driving task is required | |
| CN108073118A (en) | A kind of car body monitoring system and method based on cell phone application | |
| CN103328865A (en) | A method for selecting a starting gear | |
| CN112542041A (en) | Driving behavior evaluation device, method, and computer-readable storage medium | |
| CN104608715B (en) | A kind of parking position detection device and method of automated parking system | |
| CN107221046A (en) | Vehicle-running recording system, driving recording method and automobile | |
| CN112272630B (en) | Detecting a collision event | |
| JP5479071B2 (en) | Vehicle data collection device | |
| KR102305972B1 (en) | Intelligent ultrasonic system and control method thereof | |
| JP2018136992A (en) | On-vehicle device and server device | |
| CN111382631B (en) | Identification method, identification device, terminal, server and storage medium | |
| CN108401234A (en) | For the method for detection data, the method for updating scene catalogue, equipment, computer program and machine readable storage medium | |
| CN113978359A (en) | Danger protection method, device and system | |
| JP2010085234A (en) | Information recording device for vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |