CN101830205B - The apparatus and method of maneuver vehicle - Google Patents
The apparatus and method of maneuver vehicle Download PDFInfo
- Publication number
- CN101830205B CN101830205B CN201010127410.4A CN201010127410A CN101830205B CN 101830205 B CN101830205 B CN 101830205B CN 201010127410 A CN201010127410 A CN 201010127410A CN 101830205 B CN101830205 B CN 101830205B
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- China
- Prior art keywords
- vehicle
- signal
- parking stall
- point
- manipulation process
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- 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.)
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Classifications
-
- 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
- B62D15/029—Steering assistants using warnings or proposing actions to the driver without influencing the steering system
- B62D15/0295—Steering assistants using warnings or proposing actions to the driver without influencing the steering system by overlaying a vehicle path based on present steering angle over an image without processing that image
-
- 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
- B62D15/0275—Parking aids, e.g. instruction means by overlaying a vehicle path based on present steering angle over an image without processing that image
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The present invention relates to a kind of apparatus and method of assisting to handle during maneuver vehicle.Described device has equipment and signal element, described equipment predicts vehicle route (E) based on the current steering angle of vehicle dimension and vehicle, when without the need to again change MLP just can not complete manipulation process with colliding time, described signal element is illustrated to chaufeur give a signal based on predicted vehicle route (E).
Description
Technical field
The present invention relates to a kind of apparatus and method of assisting to handle during maneuver vehicle.
Background technology
In order in manipulation process, (such as park and roll parking stall away from during) helps chaufeur, current service range warning system, this distance warning system sends the such as sense of hearing and/or visual signal signal close obstacle at present to chaufeur.
Although help chaufeur to estimate the current distance with obstacle by this distance warning system, but the attention of chaufeur has always been used in a great extent and repeatedly advances to vehicle when often can't see panorama in manipulation process and move backward, finally can roll away from without collision from parking stall until realize such as chaufeur, thus displaced the attention of chaufeur to other traffic conditions, pedestrian, and safety of blocking traffic.
Summary of the invention
Based on above-mentioned background, task of the present invention is to provide the apparatus and method assisting to handle, and described device or method can improve traffic safety while increase crew comfort.
This task is solved by the device with following technical characteristic.
During maneuver vehicle, assist the device handled, equipment, its current steering angle based on vehicle dimension and described vehicle 10 predicts vehicle route E, and described vehicle route E is the external envelope curve of vehicle when rolling parking stall away from, and signal element, described signal element is illustrated to chaufeur give a signal based on predicted vehicle route, wherein based on the comparison of the position of the obstacle to the vehicle route E of corresponding prediction and the to be seen in manipulation process of current estimation, illustrated by described signal element give a signal, described signal hint just can not complete the manipulation process that vehicle rolls parking stall away from when without the need to again changing MLP with colliding, described device also has the equipment for estimated position, the current location of the obstacle that the corresponding estimation of described equipment is to be seen in manipulation process, the described equipment for estimated position comprises multiple rang sensor 11, 12, 13, 14, wherein, described multiple rang sensor 11, 12, 13, each distance value of 14 be assigned to multiple rang sensor 11, 12, 13, 14 corresponding multiple sensors fields 51, 52, 53, point P1 on the axis of 54, P2, P3, P4, belongs to adjacent sensors field 51, 52, 53, the point P1 of 54, P2, P3, P4 is connected to each other to multiple linear portion respectively by straight line, described multiple linear portion combination obtains curve G, based on inquiry " whether curve G and external envelope curve E has one or more point of contact or point of crossing ", as determining whether vehicle 10 can leave the judgement on parking stall.
Vehicle route (when meeting predetermined judgement about this vehicle route greatly) due to signal element in the schedule time based on current corresponding prediction is illustrated to chaufeur give a signal: without the need to changing MLP further (that is, in particular, for example do not need again to move backward during parking stall is rolled in advance away from) just can complete manipulation process without collision, so chaufeur no longer needs to go difficulty to estimate sometimes can't see in panorama situation in manipulation process, when completing manipulation process, (such as when from parking stall outgoing vehicles) will be worried to bump against with obstacle (such as Adjacent vehicles).Thus chaufeur can roll away from by the pedestrian that its attention is used in wagon flow more and may occurs in the process of parking stall, significantly improves traffic safety the driver comfort of chaufeur is maximized thus simultaneously.
According to an embodiment, described device is constructed to the auto-steering at least temporarily performed in manipulation process without the need to driver's operation bearing circle.At this, when auto-steering can according to by chaufeur (such as by operation turnicator driving lever) predetermined steering self-regulating rotary corresponding to current MLP to direction.In manipulation process, relieving chaufeur by this way to turning to the task of carrying out practical operation, again reducing the needs to its attention thus, and not only further increase drive safety and also improve traveling comfort.
According to an embodiment, described device also has the equipment for estimated position, the current location of the obstacle that the corresponding estimation of described equipment is to be seen in manipulation process.
According to an embodiment, the described equipment for estimated position has multiple rang sensor.Can realize thus: although determine that distance value still can infer the position of " two dimension " of obstacle due to the collaborative work of multiple rang sensor by means of only single-sensor " one dimension ".
According to an embodiment, illustrate based on to corresponding predicted vehicle route and the estimated give a signal that relatively performs of obstacle current location to be seen in manipulation process.
Above-mentioned task can also be solved by the method with following technical characteristic.
In maneuver vehicle process, assist the method handled, described method comprises the steps: to predict vehicle route E based on the current steering angle of vehicle dimension and described vehicle 10, and described vehicle route E is the external envelope curve of vehicle when rolling parking stall away from, multiple rang sensor 11,12,13,14 is utilized to estimate the current location of obstacle to be seen in manipulation process, wherein based on the comparison of the position of the obstacle to the vehicle route E of corresponding prediction and the to be seen in manipulation process of current estimation, illustrated by described signal element give a signal, and illustrate based on predicted vehicle route E give a signal, described signal hint just can not complete the manipulation process that vehicle rolls parking stall away from when without the need to again changing MLP with colliding, wherein, described multiple rang sensor 11, 12, 13, each distance value of 14 be assigned to multiple rang sensor 11, 12, 13, 14 corresponding multiple sensors fields 51, 52, 53, point P1 on the axis of 54, P2, P3, P4, belong to adjacent sensors field 51, 52, 53, the point P1 of 54, P2, P3, P4 is connected to each other to multiple linear portion respectively by straight line, described multiple linear portion combination obtains curve G, based on inquiry " whether curve G and external envelope curve E has one or more point of contact or point of crossing ", as determining whether vehicle 10 can leave the judgement on parking stall.
The preferred implementation of the method and advantage will be implemented relatively with apparatus of the present invention.
Other makes of the present invention are also comprised in specification sheets.
Accompanying drawing explanation
Following according to preferred implementation set forth the present invention further by reference to the accompanying drawings.
In accompanying drawing:
Fig. 1 a to Fig. 1 d be for illustration of by means of apparatus of the present invention to the schematic diagram rolling parking stall process away from and help;
Fig. 2 simplifies the sketch illustrated by means of ultrasonic transduter detecting sensor field;
Fig. 3 schematically shows by multiple sensor detecting sensor field and the position estimating object or obstacle based on this;
Fig. 4 schematically shows and estimates vehicle route according to the present invention; And
Fig. 5 is the sketch for illustration of the judgement according to the present invention's application leaving parking stall for decision.
Detailed description of the invention
To roll away from from parking stall exemplarily to further describe with vehicle and handle according to assistance of the present invention.
At this, just when lay-by or sudden stop band roll away from, apparatus of the present invention are offered help in this point to chaufeur, and first this device is born when vehicle advances or move backward and turned to task (" auto-steering function "); In addition, considering in vehicle location and deflection angle situation, when " next step " can leave parking stall (" helping to determine function "), illustrating to chaufeur give a signal in the schedule time.Still apply to control to vehicle by acceleration and abrupt deceleration vehicle at this chaufeur, finally determine whether rolled away from from parking stall by vehicle by chaufeur.
What the first vivid explanation of accompanying drawing 1a to 1d was assisted by apparatus of the present invention rolls parking stall process away from.According to Fig. 1 a, in an initial condition, vehicle 10 is located in the parking stall 15 vehicle forward direction is between the vehicle 20 at rear and the vehicle 30 being in front in vehicle forward direction, and adjacent with track 40.
Simultaneously according to Fig. 1 a, what chaufeur made apparatus of the present invention determine expectation by operation turnicator driving lever rolls direction away from.Then when being linked into D Drive, by assisting the device handled to realize towards the direction auto-steering (see Fig. 1 b) in selected track 40, otherwise, when being linked into reverse gear automatically towards the directional steering (see Fig. 1 c) away from selected track 40.
Finally shown in Fig. 1 d usually in the situation that several times advance and occur after reversing, in this case, current vehicle location can when keeping realizing rolling away from from parking stall 15 at " next step " when safe enough distance with front vehicles 30.After the change MLP preferably in the end implemented (namely in this example from reverse gear is finally converted to D Drive after), illustrate this situation to chaufeur give a signal at once.The signal element herein adopted such as can be designed to send visual signal (such as notifying accordingly by generating over the display, lighting control lamp etc.) or also can send audible signal.For assisting the device handled also to bear the task of auto-steering during " last rolls step away from " and chaufeur accelerating vehicle 10, and at chaufeur from after parking stall 15 is left and when entering wagon flow, this device stops the automatic control to turning to again.
Owing to freeing from the task that active operation turns on the one hand rolling in the process of parking stall chaufeur away from, also to go difficulty to estimate under noting be used in the situation of parking that sometimes can't see panorama on the other hand: " whether will worry when vehicle is rolled away from from parking stall to bump against with Adjacent vehicles ", so chaufeur can roll away from by the pedestrian that its attention is all used for wagon flow and may occurs in the process of parking stall, while making the driver comfort of chaufeur be maximized, significantly improving traffic safety thus.
Below, composition graphs 2 to Fig. 5 for the aforementioned exemplary rolling parking stall process away from describe according to an embodiment, the method applied by apparatus of the present invention, the method is being rolled the position of object to be seen in the process of parking stall or obstacle (in this example: front vehicles 30) away from for estimating and predicted is rolling the vehicle route in the process of parking stall away from for determining.
Combine at this object model first further described to estimate in the position rolling object to be seen or obstacle (in this example: front vehicles 30) in the process of parking stall away from.
For this reason Fig. 2 with schematic diagram illustrate detected by the sensor 11 (normally ultrasonic transduter) be arranged on vehicle 10 and be simplified the sensors field 50 illustrated, the object to be seen " O " (in this example: front vehicles 30) equally only schematically shown or obstacle are positioned within sensors field 50.According to the distance value only determined one-dimensionally by sensor 11, sensor 11 self also cannot infer (two dimension) position of object " O " or obstacle.
But according to the present invention, carry out parallel parsing according to Fig. 3 multiple (in this example four) sensors field 51-54 to sensor (such as ultrasonic transduter) 11-14.At this, each distance value of sensor 11,12,13 or 14 is assigned to some P1, P2, P3 or P4 on the axis of respective sensor field 51,52,53 or 54.
Point P1, P2, P3 or P4 of belonging to adjacent sensors field 51-54 are connected to each other respectively by straight line, determine the respective two-dimensional equation of straight line (Geradengleichung) of straight line shown in broken lines in figure 3 here.These equation of straight line are based on the range signal of sensor 11-14 and consider the position of sensor 11-14 on vehicle 10.Combined the curve obtained to identify with " G " by multiple linear portion.
When estimating position or the distance of object to be seen (front vehicles 30) in the foregoing manner in conjunction with object model, rear axle uses wheel steering angle sensor to calculate the relative position of vehicle 10, thus calculate object to be seen or obstacle (such as front vehicles 30) in the system of axes can fixed in space and can suppose that it is constant.
In the next step, determine predicted rolling the vehicle route in the process of parking stall away from conjunction with single-track model (Einspurmodell) based on wheelbase, vehicle dimension and current deflection angle.In order to determine that deflection angle can use steering angle sensor.
As schematically shown in Fig. 4, such as, calculate the center of turn " C " of vehicle 10 in conjunction with Ackermann steering geom (Ackermann-Lenkgeometrie), and predict the external envelope curve " E " of vehicle 10 based on current steering angle with this.
Finally, based on shown in Fig. 3 by connect straight line formed curve " G " and Fig. 4 shown in prediction external envelope curve " E " between comparison, decision vehicle 10 whether can leave parking stall 15 at " next step ".
By inquiry " whether curve G and external envelope curve E has one or more point of contact or point of crossing ", whether can leave the judgement on parking stall 15 as decision vehicle 10.If curve " G " and external envelope curve " E " do not have point of contact or point of crossing, then illustrate this situation by means of signal element to chaufeur give a signal, thus chaufeur himself can determine from parking stall 15 outgoing vehicles 10.In this case, for assisting the device handled preferably in " last rolls step away from " or the task of also bearing auto-steering during chaufeur accelerating vehicle 10, and at chaufeur from after parking stall 15 is left and when entering wagon flow, this device stops the automatic control to turning to again.
Claims (4)
1. during maneuver vehicle, assist the device handled,
It is characterized in that,
Equipment, its current steering angle based on vehicle dimension and described vehicle (10) predicts vehicle route (E), and described vehicle route (E) is external envelope curve when vehicle rolls parking stall away from; And
Signal element, described signal element is illustrated to chaufeur give a signal based on predicted vehicle route, wherein based on the comparison of the position of the obstacle to be seen in manipulation process of the vehicle route (E) to corresponding prediction and current estimation, illustrated by described signal element give a signal, described signal hint just can not complete the manipulation process that vehicle rolls parking stall away from when without the need to again changing MLP with colliding
Described device also has the equipment for estimated position, the current location of the obstacle that the corresponding estimation of described equipment is to be seen in manipulation process,
Described equipment for estimated position comprises multiple rang sensor (11,12,13,14),
Wherein, each distance value of described multiple rang sensor (11,12,13,14) be assigned to the point (P1, P2, P3, P4) on the axis of multiple rang sensor (11,12,13,14) corresponding multiple sensors field (51,52,53,54), the point (P1, P2, P3, P4) belonging to adjacent sensors field (51,52,53,54) is connected to each other to multiple linear portion respectively by straight line, described multiple linear portion combination obtains curve (G)
Based on inquiry " whether curve (G) and external envelope curve (E) have one or more point of contact or point of crossing ", as determining whether vehicle (10) can leave the judgement on parking stall.
2. device according to claim 1,
It is characterized in that,
Described device is constructed to the auto-steering at least temporarily performed in manipulation process without the need to driver's operation bearing circle.
3. device according to claim 2,
It is characterized in that,
When auto-steering, steering hardware according to by the predetermined steering of chaufeur and current MLP correspondingly self-regulating rotary to direction.
4. in maneuver vehicle process, assist the method handled,
It is characterized in that,
Described method comprises the steps:
Current steering angle based on vehicle dimension and described vehicle (10) predicts vehicle route (E), and described vehicle route (E) is external envelope curve when vehicle rolls parking stall away from;
Multiple rang sensor (11,12,13,14) is utilized to estimate the current location of obstacle to be seen in manipulation process; Wherein based on the comparison of the position of the obstacle to be seen in manipulation process of the vehicle route (E) to corresponding prediction and current estimation, illustrated by signal element give a signal;
And
Based on the signal of predicted vehicle route (E) give a signal, described signal hint just can not complete the manipulation process that vehicle rolls parking stall away from when without the need to again changing MLP with colliding,
Wherein, each distance value of described multiple rang sensor (11,12,13,14) be assigned to the point (P1, P2, P3, P4) on the axis of multiple rang sensor (11,12,13,14) corresponding multiple sensors field (51,52,53,54), the point (P1, P2, P3, P4) belonging to adjacent sensors field (51,52,53,54) is connected to each other to multiple linear portion respectively by straight line, described multiple linear portion combination obtains curve (G)
Based on inquiry " whether curve (G) and external envelope curve (E) have one or more point of contact or point of crossing ", as determining whether vehicle (10) can leave the judgement on parking stall.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE200910001515 DE102009001515A1 (en) | 2009-03-12 | 2009-03-12 | Maneuvering assistance device for vehicle i.e. passenger car, has signaling unit signaling prognosticated vehicle path to driver of vehicle when collision-free completion of maneuvering process is ensured |
| DE102009001515.9 | 2009-03-12 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101830205A CN101830205A (en) | 2010-09-15 |
| CN101830205B true CN101830205B (en) | 2015-07-29 |
Family
ID=42663794
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201010127410.4A Expired - Fee Related CN101830205B (en) | 2009-03-12 | 2010-03-05 | The apparatus and method of maneuver vehicle |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN101830205B (en) |
| DE (1) | DE102009001515A1 (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102012210782A1 (en) * | 2012-06-25 | 2014-01-02 | Bayerische Motoren Werke Aktiengesellschaft | Path assistance system used in motor car, has function module that is provided to compare minimum possible driving path with maximum possible driving path from environment-aware module |
| JP5989729B2 (en) * | 2014-09-12 | 2016-09-07 | アイシン精機株式会社 | Delivery support device |
| CN105667505B (en) * | 2014-11-19 | 2019-02-15 | 上海汽车集团股份有限公司 | The automatic parking system and automatic stop process of electric car |
| US9283960B1 (en) * | 2014-12-15 | 2016-03-15 | Ford Global Technologies, Llc | Control of a vehicle to automatically exit a parking space |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10261176A1 (en) * | 2002-12-20 | 2004-07-01 | Daimlerchrysler Ag | Method and device for assisting the driver of a vehicle during a parking maneuver |
| US7356396B2 (en) * | 2004-06-04 | 2008-04-08 | Advics Co., Ltd. | Automatic steering control apparatus for vehicle |
| CN101198509A (en) * | 2005-06-13 | 2008-06-11 | 罗伯特·博世有限公司 | Method and device for outputting parking instructions |
| DE102007004972A1 (en) * | 2007-01-26 | 2008-07-31 | Valeo Schalter Und Sensoren Gmbh | Vehicle i.e. car, parking method, involves selecting inclination and curvature in starting point and end point, such that collision of vehicle with parking place limiting obstacles does not happen |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10230862A (en) * | 1997-02-21 | 1998-09-02 | Nissan Motor Co Ltd | Vehicular parking auxiliary device |
| JP2004203315A (en) * | 2002-12-26 | 2004-07-22 | Honda Motor Co Ltd | Parking assisting device |
-
2009
- 2009-03-12 DE DE200910001515 patent/DE102009001515A1/en not_active Ceased
-
2010
- 2010-03-05 CN CN201010127410.4A patent/CN101830205B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10261176A1 (en) * | 2002-12-20 | 2004-07-01 | Daimlerchrysler Ag | Method and device for assisting the driver of a vehicle during a parking maneuver |
| US7356396B2 (en) * | 2004-06-04 | 2008-04-08 | Advics Co., Ltd. | Automatic steering control apparatus for vehicle |
| CN101198509A (en) * | 2005-06-13 | 2008-06-11 | 罗伯特·博世有限公司 | Method and device for outputting parking instructions |
| DE102007004972A1 (en) * | 2007-01-26 | 2008-07-31 | Valeo Schalter Und Sensoren Gmbh | Vehicle i.e. car, parking method, involves selecting inclination and curvature in starting point and end point, such that collision of vehicle with parking place limiting obstacles does not happen |
Also Published As
| Publication number | Publication date |
|---|---|
| DE102009001515A1 (en) | 2010-09-30 |
| CN101830205A (en) | 2010-09-15 |
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