CN101903229A - 用于匹配车辆导向的方法与装置 - Google Patents

用于匹配车辆导向的方法与装置 Download PDF

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Publication number
CN101903229A
CN101903229A CN2008801215249A CN200880121524A CN101903229A CN 101903229 A CN101903229 A CN 101903229A CN 2008801215249 A CN2008801215249 A CN 2008801215249A CN 200880121524 A CN200880121524 A CN 200880121524A CN 101903229 A CN101903229 A CN 101903229A
Authority
CN
China
Prior art keywords
vehicle
obstacle
guiding
parking
coupling
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.)
Pending
Application number
CN2008801215249A
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English (en)
Chinese (zh)
Inventor
M·克勒
M·舍尔
M·豪格
U·齐默尔曼
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of CN101903229A publication Critical patent/CN101903229A/zh
Pending legal-status Critical Current

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    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9314—Parking operations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/93185—Controlling the brakes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9319—Controlling the accelerator
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9321—Velocity regulation, e.g. cruise control
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9323—Alternative operation using light waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9324—Alternative operation using ultrasonic waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93274—Sensor installation details on the side of the vehicles
CN2008801215249A 2007-12-19 2008-10-14 用于匹配车辆导向的方法与装置 Pending CN101903229A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102007061234A DE102007061234A1 (de) 2007-12-19 2007-12-19 Verfahren und Vorrichtung zum Anpassen der Führung eines Fahrzeuges
DE102007061234.8 2007-12-19
PCT/EP2008/063750 WO2009077220A1 (de) 2007-12-19 2008-10-14 Verfahren und vorrichtung zum anpassen der führung eines fahrzeuges

Publications (1)

Publication Number Publication Date
CN101903229A true CN101903229A (zh) 2010-12-01

Family

ID=40185051

Family Applications (1)

Application Number Title Priority Date Filing Date
CN2008801215249A Pending CN101903229A (zh) 2007-12-19 2008-10-14 用于匹配车辆导向的方法与装置

Country Status (4)

Country Link
EP (1) EP2234857A1 (de)
CN (1) CN101903229A (de)
DE (1) DE102007061234A1 (de)
WO (1) WO2009077220A1 (de)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104541284A (zh) * 2012-06-06 2015-04-22 谷歌公司 障碍物评估技术
CN107831484A (zh) * 2017-09-29 2018-03-23 深圳市行者机器人技术有限公司 一种基于激光雷达的阶梯数据获取方法及装置
CN111422185A (zh) * 2018-12-20 2020-07-17 大众汽车有限公司 用于机动车的控制的方法、控制装置以及机动车
CN111812657A (zh) * 2020-07-10 2020-10-23 广州小鹏车联网科技有限公司 一种基于车辆的泊车空间确定方法和装置

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DE102009046966B4 (de) * 2009-11-23 2019-01-31 Robert Bosch Gmbh Verfahren zur Unterstützung des Fahrers eines Fahrzeugs
DE102010001922A1 (de) 2010-02-15 2011-08-18 Robert Bosch GmbH, 70469 Verfahren und Vorrichtung zum Parken eines Kraftfahrzeugs
US8287055B2 (en) 2010-09-28 2012-10-16 Robert Bosch Gmbh Brake control of a vehicle based on driver behavior
DE102012014809A1 (de) 2012-07-26 2014-01-30 Volkswagen Ag Verfahren und Vorrichtung zum Erkennen einer Bordsteinüberfahrt
JP5831415B2 (ja) 2012-09-18 2015-12-09 アイシン精機株式会社 駐車支援装置
WO2014068769A1 (ja) * 2012-11-02 2014-05-08 トヨタ自動車 株式会社 駐車支援装置
DE102013210672B4 (de) * 2013-06-07 2020-10-29 Bayerische Motoren Werke Aktiengesellschaft Parkassistenzsystem umfassend einen Geschwindigkeitsregler mit I-Anteil zur Überwindung eines Bodenhindernisses
DE102013212708B4 (de) 2013-06-28 2022-01-13 Volkswagen Aktiengesellschaft Verfahren und Vorrichtung zur Durchführung autonomer Fahrmanöver eines Fahrzeugs
US20160368336A1 (en) 2015-06-19 2016-12-22 Paccar Inc Use of laser scanner for autonomous truck operation
US11059477B2 (en) * 2015-07-31 2021-07-13 Hitachi Automotive Systems, Ltd. Parking assist device for vehicle
DE102015220467A1 (de) 2015-10-21 2017-04-27 Robert Bosch Gmbh Verfahren zum Unterstützen eines Fahrers beim Parken eines Fahrzeuges und Parkassistenzsystem
US10185319B2 (en) 2015-11-16 2019-01-22 Ford Global Technologies, Llc Method and device for assisting a parking maneuver
DE102016104574A1 (de) * 2016-03-14 2017-09-14 Valeo Schalter Und Sensoren Gmbh Verfahren zum zumindest semi-autonomen Einparken eines Kraftfahrzeugs, Fahrerassistenzsystem sowie Kraftfahrzeug
DE102016215840A1 (de) 2016-08-23 2018-03-01 Volkswagen Aktiengesellschaft Verfahren zur Erfassung von im Fahrzeugumfeld befindlichen Bordsteinen
DE102016117705A1 (de) 2016-09-20 2018-03-22 Valeo Schalter Und Sensoren Gmbh Verfahren zum Betreiben eines Fahrerassistenzsystems zum zumindest semi-autonomen Manövrieren eines Kraftfahrzeugs, Recheneinrichtung, Fahrerassistenzsystem sowie Kraftfahrzeug
DE102016221276A1 (de) * 2016-10-28 2018-05-03 Ford Global Technologies, Llc Rangierverfahren für ein Kraftfahrzeug, Kraftfahrzeug
DE102017100979A1 (de) * 2017-01-19 2018-07-19 Valeo Schalter Und Sensoren Gmbh Verfahren zum Bestimmen einer Eigenschaft einer Parklücke, Parkraumverwaltungssystem, Verfahren zur Unterstützung eines Fahrers beim Parken eines Fahrzeugs und Fahrzeug
DE102017111874A1 (de) 2017-05-31 2018-12-06 Valeo Schalter Und Sensoren Gmbh Drehmoment oder Beschleunigung am Ende einer Trajektorie
JP6981196B2 (ja) 2017-11-17 2021-12-15 株式会社アドヴィックス 車両の走行支援装置

Citations (4)

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EP1643271A1 (de) * 2004-09-30 2006-04-05 Robert Bosch Gmbh Verfahren und Vorrichtung zum Klassifizieren von Seitenbegrenzungen einer Parklücke für ein Einparkassistenzsystem eines Kraftfahrzeugs
CN1846149A (zh) * 2003-08-28 2006-10-11 罗伯特·博世有限公司 停车空位的尺寸和位置的确定方法和装置
EP1764630A1 (de) * 2005-09-15 2007-03-21 Hella KG Hueck & Co. Verfahren zur Parklückenbestimmung für Kraftfahrzeuge
CN1993631A (zh) * 2004-08-05 2007-07-04 大众汽车有限公司 用于汽车的装置

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US6338016B1 (en) 1999-03-08 2002-01-08 Trw Inc. Method and apparatus for detecting a motor stall condition in an electric assist steering system
DE10114932B4 (de) * 2001-03-26 2005-09-15 Daimlerchrysler Ag Dreidimensionale Umfelderfassung
DE10261001B4 (de) 2002-12-24 2012-05-31 Robert Bosch Gmbh Verfahren und Servolenkvorrichtung zum Lenken eines Kraftfahrzeugs
DE10343174A1 (de) * 2003-09-18 2005-04-14 Robert Bosch Gmbh Vorrichtung und Verfahren zur Regelung der Geschwindigkeit eines Fahrzeugs beim Rangieren/Einparken des Fahrzeugs
DE102004054437B4 (de) * 2004-11-11 2012-01-26 Volkswagen Ag Verfahren zur automatischen Steuerung und/oder Regelung einer Bewegung eines Fahrzeugs während eines Einparkvorgangs

Patent Citations (4)

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CN1846149A (zh) * 2003-08-28 2006-10-11 罗伯特·博世有限公司 停车空位的尺寸和位置的确定方法和装置
CN1993631A (zh) * 2004-08-05 2007-07-04 大众汽车有限公司 用于汽车的装置
EP1643271A1 (de) * 2004-09-30 2006-04-05 Robert Bosch Gmbh Verfahren und Vorrichtung zum Klassifizieren von Seitenbegrenzungen einer Parklücke für ein Einparkassistenzsystem eines Kraftfahrzeugs
EP1764630A1 (de) * 2005-09-15 2007-03-21 Hella KG Hueck & Co. Verfahren zur Parklückenbestimmung für Kraftfahrzeuge

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104541284A (zh) * 2012-06-06 2015-04-22 谷歌公司 障碍物评估技术
CN104541284B (zh) * 2012-06-06 2018-05-29 伟摩有限责任公司 障碍物评估技术
CN107831484A (zh) * 2017-09-29 2018-03-23 深圳市行者机器人技术有限公司 一种基于激光雷达的阶梯数据获取方法及装置
CN111422185A (zh) * 2018-12-20 2020-07-17 大众汽车有限公司 用于机动车的控制的方法、控制装置以及机动车
CN111422185B (zh) * 2018-12-20 2023-10-31 大众汽车有限公司 用于机动车的控制的方法、控制装置以及机动车
CN111812657A (zh) * 2020-07-10 2020-10-23 广州小鹏车联网科技有限公司 一种基于车辆的泊车空间确定方法和装置
CN111812657B (zh) * 2020-07-10 2024-04-16 广州小鹏自动驾驶科技有限公司 一种基于车辆的泊车空间确定方法和装置

Also Published As

Publication number Publication date
WO2009077220A1 (de) 2009-06-25
EP2234857A1 (de) 2010-10-06
DE102007061234A1 (de) 2009-06-25

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Application publication date: 20101201