CN102815297A - Method for determining a parking trajectory - Google Patents
Method for determining a parking trajectory Download PDFInfo
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- CN102815297A CN102815297A CN2012101868366A CN201210186836A CN102815297A CN 102815297 A CN102815297 A CN 102815297A CN 2012101868366 A CN2012101868366 A CN 2012101868366A CN 201210186836 A CN201210186836 A CN 201210186836A CN 102815297 A CN102815297 A CN 102815297A
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- vehicle
- parking
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- parking position
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- 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
- B62D15/028—Guided parking by providing commands to the driver, e.g. acoustically or optically
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- 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
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
A method is proposed for determining a parking trajectory (36a, 36b, 37) of a vehicle (10) into a transverse parking space (14). The method includes a step for the detection of data of an environment of the vehicle 10 and the detection of at least one object (12, 16, 18) defining at least one longitudinal side of the transverse parking space (14). A target parking position for the vehicle 10 in the transverse parking space (14) is determined by including at least one defined safe distance 30 for opening a door (28) of a driver. The method also includes the identification of a parking trajectory (36a, 36b, 37) for reaching the determined target parking position and the production of an output for the implementation of the parking trajectory (36) to the driver or to a subordinate system also being included in the invention. The method is aimed at ensuring that there is enough space for the driver to enter and exit the vehicle when parked.
Description
Technical field
The present invention relates to a kind of be used for the safety distance of considering to define in order to open driver door at least confirm that vehicle gets into method and a kind of drive assistance device of the track of parking of horizontal parking position under the situation.
Background technology
Known support unit gets into the parking assisting system of the process of parking of parking position, wherein distinguish to a great extent with the directed abreast vertical parking position in street trend, curb or edge, street and lateral direction of car in or move towards the so-called horizontal parking position that is orientated perpendicular to the street to a great extent.Following parking assisting system is known: it is measuring parking position through suitable sensing mechanism when the side is crossed; Calculate to get into park track and chaufeur is directed in the parking position in the parking place of corresponding in the parking position that sees fit, wherein can implement passively or on one's own initiative.In passive enforcement, transmit the predetermined and starting command of deflection angle and cease and desist order to chaufeur through user interface, so that reach desirable as far as possible parking place.In initiatively implementing, chaufeur begins the process of parking, and wherein system independently is responsible for everything entirely.In addition, following embodiment is known: wherein chaufeur only is responsible for starting process and braking procedure, and steering procedure is responsible for by system.
In the process of parking that gets into horizontal parking position, the detection of the ambient environmental conditions of parking position is a particular importance.Disclose a kind of method that the computing machine motor-car gets into the track of parking of horizontal parking position that is used for by DE 10 2,008 058 652 A1, said method is based on the take off data that is detected by sonac, and said take off data is handled based on the take off data of expection.The take off data of said expection comprises distinctive width and/or length, the size and dimension symmetry of outside rear-view mirror and the peculiar size in room of power actuated vehicle.So park the confirming of track makes vehicle occupy desirable parking place placed in the middle in parking position.
Disclose a kind of parking assisting system by DE 60 2,004 006 797 T2, it can make the user confirm by the frame of parking of the target in the detected frame of parking of system.At this, the target frame of parking can be optional, thereby for example vehicle does not berth between two parties, but more near a side of the current frame of parking or park obliquely with respect to center line, wherein can the cut-through thing or open or close car door without barrier.
In addition, disclose a kind of method that is used to park and supports, confirmed the actual size of parking position when wherein also not finishing in the location of vehicle in parking position by DE 10 2,006 046 827 A1.Try to achieve track based on determined real data, said track is also considered the target location, and said target location notices that the individual of vehicle takies.Therefore, the target location is not medially but on side direction, is arranged in parking position with staggering, thereby keeps required safety distance with adjacent vehicle.
Summary of the invention
The method that is used for confirming that vehicle gets into the track of parking of horizontal parking position according to the present invention comprises the object of at least one longitudinal side of data and the horizontal parking position of at least one gauge of the surrounding environment that detects vehicle; Wherein try to achieve the target parking place in the horizontal parking position, said target parking place considers to be used to open the safety distance of the definition of driver door.Comprise the track and transmit to chaufeur or drive assist system and to indicate to cross the said track of parking accordingly of confirming to park in addition.Corresponding drive assist system can be independently or is semi-automatically implemented the process of parking.
At this; The safety distance of definition is following distance: allow to open driver door at least to said distance degree like this and do not threaten or damage driver door and/or be positioned at the obstacle of the hunting range of driver door, make it possible to achieve comfortable getting on the bus or getting off.
Advantageously; Be used for vehicle location is considered the surrounding environment of parking position to the track of parking of being tried to achieve in the target parking place of horizontal parking position, thereby in the target parking place, be kept for opening at least the safety distance enough, definition of driver door.Therefore, vehicle is directed in the desirable parking place actively or passively, wherein advantageously also confirm to get into the starting direction and the vehicle directional of horizontal parking position through said method, so that reach the dreamboat parking place in the especially narrow horizontal parking position.In the dreamboat parking place, on the vehicular sideview of vehicle to be parked, keep safety distance enough, definition, said safety distance is enough to open non-dangerously driver door.Equally, consider necessity distance that should keep for the driver door of opening the adjacent vehicle that berths.
Be used for confirming that vehicle gets into the track of parking of horizontal parking position, is that the park route method of vehicle from current location to desired parking place is based on the data that vehicle detects when the side is crossed.Laterally parking position is interpreted as following parking position: its relative travel direction laterally or at least obliquely is provided with, and it is at least completely or partially by parking place in the parking position on line gauge, the for example parking area (Parkbuchten) or garage, the garage inlet or the like.Said data provide the information of the frame of parking of a use of can buying car in installments, and the said frame of parking can be surrounded by the object of gauge or non-gauge.Especially laterally the object of the gauge at least one longitudinal side of parking position for example can be the vehicle that berthed, more or less the osed top parking position wall or protect hedge or mark line.The object of gauge can not be the beverage can or the puddles of water, and it can be crossed in theory and therefore not necessarily need considers.
Can carry out the detection of data through at least one detecting unit, wherein for example use noncontacting pickup, for example the combination of sonac, PMD sensor, laser radar sensor or radar sensor or pick up camera or different noncontacting pickups.For example can continue to handle the data that detected, so that obtain the surrounding environment model of parking position.At this; The data that detected can realize the three-dimensional imaging in the surrounding environment zone of parking position, wherein around in the environment detected object further classify as the flat articles that can be crossed and the non-flat articles of the boundary representing to be crossed.
Vehicle gets into the confirming based on the data that detected of the track of parking of horizontal parking position, wherein considers for example at least one longitudinal side of parking position, when to detect the object of the horizontal parking position of gauge.At this, the track of parking can be stipulated: vehicle sails into straight line or curve sails (so-called laterally sail into) into and is directed to the horizontal parking position in the target parking place from its current location.Distinguish a plurality of parking area situation, these parking area situation are parked locus guiding with vehicle in the target parking place of the corresponding coupling of vehicle along corresponding coupling.
If laterally parking position is not surrounded by the object of gauge on parallel longitudinal side; But for example through being applied to the ground collimation mark note of parking; Then can so confirm the track of parking, make vehicle in the horizontal parking position of institute's mark, medially reach desirable target parking place.
If but laterally parking position at least one longitudinal side by at least one object (for example adjacent vehicle that berths or wall or protect hedge) gauge, then under the situation of considering detected object, confirm the track of parking.Therefore, can be to the predetermined track of parking of chaufeur, wherein vehicle so is parked in the target parking place, and making is enough to open its driver door for chaufeur provides the space.Vehicle especially can medially be docked in the horizontal parking position of institute's gauge, but the target parking place can stagger on side direction with respect to the center.When confirming to park track, consider on which longitudinal side, to exist the object of at least one gauge and the orientation and the orientation of said object.For example, the position of the driver door of the directed and especially said vehicle that berths of the adjacent vehicle that berths of detection.In addition, get into the starting direction of parking position, especially forwards upwards still on backward directions, sailing horizontal parking position into to chaufeur and/or system recommendations, make vehicle forwards upwards or on the backward directions berth to orientation through the track of parking.In this consideration: the space that the driver door that is enough to open oneself is provided for the chaufeur of vehicle to be parked in the target parking place that is reached.In addition, especially consider:, be that said vehicle provides corresponding space in order to open its driver door equally then if the object of said at least one gauge is the vehicle that has berthed.
For little horizontal parking position, be particular importance according to the method for the invention with the frame of parking that on two parallel longitudinal sides, surrounds by the object of gauge, especially adjacent vehicle.Through the target parking place of so confirming according to the method for the invention in the horizontal parking position of institute's gauge, to occupy, make the object of considering gauge, its position and maybe its orientation in environment around by vehicle.If the object of gauge is a vehicle, then perhaps detect the orientation of parking of the said vehicle that has berthed in one embodiment according to the present invention by chaufeur or by the relevant detection unit.Therefore there is following possibility: not only considering to open the coupling to be determined of trying to achieve vehicle to be parked under the situation in the required space of the own driver door track of parking, but also consider to start from the space requirement that the reason of secure context should keep in the time possibly opening the driver door of the adjacent vehicle that berths at least.Therefore, not only can be transmitted on the side direction target parking place that staggers with respect to the center of the frame of parking of institute's gauge to chaufeur but also can show the best direction of parking to chaufeur, promptly forwards upwards or on backward directions.
If by system confirm as suitable horizontal parking position only on a longitudinal side by be positioned at the there vehicle gauge; The desirable target parking place of the track regulation of parking of the coupling of then confirming according to the method for the invention, the orientation of vehicle wherein especially to be parked is matched with the direction of parking of that parked, adjacent vehicle.If driver door is opened on the direction of the horizontal parking place of being aimed under the situation of that parked, adjacent vehicle; Then the target parking place so staggers in side direction from the center of horizontal parking position, makes that the distance between the vehicle of adjacent positioned increases.In addition, confirm the orientation of vehicle to be parked, its regulation and the opposite direction of vehicle of having parked.On the contrary, if the driver door of the adjacent vehicle that berths is not opened target parking position on the direction that is parked cars, stagger from the center (if vehicle to be parked sails horizontal parking position into opposite direction) then on the direction of the horizontal parking position of being aimed at.Therefore, be provided for cosily leaving the distance of its vehicle for the chaufeur of vehicle to be parked.If but for example on the direction corresponding to the adjacent vehicle that berths, drive towards horizontal parking position is more favourable; The track regulation of parking of coupling then: vehicle to be parked reaches the target parking place, and distance increases between the adjacent vehicle in said target parking place.
If the horizontal parking position of being aimed at is between two parking positions that occupied by vehicle; Then try to achieve the track of parking of coupling according to the present invention, its both the direction of optimization vehicle to be parked (promptly in orientation forward or backward on the orientation) also suggestion maybe be with respect to the target parking place of the disalignment of the horizontal parking position of being aimed at.Especially consider at this: if get into the determined starting direction of the horizontal parking position aimed at because ambient environmental conditions but preferred; Then so mate the determined track of parking; Make between the vehicle of adjacent positioned, there are enough distances said opening apart from the no problem ground corresponding driver door of realization.Therefore preferably, the driver door of adjacent vehicle is mutually not opposed in identical plane, but staggers each other and open in parallel with each other.
Description of drawings
Shown in the drawings and set forth embodiments of the invention in the following description in detail.Accompanying drawing illustrates:
Fig. 1: according to the vehicle in the situation of parking in the horizontal parking position of prior art;
Fig. 2: the vehicle in the situation of parking in the horizontal parking position according to the method for the invention;
Fig. 3: the vehicle in the situation of parking in the garage;
Fig. 4 a and 4b: the horizontal vehicle in the situation of parking in the parking position under the situation of two adjacent parked vehicle according to the method for the invention.
The specific embodiment
Be positioned at vehicle 10 in the horizontal parking position 14 for example to sail into along the track 22 of parking to overtake.Need the safety distance 30 of definition in order to open driver door 28, said safety distance 30 should be enough to make chaufeur can cosily leave vehicle 10.Possible copilot possibly get off before the real process of parking, thus especially under the situation of narrow horizontal parking position 14 safety distance 30 of the definition of the driver side of vehicle 10 be important.Therefore, for vehicle 10, draw the required width 20 of horizontal parking position 14 by the vehicle width 32 and the safety distance 30 of the definition that is used for opening non-dangerously driver door 28.In the target parking place, should guarantee: the safety distance 30 that is provided for opening the definition of driver door 28.In the example shown in Fig. 1, (wherein medially be positioned in the horizontal parking position 14) according to prior art vehicle 10, in room distance that driver side keeps 34 less than opening driver door 28 fully so that can cosily leave the safety distance 30 of the required definition of vehicle 10.
Among according to the method for the invention the embodiment of the situation of parking, identical element is represented with the Reference numeral that in Fig. 1, uses shown in figure 2.The vehicle 10 that is docked in the horizontal parking position 14 with width 20 is surrounded by the vehicle 16,18 that is parked in the adjacent parking position.As from can seeing Fig. 2, lead to the track of parking of target parking place placed in the middle with 22 expressions according to prior art, wherein the spindle axis 24 of vehicle 10 is positioned on the line of centers 15 of horizontal parking position 14.Different therewith ground, the track of parking of 36 expression couplings, it leads on side direction, at this out-of-position target parking place to the right, and wherein the spindle axis 24 of vehicle 10 is not to be centrally located in the horizontal parking position 14, but staggers with respect to line of centers 15.Width means between the spindle axis 24 of vehicle 10 and the boundary of the possibility of parking (is the adjacent vehicle that berths 18,16 at this) is distance 38, and it comprises the safety distance 30 of the definition that is used for opening non-dangerously driver door 28.Therefore, in order to open driver door 28, keep the distance 38 about spindle axis 24 at driver side, wherein the safety distance 30 of definition can supply chaufeur to use, and said safety distance 30 makes chaufeur can cosily leave vehicle 10.
The situation of parking as follows has been shown in Fig. 3: vehicle 10 is positioned in the horizontal parking position 14 by wall 40 gauges, for example in the garage.Can from Fig. 3, see in addition, consider to be used for to open at least under the situation of driver door 28 can along the track 36a that parks of coupling, 36b by means of laterally sail into (promptly from the left side 36a or from the right side 36b near horizontal parking position 14) or sail 37 into by means of straight line and realize adaptive parking.Depend on the circumstances, coupling sail track 36a into, 36b, 37 comprises corresponding curve section and/or linear section.In an illustrated embodiment, vehicle 10 makes said target parking place squint with respect to the line of centers 15 of horizontal parking position 14 to the right forwards upwards being directed in its target parking place along the track 36a that parks, the 36b, 37 that mate.Therefore draw on the vehicle left side about the distance 38 of spindle axis 24, wherein be provided for opening the safety distance 30 of the definition of driver door.Same possible is to go backward along the track 36a that parks, 36b, 37 guided vehicles of coupling, wherein on vehicle one side, to keep corresponding distance 38.In the situation of the vehicle of right hand drive, consider to comprise the distance 38 of the safety distance 30 of definition on the vehicle right side, and correspondingly try to achieve the track 36a that parks, 36b, 37.
The situation of parking of vehicle 10 has been shown in Fig. 4 a and 4b, and said vehicle location is in horizontal parking position 14.Laterally parking position 14 has between the other parking position of vehicle 16 and 18 stopping.In an embodiment according to the method for the invention, for example through confirm the orientation of the adjacent vehicle that berths 16 and 18 based on the system of video and/or by chaufeur.
In the situation of parking shown in Fig. 4 a, vehicle 16 and 18 forwards upwards is being positioned in its parking position.Same possible is that two vehicles 16,18 are located on backward directions.Forwards upwards the chaufeur of vehicle 16 (under the situation at the vehicle of left handle drive) waiting to park and opening driver door 42 left on the direction of the vehicle 10 in the horizontal parking position 14.Therefore for vehicle 18, the car door 44 on the driver side is opened equally left and is not opened on the direction of the vehicle 10 in the horizontal parking position 14 of waiting to park.According to the present invention, the track 36 of parking of proposes match, wherein vehicle 10 preferably occupies the backward directions in the target parking place in the embodiment shown in Fig. 4 a, promptly crosses the track 36 of parking of coupling along going backward.Suggestion to overtake when the opposite orientation of vehicle 16,18.
In addition, track 36 regulation of parking of coupling is with respect to the line of centers 15 of horizontal parking position 14 out-of-position target parking place left.Therefore, the distance 38 that is enough to open its driver door 28 is provided, and is lower than the safety distance 30 of definition when avoiding on the direction of vehicle to be parked 10, opening the driver door 42 of vehicle 16 simultaneously to the chaufeur of vehicle 10.
The situation of parking below in Fig. 4 b, having illustrated: vehicle 16 is orientated in one direction and vehicle 18 is parked on an opposite direction in the parking position adjacent with horizontal parking position 14.According to the present invention, transmit the track 36 of parking of coupling to the chaufeur of vehicle 10, the said track of parking illustrates the target parking place that the line of centers 15 with respect to horizontal parking position 14 staggers on side direction.So confirm the out-of-position side of the track 36 of parking of coupling, make adjacent vehicle 10,16,18 driver door not in a plane mutually opposed to each other but the ground and opening in parallel with each other of staggering each other.Which side to carry out the target parking place in and depend on that with respect to the skew of the line of centers 15 of horizontal parking position 14 vehicle 10 sails in the horizontal parking position 14 in (promptly forwards upwards or on backward directions) on which direction.Confirm it is preferred if sail into forward, then the target parking place departs to the right.If it is preferred sailing into backward, then the target parking place squints left.
Claims (12)
1. be used for the method that definite vehicle (10) gets into the track of parking (36a, 36b, 37) of horizontal parking position (14), said method comprising the steps of:
A) detect data and the object (12,16,18) that detects at least one longitudinal side of the said horizontal parking position of at least one gauge (14) of the surrounding environment of said vehicle (10);
B) under the situation of the safety distance (30) of at least one definition that comprises the driver door (28) that is used for opening said vehicle (10), try to achieve the target parking place of said vehicle (10) at said horizontal parking position (14);
C) confirm to be used for reaching the track of parking (36a, 36b, 37) of the target parking place of trying to achieve in step b);
D) to chaufeur or the drive assist system that is used to implement said method export to implement the said track of parking (36a, 36b, 37).
2. method according to claim 1 is characterized in that, the target parking place of said vehicle (10) staggers on side direction with respect to the line of centers (15) of said horizontal parking position (14).
3. method according to claim 1 and 2; It is characterized in that, in the said target parking place of said vehicle (10), provide in order to open said driver door (28) definition and object (12 gauge at driver side at least; 16,18) safety distance (30).
4. according to each described method in the claim 1 to 3, it is characterized in that said vehicle (10) crosses the said track of parking (36a, 36b, 37) in travelling forward.
5. according to each described method in the claim 1 to 3, it is characterized in that said vehicle (10) is crossing the said track of parking (36a, 36b, 37) in the motion backward.
6. according to each described method in the claim 1 to 5, it is characterized in that, sail into or laterally sail into straight line and cross the said track of parking (36a, 36b, 37).
7. according to each described method in the claim 1 to 6, it is characterized in that the object (12 of at least one longitudinal side of the said horizontal parking position of said at least one gauge (14); 16,18) be vehicle (16,18); Said vehicle (16; 18) the direction of berthing direction and opening the driver door (42,44) of said vehicle (16,18) is tried to achieve.
8. method according to claim 7 is characterized in that, the direction of berthing of said at least one vehicle (16,18) is tried to achieve by the chaufeur of said vehicle (10).
9. method according to claim 7 is characterized in that, the direction of berthing of said at least one vehicle (16,18) is tried to achieve by detecting unit.
10. according to each described method in the claim 7 to 9, it is characterized in that, when confirming the target parking place of said vehicle (10), consider the direction of berthing of said at least one vehicle (16,18).
11. method according to claim 10 is characterized in that, at definite said track (36a that parks; 36b; 37) consider the direction of berthing of said at least one vehicle (16,18) time, wherein at definite said track (36a that parks; 36b, 37) consider to be used to open the safety distance (30) of definition of the car door of said vehicle (10) time.
12. be used for the drive assistance device that support unit (10) gets into the process of parking of horizontal parking position (14), it has: at least one detecting unit is used to detect the data of the surrounding environment of said vehicle (10); Be used for being determined to the unit of the track of parking (36a, 36b, 37) of target parking place according to each described method of claim 1 to 11; Output unit is used to export about the information of said target parking place and is used to park or is used for automatically controlling the said indication of going of parking.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102011077173.5 | 2011-06-08 | ||
| DE201110077173 DE102011077173A1 (en) | 2011-06-08 | 2011-06-08 | Method for determining a parking trajectory |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102815297A true CN102815297A (en) | 2012-12-12 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012101868366A Pending CN102815297A (en) | 2011-06-08 | 2012-06-07 | Method for determining a parking trajectory |
Country Status (6)
| Country | Link |
|---|---|
| CN (1) | CN102815297A (en) |
| DE (1) | DE102011077173A1 (en) |
| FR (1) | FR2976245A1 (en) |
| GB (1) | GB2491720A (en) |
| IN (1) | IN2012DE01714A (en) |
| IT (1) | ITMI20120889A1 (en) |
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Also Published As
| Publication number | Publication date |
|---|---|
| GB2491720A (en) | 2012-12-12 |
| GB201210187D0 (en) | 2012-07-25 |
| ITMI20120889A1 (en) | 2012-12-09 |
| FR2976245A1 (en) | 2012-12-14 |
| IN2012DE01714A (en) | 2015-09-25 |
| DE102011077173A1 (en) | 2012-12-13 |
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