CN102985312B - 将交通工具泊入或泊出的方法和相应辅助系统和交通工具 - Google Patents
将交通工具泊入或泊出的方法和相应辅助系统和交通工具 Download PDFInfo
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- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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Abstract
在交通工具(10)的泊入过程或泊出过程中通过辅助系统(20)确定所述交通工具(10)位于的或将要泊入的泊位的尺寸。此外通过辅助系统(20)检测交通工具(10)与障碍物之间的距离。当该距离小于预设阈值时,所述辅助系统产生提示。辅助系统(20)根据交通工具(10)的尺寸和泊位的尺寸调整阈值。
Description
本发明涉及一种用于使交通工具自动地泊入一个泊位中或从一个泊位驶出或泊出的方法。本发明还涉及一种相应设计的辅助系统和相应设计的交通工具。
根据现有技术已知一种用于(半)自动泊车的系统和另一种在泊车过程中多数以声音形式针对障碍物警示驾驶员的系统。虽然DE102006058885A1或DE102004010752A1公开了对于前述系统的优化,但是现有技术中仍存在的问题是,例如在(半)自动泊车中对与障碍物的碰撞的警示是不必要的。
本发明所要解决的技术问题在于,至少减轻现有技术中的问题。
按照本发明,所述技术问题通过按照权利要求1所述的用于泊车的方法,通过按照权利要求6所述的辅助系统和按照权利要求8的交通工具解决。从属权利要求定义本发明优选和有利的实施形式。
在本发明的范围中提供一种通过使用辅助系统的用于泊车的方法。其中自动地测量所述交通工具位于的或将要泊入的泊位以获得该泊位的尺寸。在辅助系统的泊入过程或泊出过程中,交通工具和交通工具周围的障碍物之间的距离连续地自动地被传感器、例如超声波传感器检测,并且当距离小于预设的阈值时给出提示。其中,所述阈值根据交通工具的尺寸和预先检测到的泊位的尺寸调整。
通过将阈值根据交通工具和泊位的尺寸调整,用于产生与障碍物碰撞前的提示的条件有利地与泊位的实际情况相适配。在此,碰撞前的提示可以是声音信号、视觉信号(例如进度显示条)或触觉信号(方向盘的震动)。
泊位和交通工具的尺寸差距越小,则阈值被调整越小。其中在上述尺寸的对比中,泊位和交通工具长度的差值尤其被检测,并且该差值越小,阈值被调整到越小。
由此有利的是,相对在较大的泊位中,在较小的泊位中只在交通工具与相应障碍物的距离更小时才发出持续的声音信号,借助该持续的声音信号驾驶员可以在与障碍物碰撞前被提醒。
按照本发明一种优选的实施形式,仅仅当在(半)自动地泊入交通工具中满足以下条件时才根据交通工具和泊位的尺寸调整所述阈值:
-在测量泊位时得知,该泊位对于交通工具足够大,从而能够(半)自动地泊入该泊位。
-驾驶员为了泊入该泊位开启了辅助系统。
-交通工具被置于倒车档。在泊车开始时交通工具通常倒车行驶。
-辅助系统的转向干预在交通工具转向过程中启动,也就是说辅助系统控制所述转向。
当上述条件满足时,则能够确定交通工具位于(半)自动泊入过程中,其中辅助系统执行交通工具的横向引导或转向并且驾驶员实施交通工具的纵向引导(即制动、加速、换档)。仅当交通工具处于(半)自动泊入过程中时,阈值按照该实施形式被改变,这通常导致阈值的减小。
按照本发明另一种优选的实施形式,仅仅当在(半)自动地泊出交通工具中满足以下条件时才根据交通工具和泊位的尺寸调整所述阈值:
-泊位(交通工具将从该泊位中泊出)已经被测量。也就是说,泊位的尺寸是已知的。
-辅助系统已被驾驶员开启用于从该泊位泊出。
-交通工具被置于倒退档或前进档。
-交通工具的行驶方向显示器(转向灯)被打开。在泊出过程中必须遵照交通法规操作转向灯。该条件例如在交通法规不是很严厉的国家可以被取消。
-在交通工具转向时辅助系统的转向干预被开启,也就是说辅助系统控制转向。
当上述条件被满足时,可以确定交通工具处于(半)自动的泊出过程,其中辅助系统执行交通工具的横向引导或转向并且驾驶员实施交通工具的纵向引导。仅当交通工具处于(半)自动泊出过程中时,按照该实施形式所述阈值与泊位的大小相适配,这尤其意味着,在较小的泊位中在交通工具与障碍物的距离更小时才出现持续声音范围。
在本发明的范围中还提供一种用于交通工具的辅助系统。该辅助系统包括用于产生提示的装置,控制装置和一个或多个距离传感器。所述一个或多个距离传感器设计用于检测泊位(交通工具位于该泊出位中或将要泊入该泊位中)的尺寸和检测交通工具和交通工具周围的障碍物之间的距离。当辅助系统借助距离传感器检测到交通工具与障碍物的距离低于预定的阈值时,辅助系统借助所述装置(例如交通工具的喇叭)产生提示。在(半)自动泊入过程或泊出过程中,辅助系统借助控制装置使阈值与交通工具的尺寸和泊位的尺寸、尤其是所述尺寸的差相适配。
按照本发明的辅助系统的优点基本上与按照本发明的方法的优点(之前已经详细说明)相对应,因此在此不再赘述。
最后在本发明的范围中提供一种交通工具,其包括按照本发明的辅助系统。
本发明尤其适用于汽车,该汽车设计用于借助辅助系统(半)自动地泊入或泊出。不言而喻地是,本发明不局限于优选的应用范围,因为本发明原理上也可以用于没有用于(半)自动地泊入或泊出的辅助系统的汽车中,和驾驶员在所述交通工具中仍完全手动操作的泊车过程。本发明还可以用于轮船、飞机或轨道的或有导轨的交通工具。
下面借助唯一的一张附图所示实施形式详细说明本发明。
唯一的附图示意显示了具有按照本发明的辅助系统的交通工具。
唯一的附图示意显示了按照本发明的交通工具10,其具有按照本发明的辅助系统20和转向装置4。该辅助系统20包括多个超声波传感器1、控制装置3和喇叭2。辅助系统20借助超声波传感器1测量交通工具10位于其中的泊位或交通工具欲泊入其中的泊位。此外,所述辅助系统20借助超声波传感器1测量交通工具10和在交通工具10周围可能的障碍物之间的距离。如果该距离小于预设的、按照本发明可变的阈值,则辅助系统20借助控制装置3和喇叭2为交通工具10的驾驶员产生声音提示(例如连续的声音),该驾驶员因此获知交通工具10可能与障碍物即将直接碰撞。
辅助系统20也能够实施(半)自动的泊入过程或泊出过程,其中控制装置3干预交通工具10的转向装置4。在这种泊入过程或泊出过程中,辅助系统20根据泊位和交通工具10的尺寸调整阈值。例如当泊位的长度尺寸或长度和交通工具长度的差大于1米时可将阈值设置为30厘米,因此当交通工具距离障碍物小于30厘米时产生持续声音。当泊位的长度和交通工具长度的差小于1米时能够将阈值限制为20厘米,因此当交通工具距离障碍物小于20厘米时才产生持续声音。由此有利的是,辅助系统20即使在较小的泊位中也能实施(半)自动的泊入过程或泊出过程,而不会轻易响起持续声音。
Claims (8)
1.一种通过使用辅助系统(20)使交通工具(10)泊入或泊出的方法,
其中,通过所述辅助系统(20)确定所述交通工具(10)位于的或将要泊入的泊位的尺寸,
其中,通过所述辅助系统(20)检测所述交通工具(10)与障碍物之间的距离,
其中,当该距离小于预设阈值时,由所述辅助系统(20)产生提示,并且
其中,在所述辅助系统(20)的泊入过程或泊出过程中通过所述辅助系统(20)根据所述交通工具(10)的尺寸和所述泊位的尺寸调整阈值。
2.按照权利要求1所述的方法,其特征在于,在所述泊位的尺寸和所述交通工具(10)的尺寸之间的差值越小,则所述阈值被调整到越小。
3.按照权利要求1所述的方法,其特征在于,所述阈值根据所述泊位的长度和所述交通工具(10)的长度之间的差值被调整。
4.按照前述权利要求之一所述的方法,其特征在于,当在泊入过程中满足以下条件时根据所述交通工具(10)和所述泊位的尺寸调整所述阈值:
-已测量出泊位对于所述交通工具(10)足够大,
-所述辅助系统(20)被开启,
-所述交通工具(10)被置于倒车档,并且在
-所述辅助系统(20)的转向干预在所述交通工具(10)的转向过程中启动。
5.按照权利要求1至3之一所述的方法,其特征在于,当在泊出过程中满足以下条件时根据所述交通工具(10)和所述泊位的尺寸调整所述阈值:
-所述交通工具(10)位于的泊位已经被测量,
-所述辅助系统(20)被开启,
-所述交通工具(10)被置于行车档中,
-所述交通工具(10)的行驶方向显示器被开启,并且
-所述辅助系统(20)的转向干预在所述交通工具(10)的转向过程中启动。
6.一种用于交通工具(10)的辅助系统,
其中,该辅助系统(20)包括用于产生提示的装置(2),控制装置(3)和至少一个距离传感器(1),
其中,所述至少一个距离传感器(1)设计用于检测所述交通工具(10)位于的或将要泊入的泊位的尺寸,和用于确定所述交通工具(10)和障碍物之间的距离,和
其中,所述辅助系统(20)这样设置,当所述辅助系统(20)借助所述至少一个距离传感器检测到所述交通工具(10)与障碍物的距离小于预定的阈值时,所述辅助系统(20)借助所述用于产生提示的装置(2)产生提示,并且在泊入过程或泊出过程中,所述辅助系统(20)借助所述控制装置(3)根据所述交通工具(10)的尺寸和所述泊位的尺寸调整所述阈值。
7.按照权利要求6所述的辅助系统,其特征在于,所述辅助系统(20)设计用于实施权利要求1至5之一所述的方法。
8.一种交通工具,其具有按照权利要求5或6所述的辅助系统(20)。
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DE102010020208A DE102010020208A1 (de) | 2010-05-12 | 2010-05-12 | Verfahren zum Einparken oder Ausparken eines Fahrzeugs sowie entsprechendes Assistenzsystem und Fahrzeug |
DE102010020208.8 | 2010-05-12 | ||
PCT/EP2011/001660 WO2011141099A1 (de) | 2010-05-12 | 2011-04-01 | Verfahren zum einparken oder ausparken eines fahrzeugs sowie entsprechendes assistenzsystem und fahrzeug |
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US (1) | US9505435B2 (zh) |
EP (1) | EP2569207B1 (zh) |
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WO2011141099A1 (de) | 2011-11-17 |
EP2569207B1 (de) | 2014-09-24 |
EP2569207A1 (de) | 2013-03-20 |
DE102010020208A1 (de) | 2011-11-17 |
US9505435B2 (en) | 2016-11-29 |
CN102985312A (zh) | 2013-03-20 |
US20130110342A1 (en) | 2013-05-02 |
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