CN106660584B - 使车辆进至目标位置的方法和装置 - Google Patents

使车辆进至目标位置的方法和装置 Download PDF

Info

Publication number
CN106660584B
CN106660584B CN201580042522.0A CN201580042522A CN106660584B CN 106660584 B CN106660584 B CN 106660584B CN 201580042522 A CN201580042522 A CN 201580042522A CN 106660584 B CN106660584 B CN 106660584B
Authority
CN
China
Prior art keywords
vehicle
mobile terminal
driving maneuver
target position
orientation
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.)
Active
Application number
CN201580042522.0A
Other languages
English (en)
Chinese (zh)
Other versions
CN106660584A (zh
Inventor
C·博内
A·希勒
G·昆策尔
M·莫瑟尔
H·施门茨
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.)
Mercedes Benz Group AG
Original Assignee
Daimler AG
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 Daimler AG filed Critical Daimler AG
Publication of CN106660584A publication Critical patent/CN106660584A/zh
Application granted granted Critical
Publication of CN106660584B publication Critical patent/CN106660584B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/06—Automatic manoeuvring for parking
    • 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
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/10—Automatic or semi-automatic parking aid systems

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
CN201580042522.0A 2014-08-08 2015-06-26 使车辆进至目标位置的方法和装置 Active CN106660584B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102014011796.0A DE102014011796A1 (de) 2014-08-08 2014-08-08 Verfahren und Vorrichtung zum Verbringen eines Fahrzeuges in eine Zielposition
DE102014011796.0 2014-08-08
PCT/EP2015/001289 WO2016020024A1 (de) 2014-08-08 2015-06-26 Verfahren und vorrichtung zum verbringen eines fahrzeuges in eine zielposition

Publications (2)

Publication Number Publication Date
CN106660584A CN106660584A (zh) 2017-05-10
CN106660584B true CN106660584B (zh) 2020-09-11

Family

ID=53524717

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201580042522.0A Active CN106660584B (zh) 2014-08-08 2015-06-26 使车辆进至目标位置的方法和装置

Country Status (6)

Country Link
US (1) US10179585B2 (enExample)
EP (1) EP3177503B1 (enExample)
JP (1) JP6452801B2 (enExample)
CN (1) CN106660584B (enExample)
DE (1) DE102014011796A1 (enExample)
WO (1) WO2016020024A1 (enExample)

Families Citing this family (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9926008B2 (en) * 2011-04-19 2018-03-27 Ford Global Technologies, Llc Trailer backup assist system with waypoint selection
DE102014019487A1 (de) 2014-12-23 2016-06-23 Daimler Ag Verfahren und Vorrichtung zur Lokalisierung einer mobilen Einheit in einem Fahrzeug
CN107444264A (zh) * 2016-05-31 2017-12-08 法拉第未来公司 使用相机检测车辆附近的物体
DE102016116857A1 (de) 2016-09-08 2018-03-08 Knorr-Bremse Systeme für Nutzfahrzeuge GmbH System und Verfahren zum Operieren von Nutzfahrzeugen
DE102016116860A1 (de) 2016-09-08 2018-03-08 Knorr-Bremse Systeme für Nutzfahrzeuge GmbH System und Verfahren zum Betreiben von autonom fahrenden Nutzfahrzeugen
DE102016226008A1 (de) 2016-12-22 2018-06-28 Bayerische Motoren Werke Aktiengesellschaft Fernsteuerung einer Fahrzeugfunktion eines Kraftfahrzeugs mittels einer Berührgeste auf der Fernbedienung
CN106970629B (zh) * 2017-05-22 2020-03-03 北京京东尚科信息技术有限公司 无人搬运车的控制方法和装置
BR112020002536B1 (pt) * 2017-08-10 2023-04-04 Nissan Motor Co., Ltd Método de controle de estacionamento e aparelho de controle de estacionamento
CN108563219B (zh) * 2017-12-29 2021-07-13 青岛海通机器人系统有限公司 一种agv避让方法
US10705529B2 (en) 2018-01-05 2020-07-07 Honda Motor Co., Ltd. Autonomous all-terrain vehicle (ATV)
JP6897597B2 (ja) * 2018-02-16 2021-06-30 トヨタ自動車株式会社 駐車支援装置
JP7032950B2 (ja) * 2018-02-19 2022-03-09 株式会社デンソーテン 車両遠隔操作装置、車両遠隔操作システム及び車両遠隔操作方法
DE102018210341B4 (de) * 2018-06-26 2024-07-18 Zf Friedrichshafen Ag Fahrzeug und Verfahren zum autonomen Aufnehmen eines Zielobjekts durch ein Fahrzeug
US10976733B2 (en) 2018-09-26 2021-04-13 Ford Global Technologies, Llc Interfaces for remote trailer maneuver assist
DE102019201186A1 (de) * 2019-01-30 2020-07-30 Continental Teves Ag & Co. Ohg Ultraschallsystem sowie ein Verfahren zur Lokalisierung eines Fahrzeugführers
JP7329343B2 (ja) * 2019-03-22 2023-08-18 パイオニア株式会社 移動支援装置
CN112428981B (zh) * 2019-08-20 2022-05-24 北京图森智途科技有限公司 一种自动驾驶卡车的控制方法、装置及自动驾驶卡车
DE102019215680B3 (de) * 2019-10-11 2021-01-07 Audi Ag Verfahren zum Vorhersagen eines Verhaltens eines Zielfahrzeugs
DE102020113382A1 (de) * 2020-05-18 2021-11-18 Bayerische Motoren Werke Aktiengesellschaft Aktivieren eines automatisierten Parkmanövers mittels einer mit einem mobilen Kommunikationsgerät durchgeführten Aktivierungsbewegung
CN114001745B (zh) * 2021-10-25 2023-11-24 东南大学 一种电动汽车泊车引导系统及其位置检测评价方法
US12282326B2 (en) 2023-02-16 2025-04-22 Ford Global Technologies, Llc Remote maneuvering system for a vehicle and associated method
TWI876590B (zh) * 2023-10-16 2025-03-11 鴻華先進科技股份有限公司 行動載具之驅動系統的控制方法以及控制系統

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005041433A (ja) * 2003-07-25 2005-02-17 Denso Corp 車両誘導装置、および経路判定プログラム
JP2008009913A (ja) * 2006-06-30 2008-01-17 Toyota Motor Corp 車両自動運転システム
JP2010140080A (ja) * 2008-12-09 2010-06-24 Yaskawa Electric Corp 移動体の制御方法及び制御装置並びに移動体システム
CN102853827A (zh) * 2011-07-01 2013-01-02 爱信艾达株式会社 移动引导系统、移动引导装置、移动引导方法及计算机程序

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10117650A1 (de) 2001-04-09 2002-10-10 Daimler Chrysler Ag Verfahren und Vorrichtung zum Verbringen eines Kraftfahrzeuges in eine Zielposition
JP5115782B2 (ja) 2006-11-07 2013-01-09 アイシン精機株式会社 駐車支援装置
US8682576B2 (en) * 2008-12-04 2014-03-25 Verizon Patent And Licensing Inc. Navigation based on user-defined points and paths
WO2011128965A1 (ja) * 2010-04-12 2011-10-20 トヨタ自動車株式会社 車両遠隔操作システム及び車載機
US8793036B2 (en) * 2010-09-22 2014-07-29 The Boeing Company Trackless transit system with adaptive vehicles
KR20120086140A (ko) * 2011-01-25 2012-08-02 한국전자통신연구원 맞춤 자동 주차 서비스를 제공하기 위한 단말과 장치 및 그 방법
DE102012200725A1 (de) 2012-01-19 2013-07-25 Robert Bosch Gmbh Fernsteuerung von Parkier- und Rangiermanövern von Kraftfahrzeugen
JP2014065392A (ja) 2012-09-25 2014-04-17 Aisin Seiki Co Ltd 携帯端末、遠隔操作システム、遠隔操作方法、及びプログラム
DE102012022087A1 (de) * 2012-11-09 2014-05-15 Volkswagen Aktiengesellschaft Verfahren zum Steuern eines Ein- oder Ausparkvorgangs eines Fahrzeugs
KR102027917B1 (ko) * 2013-08-07 2019-10-02 현대모비스 주식회사 휴대용 단말의 이동 패턴 인식을 이용한 스마트키 시스템과 그 동작 방법
DE102013015349A1 (de) 2013-09-17 2014-04-10 Daimler Ag Verfahren und Vorrichtung zum Betrieb eines Fahrzeugs
DE102013016342A1 (de) * 2013-09-30 2015-04-02 Daimler Ag Verfahren zum assistierten Rückwärtsfahren eines Gespanns, Fahrerassistenzsystem

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005041433A (ja) * 2003-07-25 2005-02-17 Denso Corp 車両誘導装置、および経路判定プログラム
JP2008009913A (ja) * 2006-06-30 2008-01-17 Toyota Motor Corp 車両自動運転システム
JP2010140080A (ja) * 2008-12-09 2010-06-24 Yaskawa Electric Corp 移動体の制御方法及び制御装置並びに移動体システム
CN102853827A (zh) * 2011-07-01 2013-01-02 爱信艾达株式会社 移动引导系统、移动引导装置、移动引导方法及计算机程序

Also Published As

Publication number Publication date
JP2017524594A (ja) 2017-08-31
US10179585B2 (en) 2019-01-15
DE102014011796A1 (de) 2016-02-11
CN106660584A (zh) 2017-05-10
EP3177503B1 (de) 2018-10-10
US20170225679A1 (en) 2017-08-10
WO2016020024A1 (de) 2016-02-11
EP3177503A1 (de) 2017-06-14
JP6452801B2 (ja) 2019-01-16

Similar Documents

Publication Publication Date Title
CN106660584B (zh) 使车辆进至目标位置的方法和装置
CN108349492B (zh) 用于提供车道的车道信息的方法和系统
CN109891472B (zh) 车辆控制系统、车辆控制方法及存储介质
JP2017524594A5 (enExample)
US20180194344A1 (en) System and method for autonomous vehicle navigation
US12304458B2 (en) Automated valet parking system, control method of automated valet parking system, and autonomous driving vehicle
KR102767390B1 (ko) 자동 주행 시스템
CN109923018B (zh) 车辆控制系统、车辆控制方法及存储介质
US20170197615A1 (en) System and method for reverse perpendicular parking a vehicle
JP7505927B2 (ja) 車載装置、及び制御方法
US11433944B2 (en) Automated hitching system with variable backing paths
CN107407934A (zh) 机动车在停车场上的引导
CN107000789A (zh) 用于辅助引导车辆的方法和设备
US20200283022A1 (en) Vehicle control system, vehicle control method, and storage medium
CN107077789A (zh) 用于在停车场上引导车辆的方法和设备
JP7016751B2 (ja) 運転支援システム
KR20160140832A (ko) 병주 작업 시스템
JP6302660B2 (ja) 情報取得システム、無人飛行体制御装置
JP2017161987A (ja) 作業車両の走行領域形状登録システム
WO2020129704A1 (ja) 走行作業機
JP6695297B2 (ja) 自律走行システム
CN114973631A (zh) 自动驾驶车辆、自动驾驶车辆的调配系统及移动终端
JP7554718B2 (ja) 自動運転システム
JP5947644B2 (ja) 無人移動体システム
CN109421720B (zh) 用于运行机动车的方法以及机动车

Legal Events

Date Code Title Description
PB01 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
CP01 Change in the name or title of a patent holder

Address after: Stuttgart, Germany

Patentee after: Mercedes-Benz Group Co.,Ltd.

Address before: Stuttgart, Germany

Patentee before: DAIMLER AG

CP01 Change in the name or title of a patent holder