CN107298098B - 停车协助装置及其停车控制方法 - Google Patents
停车协助装置及其停车控制方法 Download PDFInfo
- Publication number
- CN107298098B CN107298098B CN201710243527.0A CN201710243527A CN107298098B CN 107298098 B CN107298098 B CN 107298098B CN 201710243527 A CN201710243527 A CN 201710243527A CN 107298098 B CN107298098 B CN 107298098B
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- Prior art keywords
- parking
- obstacle
- reference line
- height
- ultrasonic sensor
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 230000005540 biological transmission Effects 0.000 claims abstract description 11
- 238000005259 measurement Methods 0.000 claims description 11
- 230000005855 radiation Effects 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 8
- 230000000694 effects Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
Images
Classifications
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- 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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- 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
- 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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
-
- 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
-
- 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
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
-
- 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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/54—Audio sensitive means, e.g. ultrasound
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2300/00—Purposes or special features of road vehicle drive control systems
- B60Y2300/06—Automatic manoeuvring for parking
-
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2015/932—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Acoustics & Sound (AREA)
- Aviation & Aerospace Engineering (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
Claims (11)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020160046364A KR102489386B1 (ko) | 2016-04-15 | 2016-04-15 | 주차 지원 장치 및 그의 주차 제어 방법 |
KR10-2016-0046364 | 2016-04-15 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN107298098A CN107298098A (zh) | 2017-10-27 |
CN107298098B true CN107298098B (zh) | 2020-04-14 |
Family
ID=59980763
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201710243527.0A Active CN107298098B (zh) | 2016-04-15 | 2017-04-14 | 停车协助装置及其停车控制方法 |
Country Status (4)
Country | Link |
---|---|
US (1) | US20170300062A1 (zh) |
KR (1) | KR102489386B1 (zh) |
CN (1) | CN107298098B (zh) |
DE (1) | DE102017003670B4 (zh) |
Families Citing this family (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107031523A (zh) | 2015-11-30 | 2017-08-11 | 法乐第未来公司 | 利用已知目标进行基于摄像头的车辆位置确定 |
US10974764B2 (en) * | 2016-04-15 | 2021-04-13 | Mitsubishi Electric Corporation | Parking assist device |
US11161547B2 (en) * | 2016-09-09 | 2021-11-02 | Mitsubishi Electric Corporation | Parking assistance device |
US10025317B2 (en) * | 2016-09-30 | 2018-07-17 | Faraday&Future Inc. | Methods and systems for camera-based autonomous parking |
KR102001917B1 (ko) * | 2017-05-29 | 2019-07-19 | 엘지전자 주식회사 | 차량용 주차 시스템 및 차량 |
EP3552861B1 (en) * | 2018-04-10 | 2023-11-29 | Hager-Electro Sas | Method for positioning an electric vehicle on a charging spot and related charging spot |
US11294060B2 (en) | 2018-04-18 | 2022-04-05 | Faraday & Future Inc. | System and method for lidar-based vehicular localization relating to autonomous navigation |
KR102586445B1 (ko) * | 2018-08-08 | 2023-10-06 | 현대자동차주식회사 | 주차 보조를 위한 장애물 높이 측정 시스템 |
CN111025300B (zh) * | 2018-10-10 | 2023-03-21 | 上海汽车集团股份有限公司 | 一种车位长度的测量方法及装置 |
CN112924976A (zh) * | 2019-12-08 | 2021-06-08 | 钱仁贵 | 基于超声波雷达的靶标探测法及其装置 |
WO2021126090A1 (en) * | 2019-12-18 | 2021-06-24 | Moovita Pte Ltd | Autonomous parking systems and methods for vehicles |
GB2624626A (en) * | 2022-11-21 | 2024-05-29 | Jaguar Land Rover Ltd | Automated parking |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102470795A (zh) * | 2009-09-11 | 2012-05-23 | 福特全球技术公司 | 停车辅助系统及使用这种系统停车的方法 |
CN104118429A (zh) * | 2013-04-23 | 2014-10-29 | 福特全球技术公司 | 驻车辅助物体距离测量时钟控制方法 |
CN104176050A (zh) * | 2013-05-21 | 2014-12-03 | 福特全球技术公司 | 用于驻车辅助的改进的校准方法 |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102005038524A1 (de) | 2005-08-02 | 2007-02-15 | Valeo Schalter Und Sensoren Gmbh | Verfahren zur Ermittlung der Tiefenbegrenzung einer Parklücke mittels Ultraschallsensoren und System hierzu |
KR20090080769A (ko) * | 2008-01-22 | 2009-07-27 | 주식회사 만도 | 주차 보조 기능을 이용하여 주차 공간을 확보하기 위한방법 및 장치 |
DE102009046158A1 (de) | 2009-10-29 | 2011-05-05 | Robert Bosch Gmbh | Verfahren zur Erkennung von Objekten mit geringer Höhe |
KR101202905B1 (ko) | 2010-10-20 | 2012-11-19 | 주식회사 만도 | 주차 지원 방법 및 그 시스템 |
KR101260585B1 (ko) | 2011-01-06 | 2013-05-06 | 주식회사 만도 | 초음파 센서 및 주차 제어 시스템 |
KR20130124050A (ko) * | 2012-05-04 | 2013-11-13 | 현대모비스 주식회사 | 장애물 형태 구분에 따른 목표 주차 위치 결정 기능을 갖는 자동 주차 보조 시스템 및 그 방법 |
KR101978121B1 (ko) * | 2012-12-05 | 2019-08-28 | 현대모비스 주식회사 | 주차공간 인식용 초음파 장치 및 그 제어방법 |
US9359009B2 (en) * | 2014-03-22 | 2016-06-07 | Ford Global Technologies, Llc | Object detection during vehicle parking |
KR102208836B1 (ko) * | 2014-05-30 | 2021-01-28 | 주식회사 만도 | 주차공간 인식장치 및 그의 제어방법 |
KR102111980B1 (ko) | 2014-10-20 | 2020-05-18 | 주식회사 제우스 | 기판 처리용 온도측정장치 및 이를 구비한 기판 액처리 장치 |
-
2016
- 2016-04-15 KR KR1020160046364A patent/KR102489386B1/ko active IP Right Grant
-
2017
- 2017-04-13 DE DE102017003670.5A patent/DE102017003670B4/de active Active
- 2017-04-14 CN CN201710243527.0A patent/CN107298098B/zh active Active
- 2017-04-14 US US15/487,900 patent/US20170300062A1/en not_active Abandoned
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102470795A (zh) * | 2009-09-11 | 2012-05-23 | 福特全球技术公司 | 停车辅助系统及使用这种系统停车的方法 |
CN104118429A (zh) * | 2013-04-23 | 2014-10-29 | 福特全球技术公司 | 驻车辅助物体距离测量时钟控制方法 |
CN104176050A (zh) * | 2013-05-21 | 2014-12-03 | 福特全球技术公司 | 用于驻车辅助的改进的校准方法 |
Also Published As
Publication number | Publication date |
---|---|
US20170300062A1 (en) | 2017-10-19 |
DE102017003670B4 (de) | 2024-03-28 |
KR20170118499A (ko) | 2017-10-25 |
DE102017003670A1 (de) | 2017-10-19 |
CN107298098A (zh) | 2017-10-27 |
KR102489386B1 (ko) | 2023-01-18 |
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Legal Events
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PB01 | Publication | ||
PB01 | Publication | ||
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SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right |
Effective date of registration: 20211203 Address after: Gyeonggi Do, South Korea Patentee after: Wandu Mobile System Co.,Ltd. Address before: Gyeonggi Do, South Korea Patentee before: MANDO Corp. |
|
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20220929 Address after: Inchon, Korea Patentee after: Halla Creedong Electronics Co.,Ltd. Address before: Gyeonggi Do, South Korea Patentee before: Wandu Mobile System Co.,Ltd. |
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TR01 | Transfer of patent right |